CN112923948A

CN112923948A - Vehicle navigation broadcasting method and device, electronic equipment and storage medium

Info

Publication number: CN112923948A
Application number: CN202110096827.7A
Authority: CN
Inventors: 朱玥
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2021-01-25
Filing date: 2021-01-25
Publication date: 2021-06-08
Anticipated expiration: 2041-01-25
Also published as: CN112923948B

Abstract

The embodiment of the invention discloses a vehicle navigation broadcasting method, a vehicle navigation broadcasting device, electronic equipment and a storage medium; the embodiment of the invention can acquire a first navigation statement and a second navigation statement corresponding to a navigation event of a vehicle in a road area, wherein the navigation event has an event type; collecting environmental information of the current environment of the vehicle; determining a navigation mode of the vehicle in the road area according to the environment information; when the navigation mode is the first navigation mode, determining a target sentence in the first navigation sentence and the second navigation sentence according to the event type; when the navigation mode is the second navigation mode, determining a target sentence in the second navigation sentence; and broadcasting the target statement. According to the embodiment of the invention, the real-time environment of the vehicle is detected, and the navigation mode is modified by combining the navigation map, so that the vehicle navigation is applicable to any environment, and different navigation modes correspond to different navigation strategies, so that the navigation is more accurate. Therefore, the accuracy of the vehicle navigation broadcasting method can be improved.

Description

Vehicle navigation broadcasting method and device, electronic equipment and storage medium

Technical Field

The invention relates to the field of computers, in particular to a vehicle navigation broadcasting method and device, electronic equipment and a storage medium.

Background

The vehicle voice navigation is an intelligent voice technology which is applied to vehicle navigation and takes voice recognition and voice coding and decoding as representatives, and navigation equipment can broadcast a driving route in real time through voice in the process of vehicle driving, so that the voice navigation is realized.

However, the current vehicle voice navigation is often not accurate enough and cannot meet the requirement of daily driving, so the current vehicle navigation broadcasting method has low accuracy.

Disclosure of Invention

The embodiment of the invention provides a vehicle navigation broadcasting method and device, electronic equipment and a storage medium, and can improve the accuracy of the vehicle navigation broadcasting method.

The embodiment of the invention provides a vehicle navigation broadcasting method which is suitable for a client and comprises the following steps:

acquiring a first navigation statement and a second navigation statement corresponding to a navigation event of a vehicle in a road area, wherein the navigation event has an event type;

collecting environmental information of the current environment of the vehicle;

determining a navigation mode of the vehicle in a road area according to the environment information;

when the navigation mode is a first navigation mode, determining a target sentence in the first navigation sentence and the second navigation sentence according to the event type;

when the navigation mode is a second navigation mode, determining a target sentence in the second navigation sentence;

and broadcasting the target statement.

The embodiment of the invention provides a vehicle navigation broadcasting method, which is suitable for a server and comprises the following steps:

acquiring running information of a vehicle from a client, wherein the client is mounted on the vehicle;

determining a navigation event of the vehicle running in a road of a road area according to a preset map and the running information of the vehicle;

generating a first navigation statement and a second navigation statement corresponding to the navigation event;

and sending the navigation event and the first navigation statement and the second navigation statement corresponding to the navigation event to the client, so that the client can conveniently perform vehicle navigation broadcasting based on the navigation event and the first navigation statement and the second navigation statement corresponding to the navigation event.

The embodiment of the present invention further provides a car navigation broadcasting device, which is suitable for a client, and includes:

the system comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring a first navigation statement and a second navigation statement corresponding to a navigation event of a vehicle in a road area, and the navigation event has an event type;

the environment unit is used for acquiring the environment information of the current environment of the vehicle;

a mode unit for determining a navigation mode of the vehicle in a road area of the vehicle according to the environment information;

a first unit, configured to determine a target sentence in the first navigation sentence and the second navigation sentence according to the event type when the navigation mode is a first navigation mode;

a second unit, configured to determine a target sentence in the second navigation sentence when the navigation mode is a second navigation mode;

and the broadcasting unit is used for broadcasting the target statement.

In some embodiments, the navigation event is divided into a road turn event, a lane merge event, and other events, the first unit including:

the first parallel sub-unit is used for taking a first navigation statement corresponding to the lane parallel event as a target statement;

the first steering subunit is used for taking a second navigation statement corresponding to the road steering event as a target statement;

and the first other subunit is used for determining a target sentence in the first navigation sentence and the second navigation sentence corresponding to the other event according to the event type of the other event.

In some embodiments, the event types of the other events include mutually exclusive subtypes and overlapping subtypes, the first other subunit being configured to:

determining the first navigation statement and the second navigation statement corresponding to other events of all the overlapping subtypes as target statements;

selecting other events of the mutual exclusion subtype from other events of all the mutual exclusion subtypes as mutual exclusion events;

and determining a first navigation statement and a second navigation statement corresponding to the mutual exclusion event as target statements.

In some embodiments, after the first other subunit selects one other event of the mutually exclusive subtype from all other events of the mutually exclusive subtype as the mutually exclusive event, the first other subunit is further configured to:

and recording the mutual exclusion event in a mutual exclusion history list.

In some embodiments, the navigation event is divided into a lane merging event and other events, and the second unit is configured to:

acquiring a mutual exclusion history list;

if the other events do not appear in the mutual exclusion history list, determining a target sentence by using a second navigation sentence corresponding to the lane doubling event;

and taking a second navigation statement corresponding to the road turning event as a target statement.

In some embodiments, the road region includes at least one road including at least one lane, and the mode unit includes:

the confidence subunit is used for identifying the lane in the road where the vehicle is located currently based on the environment information to obtain the confidence of the lane, and the confidence is used for representing the accuracy of lane identification;

the first mode subunit is used for determining that the navigation mode of the vehicle is a first navigation mode when the confidence of the lane is higher than a preset threshold;

and the second mode subunit is used for determining that the navigation mode of the vehicle is the second navigation mode when the confidence coefficient of the lane is not higher than a preset threshold value.

