CN109738923B

CN109738923B - Driving navigation method, device and system

Info

Publication number: CN109738923B
Application number: CN201910205163.6A
Authority: CN
Inventors: 俞一帆
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2019-03-18
Filing date: 2019-03-18
Publication date: 2023-07-14
Anticipated expiration: 2039-03-18
Also published as: CN109738923A

Abstract

The embodiment of the application discloses a driving navigation method, device and system, which are used for providing accurate road information for a driving vehicle and improving the accuracy and precision of driving navigation. The driving navigation method provided by the embodiment of the application is applied to a first server in a driving navigation system, and the driving navigation system further comprises: the first server is communicated with the road facility and the terminal respectively; the first server receives first road monitoring information periodically sent by the road facility, wherein the first road monitoring information comprises: monitoring results of roads where the road facilities are located; the first server acquires road information of the position of the terminal according to the first road monitoring information, and the range of the road facility covers the position of the terminal; the first server sends road information of the position of the terminal, so that the terminal carries out driving navigation processing according to the road information of the position of the terminal.

Description

Driving navigation method, device and system

Technical Field

The embodiment of the application relates to the technical field of vehicle navigation, in particular to a driving navigation method, device and system.

Background

The existing vehicle navigation technology can adopt a floating vehicle model, and the mode mainly depends on a vehicle-mounted terminal to realize road condition detection. A global positioning system (Global Positioning System, GPS) is mounted on the vehicle-mounted terminal, and the vehicle-mounted terminal transmits information including the position information of the vehicle to the monitoring center once at regular intervals (for example, 10 seconds to 30 seconds). Based on the information reported by the vehicle-mounted terminal, the monitoring center can calculate the road condition and send the road condition to other terminals requesting road condition data. The current terminal mainly adopts the scheme to realize road condition broadcasting.

This solution relies mainly on the driving vehicle to provide road information. In actual running, the monitoring center cannot obtain accurate road information due to uneven vehicle distribution and GPS positioning deviation of the vehicles, so that the problem that the road condition detection result is inconsistent with the real road condition exists.

Disclosure of Invention

The embodiment of the application provides a driving navigation method, device and system, which are used for providing accurate road information for a driving vehicle and improving the accuracy and precision of driving navigation.

The embodiment of the application provides the following technical scheme:

in one aspect, an embodiment of the present application provides a driving navigation method, where the method is applied to a first server in a driving navigation system, and the driving navigation system further includes: the first server is communicated with the road facility and the terminal respectively; the method comprises the following steps:

The first server receives first road monitoring information periodically sent by the road facility, wherein the first road monitoring information comprises: monitoring results of roads where the road facilities are located;

the first server acquires road information of the position of the terminal according to the first road monitoring information, and the range of the road where the road facility is located covers the position of the terminal;

and the first server sends the road information of the position of the terminal so that the terminal carries out driving navigation processing according to the road information of the position of the terminal.

On the other hand, the embodiment of the application also provides a driving navigation device, the driving navigation device is applied to the first server, and the driving navigation device comprises:

the receiving module is used for receiving first road monitoring information periodically sent by the road facility, and the first road monitoring information comprises: monitoring results of roads where the road facilities are located;

the processing module is used for acquiring road information of the position of the terminal according to the first road monitoring information, and the range of the road where the road facility is located covers the position of the terminal;

And the sending module is used for sending the road information of the position of the terminal so that the terminal can conduct driving navigation processing according to the road information of the position of the terminal.

In the foregoing aspect, the component modules of the driving navigation device may further perform the steps described in the foregoing aspect and various possible implementations, which are described in detail in the foregoing aspect and various possible implementations.

On the other hand, the embodiment of the application provides a driving navigation device, the driving navigation device is applied to a first server, and the first server comprises: a processor, a memory; the memory is used for storing instructions; the processor is configured to execute instructions in the memory to cause the driving navigation device to perform the method according to any one of the preceding aspects.

In another aspect, embodiments of the present application provide a computer-readable storage medium having instructions stored therein, which when run on a computer, cause the computer to perform the method of the above aspects.

In another aspect, an embodiment of the present application provides a driving navigation system, including: the system comprises a first server, a road facility and a terminal, wherein the first server is respectively communicated with the road facility and the terminal;

The first server for performing the method of any one of the preceding aspects;

the road facility is used for periodically sending first road monitoring information, and the first road monitoring information comprises: monitoring results of roads where the road facilities are located;

the terminal is used for receiving the road information of the position of the terminal, which is sent by the first server; and carrying out driving navigation processing according to the road information of the position of the terminal.

In the embodiment of the application, the first server communicates with the road facilities and the terminals respectively. First road monitoring information periodically transmitted by road facilities, wherein the first road monitoring information comprises: the method comprises the steps that a first server receives first road monitoring information periodically sent by a road facility, then the first server obtains road information of the position of a terminal according to the first road monitoring information, the range of the road where the road facility is located covers the position of the terminal, then the first server sends the road information of the position of the terminal, the terminal receives the road information of the position of the terminal sent by the first server, and driving navigation processing can be carried out according to the road information of the position of the terminal. The road facility in the embodiment of the application can monitor the road, so that a more comprehensive and more accurate road monitoring result is acquired, the first server provides the road information of the position of the terminal for the terminal, the terminal can carry out the processing of driving navigation according to the road information, and the problem that the road information is provided only by the terminal is avoided.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings for a person skilled in the art.

Fig. 1a is a schematic diagram of a composition structure of a driving navigation system according to an embodiment of the present application;

fig. 1b is a schematic diagram of a composition structure of another driving navigation system according to an embodiment of the present application;

fig. 2 is a schematic diagram of an interaction flow between a first server, a road facility and a terminal according to an embodiment of the present application;

fig. 3 is a schematic flow block diagram of a driving navigation method executed by a first server according to an embodiment of the present application;

fig. 4 is a schematic flow block diagram of another driving navigation method executed by the first server according to the embodiment of the present application;

fig. 5 is a schematic flow block diagram of another driving navigation method executed by the first server according to the embodiment of the present application;

fig. 6 is a schematic diagram of a system architecture of a driving navigation system according to an embodiment of the present application;

Fig. 7a is a schematic diagram of a composition structure of a V2X message unit according to an embodiment of the present application;

fig. 7b is a schematic structural diagram of another V2X message unit according to an embodiment of the present application;

fig. 7c is a schematic diagram of the composition structure of another V2X message unit according to an embodiment of the present application;

fig. 7d is a schematic structural diagram of another V2X message unit according to an embodiment of the present application;

fig. 8 is a schematic diagram of a navigation reminding flow for blocking the sight of a large vehicle according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a first server according to an embodiment of the present application;

fig. 10 is a schematic diagram of a composition structure of a driving navigation method applied to a server according to an embodiment of the present application.

