CN113340318A

CN113340318A - Vehicle navigation method, device, electronic equipment and storage medium

Info

Publication number: CN113340318A
Application number: CN202110738277.4A
Authority: CN
Inventors: 张佩龙; 张晓鹏
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2021-09-03

Abstract

The application provides a vehicle navigation method, a vehicle navigation device, electronic equipment and a storage medium, which are applied to a vehicle-mounted scene; the method comprises the following steps: presenting, in a vehicle navigation interface, at least two lanes included in a road and a vehicle traveling in a first lane of the road; displaying first lane guide information corresponding to a first navigation route in at least two lanes; in the process that the vehicle runs along the first lane, when the first lane guide information indicates that the first lane is switched to the second lane and the vehicle is in yaw, the first lane guide information is switched to second lane guide information corresponding to the current lane by taking the current position of the vehicle as a starting point; switching the displayed second lane guide information into third lane guide information corresponding to a second navigation route in the process that the vehicle runs based on the second lane guide information; by the method and the device, the navigation experience of the user can be more coherent, and the navigation efficiency is improved.

Description

Vehicle navigation method, device, electronic equipment and storage medium

Technical Field

The present application relates to the field of vehicle networking technologies, and in particular, to a vehicle navigation method and apparatus, an electronic device, and a storage medium.

Background

With the rapid development of computer technology and communication technology, vehicle navigation has been widely used in daily travel of people, and generally speaking, vehicle navigation mainly refers to calculating a navigation route according to a starting point and an end point set by a user and guiding the user to drive a vehicle to the end point according to the navigation route.

In the related art, a lane-level navigation route is adopted to ensure that accurate navigation is provided for a user, but during the driving process of a vehicle, the vehicle may deviate from the navigation route due to the influence of various factors (such as a driving error of the user, a road which is being built and cannot be passed, and the like). In the related technology, after the vehicle is found to yaw, the current lane-level navigation route is directly withdrawn, and if a user needs to check the lane-level navigation, the user needs to operate the navigation route to check the lane-level navigation route.

Disclosure of Invention

The embodiment of the application provides a vehicle navigation method, a vehicle navigation device, an electronic device and a storage medium, so that the navigation experience of a user is more coherent, and the navigation efficiency is improved.

The technical scheme of the embodiment of the application is realized as follows:

the embodiment of the application provides a vehicle navigation method, which comprises the following steps:

presenting, in a vehicle navigation interface, at least two lanes comprised by a road, and a vehicle traveling in a first lane of the road;

displaying first lane guide information corresponding to a first navigation route in the at least two lanes;

when the first lane guide information indicates that the first lane is switched to a second lane and the vehicle is in yaw in the process that the vehicle runs along the first lane, the first lane guide information is switched to second lane guide information corresponding to the current lane by taking the current position of the vehicle as a starting point;

and switching the displayed second lane guide information into third lane guide information corresponding to a second navigation route in the process that the vehicle runs based on the second lane guide information.

An embodiment of the present application further provides a vehicle navigation apparatus, including:

the system comprises a presentation module, a display module and a display module, wherein the presentation module is used for presenting at least two lanes included in a road and a vehicle driving in a first lane in the road in a vehicle navigation interface;

the display module is used for displaying first lane guide information corresponding to a first navigation route in the at least two lanes;

the first switching module is used for switching the first lane guide information into second lane guide information corresponding to a current lane by taking the current position of the vehicle as a starting point when the first lane guide information indicates that the first lane is switched to the second lane and the vehicle is in yaw in the process that the vehicle runs along the first lane;

and the second switching module is used for switching the displayed second lane guide information into third lane guide information corresponding to a second navigation route in the process that the vehicle runs based on the second lane guide information.

In the above scheme, the display module is further configured to present, in the at least two presented lanes, a lane change position for switching from the first lane to the second lane;

displaying first lane guidance information corresponding to the first navigation route indicating switching from the first lane to the second lane via the lane change position.

In the above scheme, when the number of lane change positions is at least two, the display module is further configured to obtain vehicle driving parameters, where the vehicle driving parameters include at least one of: the running speed of the vehicle, the traffic flow of the second lane, the number of spaced lanes between the first lane and the second lane and the spacing distance;

selecting a recommended lane change position from the at least two lane change positions based on the vehicle driving parameter;

displaying first lane guidance information corresponding to the first navigation route indicating switching from the first lane to the second lane via the recommended lane change position.

In the above scheme, the apparatus further comprises:

a yaw recognition module for acquiring a driving position of the vehicle in the first lane;

determining that the vehicle is yawing when it is determined that the vehicle cannot be switched to the second lane through the lane change position based on the travel position.

In the above solution, when the number of lane change positions is at least two, the yaw identifying module is further configured to determine that the vehicle is yawed when determining that the vehicle cannot pass through a latest lane change position of the at least two lane change positions and switches to the second lane based on the driving position;

the latest lane change position is the last lane change position located in front of the vehicle in the at least two lane change positions.

In the above scheme, the apparatus further comprises:

the lane change position determining module is used for acquiring vehicle running parameters, and the vehicle running parameters comprise at least one of the following parameters: the running speed of the vehicle, the traffic flow of the second lane, the number of spaced lanes between the first lane and the second lane and the spacing distance;

determining the latest lane change position based on the vehicle driving parameters;

selecting at least one lane change position different from the latest lane change position between the current position of the vehicle and the latest lane change position.

In the above scheme, the presentation module is further configured to present a navigation guidance function switch in a navigation setting interface;

turning on a navigation guidance function for the vehicle in response to an on instruction for the navigation guidance function switch;

the second switching module is further configured to switch the first lane guidance information to second lane guidance information corresponding to a current lane, with the current position of the vehicle as a starting point, when a navigation guidance function for the vehicle is started.

In the above scheme, the first lane includes a plurality of travel sections with the same length, and the display module is further configured to determine a travel section corresponding to the current position of the vehicle, and acquire a plurality of downstream travel sections of the travel section in the advancing direction of the vehicle;

and selecting a target downstream driving road section from the plurality of downstream driving road sections, and presenting second lane guide information which takes the current position of the vehicle as a starting point and extends to the target downstream driving road section to replace the first lane guide information.

In the above scheme, the display module is further configured to obtain a distance between the current position of the vehicle and a terminal position of a road section where the vehicle is currently located;

when the distance is determined not to exceed the distance threshold, acquiring a plurality of downstream driving sections of the driving section where the vehicle is located in the advancing direction of the vehicle.

In the above scheme, the second switching module is further configured to obtain a real-time position of the vehicle during traveling according to the second lane guidance information;

and generating a second navigation route corresponding to the vehicle based on the real-time position and the target position, and replacing the first navigation route with the second navigation route.

In the above scheme, the second switching module is further configured to determine a current lane corresponding to the current position of the vehicle, and determine a target lane to be traveled, which corresponds to the current lane;

generating third lane guide information corresponding to the second navigation route and driving from the current lane to the target lane based on the current lane and the target lane in combination with the second navigation route;

switching the displayed second lane guiding information corresponding to the current lane into the generated third lane guiding information corresponding to the second navigation route;

when the vehicle drives out of the current lane, the operation is executed in a circulating mode until the vehicle drives through each branched intersection in the second navigation route;

wherein the target lane is located at each diverging intersection in the vehicle forward direction in the second navigation route.