In some embodiments, the road comprises a self lane in which the vehicle is located, and a left lane located to the left of the self lane, and a right lane located to the right of the self lane, the confidence subunit being configured to:

based on the environmental information, recognizing all lanes in the road where the vehicle is located currently to obtain the confidence of a total lane;

recognizing the lane of the vehicle on the road where the vehicle is located to obtain the confidence of the lane;

identifying the left lane positioned on the left side of the self lane to obtain the confidence of the left lane;

identifying the right lane positioned on the right side of the self lane to obtain the confidence of the right lane;

when the confidence of the lane is higher than a preset threshold, determining that the navigation mode of the vehicle is a first navigation mode, including:

and when the confidence of the total lane is higher than a preset threshold value and the confidence of the self lane, the left lane or the right lane is higher than the preset threshold value, determining that the navigation mode of the vehicle is a first navigation mode.

In some embodiments, the obtaining unit is configured to:

determining the current running information of the vehicle;

sending the running information to a server so that the server can generate a navigation event of the vehicle in a road area according to the running information and a corresponding first navigation statement and a corresponding second navigation statement corresponding to the navigation event;

acquiring a navigation event of the vehicle in a road area and a corresponding first navigation statement and a corresponding second navigation statement corresponding to the navigation event from the server;

and determining the event type corresponding to the navigation event.

First navigation statement and the second navigation statement that the navigation incident corresponds all have the report and trigger the region, report the unit for:

acquiring the current positioning position of the vehicle;

and when the positioning position belongs to a broadcast triggering area corresponding to the target statement, broadcasting the target statement.

The embodiment of the invention also provides a vehicle navigation broadcasting device, which is suitable for a server and comprises:

an information unit configured to acquire, from a client, travel information of a vehicle on which the client is mounted;

the event unit is used for determining a navigation event of the vehicle running in a road of a road area according to a preset map and the running information of the vehicle;

a sentence unit, configured to generate a first navigation sentence and a second navigation sentence corresponding to the navigation event;

and the sending unit is used for sending the navigation event and the first navigation statement and the second navigation statement corresponding to the navigation event to the client, so that the client can conveniently perform vehicle navigation broadcasting based on the navigation event and the first navigation statement and the second navigation statement corresponding to the navigation event.

In some embodiments, the driving information includes a location position, the event unit is configured to:

performing topology processing on the lanes in the preset map according to the navigation track to obtain a lane changing position of the vehicle;

determining a navigation event of the vehicle traveling in the road based on the lane change position and the positioning position.

The embodiment of the invention also provides the electronic equipment, which comprises a memory, a storage and a control unit, wherein the memory stores a plurality of instructions; the processor loads instructions from the memory to execute the steps in any one of the vehicle navigation broadcasting methods provided by the embodiments of the invention.

The embodiment of the invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute the steps in any one of the vehicle navigation broadcasting methods provided by the embodiment of the invention.

The embodiment of the invention can acquire a first navigation statement and a second navigation statement corresponding to a navigation event of a vehicle in a road area, wherein the navigation event has an event type; collecting environmental information of the current environment of the vehicle; determining a navigation mode of the vehicle in the road area according to the environment information; when the navigation mode is the first navigation mode, determining a target sentence in the first navigation sentence and the second navigation sentence according to the event type; when the navigation mode is the second navigation mode, determining a target sentence in the second navigation sentence; and broadcasting the target statement.

According to the invention, different navigation modes are formulated, each navigation mode corresponds to a navigation strategy, and the navigation modes can be changed by detecting the current environment of the vehicle, so that the accuracy of vehicle navigation in different environments is ensured, and the problems of navigation confusion and redundancy can not be caused by the change of the navigation modes. Therefore, the accuracy of the vehicle navigation broadcasting method can be improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used 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 invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1a is a scene schematic diagram of a vehicle navigation broadcasting method according to an embodiment of the present invention;

fig. 1b is a schematic flow chart of a vehicle navigation broadcasting method suitable for a client according to an embodiment of the present invention;

fig. 1c is a schematic road area diagram of a vehicle navigation broadcasting method according to an embodiment of the present invention;

fig. 1d is a schematic structural diagram of a vehicle navigation broadcasting method according to an embodiment of the present invention;

fig. 1e is a scene schematic diagram of a vehicle navigation broadcasting method specifically applied to vehicle navigation according to an embodiment of the present invention;

fig. 2 is a schematic flow chart of a vehicle navigation broadcasting method suitable for a server according to an embodiment of the present invention;

fig. 3 is a schematic view of a first structure of a car navigation broadcasting device according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a second vehicle navigation broadcasting device according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.

The embodiment of the invention provides a vehicle navigation broadcasting method and device, electronic equipment and a storage medium.

The vehicle navigation broadcasting device can be specifically integrated in electronic equipment, and the electronic equipment can be equipment such as a terminal and a server. The terminal can be a mobile phone, a vehicle-mounted navigation device, an automatic driving device, a tablet Computer, an intelligent bluetooth device, a notebook Computer, or a Personal Computer (PC) or other devices; the server may be a single server or a server cluster composed of a plurality of servers.

In some embodiments, the car navigation broadcasting device can also be integrated into a plurality of electronic devices, for example, the car navigation broadcasting device can be integrated into a plurality of servers, and the car navigation broadcasting method of the present invention is implemented by the plurality of servers.

In some embodiments, the server may also be implemented in the form of a terminal.

For example, referring to fig. 1a, a vehicle navigation broadcasting system is provided, where the vehicle navigation broadcasting system includes a client and a server; the client can be electronic equipment such as vehicle navigation equipment, a smart phone and automatic driving equipment, and the electronic equipment can be carried on a vehicle; the server may be a single server or a server cluster composed of a plurality of servers. The server may communicate with the client over a network.

When voice navigation is performed through the vehicle navigation broadcasting system shown in fig. 1a, first, the client may collect and transmit the driving information of the vehicle to the server.

Then, the server may determine a navigation event that the vehicle travels in a road of the road area according to a preset map and the travel information of the vehicle; generating a first navigation statement and a second navigation statement corresponding to the navigation event; and sending the navigation event and the first navigation statement and the second navigation statement corresponding to the navigation event to the client so that the client can perform vehicle navigation broadcasting based on the navigation event and the first navigation statement and the second navigation statement corresponding to the navigation event.