Detailed Description

In order to make the objects, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the embodiments described below are only some embodiments, but not all embodiments of the present application. All other embodiments obtained by a person skilled in the art based on the embodiments in the embodiments of the present application fall within the scope of protection of the embodiments of the present application.

The terms "comprises" and "comprising," and any variations thereof, in the description of the embodiments and the claims and in the foregoing drawings, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The embodiment of the present invention firstly provides a driving navigation system, referring to fig. 1a, the driving navigation system provided in the embodiment of the present invention may include: the system comprises a road facility, a first server and a terminal. The first server communicates with the road facility and the terminal, and the road facility has a function of monitoring the road, for example, the road facility may include: the road side camera, radar, etc. may be, for example, a microwave radar, where the road facility is disposed on a road in a traffic network or disposed at an edge of the road, and in the embodiment of the present application, the number and distribution density of the road facilities disposed on the road are not limited, and the road facilities have a road monitoring function, for example, the road facilities monitor vehicles and pedestrians on the road in real time, and then generate a road monitoring result. The first server is a message processing and message distributing function body in the driving navigation system, and the first server can be a cloud server specifically, for example, the first server can communicate with the road facility in a wireless or wired mode so as to acquire road monitoring information from the road facility. In addition, the first server can also communicate with the terminal through a wireless network so as to send the road information of the terminal to the terminal. Terminals have various implementation forms, such as vehicle-mounted terminals and mobile terminals, and vehicle-mounted terminals may also be referred to as vehicle-mounted sensing devices, for example, a camera, a laser radar and a millimeter wave radar may be disposed in the vehicle-mounted terminals.

As shown in fig. 1b, another driving navigation system provided in an embodiment of the present application further includes: and the second server is used for distributing the road information in the second area range, wherein the second area range comprises the first area range, and the second area range is larger than the first area range. For example, a plurality of first servers may be provided in the car navigation system. The first server is an edge cloud server, the second server can be a center cloud server, the area range of the second server is larger than that of the first server, the second server can be reported after the first server acquires the road monitoring information, and if the first server needs to acquire the road information of the position of the terminal, the first server acquires the road information of the position of the terminal from the second server.

Next, firstly, an interaction flow between a first server, a road facility and a terminal in a driving navigation system in an embodiment of the present application is illustrated, referring to fig. 2, and the driving navigation method provided in one embodiment of the present application may include the following steps:

201. The first road monitoring information periodically transmitted by the road facility comprises: and monitoring results of the road where the road facility is located.

In the embodiment of the present application, the road facility may periodically generate the road monitoring information, for example, the road facility periodically generates the first road monitoring information, where the first road monitoring information includes: and monitoring results of the road where the road facility is located. For example, the first road monitoring information includes a video image taken from a road where the road facility is located, and the first road monitoring information may further include: the physical property of the object and the parameter information of the pedestrian tested by the radar can be a motor vehicle or a non-motor vehicle.

In addition, in the embodiment of the present application, the first road monitoring information sent by the road facility may be sent periodically, and the period may be set according to a specific scenario, for example, the first road monitoring information may be sent every 1 second.

In some embodiments of the present application, after the road facility acquires the original road acquisition data, the road facility may perform information intelligent processing (such as image recognition processing) locally, so that the road facility generates first road monitoring information according to the image recognition result, and the first road monitoring information sent by the road facility may be a V2X message already packaged. In other embodiments of the present application, the asset may not be provided with information intelligence (e.g., image recognition) where the first road monitoring information reported by the asset to the first server is the original road collection data.

202. The first server receives first road monitoring information periodically transmitted by the road facility.

In this embodiment of the present application, the first server may communicate with a road facility, and if a plurality of road facilities are provided in the driving navigation system, the first server may communicate with the plurality of road facilities, and receive the first road monitoring information periodically sent by each road facility.

In some embodiments of the present application, the first server is connected to the infrastructure through a mobile network, or a car networking network, or a wired network.

The mobile network may include a 4G or 5G network, the internet of vehicles network may be an LTE-V (Long Term Evolution-Vehicle) network, and the wired network may include an optical fiber network. The configuration manner of the network is not described in detail here, and the first server may receive the first road monitoring information sent by the road facility through the mobile network, or the internet of vehicles network, or the wired network.

203. The first server acquires road information of the position of the terminal according to the first road monitoring information, and the range of the road facility covers the position of the terminal.

In the embodiment of the application, the first server may communicate with the terminal. For example, the terminal may actively report its own location information to the first server, or the first server may send a location query request to the terminal to obtain the location information of the terminal. In this embodiment of the present application, the location of the terminal may be represented by a GPS location, but not limited to, the location of the terminal may also be a location obtained by another positioning system, for example, the location of the terminal may be obtained by a base station positioning manner.

After the first server obtains the first road monitoring information sent by the road facility, the range of the road where the road facility is located covers the position where the terminal is located, so that the first server can obtain the road information of the position where the terminal is located according to the first road monitoring information. The road information refers to road traffic information of a location where the terminal is located, and the road information has various expression forms, for example, the road information includes: vehicle conditions on roads, pedestrian conditions, traffic light phase information, whether roads are congested, and the like. The road information of the position of the terminal can be determined according to the actual scene.

In some embodiments of the present application, the road information of the location of the terminal is encapsulated in a format of a vehicle networking (vehicle to everything, V2X) message;

the road information of the position of the terminal comprises at least one of the following: motor vehicle information, or non-motor vehicle information, or pedestrian information, or traffic light signal information, or road traffic state information.

The road information adopted in the embodiment of the application may be encapsulated by using a V2X message. The road information of the position of the terminal comprises at least one of the following: motor vehicle information, or non-motor vehicle information, or pedestrian information, or traffic light signal information, or road traffic state information. The vehicle information refers to information of vehicles on a road, the non-vehicle information refers to non-vehicle information on the road, the pedestrian information refers to information of pedestrians appearing on the road, the traffic light signal information refers to phase information of traffic lights erected on the road, and the road traffic state information refers to traffic state information on the road. Specifically, any item of information in the road information of the position of the terminal can be configured in combination with the actual scene.

For example, as follows, a V2X message may include a plurality of V2X message units, each V2X message unit representing an object (e.g., a motor vehicle, or a non-motor vehicle, or a pedestrian) or a traffic signal (e.g., traffic light phase information) or road communication status information on a road. A V2X message consists of a list containing a plurality of V2X message units, for example, a V2X message may include: n V2X message units, V2X message unit 1, V2X message unit 2, …, V2X message unit n, respectively. Each V2X message unit stores an object, or a traffic light, or a piece of road communication status information.