In the foregoing solution, the second switching module is further configured to determine, in combination with the second navigation route, a lane route corresponding to driving from the current lane to the target lane based on the current lane and the target lane;

and generating third lane guide information corresponding to a second navigation route and driving from the current lane to the target lane based on the lane route.

In the foregoing solution, the second switching module is further configured to determine, according to the current lane and the target lane, a driving route that is on the second navigation route and travels from the current lane to the target lane, where the driving route includes a plurality of driving route combinations, and each driving route combination includes at least two parallel and adjacent driving routes;

selecting a target driving road section passing through the current lane to the target lane from all driving road sections contained in the driving route;

and generating a lane route corresponding to the driving from the current lane to the target lane based on the selected target driving road section.

In the above scheme, when the number of the lane routes is at least two, the second switching module is further configured to obtain lane driving parameters corresponding to each lane route, and select a target lane route from the at least two lane routes based on the lane driving parameters;

and generating third lane guide information corresponding to a second navigation route and driving from the current lane to the target lane based on the target lane route.

In the above scheme, the presenting module is further configured to locate the vehicle to obtain location information, query in an electronic map according to the location information to obtain a first lane where the vehicle is located, and present the vehicle in the first lane;

or visually identifying the environment where the vehicle is located to obtain environment visual information, determining a first lane where the vehicle is located according to the environment visual information, and presenting the vehicle in the first lane.

In the foregoing solution, the presentation module is further configured to execute any one of the following processes:

acquiring positioning information set for the vehicle;

positioning processing based on a global positioning system is carried out on the vehicle to obtain positioning information;

and carrying out positioning processing based on carrier phase difference on the vehicle to obtain positioning information.

In the above scheme, the display module is further configured to display a first lane guiding line corresponding to the first navigation route in the navigation mode;

the second switching module is further configured to switch the navigation mode to a cruise mode, and switch the first lane guiding line to a second lane guiding line corresponding to the current lane with the current position of the vehicle as a starting point;

the second switching module is further configured to switch the cruise mode to the navigation mode, and switch the displayed second lane guiding line to a third lane guiding line corresponding to a second navigation route.

An embodiment of the present application further provides an electronic device, including:

a memory for storing executable instructions;

and the processor is used for realizing the vehicle navigation method provided by the embodiment of the application when executing the executable instructions stored in the memory.

The embodiment of the application also provides a computer-readable storage medium, which stores executable instructions, and when the executable instructions are executed by a processor, the vehicle navigation method provided by the embodiment of the application is realized.

The embodiment of the application has the following beneficial effects:

presenting, in a vehicle navigation interface, at least two lanes included in a road and a vehicle traveling in a first lane of the road; displaying first lane guide information corresponding to a first navigation route in at least two lanes; in the process that the vehicle runs along the first lane, when the first lane guide information indicates that the first lane is switched to the second lane and the vehicle is in yaw, the first lane guide information is switched to second lane guide information corresponding to the current lane by taking the current position of the vehicle as a starting point; switching the displayed second lane guiding information into third lane guiding information corresponding to a second navigation route in the process that the vehicle runs based on the second lane guiding information; therefore, when the vehicle runs based on the lane-level navigation, if the first lane guide information indicates that lane switching is performed and the vehicle drifts (i.e. does not change corresponding lanes) in the process of running based on the first lane guide information, the vehicle does not directly exit the current lane-level navigation or switch to the non-lane-level road navigation in the related technology, but first switches the first lane guide information into the second lane guide information corresponding to the current lane to realize the transition of the lane guide information, and then switches the second lane guide information into the third lane guide information corresponding to the second navigation route under the condition that a user does not sense the second lane guide information, so that the smooth switching of the lane guide information of different routes in a vehicle navigation interface is realized, the navigation experience of the user is more coherent, and the navigation efficiency is improved.

Drawings

Fig. 1 is a schematic architecture diagram of a vehicle navigation system 100 provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of an electronic device 500 for implementing a vehicle navigation method according to an embodiment of the present application;

FIG. 3 is a schematic flow chart diagram of a vehicle navigation method provided by an embodiment of the present application;

FIG. 4 is a schematic view of a vehicle navigation interface provided by an embodiment of the present application;

FIG. 5 is a schematic representation of a first lane guidance information provided by an embodiment of the present application;

FIG. 6 is a schematic representation of a first lane guidance information provided by an embodiment of the present application;

FIG. 7 is a schematic diagram illustrating a second lane guidance information presented in an embodiment of the present application;

FIG. 8 is a schematic diagram illustrating a starting process of a navigation guidance function according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a travel segment provided by an embodiment of the present application;

FIG. 10 is a flow chart of determining lane guidance information for a navigation route provided by an embodiment of the present application;

FIG. 11 is a schematic lane change diagram provided by an embodiment of the present application;

fig. 12 is a schematic view of a yaw processing flow provided in the embodiment of the present application.

Detailed Description

In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the attached drawings, the described embodiments should not be considered as limiting the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.

In the following description, references to the terms "first \ second \ third" are only to distinguish similar objects and do not denote a particular order, but rather the terms "first \ second \ third" are used to interchange specific orders or sequences, where appropriate, so as to enable the embodiments of the application described herein to be practiced in other than the order shown or described herein.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.

Before further detailed description of the embodiments of the present application, terms and expressions referred to in the embodiments of the present application will be described, and the terms and expressions referred to in the embodiments of the present application will be used for the following explanation.

1) The terminal comprises a client and an application program running in the terminal and used for providing various services, such as an instant messaging client and a video playing client.

2) In response to the condition or state on which the performed operation depends, one or more of the performed operations may be in real-time or may have a set delay when the dependent condition or state is satisfied; there is no restriction on the order of execution of the operations performed unless otherwise specified.

3) Road: refers to the infrastructure for vehicles to travel through in a transportation network. In the embodiment of the present application, a road includes a plurality of lanes (also referred to as lanes, lanes), for example, a certain road includes a passing lane, a fast lane and a slow lane. The road includes a plurality of lanes partitioned by lane markings, which are traffic facilities provided on the road and indicated by lines, and may include, for example, a white dotted line (lane change is allowed) and a white solid line (lane change is prohibited).

4) Navigation route: refers to a route calculated according to the set starting point and ending point, i.e. a series of roads are passed from the starting point and finally reach the ending point. In the embodiment of the present application, the navigation route may be included in the navigation route, or may not be distinguished from the lane, and the lane is distinguished by the lane guidance information corresponding to the navigation route, that is, the lane guidance information includes a lane to be recommended to be driven by each road that needs to be passed through, so as to perform lane-level navigation.

Based on the above explanations of terms and terms involved in the embodiments of the present application, the following describes a vehicle navigation system provided by the embodiments of the present application. Referring to fig. 1, fig. 1 is a schematic diagram of an architecture of a vehicle navigation system 100 provided in an embodiment of the present application, in order to support an exemplary application, a terminal (an exemplary terminal 400-1 is shown) is connected to a server 200 through a network 300, where the network 300 may be a wide area network or a local area network, or a combination of the two, and data transmission is implemented using a wireless or wired link.

