CN110646003B - Navigation method, navigation device and storage medium - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The embodiment of the invention provides a navigation method, navigation equipment and a storage medium. The method comprises the following steps: after the route to be planned is determined, judging whether the route to be planned contains an unavailable route or not, wherein the unavailable route is determined according to user trajectory data, and the route from a first position to a second position contains an unavailable road section; and if the to-be-planned route comprises an unavailable route, replacing the unavailable route in the to-be-planned route with a target track route from the first position to the second position to obtain a target planned route. The invention improves the correctness of the planned route.
Description
Technical Field
The present invention relates to the field of navigation technologies, and in particular, to a navigation method, a navigation device, and a storage medium.
Background
With the continuous development of information technology, the application of navigation is more and more extensive.
In the prior art, in order to update road network data used for navigation, an operator is required to collect road data, determine unavailable road segments according to the road data collected by the operator, and update the road network data, so that all the road segments included in a navigation route determined for a user are available road segments. Usually, there is a certain collection period for the operator to collect the road data, and for some remote road sections, the collection period may reach 1 month or half a year, etc.
The problem that the navigation route is incorrect due to the fact that the operation staff cannot timely know the unavailable road sections in the road network data due to the fact that the collection period of the road data collected by the operation staff is long exists in the prior art.
Disclosure of Invention
The embodiment of the invention provides a navigation method, equipment and a storage medium, which are used for solving the problem that in the prior art, as the acquisition period of the road data acquired by an operator is longer, the operator cannot timely know the unavailable road sections in the road network data, the navigation route is incorrect.
In a first aspect, an embodiment of the present invention provides a navigation method, including:
after the route to be planned is determined, judging whether the route to be planned contains an unavailable route or not, wherein the unavailable route is determined according to user trajectory data, and the route from a first position to a second position contains an unavailable road section;
and if the to-be-planned route comprises an unavailable route, replacing the unavailable route in the to-be-planned route with a target track route from the first position to the second position to obtain a target planned route.
In a design of a possible implementation, before determining whether an unavailable route is included in the route to be planned, the method further includes:
determining all track routes from the first position to the second position according to the user track data;
judging whether the specific routes from the planned first position to the planned second position are included in all the track routes and whether the specific routes include road sections with track quantity smaller than or equal to a preset track quantity threshold value;
and if all the navigation tracks do not comprise the specific route and the specific route comprises the road sections with the track quantity smaller than or equal to the preset track quantity threshold value, the specific route is an unavailable route.
In one possible implementation, the method further includes:
and selecting a target track route from all track routes according to the track quantity of each track in all track routes.
In one possible implementation design, determining whether a specific route from the first location to the second location is included in all the trajectory routes and whether a road segment with a trajectory amount less than or equal to a preset trajectory amount threshold is included in the specific route further includes:
and determining a specific route according to the user trajectory data and the historical planned route corresponding to the trajectory data.
In one possible implementation, the user trajectory data and the historically planned route corresponding to the trajectory data determine a particular route, including:
determining a yaw position on a historical planning route corresponding to the track data according to the user track data, wherein the first position is the yaw position;
the position after the yaw position on the historical planned route is the second position, and the route from the first position to the second position on the historical planned route is the specific route.
In one possible implementation, the position on the historically planned route that is a preset distance after the yaw position is the second position; or the preset number of intersections after the yaw position on the historical planning route is the second position.
In a second aspect, an embodiment of the present invention provides a navigation apparatus, including:
the first judging module is used for judging whether the route to be planned contains an unavailable route or not after the route to be planned is determined, wherein the unavailable route is determined according to user trajectory data, and the route from a first position to a second position contains an unavailable road section;
and the replacing module is used for replacing the unavailable route in the route to be planned with a target track route from the first position to the second position to obtain a target planned route if the route to be planned contains the unavailable route.
In one possible implementation, the apparatus further includes: the device comprises a first determining module and a second judging module;
the first determining module is used for determining all track routes from the first position to the second position according to the user track data;
the second judging module is used for judging whether a specific route from the first position to the second position comprises in all the track routes and whether a road section with the track quantity smaller than or equal to a preset track quantity threshold value comprises in the specific route;
and if all the navigation tracks do not comprise the specific route and the specific route comprises the road sections with the track quantity smaller than or equal to the preset track quantity threshold value, the specific route is an unavailable route.
In one possible implementation, the apparatus further includes:
and the second determining module is used for selecting a target track route from all track routes according to the track quantity of each track in all track routes.
In one possible implementation, the apparatus further includes:
and the third determining module is used for determining the specific route according to the user track data and the historical planned route corresponding to the track data.