In some embodiments of the present application, the motor vehicle information includes at least one of: motor vehicle self parameter information, motor vehicle driving parameter information and motor vehicle positioning information;

the non-motor vehicle information includes at least one of: non-motor vehicle driving parameter information and non-motor vehicle positioning information;

the pedestrian information includes at least one of: pedestrian walking parameter information and pedestrian positioning information;

the traffic light signal information includes at least one of: current state information of the traffic light, next state information of the traffic light and positioning information of the traffic light;

The road traffic state information includes at least one of: road self parameter information, weather parameter information and road positioning information.

Wherein the motor vehicle information includes at least one of: the motor vehicle parameter information refers to parameter information of the motor vehicle, such as license plate number, type of the motor vehicle, length, width, height, and the like of the motor vehicle, the motor vehicle driving parameter information refers to speed, speed direction, acceleration direction, and the like of the motor vehicle, and the motor vehicle positioning information refers to a positioning method, positioning accuracy, positioning result, and the like for positioning the motor vehicle.

The non-motor vehicle information includes at least one of: the non-motor vehicle driving parameter information refers to speed, speed direction, acceleration direction and the like of a non-motor vehicle (such as an electric vehicle and a bicycle), and the non-motor vehicle positioning information refers to a positioning method, positioning precision, positioning results and the like for positioning the non-motor vehicle.

The pedestrian information includes at least one of: the pedestrian walking parameter information refers to the speed, the speed direction, the acceleration direction and the like of the pedestrian, and the pedestrian positioning information refers to a positioning method, positioning accuracy, positioning results and the like for positioning the pedestrian.

The traffic light signal information includes at least one of: the traffic light current state information can comprise a current traffic light state, an indication direction and a current state remaining time, the traffic light next state information can comprise a next traffic light state, an indication direction and a next state duration, and the traffic light positioning information refers to a positioning method, positioning accuracy, positioning results and the like for positioning the traffic light.

The road traffic state information includes at least one of: road self parameter information, weather parameter information and road positioning information, wherein the road self parameter information refers to the number of lanes, the length of a road, the direction of the road, the friction coefficient of the road surface, the gradient of the road surface, the curvature of the road surface, the legal highest speed limit of the road surface and the historical data of road traffic accidents. The weather parameter information may be the visibility of the current road, and the road positioning information refers to a positioning method, positioning accuracy, positioning result and the like for positioning the road.

The specific components of the vehicle information, or the non-vehicle information, or the pedestrian information, or the traffic light signal information, or the road traffic state information are not limited, and may be configured in conjunction with specific scenes, and further, the detailed description of the specific components of the vehicle information, or the non-vehicle information, or the pedestrian information, or the traffic light signal information, or the road traffic state information may be referred to the detailed description in conjunction with the tables in the subsequent embodiments.

In some embodiments of the present application, the asset may not be provided with information intelligence (e.g., image recognition) processing, where the first road monitoring information reported by the asset to the first server is the original road collection data. In this implementation scenario, the driving navigation method provided in the embodiment of the present application may further include the following steps:

the first server extracts road conditions of the original road collected data, and encapsulates the extracted road conditions into a vehicle networking V2X message.

The first server also needs to have information intelligent processing (such as image recognition processing) at this time, extracts road conditions from the original road collected data, encapsulates the extracted road conditions into a V2X message of the internet of vehicles, and does not limit the encapsulation flow of the V2X message.

204. The first server sends road information of the position of the terminal.

In the embodiment of the application, the first server may communicate with the terminal. After the first server obtains the road information of the position of the terminal, the first server may send the road information of the position of the terminal.

In some embodiments of the present application, the first server is connected to the terminal through a mobile network, or a car networking network.

The mobile network may include a 4G or 5G network, and the internet of vehicles network may be an LTE-V network. The configuration of the network is not described in detail here, and the first server may send the road information of the location of the terminal through the mobile network or the internet of vehicles network.

In some embodiments of the present application, step 204 the first server sending road information of the location of the terminal includes:

the method comprises the steps that a first server periodically sends road information of a position of a terminal through a broadcast channel, so that the terminal in a coverage range of the broadcast channel receives the road information; or alternatively, the process may be performed,

the first server feeds back the road information of the position of the terminal to the terminal sending the road information acquisition request.

The first server periodically acquires the road information and periodically performs broadcast transmission through a wireless broadcast channel (e.g., LTE-V). The terminal installed with the LTE-V module may receive the road information while passing through the coverage of the broadcast channel. As another example, a terminal installed with a 4G or 5G module or an LTE-V module may issue a road information acquisition request on a wireless channel supported by the above module. After receiving the request, the first server acquires corresponding road information according to the position information of the requesting terminal and sends the road information to the terminal.

205. And the terminal receives the road information of the position of the terminal sent by the first server.

In the embodiment of the application, the first server may communicate with the terminal. After the first server obtains the road information of the location of the terminal, the first server may send the road information of the location of the terminal, and the terminal may first receive the road information of the location of the terminal from the first server.

206. And the terminal performs driving navigation processing according to the road information of the position of the terminal.

In this embodiment of the present application, after the terminal obtains the road information of the location of the terminal from the first server, the terminal may use the road information of the location of the terminal as navigation data, and perform processing of driving navigation according to the navigation data, for example, the terminal may perform navigation broadcasting to remind the driver of the specific condition of the current road.

As can be seen from the description of the embodiments of the present application by the above embodiments, the first server communicates with the road facility and the terminal, respectively. First road monitoring information periodically transmitted by road facilities, wherein the first road monitoring information comprises: the method comprises the steps that a first server receives first road monitoring information periodically sent by a road facility, then the first server obtains road information of the position of a terminal according to the first road monitoring information, the range of the road where the road facility is located covers the position of the terminal, then the first server sends the road information of the position of the terminal, the terminal receives the road information of the position of the terminal sent by the first server, and driving navigation processing can be carried out according to the road information of the position of the terminal. The road facility in the embodiment of the application can monitor the road, so that a more comprehensive and more accurate road monitoring result is acquired, the first server provides the road information of the position of the terminal for the terminal, the terminal can carry out the processing of driving navigation according to the road information, and the problem that the road information is provided only by the terminal is avoided.

Next, the driving navigation method provided in the embodiment of the present application is described from the perspective of the first server, as shown in fig. 3, where the driving navigation method provided in the embodiment of the present application is applied to the first server in the driving navigation system, and the driving navigation system further includes: the system comprises a road facility and a terminal, wherein the first server is respectively communicated with the road facility and the terminal. As shown in fig. 3, the driving navigation method includes the following steps:

301. the first server receives first road monitoring information periodically sent by the road facility, wherein the first road monitoring information comprises: and monitoring results of the road where the road facility is located.

302. The first server receives second road monitoring information sent by the terminal, wherein the second road monitoring information comprises: the driving information of the motor vehicle where the terminal is located and the monitoring result of the road where the terminal is located.