A terminal (e.g., terminal 400-1) for presenting a vehicle navigation interface at a graphical interface 410 (graphical interface 410-1 is exemplarily shown), and presenting at least two lanes included in a road and a vehicle traveling in a first lane of the road in the vehicle navigation interface; displaying first lane guide information corresponding to a first navigation route in at least two lanes; in the process that the vehicle runs along the first lane, the real-time position of the vehicle is obtained and sent to the server 200;

the server 200 is used for receiving the real-time position of the vehicle sent by the terminal in the process of driving along the first lane; when the first lane guide information indicates that the first lane is switched to a second lane and the vehicle is determined to be deflected based on the real-time position, generating second lane guide information which takes the current position of the vehicle as a starting point and corresponds to the current lane, and returning the second lane guide information to the terminal;

a terminal (e.g., terminal 400-1) for receiving and switching the first lane guide information into second lane guide information corresponding to a current lane;

the server 200 is further used for generating a second navigation route of the corresponding vehicle based on the real-time position of the vehicle in the driving process along the first lane and the second lane guide information sent by the terminal and returning the second navigation route to the terminal;

the terminal (such as the terminal 400-1) is also used for receiving a second navigation route returned by the server 200; and switching the displayed second lane guide information into third lane guide information corresponding to a second navigation route in the process that the vehicle runs based on the second lane guide information.

In practical application, the server 200 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a network service, cloud communication, a middleware service, a domain name service, a security service, a CDN, a big data and artificial intelligence platform, and the like. The terminal (e.g., terminal 400-1) may be, but is not limited to, a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart television, a smart watch, a vehicle-mounted terminal, and the like. The terminal (e.g., terminal 400-1) and the server 200 may be directly or indirectly connected through wired or wireless communication, and the application is not limited thereto.

Referring to fig. 2, fig. 2 is a schematic structural diagram of an electronic device 500 for implementing a vehicle navigation method according to an embodiment of the present application. In practical applications, the electronic device 500 may be a server or a terminal shown in fig. 1, and the electronic device 500 is taken as the terminal shown in fig. 1 as an example to explain an electronic device for implementing the vehicle navigation method according to the embodiment of the present application, where the electronic device 500 provided in the embodiment of the present application includes: at least one processor 510, memory 550, at least one network interface 520, and a user interface 530. The various components in the electronic device 500 are coupled together by a bus system 540. It is understood that the bus system 540 is used to enable communications among the components. The bus system 540 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 540 in fig. 2.

The Processor 510 may be an integrated circuit chip having Signal processing capabilities, such as a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like, wherein the general purpose Processor may be a microprocessor or any conventional Processor, or the like.

The user interface 530 includes one or more output devices 531 enabling presentation of media content, including one or more speakers and/or one or more visual display screens. The user interface 530 also includes one or more input devices 532, including user interface components to facilitate user input, such as a keyboard, mouse, microphone, touch screen display, camera, other input buttons and controls.

The memory 550 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid state memory, hard disk drives, optical disk drives, and the like. Memory 550 optionally includes one or more storage devices physically located remote from processor 510.

The memory 550 may comprise volatile memory or nonvolatile memory, and may also comprise both volatile and nonvolatile memory. The nonvolatile Memory may be a Read Only Memory (ROM), and the volatile Memory may be a Random Access Memory (RAM). The memory 550 described in embodiments herein is intended to comprise any suitable type of memory.

In some embodiments, memory 550 can store data to support various operations, examples of which include programs, modules, and data structures, or subsets or supersets thereof, as exemplified below.

An operating system 551 including system programs for processing various basic system services and performing hardware-related tasks, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks;

a network communication module 552 for communicating to other computing devices via one or more (wired or wireless) network interfaces 520, exemplary network interfaces 520 including: bluetooth, wireless compatibility authentication (WiFi), and Universal Serial Bus (USB), etc.;

a presentation module 553 for enabling presentation of information (e.g., a user interface for operating peripherals and displaying content and information) via one or more output devices 531 (e.g., a display screen, speakers, etc.) associated with the user interface 530;

an input processing module 554 to detect one or more user inputs or interactions from one of the one or more input devices 532 and to translate the detected inputs or interactions.

In some embodiments, the vehicle navigation device provided in the embodiments of the present application may be implemented in software, and fig. 2 shows a vehicle navigation device 555 stored in a memory 550, which may be software in the form of programs and plug-ins, and includes the following software modules: a presentation module 5551, a presentation module 5552, a first switching module 5553 and a second switching module 5554, which are logical and thus can be arbitrarily combined or further split according to the implemented functions, which will be explained below.

In other embodiments, the vehicle navigation Device provided in the embodiments of the present Application may be implemented by a combination of hardware and software, and for example, the vehicle navigation Device provided in the embodiments of the present Application may be a processor in the form of a hardware decoding processor, which is programmed to execute the vehicle navigation method provided in the embodiments of the present Application, for example, the processor in the form of the hardware decoding processor may be one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), or other electronic components.

Based on the above description of the vehicle navigation system and the electronic device provided in the embodiments of the present application, the vehicle navigation method provided in the embodiments of the present application is described below. In some embodiments, the vehicle navigation method provided by the embodiment of the present application may be implemented by a server or a terminal alone, or implemented by a server and a terminal in a cooperation manner, and the vehicle navigation method provided by the embodiment of the present application is described below by taking the terminal as an example.

Referring to fig. 3, fig. 3 is a schematic flowchart of a vehicle navigation method provided in an embodiment of the present application, where the vehicle navigation method provided in the embodiment of the present application includes:

step 101: the terminal presents at least two lanes included in a road and a vehicle driving in a first lane of the road in a vehicle navigation interface.

Here, the terminal may be a terminal such as a smartphone or a tablet, or may be a vehicle-mounted terminal. In practical application, a terminal is provided with a client for vehicle navigation, a vehicle navigation interface is presented by operating the client, and a plurality of lanes included in a road and a vehicle running in a first lane in the road are presented in the vehicle navigation interface; meanwhile, in the driving process of the vehicle, the lanes and the vehicle presented in the vehicle navigation interface are updated in real time based on the real-time position of the vehicle. In practical implementation, the road different from the road where the vehicle is located can be displayed, so that the user can know the surrounding road condition.

By way of example, referring to fig. 4, fig. 4 is a schematic view of a vehicle navigation interface provided by an embodiment of the present application. Here, the vehicle navigation interface is a navigation interface for lane-level navigation, and includes a road 1, a road 2, and a road 3, and also includes each lane included in each road. Wherein the vehicle is traveling in a first lane in the road 2 (represented in vehicle shape in fig. 4).

It is worth explaining that, for various results (such as a road, a lane, a first lane, a real-time position and the like) involved in the vehicle navigation process, corresponding prompts can be synchronously output in a text, voice or vibration mode and the like while displaying, so that the navigation capability is improved in multiple dimensions, and effective reminding is realized.

In some embodiments, the terminal presents a vehicle traveling in a first lane of a roadway by: positioning the vehicle to obtain positioning information, inquiring in an electronic map according to the positioning information to obtain a first lane where the vehicle is located, and presenting the vehicle in the first lane; or, visually recognizing the environment where the vehicle is located to obtain environment visual information, determining a first lane where the vehicle is located according to the environment visual information, and presenting the vehicle in the first lane.

Here, two example ways of the lane recognition processing are provided. In the first method, a vehicle is located to obtain location information, and an electronic map (e.g., a high-precision map) is queried according to the location information to obtain a road where the vehicle is located and a first lane of the vehicle on the road.