Then, the client can obtain a first navigation statement and a second navigation statement corresponding to a navigation event of the vehicle in the road area from the server, wherein the navigation event has an event type; collecting environmental information of the current environment of the vehicle; determining a navigation mode of the vehicle in the road area according to the environment information; when the navigation mode is the first navigation mode, determining a target sentence in the first navigation sentence and the second navigation sentence according to the event type; when the navigation mode is the second navigation mode, determining a target sentence in the second navigation sentence; and broadcasting the target statement.

The following are detailed below. The numbers in the following examples are not intended to limit the order of preference of the examples.

Artificial Intelligence (AI) is a technique that uses a digital computer to simulate the human perception environment, acquire knowledge, and use the knowledge, which can make a machine function similar to human perception, reasoning, and decision making. The artificial intelligence technology mainly comprises a computer vision technology, a voice processing technology, an automatic driving technology, machine learning, deep learning and the like.

The automatic driving technology generally comprises technologies such as high-precision maps, environment perception, behavior decision, path planning, motion control and the like, and the self-determined driving technology has wide application prospects.

The scheme provided by the embodiment of the application relates to an automatic driving technology, and the technical concept specifically related to the scheme is explained as follows:

lanes (lanes), also known as carriageways, are areas on a road through which vehicles travel and are divided by lane lines. The roadway may include multiple lanes, for example, a highway may include a traffic lane and a passing lane.

The shoulder is a belt-shaped part (including a hard shoulder and a protective shoulder) with a certain width and positioned at the outer edge of the road, is used for keeping the function of the roadway and temporary parking, and is used as a transverse support of the road surface.

An Inertial Measurement Unit (IMU) is a device that mainly includes an assembly of an acceleration sensor and a gyroscope and detects acceleration and angular velocity of an object.

A Satellite Navigation System (GNSS) is a Satellite System covering autonomous geospatial positioning of the world, allowing a small electronic receiver to determine where it is (latitude, longitude, altitude).

The High-precision Map is also called a High-Definition Map (HD Map for short), and can provide Lane level information (Lane level info) with a precision up to centimeter level, and the path Planning thereof is called local path Planning (Planning).

The SD navigation is a short for navigation by using a conventional navigation Map (Street Directory Map), and based on the conventional road-level navigation, the vehicle is prompted to change lanes and broadcasted to turn by using a universal estimated distance.

The ADAS navigation is a short term for navigation by using an Advanced Driving Assistance System (ADAS), and is implemented by using a multi-sensor mounted on a vehicle to sense surrounding environment in real time during the Driving process of the vehicle, so as to analyze road conditions and detect lane line communication relation by using an automatic Driving technology, predict potential Driving risks by combining a high-precision map, make navigation decisions, and implement lane-level navigation.

In this embodiment, a vehicle navigation broadcasting method based on ADAS navigation and SD navigation is provided, as shown in fig. 1b, the vehicle navigation broadcasting method can be applied to a client, and the specific flow thereof may be as follows:

101. the method comprises the steps of obtaining a first navigation statement and a second navigation statement corresponding to a navigation event of a vehicle in a road area, wherein the navigation event has an event type.

The first navigation statement refers to a navigation statement generated by ADAS navigation, for example, "suggest you to go left and one lane", "suggest you to go right and one lane", "please keep driving in the current lane", and so on.

The second navigation statement refers to a navigation statement generated by the SD navigation, for example, "please turn left after 100 meters", "keep going straight", "turn right", and so on.

Compared with the second navigation statement, the first navigation statement is more accurate and can realize the navigation at the lane level, and the second navigation statement can only realize the navigation at the road level.

The road area (segment) is a section with a preset length and size in the road, and the section corresponds to a part of map area in the high-precision map.

For example, referring to FIG. 1c, FIG. 1c shows a section of a road region on a two-way road, which includes two lanes in a forward direction and two lanes in a reverse direction.

In the scheme, a first navigation statement and a second navigation statement corresponding to a navigation event of the vehicle in the road area can be acquired. The navigation event refers to one or more navigation events encountered or to be encountered when the vehicle is predicted to run in a road area through ADAS navigation and SD navigation, for example, an electronic eye broadcasting event, a congestion broadcasting event, a signal lamp broadcasting event, a roundabout exiting event, a school reminding event, a road turning event, a lane merging event, a speed limit event, a zone speed measurement event and the like.

The method for acquiring the first navigation statement and the second navigation statement corresponding to the navigation event of the vehicle in the road area has various ways, for example, in some embodiments, the navigation event can be predicted by the client through ADAS navigation and SD navigation, and the first navigation statement and the second navigation statement corresponding to the navigation event are generated; for example, in other embodiments, the navigation events of the vehicle in the road area may be predicted by the server through ADAS navigation and SD navigation, and the first navigation statement and the second navigation statement corresponding to the navigation events may be generated.

It is noted that in some embodiments, a navigation event may correspond to both a first navigation statement and a second navigation statement, in other embodiments, a navigation event may correspond to only a first navigation statement, in other embodiments, a navigation event may correspond to only a second navigation statement, and so on.

For example, referring to table 1, table 1 is broadcast information corresponding to each navigation event, and the broadcast information includes a corresponding relationship between the navigation event and the first navigation statement and the second navigation statement.

TABLE 1

Numbering	Navigation events	Means of	SD statement	ADAS statement	Event type
						1	LANE	Road steering broadcast	Is provided with	Is free of	Independent of each other
2	ADAS_LANE	Lane doubling broadcast	Is free of	Is provided with	Independent of each other
						-	OTHER	-	-	-	-

The SD statement refers to a second navigation statement, and the ADAS statement refers to a first navigation statement; a LANE event (road turn event) has only SD statements, and an ADAS _ LANE event (LANE merge event) has only ADAS statements; OTHER events, the OTHER.

The other events can be divided into a plurality of different other sub-events, the event types corresponding to the different other sub-events are different, and each other sub-event can correspond to the first navigation statement and/or the second navigation statement.