In this embodiment of the present application, the terminal may be a vehicle-mounted terminal, for example, the vehicle-mounted terminal may generate the second road monitoring information including: the driving information of the motor vehicle with the terminal and the monitoring result of the road with the terminal can be information acquired by the vehicle-mounted terminal for the motor vehicle, and the monitoring result of the road with the terminal can be a road monitoring result obtained after the vehicle-mounted terminal monitors the current driving road.

It should be noted that, there may be no time sequence between the

steps

301 and 302.

In some embodiments of the present application, the step 203 of the first server in the foregoing embodiment may specifically include the following

steps

303 and 304 when obtaining the road information of the location of the terminal according to the first road monitoring information.

303. And the first server performs information fusion processing on the first road monitoring information and the second road monitoring information to obtain a road monitoring fusion result.

In the embodiment of the application, if the road facilities and the terminals report the respective road monitoring information to the first server respectively, the first server can perform information fusion processing on the two types of received road monitoring information, for example, road monitoring information fusion is performed according to the same position on the road, so that a road monitoring fusion result can be obtained, and the road monitoring fusion result comprises the road monitoring information respectively reported by the road facilities and the terminals, so that the real road condition of the road can be reflected more comprehensively, and the accuracy and precision of driving navigation are further improved.

304. And the first server acquires the road information of the position of the terminal according to the road monitoring fusion result.

In this embodiment of the present application, after the first server generates the road monitoring fusion result, the road information of the location of the terminal may be obtained from the road monitoring fusion result according to the location of the terminal. The road information of the location of the terminal may be a V2X message, which is described in detail in the foregoing embodiment for the content of the V2X message.

305. The first server sends road information of the position of the terminal, so that the terminal carries out driving navigation processing according to the road information of the position of the terminal.

Through the description of the embodiment of the application, the road facilities and the terminals in the embodiment of the application can monitor the road, so that more comprehensive and accurate road monitoring results can be acquired, the first server can conduct information fusion processing on the two types of received road monitoring information, then the road information of the position of the terminal is provided for the terminal according to the road monitoring fusion results, the terminal can conduct driving navigation processing according to the road information, and the problem that only the terminal is relied on to provide the road information is avoided.

As shown in fig. 4, the driving navigation method provided in the embodiment of the present application is applied to a first server in a driving navigation system, where the driving navigation system further includes: the system comprises a road facility and a terminal, wherein the first server is respectively communicated with the road facility and the terminal. As shown in fig. 4, another driving navigation method includes the following steps:

401. the first server receives first road monitoring information periodically sent by the road facility, wherein the first road monitoring information comprises: and monitoring results of the road where the road facility is located.

402. The first server receives a road information acquisition request sent by the terminal, wherein the road information acquisition request comprises: the position information of the terminal and the time length for transmitting the road information;

in this embodiment of the present application, a terminal may actively send a request for obtaining road information, where the request for obtaining road information carries location information of the terminal, and the request for obtaining road information may also carry a time length for sending road information, where the time length for sending road information refers to a time length occupied by sending road information.

Further, in some embodiments of the present application, the length of the transmission time of the road information is obtained according to the detection time set for the road information by the first server and the transmission time of the road information acquisition request.

The first server can set detection time for the road information, so that the validity of the road information sent by the first server is guaranteed. For example, the road information transmission time length is obtained from the latest detection time set for the road information by the first server and the transmission time of the road information acquisition request. For example, a vehicle mounted with a 4G or 5G module or an LTE-V module may issue a road information acquisition request on a wireless channel supported by the above modules. In order for the first server to set the effective detection time of the road information, the vehicle-issued request needs to include the vehicle-itself information defined by the terminal and the road information transmission time length Tb. Where tb=te-Ts, te represents the latest detection time of the road information sent from the first server, and Ts represents the time when the road information acquisition request is sent. After the first server obtains the position information of the terminal and the sending time length of the road information from the road information obtaining request, the first server can set the latest detection time of the road information according to the sending time length of the road information so as to ensure the validity of the road information sent by the first server.

It should be noted that, there may be no time sequence between the step 401 and the step 402.

403. The first server acquires the road information of the position of the terminal from the first road monitoring information according to the position information of the terminal and the road information transmitting time length.

In this embodiment of the present application, after the first server obtains the location information where the terminal is located and the sending time length of the road information from the road information obtaining request, the first server may set the latest detection time of the road information according to the sending time length of the road information, so as to ensure the validity of the road information sent by the first server.

404. The first server sends road information of the position of the terminal, so that the terminal carries out driving navigation processing according to the road information of the position of the terminal.

Through the description of the embodiment of the application, the road facility in the embodiment of the application can monitor the road, so that a more comprehensive and accurate road monitoring result can be acquired, the terminal actively sends a road information acquisition request to the first server, the first server replies the road information of the position of the terminal to the terminal, the terminal can carry out the processing of driving navigation according to the road information, and the problem that the road information is provided only by the terminal is avoided.

As shown in fig. 5, the driving navigation method provided in the embodiment of the present application is applied to a first server in a driving navigation system, where the driving navigation system further includes: the system comprises a road facility and a terminal, wherein the first server is respectively communicated with the road facility and the terminal. The driving navigation system further includes: the second server is used for distributing the road information in the first area range, the second server is used for distributing the road information in the second area range, the second area range comprises the first area range, and the second area range is larger than the first area range. As shown in fig. 5, another driving navigation method includes the following steps:

501. the first server receives first road monitoring information periodically sent by the road facility, wherein the first road monitoring information comprises: and monitoring results of the road where the road facility is located.

502. The first server sends the first road monitoring information to the second server so that the second server stores the first road monitoring information.

The first server may include a lightweight message processing module located in the edge cloud, the lightweight message processing module being responsible for small-range message distribution, and the second server may include a heavyweight message processing module located in the center cloud, the heavyweight message processing module being responsible for large-range message distribution. After the lightweight message processing module collects the road monitoring information, the lightweight message processing module needs to be synchronized to the lightweight message processing module.

503. The first server receives road information of the position of the terminal from the second server through interaction with the second server.

In this embodiment of the present application, if the location of the terminal exceeds the area of the first server, the first server may interact with the second server, for example, the first server requests the second server to obtain the road information of the location of the terminal, and the second server may obtain the corresponding road information according to the location of the terminal, and then send the road information of the location of the terminal to the first server.

504. The first server sends road information of the position of the terminal, so that the terminal carries out driving navigation processing according to the road information of the position of the terminal.

Through the description of the embodiment of the application, the road facility in the embodiment of the application can monitor the road, so that a more comprehensive and accurate road monitoring result can be acquired, if the first server cannot provide the road information of the position of the terminal for the terminal, the first server can interact with the second server responsible for a larger area range to acquire the road information of the position of the terminal, then the road information of the position of the terminal is sent to the terminal, the terminal can perform the processing of driving navigation according to the road information, and the problem that only the terminal is relied on to provide the road information is avoided.