The second mode is to collect an image of an environment where the vehicle is located, perform visual identification processing on the collected image to obtain environment visual information, and determine a road where the vehicle is located and a first lane of the vehicle in the road according to the environment visual information. Any one of the above modes can be flexibly applied to realize lane identification processing according to the requirements of the actual application scene.

In some embodiments, the terminal locates the vehicle to obtain the location information by: any one of the following processes is performed: acquiring positioning information set for a vehicle; positioning processing based on a global positioning system is carried out on the vehicle to obtain positioning information; and carrying out positioning processing based on carrier phase difference on the vehicle to obtain positioning information.

Here, three example ways of positioning processing are provided. The first method is to acquire positioning information set for a vehicle, for example, the positioning information may be manually set by a user, and this method is suitable for a scenario where a network is poor or there is no condition for automatic positioning.

In the second method, Positioning processing by a Global Positioning System (GPS) is performed on a vehicle to obtain Positioning information. By this way, automatic positioning can be realized.

The third method is to perform positioning processing based on carrier phase difference on the vehicle to obtain positioning information, where carrier phase difference is also called Real Time Kinematic (RTK) positioning, which can obtain positioning information with higher precision, and is suitable for scenes with higher precision requirements.

Step 102: in at least two lanes, first lane guidance information corresponding to a first navigation route is presented.

Here, after presenting the lanes included in the road and the vehicles driving in the lanes in the vehicle navigation interface, the terminal presents, in presenting at least two lanes, first lane guidance information corresponding to a first navigation route, where the first lane guidance information may be lane guidance information at a lane level, such as a lane guidance line, that is, the lane guidance information may indicate the lanes in the road; or road-level road guidance information such as road guide lines, i.e., the road guidance information indicates only the road on which the vehicle is traveling and cannot indicate lanes in the road for guiding the vehicle to travel from the current position to a target position, which may be a destination set by the user.

The first lane guiding information is lane level navigation information corresponding to the first navigation route, in practical application, the lane level navigation information can be obtained based on a lane level navigation technology, the lane level navigation technology is high in precision, the lane where the vehicle is running, the lane to be run and the like can be accurately obtained, and the lane level navigation technology is not only in one direction, for example, the navigation content of the lane level navigation can be evolved from ' turning left, turning right, going straight and turning around after 100 meters ' simply ', and ' please change lanes to the right side to enter a right-turn lane, and turning right 50 meters ahead '.

As an example, referring to fig. 5, fig. 5 is a schematic presentation diagram of first lane guidance information provided by an embodiment of the present application. Here, the vehicle navigation interface is a navigation interface for lane-level navigation, and includes a road 1, a road 2, and a road 3, and also includes each lane included in each road. Wherein the vehicle is traveling in a first lane in the road 2 (represented in vehicle shape in fig. 5). Meanwhile, in the presented lanes, first lane guide information corresponding to a first navigation route is presented, the first lane guide information indicating switching from a first lane to a second lane (a second lane in the road 3 shown in fig. 5).

Step 103: when the first lane guidance information indicates that the first lane is switched to the second lane and the vehicle is in yaw in the process that the vehicle runs along the first lane, the first lane guidance information is switched to the second lane guidance information corresponding to the current lane by taking the current position of the vehicle as a starting point.

Here, the terminal updates the real-time position of the vehicle within the first lane in the vehicle navigation interface in real-time as the vehicle travels along the first lane. When the first lane guidance information indicates that the first lane is switched to the second lane and the vehicle is in yaw, in this embodiment of the application, the terminal may further present second lane guidance information using the current position of the vehicle as a starting point, specifically, the terminal switches the first lane guidance information to the second lane guidance information corresponding to the current lane where the vehicle is located, where the second lane guidance information is used for being presented within an interval time caused when a navigation route is re-planned after the yaw, so that the navigation experience of the user is more coherent.

In some embodiments, when the first lane guidance information indicates a switch from the first lane to the second lane, the terminal may present the first lane guidance information corresponding to the first navigation route in at least two lanes by: presenting, in the presented at least two lanes, a lane change position for switching from the first lane to the second lane; and displaying first lane guide information corresponding to the first navigation route and indicating switching from the first lane to the second lane through the lane change position.

Here, the terminal may present a lane change position for switching from the first lane to the second lane among the presented at least two lanes, thereby presenting first lane guide information indicating switching from the first lane to the second lane via the lane change position corresponding to the first navigation route.

In some embodiments, when the number of lane change positions is at least two, the terminal may present the first lane guide information corresponding to the first navigation route, switched from the first lane to the second lane via the lane change position, by: acquiring vehicle running parameters; selecting a recommended lane changing position from at least two lane changing positions based on vehicle driving parameters; and displaying first lane guide information corresponding to the first navigation route and indicating switching from the first lane to the second lane through the recommended lane changing position. Wherein the vehicle driving parameters include at least one of: the running speed of the vehicle, the traffic flow of the second lane, the number of the separation lanes between the first lane and the second lane and the separation distance;

in practical applications, when the number of lane change positions is at least two, the recommended lane change position may be selected from the at least two lane change positions, so as to present the first lane guidance information corresponding to the first navigation route, which indicates switching from the first lane to the second lane via the recommended lane change position. Specifically, a vehicle running parameter may be acquired, the vehicle running parameter including at least one of a running speed of the vehicle (a real-time running speed or an average running speed over a past period of time), a traffic volume of the second lane (a real-time traffic volume or an average traffic volume over a past period of time), the number of separation lanes between the first lane and the second lane, and a separation distance; and then selecting a recommended lane changing position from the at least two lane changing positions according to the vehicle driving parameters, thereby displaying first lane guide information corresponding to the first navigation route and indicating switching from the first lane to the second lane via the recommended lane changing position.

As an example, referring to fig. 6, fig. 6 is a schematic presentation diagram of first lane guidance information provided by an embodiment of the present application. Here, the vehicle navigation interface is a navigation interface for lane-level navigation, and includes a road 1, a road 2, and a road 3, and also includes each lane included in each road. Wherein the vehicle is traveling in a first lane in the road 2 (represented in vehicle shape in fig. 6). As shown in a diagram in fig. 6, 3 lane change positions are presented in the presented lane, wherein a recommended lane change position M is contained; as shown in a B diagram in fig. 6, first lane guide information indicating switching from the first lane to the second lane (the second lane in the road 3 shown in the B diagram in fig. 6) via the recommended lane change position is shown.

In some embodiments, the terminal may determine whether the vehicle is yawing by: acquiring a driving position of a vehicle in a first lane; determining that the vehicle is yawing when it is determined that the vehicle cannot be switched to the second lane by the lane change position based on the traveling position.

In practical application, the terminal acquires the driving position of the vehicle in the first lane in real time, and determines the yaw of the vehicle when the vehicle cannot be switched to the second lane through the lane changing position based on the driving position. Therefore, whether the lane deviates or not can be detected in time, a new navigation route is rapidly provided for a user after the lane deviates, and the user experience is improved.

In some embodiments, when the number of lane change positions is at least two, the terminal may determine that the vehicle is yawing by: determining that the vehicle is off-course when it is determined that the vehicle cannot pass through the latest lane change position of the at least two lane change positions to switch to the second lane based on the driving position; the latest lane change position is the last lane change position located in front of the vehicle in the at least two lane change positions.