In one possible implementation design, the third determining module is specifically configured to determine, according to the user trajectory data, a yaw position on the historical planned route corresponding to the trajectory data, where the first position is the yaw position; the position after the yaw position on the historical planned route is the second position, and the route from the first position to the second position on the historical planned route is the specific route.
In one possible implementation, the position on the historically planned route that is a preset distance after the yaw position is the second position; or the preset number of intersections after the yaw position on the historical planning route is the second position.
In a third aspect, an embodiment of the present invention provides a navigation apparatus, including: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executes computer-executable instructions stored in the memory to cause the at least one processor to perform the navigation method of any of the first aspect described above.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, the computer-executable instructions are used to implement the navigation method according to any one of the first aspect.
According to the navigation method, the navigation device and the navigation storage medium provided by the embodiment of the invention, after the route to be planned is determined, whether the route to be planned contains an unavailable route or not is judged, if the route to be planned contains the unavailable route, the unavailable route in the route to be planned is replaced by the target track route from the first position to the second position, so that the target planned route is obtained, under the condition that the acquisition period of the road data acquired by an operator is longer, the unavailable route containing the unavailable road section can be determined according to the user track data, the navigation route without the unavailable road section is provided for the user, and the accuracy of the navigation route is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flowchart of a navigation method according to an embodiment of the present invention;
FIG. 2 is a flow chart of a navigation method according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of a navigation method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a navigation device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a navigation device according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, in order to realize that all road segments included in a navigation route determined for a user are available road segments, an operator needs to collect road data, determine an unavailable road segment according to the road data collected by the operator, update road network data, and determine a navigation route based on the new road network data.
However, the operator has a certain collection period according to the collected road data, for example, for some remote road segments, the collection period may reach 1 month or half a year, and when the collection period for the operator to collect the road data is long, the operator may not know the unavailable road segments in the road network data in time, which may cause the problem of incorrect navigation route.
Based on the above problems, embodiments of the present invention provide a navigation method, apparatus, device, and storage medium, in which an unavailable route including an unavailable road segment in a to-be-determined navigation route is replaced with a target trajectory route to obtain a target navigation route, where the unavailable route is determined according to user trajectory data, and in a case where an acquisition cycle of an operator acquiring road data is long, the unavailable route including the unavailable road segment can be determined according to the user trajectory data, and a navigation route that does not include the unavailable road segment is provided to the user, so that accuracy of the navigation route is improved.
Fig. 1 is a flowchart of a navigation method according to an embodiment of the present invention. The execution main body of the method of the embodiment may be any navigation device that can implement a navigation function, for example, a navigator, a navigation mobile phone, and the like. As shown in fig. 1, the method of this embodiment may include:
In this step, the unavailable route may be a route determined according to the user trajectory data, and the first location to the second location include the unavailable road segment. The user trajectory data may specifically be trajectory data of the user when walking or driving within a recent period of time, which may be, for example, the last 7 days, the last 1 month, and the like. The unavailable road section may specifically refer to a road section which cannot be passed by the user, for example, the road section cannot be passed by the user due to road sealing construction.
Here, the determining of the route to be planned may specifically be a planned route determined according to the starting position, the ending position, and the road network data of the user. The user can choose to pass by walking between the starting position and the ending position or drive by driving. Optionally, when the walking mode is selected for passing, the user trajectory data may specifically be trajectory data of the user during walking; when the driving mode is selected, the user trajectory data may be trajectory data of a user during driving.
The first position and the second position may be preset positions or positions determined based on user trajectory data.
And step 102, if the to-be-planned route comprises an unavailable route, replacing the unavailable route in the to-be-planned route with a target track route from a first position to a second position to obtain a target planned route.
In this step, when the determined route to be planned includes an unavailable route according to the starting point position, the ending point position and the road network data of the user, it may be indicated that a road section which cannot be passed exists in the route to be planned, and the user cannot complete the passing according to the route to be planned, that is, the route to be planned is incorrect. Furthermore, the target planning route is obtained by replacing the unavailable route in the route to be planned with the target track route from the first position to the second position, and the user can finish passing according to the target planning route, namely the target planning route is correct. Optionally, after the target planned route is obtained, the user may be prompted with the target planned route.