In order to better understand and implement the above-mentioned schemes of the embodiments of the present application, the following specific description is given by illustrating corresponding application scenarios.

The embodiment of the application provides a driving navigation scheme, which is applicable to a driving navigation system based on V2X information, for example, and can realize refined travel navigation service by utilizing V2X capability. As shown in fig. 6, an embodiment of the present application provides a driving navigation system including: the system comprises a central cloud server, an edge cloud server, a network transmission system, road facilities and terminals. Wherein, the liquid crystal display device comprises a liquid crystal display device,

the center cloud server is provided with an heavyweight message processing module, and the edge cloud server comprises: the edge cloud server can further comprise an edge processing module. The edge cloud server may be a V2X message distribution component of the cloud. A communication connection is established between the heavy-weight message handling module and the light-weight handling module, for example by means of a wired or wireless connection.

The edge cloud server is connected with the terminal and the road facilities through the network transmission system. The network transmission system may include: mobile networks, internet of vehicles networks, and wired networks. The mobile network may comprise a 4G or 5G network, the internet of vehicles network may in particular be an LTE-V network, the wired network may comprise a fibre optic network, for example an edge cloud server may be connected to the road infrastructure through a mobile network, an internet of vehicles network or a wired network.

Terminals have various implementation forms, such as vehicle-mounted terminals and mobile terminals, and vehicle-mounted terminals may also be referred to as vehicle-mounted sensing devices, for example, a camera, a laser radar and a millimeter wave radar may be disposed in the vehicle-mounted terminals. The edge cloud server can be connected with the mobile terminal through a mobile network or a car networking network, or the edge cloud server can be connected with the car terminal through the mobile network or the car networking network.

There are various kinds of road facilities, for example, a road facility 1, a road facility 2, and a road facility 3 are provided in a car navigation system, the road facility 1 may be a traffic light, the road facility 2 may be a road side monitoring device, the road side monitoring device may include a camera and a microwave radar, and the road facility 3 may be a camera.

In the embodiment of the application, after the road monitoring information is acquired by the road side monitoring device and the vehicle-mounted sensing device, the road monitoring information is fused and abstracted into a V2X message list and is sent to a V2X message distribution component of the cloud. And the terminal periodically sends a road information acquisition request to the V2X message distribution component of the cloud. The V2X message distribution component informs the terminal of road information in a certain range around the vehicle in the form of a V2X message list according to the GPS position information reported by the terminal. After the terminal acquires the V2X message list, navigation information is presented to the driver according to the current driving state (such as speed and direction), wherein the navigation information can include lane-level road conditions, such as a straight road, a left-turn road and the like, and the lane-level road conditions refer to traffic conditions on the lanes, such as the lane-level road conditions can include a front fault vehicle, a large vehicle blocking vision, and the like.

In the embodiment of the application, the user can acquire the refined road information, such as the lane-level road condition, by using the common mobile phone terminal or the vehicle-mounted terminal. On the vehicle terminal side or the mobile terminal side, a corresponding software development kit (Software Development Kit, SDK) or application programming interface (Application Programming Interface, API) needs to be developed, and the terminal can be connected with the V2X message distribution component of the cloud based on the SDK or the API, and acquire road information transmitted in the form of V2X messages.

On the cloud side, a V2X message distribution component needs to be built. The assembly may include: the system comprises a data acquisition module, a message processing module and a data distribution module. The data acquisition module is responsible for acquiring road monitoring information from the road facilities and forwarding the acquired information to the message processing module. The data distribution module is responsible for processing a road information acquisition request from the terminal, acquiring the road information from the message processing module according to the request of the terminal, and forwarding the road information to the terminal. The data distribution module can perform information screening and then send road information to the message processing module. The message processing module is used for information release, information subscription and information storage, for example, the message processing module is responsible for storing the road information from the data acquisition module and forwarding the road information to the data distribution module. For another example, if the terminal needs to acquire the information of a certain road, the terminal can subscribe information to the message processing module in advance, and after the message processing module receives the subscription request, the subscribed road information can be pushed to the terminal through the data distribution module.

The message processing module on the cloud side may include two types: the first part is a lightweight message processing module which is deployed in an edge cloud located at the edge of the network and is responsible for small-scale message distribution, and the second part is a heavyweight message processing module which is deployed in a central cloud inside the network and is responsible for large-scale message distribution. After the lightweight message processing module collects the road information, the lightweight message processing module needs to be synchronized to the lightweight message processing module. The small-range corresponding geographic distance may be 1 to 2 km, and the large-range corresponding geographic distance may be 10 to 20 km.

In addition, for the road facilities without intelligent information processing capability (such as image recognition), an edge processing module needs to be arranged in an edge cloud server, and the edge processing module supports the functions of image recognition positioning, multi-source perception information fusion, V2X message encapsulation and the like, wherein the multi-source perception information fusion refers to fusion of perception information provided by a plurality of data sources so as to obtain fused road monitoring information.

Next, a description will be given of a terminal in the driving navigation system provided in the embodiment of the present application, where the terminal may include a vehicle-mounted terminal and a mobile terminal. The vehicle-mounted terminal, the mobile terminal and the road facilities are accessed into the cloud through the network transmission system. On the cloud side, the whole system is respectively provided with an edge cloud server and a center cloud server. The edge cloud server is provided with a data acquisition module, an edge processing module, a data distribution module and a lightweight message processing module. The central cloud server deploys a heavyweight message processing module.

The vehicle-mounted terminal or the mobile terminal is connected with the data distribution module through a 4G/5G network or an LTE-V network, wherein the LTE-V network is a 4G network-based Internet of vehicles network, and road information transmitted in a V2X message form is acquired. In addition, the vehicle-mounted terminal or the mobile terminal can report the road monitoring information perceived by the vehicle-mounted terminal or the mobile terminal to the data acquisition module through the V2X message.

And the road facility reports the perceived road monitoring information through a 4G/5G network, an LTE-V network or an optical fiber connection edge cloud server. If the road facility has intelligent information processing capability, the V2X message can be directly reported to the data acquisition module. Otherwise, the road facilities need to upload the original information (such as images or radar data) to the edge processing module for processing, and finally the edge processing module forwards the road monitoring information obtained after processing to the data acquisition module in the form of V2X information. The edge processing module is used for respectively analyzing video images acquired by the cameras and packaging analysis results into V2X messages.