In some embodiments, the at least two lane change positions are determined by performing the following operations: acquiring vehicle running parameters, and determining the latest lane change position based on the vehicle running parameters; at least one lane change position different from the latest lane change position is selected between the current position of the vehicle and the latest lane change position. Wherein the vehicle driving parameters include at least one of: the running speed of the vehicle, the traffic flow of the second lane, the number of the separation lanes between the first lane and the second lane and the separation distance.

For example, the latest lane change position at which to switch from the first lane to the second lane may be determined according to at least one of a traveling speed of the vehicle (a real-time traveling speed or an average traveling speed over a past period), a traffic volume of the second lane (a real-time traffic volume or an average traffic volume over a past period), and an interval parameter between the first lane and the second lane, wherein the interval parameter includes at least one of the number of the interval lanes and an interval distance.

The latest lane change distance is in negative correlation with the driving speed, the traffic flow and the interval parameter, and the latest lane change distance is the distance between the real-time position of the vehicle and the latest lane change position. For example, when the traveling speed of the vehicle is faster, the lane change is less likely, the latest lane change distance is smaller; when the traffic flow of the second lane is larger, the second lane is difficult to switch, and the latest lane change distance is smaller; when the interval parameter is larger, more time is required to switch to the second lane, and the latest lane change distance is smaller.

On the basis of the determined latest lane change position, at least one lane change position different from the latest lane change position may be selected between the real-time position of the vehicle and the latest lane change position, for example, at intervals according to a set selection distance, so as to ensure that the distance between adjacent lane change positions is equal to the selection distance. Of course, in the embodiment of the present application, the latest lane change position may also be used as the only determined lane change position. Through the mode, the accuracy of the determined lane changing position can be improved, and effective prompt is achieved.

In some embodiments, when the first lane includes a plurality of travel sections having the same length, the terminal may switch the first lane guide information to the second lane guide information corresponding to the current lane by starting from the current position of the vehicle as follows: determining a running road section corresponding to the current position of the vehicle, and acquiring a plurality of downstream running road sections of the running road section in the advancing direction of the vehicle; acquiring road section parameters of all downstream driving road sections, and selecting target downstream driving road sections with target quantity from a plurality of downstream driving road sections on the basis of the road section parameters; determining road section end positions corresponding to target downstream driving road sections in the target number, and generating second lane guide information based on a connecting line between the current position of the vehicle and the road section end positions; and presenting second lane guide information which takes the current position of the vehicle as a starting point and extends to the position of the road section end point of the target downstream driving road section to replace the first lane guide information.

In some embodiments, the terminal may acquire a plurality of downstream travel segments of the travel segment in the forward direction of the vehicle by: acquiring the distance between the current position of the vehicle and the terminal position of the current driving road section of the vehicle; when the distance is determined not to exceed the distance threshold, a plurality of downstream driving road sections of the driving road section where the vehicle is located in the advancing direction of the vehicle are obtained.

When the first lane guidance information indicates that the first lane is switched to a second lane and the vehicle is in yaw in the process that the vehicle runs along the first lane, determining a running section corresponding to the current position of the vehicle, and acquiring the distance between the current position of the vehicle and the end position of the running section where the vehicle is located; when it is determined that the distance does not exceed the distance threshold (for example, 2 kilometers), a plurality of downstream travel sections of the travel section where the vehicle is currently located in the advancing direction of the vehicle are acquired. Therefore, the problem of processing resource waste caused by acquiring the downstream driving road section in real time can be avoided.

Further, a target downstream travel section is selected from the plurality of downstream travel sections, and specifically, a section parameter of each downstream travel section may be obtained, where the section parameter may include a section attribute, such as whether the section attribute is an extension lane, whether the section attribute is a diversion lane, and the like, and may further include a section shape, such as that the section shape represents that the travel section is a straight lane, that a direction difference between an end point of the current travel section and a start point of the downstream travel section is lower than a difference threshold, and the like. In actual implementation, a non-expanded and non-shunted target downstream driving road section can be preferentially selected according to road section attributes, namely a straight downstream driving road section is selected; or preferentially selecting a target downstream driving road section which has a direction difference lower than a difference threshold value between the end point of the current driving road section and the starting point of the downstream driving road section and is closer to straight in shape according to the road section shape. Here, the number of the selected target downstream travel links may be plural or one, and in actual implementation, the number of the target downstream travel links may be set in advance as the target number, so that the target number of the target downstream travel links is selected at the time of selection.

After the target downstream driving road sections with the target quantity are determined, the road section end positions corresponding to the target downstream driving road sections with the target quantity are further determined, and then a connecting line between the current position of the vehicle and the road section end positions can be used as second lane guide information, so that the second lane guide information which takes the current position of the vehicle as a starting point and extends to the road section end positions of the target downstream driving road sections is presented to replace the first lane guide information.

As an example, referring to fig. 7, fig. 7 is a schematic view showing second lane guidance information provided by an embodiment of the present application. Here, as shown in a diagram in fig. 7, the first lane guide information corresponding to the first navigation route indicates switching from the first lane to the second lane, and the latest lane change position is presented; as shown in a diagram B in fig. 7, when the terminal determines that the terminal drifts away from the latest lane change position of the driving miss during the driving on the first lane, the first lane guidance information corresponding to the first navigation route is replaced with the second lane guidance information corresponding to the current lane, and the second lane guidance information extends to a target downstream driving section of the driving section where the vehicle is located, with the current position of the vehicle as a starting point.

In some embodiments, the terminal may turn on the navigation guidance function for the vehicle by: displaying a navigation guidance function switch in a navigation setting interface; turning on a navigation guidance function for the vehicle in response to a turn-on instruction for the navigation guidance function switch; correspondingly, when the navigation guidance function for the vehicle is started, the first lane guidance information is switched to the second lane guidance information corresponding to the current lane by taking the current position of the vehicle as a starting point.

In practical applications, the terminal may provide a navigation guidance function switch for turning on or off the navigation guidance function. When receiving an opening instruction aiming at a navigation guide function switch, opening a navigation guide function aiming at a vehicle; at this time, when the vehicle is yawing, the first lane guide information is switched to the second lane guide information corresponding to the current lane with the current position of the vehicle as a starting point.

By way of example, referring to fig. 8, fig. 8 is a schematic diagram of a starting flow of a navigation guidance function provided in an embodiment of the present application. Here, the terminal presents a navigation guidance function switch 81 in the navigation setting interface 80; in response to the on instruction for the navigation guidance function switch, the navigation guidance function for the vehicle is turned on, that is, the navigation guidance function switch 81 is switched from the off state to the on state.

Step 104: and switching the displayed second lane guide information into third lane guide information corresponding to the second navigation route in the process that the vehicle runs based on the second lane guide information.

The first navigation route and the second navigation route are used for guiding the vehicle to run to the target position.

Here, after the vehicle has drifted, it is necessary to provide the vehicle with a new navigation route, that is, the second navigation route described above, which is used to guide the vehicle to travel to the target position together with the first navigation route.

Meanwhile, in the process that the vehicle runs based on the second lane guide information, the displayed second lane guide information is switched to third lane guide information corresponding to the second navigation route, and the third lane guide information can be lane-level lane guide information, such as lane guide lines, namely the lane guide information can indicate lanes in a road; or road guidance information at a road level, such as road guidance lines, i.e., the road guidance information indicates only the road on which the vehicle is traveling and cannot indicate the lanes in the road.