When the determined to-be-planned route does not contain an unavailable route according to the starting point position, the end point position and the road network data of the user, the fact that no section which cannot be passed through exists in the to-be-planned route can be shown, the user can finish passing through the to-be-planned route, namely the to-be-planned route is correct, and therefore partial routes in the to-be-planned route can not be replaced. Optionally, after determining that the route to be planned does not include an unavailable route, the route to be planned may be prompted to the user. Or, optionally, after determining that the route to be planned does not include the unavailable route, performing other processing (for example, replacing a first available route in the route to be planned with a second available route) on the route to be planned except replacing the unavailable route in the route to be planned with the target trajectory route, and prompting the user with the processed route, which is not limited in this embodiment of the present invention.
It should be noted that the number of the unavailable routes in the route to be planned may be one or more, which is not limited in the present invention.
According to the navigation method provided by the embodiment, after the route to be planned is determined, whether the route to be planned contains an unavailable route or not is judged, if the route to be planned contains the unavailable route, the unavailable route in the route to be planned is replaced by the target track route from the first position to the second position, the target planned route is obtained, under the condition that the acquisition period of the road data acquired by the operating personnel is long, the unavailable route containing the unavailable road section can be determined according to the user track data, the navigation route without the unavailable road section is provided for the user, and the accuracy of the navigation route is improved.
Fig. 2 is a flowchart of a navigation method according to another embodiment of the present invention. The method of this embodiment is based on the embodiment of the method shown in fig. 1, and mainly describes an alternative implementation manner of determining an unavailable route according to user trajectory data. As shown in fig. 2, the method of this embodiment may include:
In this step, all the tracks passing through the first position and the second position may be obtained, and the track routes from the first position to the second position are respectively intercepted from all the tracks, so as to obtain all the track routes from the first position to the second position. It should be noted that the user trajectory data in step 201 may be user trajectory data within a last preset time length range.
In this step, when the specific route is included in all the trajectory routes determined in step 202, it may indicate that the specific route is an available route, and thus, the process may be ended. When the specific route is not included in all the trajectory routes, it may indicate that the specific route may be an unavailable route, and further determination may be made to determine whether the specific route is an unavailable route, so step 203 may be further performed. Alternatively, when the specific route is not included in all the trajectory routes, the specific route may be represented as an unavailable route.
In this step, it is considered that although the reason that the specific route is not included in all the trajectory routes may be that the specific route is not good, no user moves from the first position to the second position according to the specific route, and therefore it may be further determined whether the specific route is an unavailable route according to the trajectory amount of the section included in the specific route. When the specific route does not include the road segment with the track quantity smaller than or equal to the preset track quantity threshold value, it can be indicated that all the road segments in the specific route are available road segments, and therefore the process can be finished. When the specific route includes a road segment with a track quantity smaller than or equal to the preset track quantity threshold value, and a road segment with a track quantity smaller than or equal to the preset track quantity threshold value can be understood as an unavailable road segment, it can be indicated that the specific route includes an unavailable road segment, and the specific route is an unavailable route.
It should be noted that step 203 may also precede step 202. Specifically, step 203 may be performed first to determine whether the specific route includes a road segment whose track amount is less than or equal to a preset track amount threshold. If the specific route includes the road segments with the track quantity smaller than or equal to the preset track quantity threshold, step 202 is executed to determine whether the specific route is included in all the tracks. If the specific route is included in all the tracks, the process may be ended. If the specific route is not included in all the tracks, the specific route is an unavailable route. If the specific route does not include the road sections with the track quantity smaller than or equal to the preset track quantity threshold value, the operation can be finished.
Alternatively, when the specific route is an unavailable route, further, the target trajectory route may be determined by the following step 203.
And 204, selecting a target track route from all the track routes according to the track quantity of each track in all the track routes.
In this step, optionally, the trajectory route with the largest trajectory quantity in all the trajectory routes may be selected as the target trajectory route according to the trajectory quantities of all the trajectories in all the trajectory routes determined in step 202; alternatively, the trajectories with the trajectory quantity greater than or equal to the preset threshold value may be determined according to the trajectory quantity of each trajectory in all the trajectories, and one trajectory route may be randomly selected as the target trajectory route from the trajectories with the trajectory quantity greater than the preset threshold value.
Alternatively, the specific route may be determined based on the user trajectory data, or may also be determined based on preset first and second locations and a historically planned route. When the specific route is determined from the user trajectory data, step 202 may be preceded by step 205 as follows.
In this step, the historical planned route may specifically be a planned route already provided for the user, and the user trajectory data corresponding to the historical planned route may specifically be user trajectory data of the user when the historical planned route is provided for the user. Since the historically planned route includes unavailable road segments, and the user trajectory corresponding to the historically planned route is different from the user trajectory corresponding to the historically planned route that does not include unavailable road segments, the particular route may be determined from the user trajectory data and the historically planned route corresponding to the trajectory data. Specifically, when the historically planned route includes unavailable road segments, there may be a certain difference between the user trajectory and the historically planned route. For example, the user first travels along the historically planned route, deviating from the historically planned route during travel. When unavailable road segments are not included in the historically planned route, the user trajectory may be consistent with the historically planned route.