The data distribution module is responsible for processing a road information acquisition request from the terminal, acquiring information from the message processing module according to the request of the terminal, and forwarding the information to the terminal. The message processing module is responsible for storing the road monitoring information from the data acquisition module and forwarding the road monitoring information to the data distribution module. The lightweight message processing module in the edge cloud is responsible for small-range message distribution, and the heavyweight message processing module in the center cloud is responsible for large-range message distribution. After the lightweight message processing module collects the road monitoring information, the lightweight message processing module needs to be synchronized to the lightweight message processing module.

Next, an example of the V2X message in the embodiment of the present application is described, where the V2X message may include n V2X message units, and each V2X message unit represents an object (such as a motor vehicle, or a non-motor vehicle, or a pedestrian) or a traffic signal (such as traffic light phase information) or road communication status information on a road. For example, a V2X message is made up of a list containing a plurality of V2X message units, and a V2X message may include: n V2X message units, V2X message unit 1, V2X message unit 2, …, V2X message unit n, respectively. Each V2X message unit stores an object, or a traffic light, or a piece of road communication status information.

As shown in tables 1 to 4 below, five V2X message unit formats are defined in the embodiments of the present application to indicate motor vehicle information, non-motor vehicle information, pedestrian information, traffic light signal information, and road traffic state information.

Referring to fig. 7a, a schematic structural diagram of a V2X message unit provided in an embodiment of the present application is shown, where the V2X message unit is specifically a V2X message unit of motor vehicle information, and the V2X message unit of motor vehicle information may include at least one of the following V2X message unit fields: unit type, object source, detection device ID, license plate number, vehicle type, vehicle make and model, length, width, height, longitude, latitude, altitude, latitude extension, longitude extension, speed direction, acceleration direction, detection time 1, detection time 2, GPS positioning method, GPS satellite number, GPS positioning accuracy. In addition, two fields at two ends of the arrow in fig. 7a indicate that the two fields are adjacent in the V2X message unit, and the embodiment of the present application is not limited to the positional relationship between the contents of the fields in the V2X message unit. The meaning of the individual fields in the V2X message unit for the motor vehicle information is illustrated in table 1 below.

Table 1 is a description table of the various fields included in the V2X message unit of the motor vehicle information:

referring to fig. 7b, a schematic diagram of a composition structure of another V2X message unit provided in an embodiment of the present application is shown, where the V2X message unit is specifically a V2X message unit of non-motor vehicle information and pedestrian information, and the V2X message unit of the non-motor vehicle information and the pedestrian information may include at least one of the following V2X message unit fields: unit type, object source, detection device ID, longitude, latitude, altitude, latitude extension, longitude extension, speed direction, acceleration direction, detection time 1, detection time 2, GPS positioning method, GPS satellite number, GPS positioning accuracy. In addition, two fields at two ends of the arrow in fig. 7b indicate that the two fields are adjacent in the V2X message unit, and the embodiment of the present application is not limited to the positional relationship between the contents of the fields in the V2X message unit. The meaning of the various fields in the V2X message unit for non-motor vehicle information and pedestrian information is illustrated in table 2 below.

Table 2 is a description table of respective fields included in the V2X message unit of the non-motor vehicle information and the pedestrian information:

referring to fig. 7c, a schematic structural diagram of another V2X message unit provided in an embodiment of the present application is shown, where the V2X message unit is specifically a V2X message unit of traffic light information, and the V2X message unit of the traffic light information may include at least one of the following V2X message unit fields: the method comprises the steps of unit type, current state of a traffic light, current indication direction of the traffic light, next state of the traffic light, next indication direction of the traffic light, remaining time of the current state of the traffic light, duration time of the next state of the traffic light, longitude, latitude, altitude, latitude expansion, longitude expansion, direction of the traffic light, detection time 1, detection time 2, GPS positioning method, GPS satellite number and GPS positioning precision. In addition, two fields at two ends of the arrow in fig. 7c indicate that the two fields are adjacent in the V2X message unit, and the embodiment of the present application is not limited to the positional relationship between the contents of the fields in the V2X message unit. The meaning of the individual fields in the V2X message unit for traffic light information is illustrated in table 3 below.

Table 3 description table of various fields included in V2X message unit of traffic light information:

referring to fig. 7d, a schematic structural diagram of another V2X message unit provided in the embodiment of the present application is shown, where the V2X message unit is specifically a V2X message unit of road traffic status information, and the V2X message unit of the road traffic status information may include at least one of the following V2X message unit fields: unit type, visibility, road friction coefficient, road gradient, road curvature, road legal highest speed limit, road traffic accident history data, detected vehicle speed, lane length, lane direction, lane start longitude 1, lane start latitude 1, lane altitude 1, lane start longitude 2, lane start latitude 2, lane altitude 2, latitude extension, longitude extension, detected time 1, detected time 2, GPS positioning method, GPS satellite number, GPS positioning accuracy. In addition, two fields at two ends of the arrow in fig. 7d indicate that the two fields are adjacent in the V2X message unit, and the embodiment of the present application is not limited to the positional relationship between the contents of the fields in the V2X message unit. The meaning of the various fields in the V2X message unit for road traffic status information is illustrated in table 4 below.

Table 4 is a description table of respective fields included in the V2X message unit of the road traffic state information:

it should be noted that the GPS positioning method, the number of GPS satellites, and the GPS positioning accuracy in the foregoing tables 1 to 4 are just one way to determine the position information of the object, but the physical position information in the embodiments of the present application may also be determined by other positioning systems, for example, a beidou positioning system or a base station-based positioning system may be used, which is not limited herein.

The road information acquisition modes related to the embodiment of the application are two in total. One is road facility reporting and the other is vehicle reporting.

For example, in a scene of reporting the road facilities, after the road facilities collect information, the information is periodically reported to a data collection module of the cloud.

For another example, in a scenario where the vehicle reports, after the vehicle obtains information through its own sensor, the vehicle may report the information to the cloud data acquisition module periodically or aperiodically.

Next, an example of a road information distribution process in the embodiment of the present application is described, and there are two road information distribution methods according to the embodiment of the present application. One is periodic broadcasting and the other is directed to a particular vehicle upon request by the vehicle.

Firstly, explaining a periodically broadcast scene, periodically capturing road information from a message processing module by a cloud data distribution module, and periodically performing broadcast transmission through a wireless broadcast channel (e.g. LTE-V). The vehicle mounted with the LTE-V module may receive road information while passing through the broadcast channel coverage.

Next, a scenario of on-demand directional transmission will be described, in which a vehicle equipped with a 4G or 5G module or an LTE-V module may issue a road information acquisition request on a wireless channel supported by the above modules. The request issued by the vehicle needs to include the vehicle-itself information and the road information transmission time period Tb defined in table 1. Where tb=te-Ts, te represents the latest detection time in the road information message unit sent by the data distribution module, and Ts represents the time when the road information acquisition request is sent.