It should be noted that the event types of the lane merging event and the road turning event are independent types, and the event types of the other sub-events may be an overlapping type or a mutually exclusive type.

The navigation event of the independent type broadcasts the first navigation statement or the second navigation statement according to the navigation mode obtained in step 110. For example, when the navigation mode is the ADAS mode, only the first navigation statement of the navigation event of the independent type is broadcasted; and when the navigation mode is the SD mode, only broadcasting the second navigation statement of the navigation event of the independent type.

Wherein the first navigation statement and the second navigation statement of the navigation event of the overlapping type can be mixedly played.

And the first navigation statement and the second navigation statement of the mutually exclusive navigation event are selected to be played, and cannot be mixedly played.

For example, refer to a plurality of OTHER sub-events included in the OTHER event shown in table 2, and broadcast information corresponding to the OTHER sub-events:

TABLE 2

Numbering	Navigation events	Means of	SD statement	ADAS statement	Event type
						3	CAMERA	Electronic eye broadcast		Is provided with	Overlap
4	TRAFFIC	Congestion broadcast	Is provided with	Is provided with	Overlap
						5	REFFERENCE	Reference object broadcasting	Is provided with	Is provided with	Mutual exclusion
6	WEATHER	Weather broadcast	Is free of	Is provided with	Overlap
						7	INERROAD	Interior road	Is provided with	Is free of	Overlap
8	STRAIGHT	Straight line prompt	Is provided with	Is provided with	Overlap
						9	SPEEDLIMIT	Speed limit	Is provided with	Is provided with	Overlap
10	INTERVAL	Speed measurement in interval	Is provided with	Is provided with	Overlap
						11	FCROSS	F intersection	Is provided with	Is provided with	Mutual exclusion
…	…	…	…	…	…

In some embodiments, step 101 may include the steps of:

determining the current running information of the vehicle;

the driving information is sent to a server, so that the server generates a navigation event of the vehicle in a road area according to the driving information, and a first navigation statement and a second navigation statement corresponding to the navigation event;

acquiring a navigation event of a vehicle in a road area from a server and a corresponding first navigation statement and a corresponding second navigation statement corresponding to the navigation event;

and determining the event type corresponding to the navigation event.

The current driving information of the vehicle may include information of speed, acceleration, location, and the like of the vehicle, and there are various ways to determine the current driving information of the vehicle, for example, the current driving information of the vehicle may be collected by a plurality of sensors, for example, the IMU detects the acceleration and the angular velocity of the vehicle, and the GNSS receiver detects the location of the vehicle, and the like.

The method for generating the navigation event of the vehicle in the road area according to the driving information by the server and the corresponding first navigation statement and second navigation statement corresponding to the navigation event will be described below, and will not be repeated herein.

Then, the event type corresponding to the navigation event may be determined according to the broadcast information shown in table 1 and table 2.

102. Environmental information of the current environment of the vehicle is collected.

The environmental information around the vehicle may be collected by a plurality of sensors, for example, the distance between other objects around the vehicle and the vehicle may be collected by a depth sensor, a visual image around the vehicle may be collected by a camera, a reference around the vehicle may be recognized by analyzing the visual image, and the like.

For example, images in front of the vehicle may be acquired, and lane lines, traffic signs, vehicles, etc. in the road may be identified by image analysis of the images.

103. And determining a navigation mode of the vehicle in the road area according to the environment information.

According to the method and the device, the navigation mode of the vehicle in the road area can be continuously judged, and therefore text sentences broadcasted through voice are screened and processed according to the navigation mode and the navigation event.

For example, it is determined whether the vehicle is in the ADAS navigation mode (i.e., the first navigation mode in the context) or the SD navigation mode (i.e., the second navigation mode in the context) through the environment information.

The navigation mode of the vehicle may be set to the ADAS mode when the surroundings of the vehicle are not congested, have empty lanes, or the like, and may be set to the SD mode when the surroundings of the vehicle are poor in view, congested, have no available lanes, or the like.

Specifically, in some embodiments, the road region may include at least one road, the road may include at least one lane, and step 103 may include the steps of:

A. recognizing a lane in a road where the vehicle is located currently based on the environment information to obtain a confidence coefficient of the lane, wherein the confidence coefficient is used for representing the accuracy of lane recognition;

B. when the confidence of the lane is higher than a preset threshold value, determining that the navigation mode of the vehicle is a first navigation mode;

C. and when the confidence of the lane is not higher than a preset threshold value, determining the navigation mode of the vehicle as a second navigation mode.

For example, when the confidence that the lane belongs to the 5 th lane from left to right in the road is 80%, it indicates that the lane has a probability of 80% being the 5 th lane from left to right in the road.

The preset threshold may be set by a technician, for example, the preset threshold may be set to 0.75.

In some embodiments, the roadway may include a self lane in which the vehicle itself is located, and one or more left lanes to the left of the self lane, and one or more right lanes to the right of the self lane.

Therefore, specifically, the step a. identifying the lane in the road where the vehicle is currently located based on the environment information to obtain the confidence of the lane may include the following steps:

based on the environmental information, recognizing all lanes in the road where the vehicle is located currently to obtain the confidence of the total lanes;

identifying a left lane positioned on the left side of the lane to obtain the confidence of the left lane;

and identifying the right lane positioned on the right side of the lane to obtain the confidence coefficient of the right lane.

At this time, in some embodiments, the step b, when the confidence of the lane is higher than a preset threshold, determining the navigation mode of the vehicle as the first navigation mode, may include:

and when the confidence of the general lane is higher than a preset threshold value and the confidence of the self lane or the left lane or the right lane is higher than the preset threshold value, determining that the navigation mode of the vehicle is the first navigation mode.

For example, when the confidence of the general lane and the confidence of the own lane are both greater than 0.75, or the confidence of the general lane and the confidence of the lane on either side of the own lane (left lane or right lane) are both greater than 0.75, it is determined that the navigation mode of the vehicle is the first navigation mode, i.e., the ADAS navigation mode.

Otherwise, the navigation mode of the vehicle is determined to be the second navigation mode, namely the SD navigation mode.