In some embodiments, the terminal may generate the second navigation route by: acquiring the real-time position of the vehicle in the driving process according to the second lane guide information; and generating a second navigation route of the corresponding vehicle based on the real-time position and the target position, and replacing the first navigation route with the second navigation route.

In practical application, the terminal acquires the real-time position of the vehicle in the process of driving according to the second lane guiding information, so that a second navigation route of the corresponding vehicle is generated based on the real-time position and the target position, and then the first navigation route is replaced by the second navigation route.

In some embodiments, the terminal may switch the presented second lane guide information to the third lane guide information corresponding to the second navigation route by: determining a current lane corresponding to the current position of the vehicle, and determining a target lane which is corresponding to the current lane and is about to run through; generating third lane guide information which corresponds to the second navigation route and runs from the current lane to the target lane on the basis of the current lane and the target lane by combining the second navigation route; switching the displayed second lane guide information corresponding to the current lane into generated third lane guide information corresponding to a second navigation route; when the vehicle runs out of the current lane, the operation is executed in a circulating mode until the vehicle runs through each branched intersection in the second navigation route; and the target lane is positioned at each branched intersection in the advancing direction of the vehicle in the second navigation route.

Here, when the terminal generates the third lane guide information corresponding to the second navigation route, the third lane guide information corresponding to the second navigation route may be generated in a segmented manner, that is, the third lane guide information corresponding to the second navigation route, which travels from the current lane to the target lane, may be generated by segmenting each branch intersection in the vehicle advancing direction on the second navigation route, that is, by taking a section between the current road where the vehicle is currently located and the target lane in the vehicle advancing direction at the branch intersection to be passed through. And then when the lane drives out of the current lane, namely the lane reaches the target lane, taking the target lane as the current lane, taking the lane of the next upcoming bifurcation as the target lane, and performing the step of generating third lane guide information for driving from the current lane to the target lane in a recycling manner until the lane drives through each bifurcation in the second navigation route, thereby obtaining the third lane guide information corresponding to the second navigation route.

Meanwhile, in the process of generating third lane guiding information corresponding to the second navigation route in a segmented manner, the displayed second lane guiding information corresponding to the current lane is switched to the generated third lane guiding information corresponding to the second navigation route.

In some embodiments, the terminal may generate, in conjunction with the second navigation route, third lane guidance information for driving from the current lane to the target lane corresponding to the second navigation route based on the current lane and the target lane by: determining a lane route corresponding to driving from the current lane to the target lane by combining the second navigation route based on the current lane and the target lane; third lane guide information corresponding to the second navigation route, which is driven from the current lane to the target lane, is generated based on the lane route.

In practical applications, the terminal may determine the navigation route for traveling from the current lane to the target lane based on the second navigation route, thereby determining the lane involved and each traveling section included in the lane based on the navigation route for traveling from the current lane to the target lane, and thereby generating the lane route corresponding to traveling from the current lane to the target lane based on the lane involved and each traveling section included in the lane. And finally, generating third lane guide information which corresponds to the second navigation route and is used for driving from the current lane to the target lane based on the lane route.

In some embodiments, the terminal may determine the lane route for traveling from the current lane to the target lane based on the current lane and the target lane by combining the second navigation route with the current lane: determining a driving route which is driven from the current lane to the target lane on a second navigation route according to the current lane and the target lane, wherein the driving route comprises a plurality of driving road section combinations, and each driving road section combination comprises at least two parallel and adjacent driving road sections; selecting a target driving road section passing through from the current lane to the target lane from all driving road sections contained in the driving route; and generating a lane route corresponding to the driving from the current lane to the target lane based on the selected target driving road section.

Here, a driving route traveling from the current Lane to the target Lane on the second navigation route is determined according to the current Lane and the target Lane, the driving route including a plurality of driving Link combinations each including at least two parallel and adjacent driving links, specifically, referring to fig. 9, the driving route is SD-Link including driving Link combinations lanecogroup 0 and lanecogroup 1, wherein the driving Link combination lanecogroup 0 includes two parallel and adjacent formation links Lane0 and Lane1, and the driving Link combination lanecogroup 1 includes two parallel and adjacent formation links Lane2 and Lane 3. Then, based on whether the running road sections can pass or not, whether the road sections can change or not and other factors, selecting a target running road section passing through the running route from the current lane to the target lane from the running road sections contained in the running route; and generating a lane route corresponding to the driving from the current lane to the target lane based on the selected target driving road section.

In some embodiments, when the number of lane routes is at least two, the terminal may generate the third lane guide information corresponding to the second navigation route, which travels from the current lane to the target lane, based on the lane routes by: acquiring lane driving parameters corresponding to each lane route, and selecting a target lane route from at least two pieces of lane route information based on the lane driving parameters; and generating third lane guide information corresponding to the second navigation route and driving from the current lane to the target lane based on the target lane route.

Here, when the number of the determined lane routes is at least two, a target lane route may be selected from the at least two lane routes. Specifically, the target lane route may be selected according to parameters such as a vehicle driving speed, a traffic volume of lanes involved in the lane route, a number of spaced lanes between lanes when a lane change occurs, and a spacing distance, so as to select a lane route with a smaller or smallest traveling cost, such as a lane route with the shortest time consumption, a lane route with the closest driving distance, and the like. Third lane guide information corresponding to the second navigation route for traveling from the current lane to the target lane is then generated based on the target lane route.

In some embodiments, the terminal may present the first lane guidance information corresponding to the first navigation route by: displaying a first lane guiding line corresponding to a first navigation route in a navigation mode;

correspondingly, the terminal may switch the first lane guide information to the second lane guide information corresponding to the current lane by: switching the navigation mode into a cruise mode, and switching the first lane guide line into a second lane guide line corresponding to the current lane by taking the current position of the vehicle as a starting point;

correspondingly, the terminal can switch the displayed second lane guide information into third lane guide information corresponding to the second navigation route by the following method: and switching the cruise mode into a navigation mode, and switching the displayed second lane guiding line into a third lane guiding line corresponding to the second navigation route.

Here, the terminal displays the first lane guiding line corresponding to the first navigation route in the navigation mode, which may be specifically shown in fig. 5; when the terminal switches the first lane guidance information into the second lane guidance information corresponding to the current lane, the navigation mode needs to be switched into the cruise mode, and the first lane guidance line is switched into the second lane guidance line corresponding to the current lane with the current position of the vehicle as a starting point, which may be specifically referred to in fig. 6; further, when the terminal switches the displayed second lane guiding information to the third lane guiding information corresponding to the second navigation route, the terminal switches the cruise mode to the navigation mode at the moment and switches the displayed second lane guiding line to the third lane guiding line corresponding to the second navigation route.

By applying the embodiment of the application, at least two lanes included in a road and a vehicle running in a first lane in the road are presented in a vehicle navigation interface; displaying first lane guide information corresponding to a first navigation route in at least two lanes; in the process that the vehicle runs along the first lane, when the first lane guide information indicates that the first lane is switched to the second lane and the vehicle is in yaw, the first lane guide information is switched to second lane guide information corresponding to the current lane by taking the current position of the vehicle as a starting point; switching the displayed second lane guiding information into third lane guiding information corresponding to a second navigation route in the process that the vehicle runs based on the second lane guiding information; therefore, when the vehicle runs based on the lane-level navigation, if the first lane guide information indicates that lane switching is performed and the vehicle drifts (i.e. does not change corresponding lanes) in the process of running based on the first lane guide information, the vehicle does not directly exit the current lane-level navigation or switch to the non-lane-level road navigation in the related technology, but first switches the first lane guide information into the second lane guide information corresponding to the current lane to realize the transition of the lane guide information, and then switches the second lane guide information into the third lane guide information corresponding to the second navigation route under the condition that a user does not sense the second lane guide information, so that the smooth switching of the lane guide information of different routes in a vehicle navigation interface is realized, the navigation experience of the user is more coherent, and the navigation efficiency is improved.