After receiving the request, the data distribution module captures corresponding road information from the message processing module according to GPS information and Tb value of the requesting vehicle and sends the road information to the vehicle.

Fig. 8 is a schematic diagram of a navigation reminding process for shielding the sight of a large vehicle according to an embodiment of the present application. Wherein, be provided with in the driving navigation system: edge cloud server, road facilities, network transmission system, this edge cloud server can include: the edge processing module, the road facility may be a road side camera, and the network transmission system may include: a 5G base station or a roadside communication unit. For example, there are a vehicle a, a vehicle B, and a vehicle C traveling on a certain road. The vision of the A car is blocked by the C bus, and the B car cannot be found. The road side cameras shoot the vehicle A, the vehicle B and the vehicle C, and identification and positioning are completed through the edge processing module. And then, the edge processing module sends the identification information of the three vehicles to the data acquisition module in the form of V2X information, and finally stores the identification information into the information processing module. The data distribution module periodically captures road information from the message processing module and broadcasts it through the roadside communication unit.

If the A car is provided with the LTE-V module, broadcast data sent by the road side communication unit can be received. After the received V2X message unit is analyzed, vehicle-mounted software of the vehicle A senses the vehicle C and the vehicle B and reminds a driver of not overtaking.

If the A vehicle only installs the 5G module, a request needs to be sent to the data distribution module. And the data distribution module captures information from the message processing module according to the request and then sends the information to the A vehicle through the 5G information. After the received V2X message unit is analyzed, vehicle-mounted software of the vehicle A senses the vehicle C and the vehicle B and reminds a driver of not overtaking.

According to the embodiment of the application, the V2X message is utilized, road facilities and a mobile network (such as a 4G/5G network) are utilized to realize the perception and distribution of road information, the use experience of vehicle-mounted software in the terminal is improved, and the driving safety is improved.

It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the embodiments are not limited by the order of actions described, as some steps may take other order or occur simultaneously in accordance with the embodiments. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the embodiments of the present application.

In order to facilitate better implementation of the above-described aspects of the embodiments of the present application, the following further provides related devices for implementing the above-described aspects.

Referring to fig. 9, a driving navigation device provided in an embodiment of the present application, where the driving navigation device is applied to a first server, the driving navigation device 900 may include: a receiving module 901, a processing module 902, a transmitting module 903, wherein,

the receiving module 901 is configured to receive first road monitoring information periodically sent by the road facility, where the first road monitoring information includes: monitoring results of roads where the road facilities are located;

the processing module 902 is configured to obtain, according to the first road monitoring information, road information of a location where the terminal is located, where a range of a road where the road facility is located covers the location where the terminal is located;

the sending module 903 is configured to send the road information of the location of the terminal, so that the terminal performs processing of driving navigation according to the road information of the location of the terminal.

In some embodiments of the present application, the receiving module 901 is further configured to receive second road monitoring information sent by the terminal, where the second road monitoring information includes: the driving information of the motor vehicle where the terminal is located and the monitoring result of the road where the terminal is located;

The processing module 902 is configured to perform information fusion processing on the first road monitoring information and the second road monitoring information to obtain a road monitoring fusion result; and acquiring the road information of the position of the terminal according to the road monitoring fusion result.

In some embodiments of the present application, the receiving module 901 is further configured to receive a road information acquisition request sent by the terminal, where the road information acquisition request includes: the position information of the terminal and the road information sending time length;

and the processing module 902 is configured to obtain, from the first road monitoring information, the road information of the location of the terminal according to the location information of the terminal and the sending time length of the road information.

In some embodiments of the present application, the length of the sending time of the road information is obtained according to the detection time set by the first server for the road information and the sending time of the road information obtaining request.

In some embodiments of the present application, the sending module 903 is configured to send, periodically, road information of a location of the terminal through a broadcast channel, so that the terminal in a coverage area of the broadcast channel receives the road information; or feeding back the road information of the position of the terminal to the terminal sending the road information acquisition request.

In some embodiments of the present application, the driving navigation system further includes: the second server is used for distributing road information in a first area range, the second server is used for distributing road information in a second area range, the second area range comprises the first area range, and the second area range is larger than the first area range;

a sending module 903, configured to send the first road monitoring information to the second server, so that the second server stores the first road monitoring information;

the processor 902 is configured to interact with the second server, and receive, through the receiving module 901, road information of a location where the terminal is located from the second server.

In some embodiments of the present application, the road information of the location of the terminal is encapsulated in a format of a vehicle networking V2X message;

In some embodiments of the present application, the first server is connected to the infrastructure through a mobile network, or a car networking network, or a wired network;

the first server is connected with the terminal through a mobile network or a car networking network.

In some embodiments of the present application, the first road monitoring information is original road collection data;

the processing module is further used for extracting road conditions of the original road collection data and packaging the extracted road conditions into a vehicle networking V2X message.

As is apparent from the foregoing description of the embodiments, the first server communicates with the road facility and the terminal, respectively. First road monitoring information periodically transmitted by road facilities, wherein the first road monitoring information comprises: the method comprises the steps that a first server receives first road monitoring information periodically sent by a road facility, then the first server obtains road information of the position of a terminal according to the first road monitoring information, the range of the road where the road facility is located covers the position of the terminal, then the first server sends the road information of the position of the terminal, the terminal receives the road information of the position of the terminal sent by the first server, and driving navigation processing can be carried out according to the road information of the position of the terminal. The road facility in the embodiment of the application can monitor the road, so that a more comprehensive and more accurate road monitoring result is acquired, the first server provides the road information of the position of the terminal for the terminal, the terminal can carry out the processing of driving navigation according to the road information, and the problem that the road information is provided only by the terminal is avoided.

The embodiment of the application further provides a driving navigation system, as shown in fig. 1a, including: the system comprises a first server, a road facility and a terminal, wherein the first server is respectively communicated with the road facility and the terminal;

the first server is configured to execute the driving navigation method executed by the first server in fig. 2 to 5;

In some embodiments of the present application, as shown in fig. 1b, the driving navigation system further includes: the second server is used for distributing road information in a first area range, the second server is used for distributing road information in a second area range, the second area range comprises the first area range, and the second area range is larger than the first area range;

The second server is used for receiving the first road monitoring information sent by the first server and storing the first road monitoring information; and sending the road information of the position of the terminal to the first server.

In some embodiments of the present application, the infrastructure is connected to the first server through a mobile network, or a car networking network, or a wired network;

the terminal is connected with the first server through a mobile network or a car networking network.

In some embodiments of the present application, the terminal includes: a vehicle-mounted terminal, or a mobile terminal.