Optionally, step 205 may specifically include: determining a yaw position on a historical planning route corresponding to the track data according to the user track data, wherein the first position is the yaw position; the position after the yaw position on the historical planned route is the second position, and the route from the first position to the second position on the historical planned route is the specific route. For example, as shown in FIG. 3, assuming that the historically planned route from the starting location A to the ending location B provided to the user is A- > a1- > a2- > B and the user trajectory is A- > a1- > a3- > a4- > a2- > B, the first location may be a yaw location a1 and the second location may be a location between a1 and B in the historically planned route, such as a 5.
Further optionally, the position on the historically planned route a preset distance after the yaw position is the second position. Specifically, the distance between a1 and a5 in fig. 3 may be a preset distance.
Or the preset number of intersections after the yaw position on the historical planning route is the second position. Specifically, the number of intersections between a1 and a5 in fig. 3 may be a preset number.
It should be noted that there is no restriction on the order between step 205 and step 201.
According to the navigation method provided by the embodiment, all track routes from the first position to the second position are determined according to the user track data, whether the planned specific routes from the first position to the second position are included in all the tracks or not is judged, whether the specific routes include road sections with track quantity smaller than or equal to the preset track quantity threshold or not is judged, and if all the tracks do not include the specific routes and the specific routes include road sections with track quantity smaller than or equal to the preset track quantity threshold, the specific routes are unavailable routes, so that the unavailable road sections are determined according to the user track data.
Fig. 4 is a schematic structural diagram of a navigation device according to an embodiment of the present invention. Embodiments of the present invention provide a navigation device, which may be implemented in a software and/or hardware manner. As shown in fig. 4, the navigation apparatus includes: a first decision block 41 and a replacement block 42. Wherein,
the first judging module 41 is configured to, after determining the route to be planned, judge whether the route to be planned includes an unavailable route, where the unavailable route is determined according to the user trajectory data and includes an unavailable road section from the first position to the second position;
and the replacing module 42 is configured to replace the unavailable route in the to-be-planned route with a target trajectory route from the first position to the second position to obtain a target planned route if the to-be-planned route includes the unavailable route.
Optionally, the navigation device of this embodiment further includes: a first determination module 43 and a second determination module 44;
a first determining module 43, configured to determine all trajectory routes from the first location to the second location according to the user trajectory data;
the second judging module 44 is configured to judge whether a specific route from the planned first position to the planned second position is included in all the trajectory routes, and whether a road segment with a trajectory amount smaller than or equal to a preset trajectory amount threshold is included in the specific route;
and if all the navigation tracks do not comprise the specific route and the specific route comprises the road sections with the track quantity smaller than or equal to the preset track quantity threshold value, the specific route is an unavailable route.
Optionally, the navigation device of this embodiment further includes: and a second determining module 45, configured to select a target trajectory route from all trajectory routes according to the trajectory amount of each trajectory in all trajectory routes.
Optionally, the navigation device of this embodiment further includes: and a third determining module 46, configured to determine the specific route according to the user trajectory data and the historical planned route corresponding to the trajectory data.
Further optionally, the third determining module 46 is specifically configured to determine, according to the user trajectory data, a yaw position on the historical planned route corresponding to the trajectory data, where the first position is the yaw position; the position after the yaw position on the historical planned route is the second position, and the route from the first position to the second position on the historical planned route is the specific route.
Further optionally, a position of a preset distance after the yaw position on the historical planned route is a second position; or the preset number of intersections after the yaw position on the historical planning route is the second position.
The navigation device provided in this embodiment may be used to implement the method embodiments described above, and the implementation manner and the technical effect are similar, which are not described herein again.
Fig. 5 is a schematic structural diagram of a navigation device according to another embodiment of the present invention. As shown in fig. 5, the navigation apparatus 50 includes:
at least one processor 51 and memory 52;
the memory 52 stores computer-executable instructions;
the at least one processor 51 executes computer-executable instructions stored by the memory 52, causing the at least one processor 51 to perform the navigation method as described above.
For a specific implementation process of the processor 51, reference may be made to the above method embodiments, which have similar implementation principles and technical effects, and details of this embodiment are not described herein again.
Optionally, the navigation device 50 further comprises a communication component 53. The processor 51, the memory 52, and the communication section 53 may be connected by a bus 54.