An exemplary application of the embodiments of the present application in a practical application scenario will be described below.

The navigation system in the related art judges whether a user is yawing by comparing whether the position coordinates of the vehicle are matched with the position coordinates corresponding to a planned route, and directly exits from the current lane-level navigation route after the yaw of the vehicle is found. Therefore, the yaw can be judged only when the vehicle deviates from the navigation route by a certain distance, and the new navigation route can not be switched to for the user in time; and the vehicle directly exits from the current lane-level navigation route after the yaw is found, so that the blank period of navigation appears, and the user experience is influenced.

Based on this, the present application provides a vehicle navigation method to solve at least the existing problems. In the vehicle navigation method provided by the embodiment of the application, whether the vehicle is drifted or not is detected in real time based on the high-precision map, and specifically, if the vehicle runs beyond the latest lane change position, namely the lane change to the target lane cannot be achieved, the navigation system determines that the vehicle is drifted. At this time, the current navigation mode is switched to the cruise mode, and the lane-level navigation route of the vehicle is generated, specifically, after the vehicle has drifted, the navigation system generates the lane-level virtual guide line (i.e., the second lane guide information) in a "first topology" (i.e., the generation logic of the lane-level navigation route in the case of the drift). Meanwhile, the yaw data of the vehicle are uploaded to the cloud, a new navigation route (namely, the second navigation route) is generated by the cloud and is issued to a user terminal (such as a vehicle-mounted terminal, a mobile phone terminal and the like), the terminal regenerates a new lane-level navigation route (namely, the third lane guide information) based on the new navigation route, and the generated new lane-level navigation route is switched. Therefore, the navigation blank period appearing during the switching of the navigation route during the yawing is effectively closed.

The following explains terms related to the embodiments of the present application, including:

1) standard Definition map (SD map): the information of the lane level cannot be expressed. 2) High Definition map (HD map): information of a lane level is expressed. 3) Lane: one lane in the high-precision data. 4) LaneGroup: laterally adjacent Lane groups. 5) SD Link: compared with high-precision data, the precision of a section of standard-definition road is low, and lane information cannot be represented.

As shown in fig. 9, fig. 9 is a schematic view of a travel section provided in an embodiment of the present application. Here, one SD Link includes two traveling Link combinations lanecogroup (lanecogroup 0 and lanecogroup 1), each lanecogroup including two sub-lanes (i.e., the above traveling links), wherein lanecogroup 0 includes Lane0 and Lane 1; LaneGroup1 contains Lane2 and Lane 3.

Next, a vehicle navigation method provided in an embodiment of the present application will be described first from the product side. The vehicle navigation method provided by the embodiment of the application has the main application scenes that: during use of the navigation system by the user, the route may deviate from the lane-level route of the navigation plan for various reasons. At this time, the navigation system needs to plan a route for the user again according to the current lane of the user, and replace the originally planned route (i.e. the first navigation route) with a new route (i.e. the second navigation route), so that the user can correct the traveling direction in time after yawing.

In practical application, a user enters a navigation system, inputs information such as a destination and the like, and starts to drive according to an SD route (namely the first navigation route) planned by the navigation system; the navigation system calculates a lane-level route (namely the first lane guidance information) according to the planned SD route; under the condition that lane changing is needed, the navigation system plans to obtain a recommended lane changing position and a latest lane changing position; when the navigation system detects that the user vehicle drives through the latest lane change position and the user vehicle cannot change to the target lane, judging that the user is in yaw; the navigation is switched to a cruise mode, the path is redetected forward by the lane where the position of the vehicle is, and the lane-level route (namely the second lane guide information) is calculated until a new available path target lane appears; meanwhile, the navigation system uploads the positioning information and the destination to the cloud end, and the cloud end calculates a new route (namely the second navigation route) and sends the new route to the navigation system; after receiving the new route, the navigation system replans the lane-level route (i.e. the third lane guiding information) according to the current positioning information of the user, and switches the cruise mode back to the navigation mode, i.e. the virtual guiding line in the cruise mode is replaced by the new planned route.

Referring to fig. 7, when the user vehicle passes the latest lane change point and cannot enter the planned route, the navigation mode is switched from the navigation mode to the cruise mode, so as to detect the route again from the lane where the vehicle is located forward.

The following is a description of the vehicle navigation method provided in the embodiments of the present application, which is continued from the technical side.

Firstly, a current lane and a target lane are obtained, and a lane-level path is generated.

Specifically, 1) firstly, an SD Link-level route is planned at the cloud end according to the starting and ending points, meanwhile, a target lane to be traveled by each bifurcation is calculated at the cloud end, and route information is issued to a user side. 2) And after receiving the route information, the user side generates a lane-level path according to the current lane and the target lane of the bifurcation on the route, which are subjected to positioning calculation, and considers the factors of whether the lane can pass, whether the lane can be changed and the like during calculation. 3) If the distance from the current lane to the nearest target lane is relatively short, the lane-level route from the target lane to the next target lane is continuously calculated until a certain distance, such as 2 km.

Referring to fig. 10, fig. 10 is a flowchart for determining lane guidance information of a navigation route according to an embodiment of the present application, including:

step 201: and determining a target lane closest to the current position of the vehicle.

Step 202: constitute "current lane + target lane".

Step 203: forward LaneGroup topology: and calculating a LaneGroup path on the planned route according to the current lane and the target lane.

Step 204: topology of backward Lane: based on the LaneGroup result, all lane-level paths from the target lane to the starting lane are calculated, considering whether the lane is passable or not, whether the lane is variable or not, and the like.

Step 205: and selecting the route with the minimum lane change cost from all routes extended by the backward lane.

Step 206: if the calculation is successful, go to step 207, otherwise go to step 209.

Step 207: collecting lane-level routes.

Step 208: updating the current lane and the target lane: the target lane is set as the current lane and the next target lane is set as the target lane, and the process returns to step 202.

Step 209: a yaw logic.

Secondly, whether the vehicle of the user is drifted or not is detected according to the lane line information.

Specifically, according to the above method, when the route from the current lane to the target lane cannot be calculated according to the topology rule of the lane level (possibly because the solid line cannot change lanes, or the user walks another route, etc.), it is determined to be yaw. The scheme can judge the yaw behavior of the user in time, considers the topology and lane change information of the lane and has high accuracy. As shown in fig. 11, fig. 11 is a schematic diagram of lane change provided in the embodiment of the present application, and when the user is at position a and misses the latest lane change position, the planned route is determined to be a yaw.

And thirdly, the navigation is switched to a cruising mode after yawing so as to detect the path again from the lane where the vehicle is located to the front until the cloud end generates a new route.