Fig. 10 is a schematic diagram of a server structure provided in the embodiment of the present application, where the server 1000 may be specifically a first server as described above, where the server 1000 may be relatively different due to configuration or performance, and may include one or more central processing units (central processing units, CPU) 1022 (e.g., one or more processors) and a memory 1032, and one or more storage media 1030 (e.g., one or more mass storage devices) storing application programs 1042 or data 1044. Wherein memory 1032 and storage medium 1030 may be transitory or persistent. The program stored on the storage medium 1030 may include one or more modules (not shown), each of which may include a series of instruction operations on a server. Further, central processor 1022 may be configured to communicate with storage medium 1030 to perform a series of instruction operations in storage medium 1030 on server 1000.

The server 1000 may also include one or more power supplies 1026, oneOr more wired or wireless network interfaces 1050, one or more input/output interfaces 1058, and/or one or more operating systems 1041, e.g., windows Server ^TM ，Mac OS X ^TM ，Unix ^TM ,Linux ^TM ，FreeBSD ^TM Etc.

The driving navigation step performed by the server in the above embodiment may be based on the server structure shown in fig. 10.

It should be further noted that the above-described apparatus embodiments are merely illustrative, and that the units described as separate units may or may not be physically separate, and that units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the device embodiment drawings provided in the embodiments of the present application, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments of the present application may be implemented by means of software plus necessary general purpose hardware, or of course may be implemented by special purpose hardware, including application specific integrated circuits, special purpose CPUs, special purpose memories, special purpose components, and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions can be varied, such as analog circuits, digital circuits, or dedicated circuits. However, a software program implementation is a preferred implementation in many cases for the embodiments of the present application. Based on such understanding, the technical solution of the embodiments of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a readable storage medium, such as a floppy disk, a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random-access Memory (RAM, random Access Memory), a magnetic disk or an optical disk of a computer, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments of the present application.

In summary, the above embodiments are only for illustrating the technical solutions of the embodiments of the present application, and are not limited thereto; although the embodiments of the present application have been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the above embodiments can be modified or some technical features thereof can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. The driving navigation method is characterized in that the method is applied to a first server in a driving navigation system, and the driving navigation system further comprises: the first server is communicated with the road facility and the terminal respectively; the method comprises the following steps:

the first server acquires road information of the position of the terminal according to the first road monitoring information, the range of the road where the road facility is located covers the position of the terminal, and the road information of the position of the terminal comprises at least one of the following: motor vehicle information, or non-motor vehicle information, or pedestrian information, or traffic light signal information, or road traffic state information, the motor vehicle information including at least one of: the vehicle information comprises vehicle self parameter information, vehicle driving parameter information and vehicle positioning information, wherein the non-vehicle information comprises at least one of the following information: non-motor vehicle driving parameter information and non-motor vehicle positioning information, wherein the pedestrian information comprises at least one of the following: pedestrian walking parameter information and pedestrian positioning information, wherein the traffic light signal information comprises at least one of the following: the traffic light current state information, the traffic light next state information and the traffic light positioning information, wherein the road traffic state information comprises at least one of the following: road self parameter information, weather parameter information and road positioning information;

The first server sends road information of the position of the terminal, so that the terminal can present the navigation information to a driver according to the current running state according to the road information of the position of the terminal, the navigation information comprises lane-level road conditions, the lane-level road conditions refer to traffic conditions on lanes, the lane-level road conditions comprise front fault vehicles and large vehicles for shielding vision, and the driver is reminded of not overtaking according to the navigation information when the road of the position of the terminal is used for running.

2. The method according to claim 1, wherein the method further comprises: the first server receives second road monitoring information sent by the terminal, and the second road monitoring information comprises: the driving information of the motor vehicle where the terminal is located and the monitoring result of the road where the terminal is located;

the first server obtaining the road information of the position of the terminal according to the first road monitoring information comprises the following steps: the first server performs information fusion processing on the first road monitoring information and the second road monitoring information to obtain a road monitoring fusion result; and the first server acquires the road information of the position of the terminal according to the road monitoring fusion result.

3. The method according to claim 1, wherein the method further comprises: the first server receives a road information acquisition request sent by the terminal, wherein the road information acquisition request comprises: the position information of the terminal and the road information sending time length;

the first server obtaining the road information of the position of the terminal according to the first road monitoring information comprises the following steps: and the first server acquires the road information of the position of the terminal from the first road monitoring information according to the position information of the terminal and the road information sending time length.

4. The method according to claim 3, wherein the road information transmission time length is obtained from a detection time set by the first server for the road information and a transmission time of the road information acquisition request.

5. The method of claim 1, wherein the first server transmitting the road information of the location of the terminal comprises:

the first server periodically transmits road information of the position of the terminal through a broadcast channel, so that the terminal in the coverage range of the broadcast channel receives the road information; or alternatively, the process may be performed,

And the first server feeds back the road information of the position of the terminal to the terminal which sends the road information acquisition request.

6. The method of claim 1, wherein the car navigation system further comprises: the second server is used for distributing road information in a first area range, the second server is used for distributing road information in a second area range, the second area range comprises the first area range, and the second area range is larger than the first area range;

the first server obtaining the road information of the position of the terminal according to the first road monitoring information comprises the following steps: the first server sends the first road monitoring information to the second server so that the second server stores the first road monitoring information; and the first server receives the road information of the position of the terminal from the second server through interaction with the second server.

7. The method according to any one of claims 1 to 6, wherein the road information of the location of the terminal is encapsulated in a format of a vehicle networking V2X message.

8. The method according to any one of claims 1 to 6, wherein the first server is connected to the road infrastructure through a mobile network, or a car networking network, or a wired network;

9. The method according to any one of claims 1 to 6, wherein the first road monitoring information is raw road acquisition data;

the method further comprises the steps of: the first server extracts road conditions of the original road collection data, and encapsulates the extracted road conditions into a vehicle networking V2X message.

10. A driving navigation device, wherein the driving navigation device is applied to a first server, the driving navigation device comprises: a processor and a memory;

the memory is used for storing instructions;

the processor being configured to execute the instructions in the memory and to perform the method of any one of claims 1 to 9.

11. A driving navigation system, characterized in that the driving navigation system comprises: the system comprises a first server, a road facility and a terminal, wherein the first server is respectively communicated with the road facility and the terminal;

The first server for performing the method of any one of claims 1 to 9;

12. The system of claim 11, wherein the car navigation system further comprises: a second server, wherein,

the first server is used for distributing road information in a first area range, the second server is used for distributing road information in a second area range, the second area range comprises the first area range, and the second area range is larger than the first area range;

13. The system according to claim 11 or 12, wherein the infrastructure is connected to the first server via a mobile network, or a car networking network, or a wired network;

14. The system according to claim 11 or 12, characterized in that the terminal comprises: a vehicle-mounted terminal, or a mobile terminal.

15. A computer readable storage medium having instructions stored therein which, when run on a computer, cause the computer to perform the method of any of claims 1 to 9.