104. And when the navigation mode is the first navigation mode, determining a target sentence in the first navigation sentence and the second navigation sentence according to the event type.

That is, when the navigation mode is the ADAS navigation mode, the target sentence is determined in the ADAS navigation sentence and the SD navigation sentence of the navigation event according to the event type.

According to the scheme, the ADAS navigation statement and the SD navigation statement can be fused and broadcasted in the ADAS navigation mode, so that the navigation is more accurate.

For example, in some embodiments, referring to table 1, the navigation events are divided into a road turn event (LANE), a LANE merge event (ADAS _ LANE), and OTHER events (OTHER), and thus, the "determining the target sentence in the first navigation sentence and the second navigation sentence according to the event type" in step 104 may include the steps of:

A. taking a first navigation statement corresponding to the lane doubling event as a target statement;

B. taking a second navigation statement corresponding to the road turning event as a target statement;

C. and determining a target sentence in the first navigation sentence and the second navigation sentence corresponding to the other event according to the event type of the other event.

For example, an ADAS navigation statement corresponding to the event ADAS _ LANE is used as a target statement, an SD navigation statement corresponding to the event LANE is used as a target statement, and then the target statement is determined in the ADAS navigation statement and the SD navigation statement corresponding to the event OTHER according to the event type of the event OTHER.

Specifically, in some embodiments, the event types of the other events may include a mutually exclusive subtype and an overlapping subtype, wherein only one of the navigation events of the mutually exclusive subtype is selected for broadcasting, and the navigation events of the overlapping subtype are all broadcasted.

Therefore, according to the event type of the other event, determining the first navigation statement and the second navigation statement corresponding to the other event as the target statements in step c, which may include the following steps:

c1. determining the first navigation sentences and the second navigation sentences corresponding to other events of all the overlapping sub-types as target sentences;

c2. selecting other events of one mutual exclusion subtype from other events of all the mutual exclusion subtypes as mutual exclusion events;

c3. and determining a first navigation statement and a second navigation statement corresponding to the mutual exclusion event as target statements.

Because the original generated SD broadcast does not need to be broadcast during the lane-level broadcast, preparation needs to be made for conflict processing of broadcast statements, and the mutual exclusion event of the current voice broadcast is recorded, so that redundant content is prevented from being broadcast.

Therefore, in some embodiments, after selecting another event of the mutex subtype from all other events of the mutex subtype as the mutex event in step c2., the mutex event may be further recorded in the mutex history list to record the broadcasted mutex event, so as to prevent the broadcasted mutex event from being broadcasted again after the navigation mode is degraded to the second navigation mode, thereby reducing the broadcasting redundancy.

105. And when the navigation mode is the second navigation mode, determining the target sentence in the second navigation sentence.

That is, when the navigation mode is the SD navigation mode, the target sentence is determined in the SD navigation sentence of the navigation event.

Similarly, in some embodiments, the navigation event is divided into a lane merging event and other events, and the "determining the target sentence in the second navigation sentence" in step 105 may include the steps of:

A. acquiring a mutual exclusion history list;

B. if other events do not appear in the mutual exclusion history list, determining a target sentence by using a second navigation sentence corresponding to the lane doubling event;

C. and taking the second navigation statement corresponding to the road turning event as a target statement.

For example, if the demotion is SD broadcast, it needs to determine whether the mutex history list has the same mutex event as the navigation event. For example, if the broadcast event is an ADAS statement, the filter is directly performed, if the broadcast event is of another type, it needs to be determined whether a mutex event identical to the navigation event is recorded in the mutex history list, and if the broadcast event is in the list, it indicates that the similar event is broadcasted, the SD statement needs to be filtered.

106. And broadcasting the target statement.

And finally, broadcasting the target statement.

In some embodiments, in order to enable the navigation voice broadcast to be triggered at the correct position, the first navigation statement and the second navigation statement corresponding to the navigation event each have a broadcast trigger area, and step 106 may include the following steps:

acquiring the current positioning position of the vehicle;

and when the positioning position belongs to a broadcast trigger area corresponding to the target statement, broadcasting the target statement.

The broadcasting trigger area can be calculated by a server.

The scheme provided by the embodiment of the invention can be applied to various vehicle navigation scenes. For example, referring to the navigation architecture shown in fig. 1d, in the scheme, driving information of a vehicle, surrounding environment information and the like can be acquired through a multi-element sensor (such as an IMU, a GNSS, a camera and the like), the number of lanes of a road where the vehicle is currently located can be determined through ADAS data of a high-precision map and SD data of a traditional map, each lane in the road and a self lane where the vehicle is currently located are identified, and then navigation broadcasting such as lane change reminding and scene broadcasting is realized through the identified lane-level positioning information.

For example, the following description will be made by taking voice navigation of a vehicle as shown in fig. 1e as an example.

Referring to fig. 1e, when the vehicle enters a road area, a navigation event of the vehicle in the road area may be acquired from a server, and then environment information is collected and a navigation mode is determined.

1. When the navigation mode is the ADAS mode, using ADAS navigation, specifically:

when the navigation event is other events, determining whether the event type of the navigation event is a mutual exclusion type. If the type is the mutual exclusion type, the navigation event is recorded in a mutual exclusion history list as the mutual exclusion event (if the type is not the mutual exclusion type, the navigation event is the overlapping type). And then judging whether the vehicle is in a broadcasting trigger area of the ADAS statement in the navigation event, if so, broadcasting the ADAS statement in the navigation event, otherwise, judging whether the vehicle is in a broadcasting trigger area of the SD statement in the navigation event, if so, broadcasting the SD statement in the navigation event, and otherwise, discarding the SD statement in the navigation event.

When the navigation event is a lane merging event, whether the vehicle is in a broadcasting trigger area of an ADAS statement in the navigation event is also judged, if yes, the ADAS statement in the navigation event is broadcasted, otherwise, whether the vehicle is in the broadcasting trigger area of an SD statement in the navigation event is judged, if yes, the SD statement in the navigation event is broadcasted, and if not, the SD statement in the navigation event is abandoned.

And when the navigation event is a road steering event, directly judging whether the vehicle is in a broadcasting trigger area of the SD statement in the navigation event, if so, broadcasting the SD statement in the navigation event, and otherwise, discarding the SD statement in the navigation event.

