CN-122015892-A - Lane-level navigation upgrading and downgrading control method, device, equipment, medium and product

CN122015892ACN 122015892 ACN122015892 ACN 122015892ACN-122015892-A

Abstract

The embodiment of the application provides a lane-level navigation upgrading and downgrading control method, device, equipment, medium and product. The method comprises the steps of monitoring whether at least one of a plurality of preset navigation degradation conditions is met or not in parallel when a vehicle is in lane-level navigation, performing navigation degradation control on the vehicle if the at least one navigation degradation condition is met, wherein the navigation degradation control is used for switching the lane-level navigation to intermediate-state navigation, the navigation precision of the intermediate-state navigation is between that of the lane-level navigation and that of the road-level navigation, monitoring whether the plurality of navigation degradation conditions are not met in parallel when the vehicle is in intermediate-state navigation, and performing navigation upgrading control on the vehicle if the plurality of navigation degradation conditions are not met, wherein the navigation upgrading control is used for switching the intermediate-state navigation to the lane-level navigation mode. The application is used for reducing the navigation switching frequency, realizing stable and safe lane-level navigation upgrading and downgrading control, and improving the driving consistency, reliability and safety.

Inventors

YUAN YE
ZHANG GAOXIONG

Assignees

北京四维图新科技股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260210

Claims (10)

1. A lane-level navigation promotion and degradation control method, characterized by comprising: In the case that the vehicle is in lane-level navigation, monitoring whether at least one of a plurality of preset navigation degradation conditions is met in parallel; If at least one navigation degradation condition is met, performing navigation degradation control on the vehicle, wherein the navigation degradation control is used for switching the lane-level navigation to intermediate-state navigation, and the navigation precision of the intermediate-state navigation is between the lane-level navigation and the road-level navigation; under the condition that the vehicle is in the middle state navigation, monitoring whether the plurality of navigation degradation conditions are not met in parallel; And if all the navigation degradation conditions are not met, performing navigation upgrading control on the vehicle, wherein the navigation upgrading control is used for switching the intermediate state navigation to a lane-level navigation mode.
2. The lane-level navigation apparatus as claimed in claim 1, wherein the lane-level navigation apparatus further comprises: In the case where the vehicle is in the intermediate state navigation, high-precision map data is retained.
3. The lane-level navigation apparatus according to claim 1 or 2, wherein the plurality of navigation degradation conditions includes at least two of: a first condition that a distance from the toll station is less than a first distance threshold; The second condition is that the tunnel is driven out, and the distance between the tunnel and the tunnel outlet is smaller than a second distance threshold; third condition, driving in the tunnel; the fourth condition is that the road type of the driving road is a non-expressway type or a non-expressway type; fifth condition, the confidence of the vehicle positioning module is smaller than a confidence threshold; A sixth condition is that a long tunnel with the tunnel length larger than a length threshold value is driven; seventh condition, driving in the multi-outlet tunnel; eighth condition, driving in the continuous tunnel scene, wherein the interval distance between adjacent tunnels is smaller than the interval threshold value; ninth condition, the configuration file of the vehicle represents forbidden lane-level navigation; Tenth condition, the user controls the lane-level navigation to be closed through the user interface.
4. The lane-level navigation apparatus according to claim 1 or 2, wherein the plurality of navigation apparatus conditions correspond to a plurality of priorities including a high priority and a low priority, and wherein an anti-shake duration of the navigation apparatus condition corresponding to the high priority is smaller than an anti-shake duration of the navigation apparatus condition corresponding to the low priority.
5. The lane-level navigation apparatus as claimed in claim 4, wherein the lane-level navigation apparatus further comprises: And under the condition that the navigation degradation condition corresponding to the high priority is met, adjusting the target navigation degradation condition corresponding to the low priority based on the scene characteristic corresponding to the met navigation degradation condition, wherein the adjustment comprises widening the threshold value in the condition and/or prolonging the anti-shake duration in the condition.
6. The lane-level navigation apparatus as claimed in claim 4, wherein the lane-level navigation apparatus further comprises: acquiring the triggering frequency of the navigation degradation condition within the anti-shake duration of the navigation degradation condition; If the triggering frequency is larger than a frequency threshold, the anti-shake duration of the navigation degradation condition is downwards adjusted, and the frequency threshold is set based on the driving safety of a scene corresponding to the navigation degradation condition; And if the triggering frequency is smaller than or equal to a frequency threshold, adjusting the anti-shake duration of the navigation degradation condition upwards.
7. The lane-level navigation apparatus according to claim 1 or 2, wherein the lane-level navigation apparatus further comprises: predicting a road condition in front of a vehicle based on the historical driving data and the current driving route of the vehicle; If the road condition satisfies at least one of the navigation degradation conditions, preparing degradation in advance for the satisfied navigation degradation conditions, the preparing degradation in advance including at least one of preparing degradation resources in advance, determining an optimal degradation point in advance, and pre-warning degradation.
8. The lane-level navigation apparatus according to claim 1 or 2, wherein the lane-level navigation apparatus further comprises: the state machine is adopted to manage the states of the navigation degradation conditions, and the states are set to be true values when the navigation degradation conditions are met; Correspondingly, monitoring whether at least one of a preset plurality of navigation degradation conditions is met in parallel includes monitoring the state of the plurality of navigation degradation conditions in parallel to determine whether at least one is met.
9. A lane-level navigation promotion and degradation control apparatus, characterized by comprising: The first monitoring module is used for monitoring whether at least one of a plurality of preset navigation degradation conditions is met or not in parallel under the condition that the vehicle is in lane-level navigation; The degradation control module is used for carrying out navigation degradation control on the vehicle if at least one navigation degradation condition is met, wherein the navigation degradation control is used for switching the lane-level navigation to the intermediate-state navigation, and the navigation precision of the intermediate-state navigation is between the lane-level navigation and the road-level navigation; The second monitoring module is used for monitoring whether the plurality of navigation degradation conditions are not met in parallel under the condition that the vehicle is in the middle state navigation; And the upgrading control module is used for carrying out navigation upgrading control on the vehicle if the plurality of navigation degradation conditions are not met, and the navigation upgrading control is used for switching the intermediate state navigation to a lane-level navigation mode.
10. An electronic device/computer-readable storage medium/computer program product, characterized by: The electronic device comprises a memory, a processor, the memory storing computer-executable instructions, the processor executing the computer-executable instructions stored by the memory, causing the processor to perform the method of any one of claims 1 to 8; Stored in the computer readable storage medium are computer executable instructions which, when executed, are adapted to carry out the method of any one of claims 1 to 8; The computer program product comprising a computer program which, when executed, implements the method of any of claims 1 to 8.