An embodiment of the present invention further provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the computer-executable instructions are used to implement the navigation method described above.
In the above embodiments, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on 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 the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.
The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application.
It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in a terminal or server.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (12)
1. A navigation method, comprising:
after determining a route to be planned, judging whether the route to be planned contains an unavailable route, wherein the unavailable route is determined according to user trajectory data, and the route from a first position to a second position contains an unavailable road section;
if the to-be-planned route comprises the unavailable route, replacing the unavailable route in the to-be-planned route with a target track route from the first position to the second position to obtain a target planned route;
before the determining whether the to-be-planned route includes an unavailable route, the method further includes:
determining all track routes from the first position to the second position according to user track data;
judging whether a specific route from the first position to the second position is included in all the track routes, and whether a road section with a track quantity smaller than or equal to a preset track quantity threshold value is included in the specific route;
and if the specific route is not included in all the navigation routes and the specific route includes a road section with the track quantity smaller than or equal to a preset track quantity threshold value, the specific route is an unavailable route.
2. The method of claim 1, further comprising:
and selecting the target track route from all the track routes according to the track quantity of each track in all the track routes.
3. The method according to claim 1 or 2, wherein the determining whether the planned specific route from the first position to the second position is included in all the trajectory routes and whether the specific route includes a road segment with a trajectory amount less than or equal to a preset trajectory amount threshold further includes:
and determining the specific route according to the user trajectory data and the historical planned route corresponding to the trajectory data.
4. The method of claim 3, wherein the user trajectory data and a historically planned route corresponding to the trajectory data, determining the particular route, comprises:
determining a yaw position on a historical planned route corresponding to the trajectory data according to the user trajectory data, wherein the first position is the yaw position;
the location on the historically planned route after the yaw position is the second location, and the route from the first location to the second location on the historically planned route is the particular route.
5. The method of claim 4, wherein the location on the historically planned route a predetermined distance after the yaw position is the second location; or, the position with the preset number of intersections behind the yaw position on the historical planning route is the second position.
6. A navigation device, comprising:
the first judging module is used for judging whether the route to be planned contains an unavailable route or not after the route to be planned is determined, wherein the unavailable route is determined according to user trajectory data, and the route from a first position to a second position contains an unavailable road section;
the replacing module is used for replacing the unavailable route in the route to be planned with a target track route from the first position to the second position to obtain a target planned route if the unavailable route is included in the route to be planned;
the apparatus further comprises: the device comprises a first determining module and a second judging module;
the first determining module is used for determining all track routes from the first position to the second position according to user track data;
the second judging module is used for judging whether a specific route from the first position to the second position is included in all the track routes and whether a road section with a track quantity smaller than or equal to a preset track quantity threshold value is included in the specific route;
and if the specific route is not included in all the navigation routes and the specific route includes a road section with the track quantity smaller than or equal to a preset track quantity threshold value, the specific route is an unavailable route.
7. The apparatus of claim 6, further comprising:
and the second determining module is used for selecting the target track route from all the track routes according to the track quantity of each track in all the track routes.
8. The apparatus of claim 6 or 7, further comprising:
and the third determining module is used for determining the specific route according to the user trajectory data and the historical planned route corresponding to the trajectory data.
9. The apparatus according to claim 8, wherein the third determining module is specifically configured to determine, according to user trajectory data, a yaw position on a historical planned route corresponding to the trajectory data, and the first position is the yaw position; the location on the historically planned route after the yaw position is the second location, and the route from the first location to the second location on the historically planned route is the particular route.
10. The apparatus of claim 9, wherein the location on the historically planned route a preset distance after the yaw position is the second location; or, the position with the preset number of intersections behind the yaw position on the historical planning route is the second position.
11. A navigation device, comprising: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the navigation method of any of claims 1 to 5.
12. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, are configured to implement the navigation method of any one of claims 1 to 5.
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| CN111815946A (en) * | 2020-04-17 | 2020-10-23 | 北京嘀嘀无限科技发展有限公司 | Method and device for determining abnormal road section, storage medium and electronic equipment |
| CN111707285B (en) * | 2020-06-28 | 2022-07-05 | 北京百度网讯科技有限公司 | Method and device for planning route |
| CN112885128B (en) * | 2021-01-14 | 2022-07-05 | 北京中交兴路信息科技有限公司 | Method, device and equipment for identifying blocked road section and storage medium |
| CN113160596B (en) * | 2021-03-23 | 2023-08-01 | 广州宸祺出行科技有限公司 | Real-time monitoring and avoiding method and device for road abnormality, storage medium and electronic equipment |
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