2. When the navigation mode is the SD mode, the ADAS navigation is downgraded to the SD navigation and is not changed until the road area is driven away, specifically:

when the mutual exclusion event in the mutual exclusion history list is a lane merging event, directly judging whether the vehicle is in a broadcasting trigger area of the SD statement in the navigation event, if so, broadcasting the SD statement in the navigation event, and otherwise, discarding the SD statement in the navigation event.

When the mutex event in the mutex history list is other events, whether the navigation event is also the mutex event in the mutex history list needs to be judged, if so, the navigation event is not processed, otherwise, whether the vehicle is in a broadcast trigger area of an SD statement in the navigation event is judged, if so, the SD statement in the navigation event is broadcast, and otherwise, the SD statement in the navigation event is abandoned.

Therefore, the scheme provided by the embodiment of the invention can be used for carrying out lane-level broadcasting or traditional broadcasting in advance on each navigation section corresponding to the lane-changed vehicle according to real-time data collected by the sensor.

The method provided by the embodiment of the invention can be used for acquiring the first navigation statement and the second navigation statement corresponding to the navigation event of the vehicle in the road area, wherein the navigation event has an event type; collecting environmental information of the current environment of the vehicle; determining a navigation mode of the vehicle in the road area according to the environment information; when the navigation mode is the first navigation mode, determining a target sentence in the first navigation sentence and the second navigation sentence according to the event type; when the navigation mode is the second navigation mode, determining a target sentence in the second navigation sentence; and broadcasting the target statement.

Therefore, the embodiment of the invention switches different navigation modes by detecting the real-time environment of the vehicle, so that the vehicle navigation is suitable for any environment, and the different navigation modes correspond to different navigation strategies, so that the navigation is more accurate.

Therefore, the accuracy of the vehicle navigation broadcasting method can be improved.

The method described in the above embodiments is further described in detail below.

In this embodiment, the method of the embodiment of the present invention will be described in detail by taking the application in the server as an example.

As shown in fig. 2, a vehicle navigation broadcasting method includes the following specific processes:

201. the driving information of the vehicle is acquired from the client, and the client is mounted on the vehicle.

202. And determining a navigation event of the vehicle running in the road of the road area according to the preset map and the running information of the vehicle.

In some embodiments, the driving information may include a location position, and step 202 may include the steps of:

carrying out topology processing on the lanes in the preset map according to the navigation track to obtain the lane changing position of the vehicle;

based on the lane change position and the positioning position, a navigation event that the vehicle is traveling in the road is determined.

For example, the ADAS navigation may plan a navigation track of a vehicle through an automatic driving technology, and perform topology processing on lanes in a preset high-precision map according to the navigation track, so as to determine a lane change position of the vehicle, whether the lane change is a left lane change or a right lane change, and the like.

203. And generating a first navigation statement and a second navigation statement corresponding to the navigation event.

For example, the navigation event is: if the vehicle changes lane at the lane change position of (10, 10) on the left, a first navigation statement "please change lane at 100 meters ahead on the left" corresponding to the navigation event may be generated, and the broadcast trigger area of the statement is a circular area with a radius of 100 meters and with (10, 10) as the center.

204. And sending the navigation event and the first navigation statement and the second navigation statement corresponding to the navigation event to the client so that the client can perform vehicle navigation broadcasting based on the navigation event and the first navigation statement and the second navigation statement corresponding to the navigation event.

For example, the server may package and send the first navigation statement and the second navigation statement corresponding to the navigation event and the information of the broadcast trigger area to the client.

According to the scheme, the driving information of the vehicle can be acquired from the client, and the client is mounted on the vehicle; determining a navigation event of the vehicle running in the road of the road area according to a preset map and the running information of the vehicle; generating a first navigation statement and a second navigation statement corresponding to the navigation event; and sending the navigation event and the first navigation statement and the second navigation statement corresponding to the navigation event to the client so that the client can perform vehicle navigation broadcasting based on the navigation event and the first navigation statement and the second navigation statement corresponding to the navigation event.

In order to better implement the method, an embodiment of the present invention further provides a car navigation broadcasting device suitable for a client, where the car navigation broadcasting device may be specifically integrated in an electronic device, and the electronic device may be a terminal, a server, or other devices. The terminal can be a mobile phone, a tablet computer, an intelligent Bluetooth device, a notebook computer, a personal computer and other devices; the server may be a single server or a server cluster composed of a plurality of servers.

For example, in this embodiment, the method according to the embodiment of the present invention will be described in detail by taking an example that a car navigation broadcasting device is specifically integrated in a smart phone.

For example, as shown in fig. 3, the car navigation broadcasting device may include an acquisition unit 301, an environment unit 302, a mode unit 303, a first unit 304, a second unit 305, and a broadcasting unit 306, as follows:

an obtaining unit 301, configured to obtain a first navigation statement and a second navigation statement corresponding to a navigation event of a vehicle in a road area, where the navigation event has an event type;

an environment unit 302, configured to collect environment information of an environment where the vehicle is currently located;

a mode unit 303 for determining a navigation mode of the vehicle in a road area of the vehicle based on the environment information;

a first unit 304, configured to determine a target sentence in the first navigation sentence and the second navigation sentence according to the event type when the navigation mode is the first navigation mode;

a second unit 305 for determining a target sentence in the second navigation sentence when the navigation mode is the second navigation mode;

and the broadcasting unit 306 is used for broadcasting the target statement.

In some embodiments, the navigation events are divided into road turn events, lane merge events, and other events, the first unit 304, including:

and the first other subunit is used for determining the first navigation statement and the second navigation statement corresponding to other events as target statements according to the event types of the other events.

In some embodiments, the event types of the other events include a mutually exclusive subtype and an overlapping subtype, the first other subunit to:

determining the first navigation sentences and the second navigation sentences corresponding to other events of all the overlapping sub-types as target sentences;

selecting other events of one mutual exclusion subtype from other events of all the mutual exclusion subtypes as mutual exclusion events;

In some embodiments, the first other subunit, after selecting, as the mutex event, one other event of the mutex subtype from all other events of the mutex subtype, is further configured to:

the mutex event is recorded in a mutex history list.