Description

Lane-level navigation upgrading and downgrading control method, device, equipment, medium and product Technical Field The application relates to the technical field of intelligent driving assistance, in particular to a lane-level navigation upgrading and downgrading control method apparatus, devices, media, and articles. Background Lane-level Navigation (LLN), which is a key technology of an intelligent driving assistance system, relies on high-precision maps and real-time positioning data of vehicles to provide lane-level path planning and Navigation guidance for users, thereby remarkably improving driving safety and Navigation precision under complex road conditions. In the related art, navigation promotion and degradation control of a vehicle is generally performed by determining whether navigation degradation is performed according to positioning accuracy or map matching state corresponding to the vehicle in real time, and performing navigation degradation control from lane-level navigation to road-level navigation when the navigation degradation is determined, and performing navigation promotion control from road-level navigation to lane-level navigation when the positioning accuracy or map matching state meets the lane-level navigation. The navigation promotion and degradation control mode causes the vehicle to frequently switch the navigation mode, affects the consistency and reliability of driving, and increases potential safety hazards. Therefore, how to realize stable and safe lane-level navigation promotion and degradation control becomes a technical problem to be solved. Disclosure of Invention The embodiment of the application provides a lane-level navigation upgrading and downgrading control method, device, equipment, medium and product, which are used for realizing stable and safe lane-level navigation upgrading and downgrading control and improving driving consistency, reliability and safety. In a first aspect, an embodiment of the present application provides a method for controlling lane-level navigation promotion and degradation, including: In the case that the vehicle is in lane-level navigation, monitoring whether at least one of a plurality of preset navigation degradation conditions is met in parallel; If at least one navigation degradation condition is met, performing navigation degradation control on the vehicle, wherein the navigation degradation control is used for switching lane-level navigation to intermediate-state navigation, and the navigation precision of the intermediate-state navigation is between the lane-level navigation and the road-level navigation; under the condition that the vehicle is in the middle state navigation, monitoring whether a plurality of navigation degradation conditions are not met in parallel; And if the plurality of navigation degradation conditions are not met, performing navigation upgrading control on the vehicle, wherein the navigation upgrading control is used for switching the intermediate state navigation to the lane-level navigation mode. In one achievable embodiment, the lane-level navigation promotion and degradation control method further comprises the step of retaining high-precision map data in the case that the vehicle is in intermediate state navigation. In one achievable embodiment, the plurality of navigation degradation conditions includes at least two of: a first condition that a distance from the toll station is less than a first distance threshold; The second condition is that the tunnel is driven out, and the distance between the tunnel and the tunnel outlet is smaller than a second distance threshold; third condition, driving in the tunnel; the fourth condition is that the road type of the driving road is a non-expressway type or a non-expressway type; fifth condition, the confidence of the vehicle positioning module is smaller than a confidence threshold; A sixth condition is that a long tunnel with the tunnel length larger than a length threshold value is driven; seventh condition, driving in the multi-outlet tunnel; eighth condition, driving in the continuous tunnel scene, wherein the interval distance between adjacent tunnels is smaller than the interval threshold value; ninth condition, the configuration file of the vehicle represents forbidden lane-level navigation; Tenth condition, the user controls the lane-level navigation to be closed through the user interface. In one possible implementation, the plurality of navigation degradation conditions correspond to a plurality of priorities, and the plurality of priorities include a high priority and a low priority, wherein an anti-shake duration of the navigation degradation condition corresponding to the high priority is less than an anti-shake duration of the navigation degradation condition corresponding to the low priority. In one possible implementation, the lane-level navigation promotion and degradation control method further comprises the step of adjusting the target