In some embodiments, the navigation event is divided into a lane merging event and other events, and the second unit 305 is configured to:

acquiring a mutual exclusion history list;

if other events do not appear in the mutual exclusion history list, determining a target sentence by using a second navigation sentence corresponding to the lane doubling event;

and taking the second navigation statement corresponding to the road turning event as a target statement.

In some embodiments, the road region includes at least one road, the road includes at least one lane, and the mode unit 303 includes:

the confidence subunit is used for identifying the lane in the road where the vehicle is located currently based on the environmental information to obtain the confidence of the lane, and the confidence is used for representing the accuracy of lane identification;

the first mode subunit is used for determining that the navigation mode of the vehicle is the first navigation mode when the confidence of the lane is higher than a preset threshold;

and the second mode subunit is used for determining that the navigation mode of the vehicle is the second navigation mode when the confidence coefficient of the lane is not higher than the preset threshold value.

In some embodiments, the road comprises a self lane in which the vehicle is located, and a left lane to the left of the self lane, and a right lane to the right of the self lane, the confidence subunit being configured to:

identifying a right lane positioned on the right side of the lane to obtain the confidence of the right lane;

In some embodiments, the obtaining unit 301 is configured to:

determining the current running information of the vehicle;

and determining the event type corresponding to the navigation event.

In some embodiments, the first navigation statement and the second navigation statement corresponding to the navigation event both have broadcast trigger areas, and the broadcast unit 306 is configured to:

acquiring the current positioning position of the vehicle;

In a specific implementation, the above units may be implemented as independent entities, or may be combined arbitrarily to be implemented as the same or several entities, and the specific implementation of the above units may refer to the foregoing method embodiments, which are not described herein again.

As can be seen from the above, in the vehicle navigation broadcasting device of the embodiment, the obtaining unit obtains the first navigation statement and the second navigation statement corresponding to the navigation event of the vehicle in the road area, where the navigation event has an event type; the method comprises the steps that an environment unit collects environment information of the current environment of a vehicle; a mode unit for determining a navigation mode of the vehicle in a road area of the vehicle based on the environment information; determining, by the first unit, a target sentence in the first navigation sentence and the second navigation sentence according to the event type when the navigation mode is the first navigation mode; determining, by the second unit, a target sentence in the second navigation sentence when the navigation mode is the second navigation mode; and broadcasting the target statement by the broadcasting unit.

The embodiment of the invention also provides a vehicle navigation broadcasting device suitable for the server, and the vehicle navigation broadcasting device can be specifically integrated in electronic equipment, and the electronic equipment can be equipment such as a terminal, a server and the like. The terminal can be a mobile phone, a tablet computer, an intelligent Bluetooth device, a notebook computer, a personal computer and other devices; the server may be a single server or a server cluster composed of a plurality of servers.

For example, in this embodiment, the method according to the embodiment of the present invention will be described in detail by taking an example that a car navigation broadcasting device is specifically integrated in a server.

For example, as shown in fig. 4, the car navigation broadcasting device may include an information unit 401, an event unit 402, a sentence unit 403, and a transmission unit 404 as follows:

an information unit 401 configured to acquire driving information of a vehicle from a client, the vehicle having the client mounted thereon;

an event unit 402, configured to determine a navigation event that the vehicle travels in a road of the road area according to a preset map and the travel information of the vehicle;

a sentence unit 403, configured to generate a first navigation sentence and a second navigation sentence corresponding to the navigation event;

the sending unit 404 is configured to send the navigation event and the first navigation statement and the second navigation statement corresponding to the navigation event to the client, so that the client performs vehicle navigation broadcast based on the navigation event and the first navigation statement and the second navigation statement corresponding to the navigation event.

In some embodiments, the travel information includes a location position, and the event unit 402 may be configured to:

As can be seen from the above, in the car navigation broadcasting device of the present embodiment, the information unit acquires the driving information of the vehicle from the client, and the client is mounted on the vehicle; the event unit determines a navigation event that the vehicle runs in a road of the road area according to a preset map and the running information of the vehicle; the sentence unit generates a first navigation sentence and a second navigation sentence corresponding to the navigation event; the sending unit sends the navigation event and the first navigation statement and the second navigation statement corresponding to the navigation event to the client, so that the client can conveniently broadcast the vehicle navigation based on the navigation event and the first navigation statement and the second navigation statement corresponding to the navigation event.

The embodiment of the invention also provides the electronic equipment which can be equipment such as a terminal, a server and the like. The terminal can be a mobile phone, a tablet computer, an intelligent Bluetooth device, a notebook computer, a personal computer and the like; the server may be a single server, a server cluster composed of a plurality of servers, or the like.

In this embodiment, the electronic device of this embodiment is described in detail as an example, for example, as shown in fig. 5, it shows a schematic structural diagram of the electronic device according to the embodiment of the present invention, specifically:

the electronic device may include components such as a processor 501 of one or more processing cores, memory 502 of one or more computer-readable storage media, a power supply 503, an input module 504, and a communication module 505. Those skilled in the art will appreciate that the electronic device configuration shown in fig. 5 does not constitute a limitation of the electronic device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components. Wherein:

the processor 501 is a control center of the electronic device, connects various parts of the whole electronic device by using various interfaces and lines, and performs various functions of the electronic device and processes data by running or executing software programs and/or modules stored in the memory 502 and calling data stored in the memory 502, thereby performing overall monitoring of the electronic device. In some embodiments, processor 501 may include one or more processing cores; in some embodiments, processor 501 may integrate an application processor, which primarily handles operating systems, user interfaces, applications, etc., and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 501.

The memory 502 may be used to store software programs and modules, and the processor 501 executes various functional applications and data processing by operating the software programs and modules stored in the memory 502. The memory 502 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data created according to use of the electronic device, and the like. Further, the memory 502 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory 502 may also include a memory controller to provide the processor 501 with access to the memory 502.

The electronic device also includes a power supply 503 for supplying power to the various components, and in some embodiments, the power supply 503 may be logically connected to the processor 501 through a power management system, so that functions such as managing charging, discharging, and power consumption are implemented through the power management system. The power supply 503 may also include any component of one or more dc or ac power sources, recharging systems, power failure detection circuitry, power converters or inverters, power status indicators, and the like.

The electronic device may also include an input module 504, where the input module 504 may be used to receive entered numeric or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

The electronic device may also include a communication module 505, and in some embodiments the communication module 505 may include a wireless module by which the electronic device may wirelessly transmit over short distances to provide wireless broadband internet access to the user. For example, the communication module 505 can be used to assist a user in emailing, browsing web pages, accessing streaming media, and the like.

Although not shown, the electronic device may further include a display unit and the like, which are not described in detail herein. Specifically, in this embodiment, the processor 501 in the electronic device loads the executable file corresponding to the process of one or more application programs into the memory 502 according to the following instructions, and the processor 501 runs the application program stored in the memory 502, so as to implement various functions as follows:

collecting environmental information of the current environment of the vehicle;

determining a navigation mode of the vehicle in the road area according to the environment information;

when the navigation mode is the first navigation mode, determining a target sentence in the first navigation sentence and the second navigation sentence according to the event type;

when the navigation mode is the second navigation mode, determining a target sentence in the second navigation sentence;

and broadcasting the target statement.

The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.

It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.

To this end, the embodiment of the present invention provides a computer-readable storage medium, in which a plurality of instructions are stored, where the instructions can be loaded by a processor to execute the steps in any one of the vehicle navigation broadcasting methods provided by the embodiment of the present invention. For example, the instructions may perform the steps of:

collecting environmental information of the current environment of the vehicle;

and broadcasting the target statement.

Wherein the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.

According to an aspect of the application, a computer program product or computer program is provided, comprising computer instructions, the computer instructions being stored in a computer readable storage medium. The computer instructions are read by a processor of a computer device from a computer-readable storage medium, and the computer instructions are executed by the processor to cause the computer device to perform the methods provided in the various alternative implementations of the automated driving aspect or the vehicle navigation aspect provided in the above embodiments.

Since the instructions stored in the storage medium can execute the steps in any vehicle navigation broadcasting method provided by the embodiment of the present invention, the beneficial effects that can be realized by any vehicle navigation broadcasting method provided by the embodiment of the present invention can be realized, which are detailed in the foregoing embodiments and will not be described herein again.

The vehicle navigation broadcasting method, the vehicle navigation broadcasting device, the electronic device and the computer-readable storage medium according to the embodiments of the present invention are described in detail, and a specific example is applied to illustrate the principle and the implementation of the present invention, and the description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for those skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A vehicle navigation broadcasting method is characterized by comprising the following steps:

collecting environmental information of the current environment of the vehicle;

and broadcasting the target statement.

2. The vehicle navigation broadcasting method according to claim 1, wherein the navigation events are divided into a road turning event, a lane merging event and other events, and the determining of the target sentence among the first navigation sentence and the second navigation sentence according to the event type includes:

taking a first navigation statement corresponding to the lane doubling event as a target statement;

taking a second navigation statement corresponding to the road turning event as a target statement;

and determining a target sentence in the first navigation sentence and the second navigation sentence corresponding to the other event according to the event type of the other event.

3. The vehicle navigation broadcasting method according to claim 2, wherein the event types of the other events include a mutual exclusion subtype and an overlapping subtype, and the determining the target sentence in the first navigation sentence and the second navigation sentence corresponding to the other event according to the event types of the other events includes:

4. The vehicle navigation broadcasting method as claimed in claim 3, wherein after selecting one of the other events of the mutually exclusive sub-type as the mutually exclusive event, the method further comprises:

and recording the mutual exclusion event in a mutual exclusion history list.

5. The vehicle navigation broadcasting method according to claim 1, wherein the navigation event is divided into a lane merging event and other events, and the determining of the target sentence in the second navigation sentence includes:

acquiring a mutual exclusion history list;

6. The vehicle navigation broadcasting method according to claim 1, wherein the road area includes at least one road, the road includes at least one lane, and the determining the navigation mode of the vehicle in the road area according to the environment information includes:

recognizing a lane in a road where the vehicle is located currently based on the environment information to obtain a confidence coefficient of the lane, wherein the confidence coefficient is used for representing the accuracy of lane recognition;

when the confidence of the lane is higher than a preset threshold value, determining that the navigation mode of the vehicle is a first navigation mode;

and when the confidence of the lane is not higher than a preset threshold value, determining that the navigation mode of the vehicle is a second navigation mode.

7. The vehicle navigation broadcasting method according to claim 6, wherein the road includes a self lane where the vehicle is located, and a left lane located to the left of the self lane, and a right lane located to the right of the self lane;

the recognizing the lane in the road where the vehicle is currently located based on the environment information to obtain the confidence of the lane includes:

8. The vehicle navigation broadcasting method according to claim 1, wherein the acquiring of the first navigation statement and the second navigation statement corresponding to the navigation event of the vehicle in the road area comprises:

determining the current running information of the vehicle;

and determining the event type corresponding to the navigation event.

9. The vehicle navigation broadcasting method according to any one of claims 1 to 8, wherein the first navigation statement and the second navigation statement corresponding to the navigation event both have broadcasting trigger areas, and the broadcasting of the target statement comprises:

acquiring the current positioning position of the vehicle;

10. A vehicle navigation broadcasting method is characterized by comprising the following steps:

11. The vehicle navigation broadcasting method of claim 10, wherein the driving information includes a location position, and the determining a navigation event that the vehicle drives in a road according to a preset map and the driving information of the vehicle includes:

12. A vehicle navigation broadcast device, comprising:

and the broadcasting unit is used for broadcasting the target statement.

13. A vehicle navigation broadcast device, comprising:

14. An electronic device comprising a processor and a memory, the memory storing a plurality of instructions; the processor loads instructions from the memory to execute the steps of the vehicle navigation broadcasting method according to any one of claims 1 to 11.

15. A computer readable storage medium storing instructions adapted to be loaded by a processor to perform the steps of the method according to any one of claims 1 to 11.