Specifically, after yawing, the target lane is disabled, the cruise mode is entered, and the lane-level path that the user is more likely to follow is detected forward from the current lane in which the vehicle is located. Intuitively, the user is more likely to go straight on the lane, which is referred to as a "first topology" method in the present scheme, the scheme is shown in fig. 12, and fig. 12 is a schematic view of a yaw processing flow provided by an embodiment of the present application, and the schematic view includes:

step 301: and initializing the lane-level path as the current lane.

Step 302: judging whether the processing distance exceeds 2km, if so, executing a step 303, and if not, executing a step 304;

step 303: and (6) ending.

Step 304: and acquiring all downstream lanes Lane [ ] of the current Lane.

Step 305: according to the "first topology" method, a lane is selected that is closer to straight.

Specifically, the method comprises the following steps: step 3051: selecting according to the attributes: preferentially selecting a downstream non-expansion and non-branching lane, namely selecting a straight lane;

step 3052: according to shape selection: the lane in which the direction difference between the current lane ending point and the direction of the downstream lane starting point is smaller, that is, the lane closer to straight in shape is preferentially selected.

Step 306: the new topology of lanes is collected.

Step 307: and setting the lane selected by the first topology as the current lane.

Fourthly, after yawing, uploading the positioning parameters and the like to a cloud end to generate a new planning route.

Specifically, after yawing, the current positioning information of the vehicle is uploaded to the cloud, the cloud plans a new SD Link-level route, calculates a target lane to be traveled by each bifurcation, and sends the new route information to the user side.

And fifthly, the cloud sends the route information back to the vehicle end to replace the original planned route, and the user end plans a new lane-level navigation route based on the new route and the target lane.

By applying the embodiment of the application, the interval caused by replanning the route and switching the original planned route can be realized when closing the yaw, so that the user experience is more coherent, the anxiety of the user caused by untimely switching can be avoided, and the yaw detection is more accurate according to the lane-level topological method.

Continuing with the exemplary structure of the vehicle navigation device 555 provided by the embodiments of the present application implemented as software modules, in some embodiments, as shown in fig. 2, the software modules stored in the vehicle navigation device 555 in the memory 550 may include:

a presentation module 5551, configured to present, in a vehicle navigation interface, at least two lanes included in a road and a vehicle traveling in a first lane of the road;

a presentation module 5552 for presenting, among the at least two lanes, first lane guidance information corresponding to a first navigation route;

a first switching module 5553, configured to switch the first lane guidance information to second lane guidance information corresponding to a current lane with a current position of the vehicle as a starting point when the first lane guidance information indicates switching from the first lane to a second lane and the vehicle is yawing while the vehicle is traveling along the first lane;

the second switching module 5554 is configured to switch the second lane guidance information displayed to third lane guidance information corresponding to a second navigation route in the process that the vehicle travels based on the second lane guidance information.

In some embodiments, the presentation module 5552 is further configured to present a lane change position for switching from the first lane to the second lane in the at least two lanes presented;

In some embodiments, when the number of lane change positions is at least two, the display module 5552 is further configured to obtain a vehicle driving parameter, where the vehicle driving parameter includes at least one of: the running speed of the vehicle, the traffic flow of the second lane, the number of spaced lanes between the first lane and the second lane and the spacing distance;

In some embodiments, the apparatus further comprises:

In some embodiments, when the number of lane change positions is at least two, the yaw identifying module is further configured to determine that the vehicle is yawing when it is determined that the vehicle cannot pass through a latest lane change position of the at least two lane change positions to switch to the second lane based on the driving position;

In some embodiments, the apparatus further comprises:

In some embodiments, the presenting module 5551 is further configured to present a navigation guidance function switch in the navigation setting interface;

the second switching module 5554 is further configured to switch the first lane guidance information to second lane guidance information corresponding to a current lane, with the current position of the vehicle as a starting point, when the navigation guidance function for the vehicle is turned on.

In some embodiments, the first lane includes a plurality of travel sections with the same length, and the display module 5552 is further configured to determine a travel section corresponding to the current position of the vehicle, and obtain a plurality of downstream travel sections of the travel section in the forward direction of the vehicle;

In some embodiments, the display module 5552 is further configured to obtain a distance between the current position of the vehicle and an end position of the road segment where the vehicle is currently located;

In some embodiments, the second switching module 5554 is further configured to obtain a real-time position of the vehicle during traveling according to the second lane guidance information;

In some embodiments, the second switching module 5554 is further configured to determine a current lane corresponding to the current position of the vehicle, and determine a target lane to be traveled through corresponding to the current lane;

In some embodiments, the second switching module 5554 is further configured to determine, in conjunction with the second navigation route, a lane route corresponding to driving from the current lane to the target lane based on the current lane and the target lane;

In some embodiments, the second switching module 5554 is further configured to determine a driving route on the second navigation route from the current lane to the target lane according to the current lane and the target lane, wherein the driving route includes a plurality of driving route sections, and each driving route section includes at least two parallel and adjacent driving route sections;

In some embodiments, when the number of the lane routes is at least two, the second switching module 5554 is further configured to obtain lane driving parameters corresponding to each lane route, and select a target lane route from the at least two lane routes based on the lane driving parameters;

In some embodiments, the presenting module 5551 is further configured to locate the vehicle to obtain location information, query the electronic map according to the location information to obtain a first lane where the vehicle is located, and present the vehicle in the first lane;

In some embodiments, the presenting module 5551 is further configured to perform any one of the following:

acquiring positioning information set for the vehicle;

In some embodiments, the display module 5552 is further configured to display a first lane guide corresponding to a first navigation route in the navigation mode;

the second switching module 5554 is further configured to switch the navigation mode to a cruise mode, and switch the first lane guiding line to a second lane guiding line corresponding to the current lane with the current position of the vehicle as a starting point;

the second switching module 5554 is further configured to switch the cruise mode to the navigation mode, and switch the second lane guiding line displayed to a third lane guiding line corresponding to a second navigation route.

An embodiment of the present application further provides an electronic device, where the electronic device includes:

a memory for storing executable instructions;

Embodiments of the present application also provide a computer program product or a computer program comprising computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the vehicle navigation method provided by the embodiment of the application.

In some embodiments, the computer-readable storage medium may be memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash, magnetic surface memory, optical disk, or CD-ROM; or may be various devices including one or any combination of the above memories.

In some embodiments, executable instructions may be written in any form of programming language (including compiled or interpreted languages), in the form of programs, software modules, scripts or code, and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

By way of example, executable instructions may correspond, but do not necessarily have to correspond, to files in a file system, and may be stored in a portion of a file that holds other programs or data, such as in one or more scripts in a hypertext Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).

By way of example, executable instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.

The above description is only an example of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, and improvement made within the spirit and scope of the present application are included in the protection scope of the present application.

Claims

1. A method for navigating a vehicle, the method comprising:

2. The method of claim 1, wherein said presenting first lane guidance information corresponding to a first navigation route in said at least two lanes comprises:

presenting, in the at least two lanes presented, a lane change position to switch from the first lane to the second lane;

3. The method of claim 2, wherein when the number of lane change positions is at least two, the presenting first lane guidance information corresponding to the first navigation route indicating a switch from the first lane to the second lane via the lane change position comprises:

obtaining vehicle driving parameters, wherein the vehicle driving parameters comprise at least one of the following: the running speed of the vehicle, the traffic flow of the second lane, the number of spaced lanes between the first lane and the second lane and the spacing distance;

4. The method of claim 2, wherein the method further comprises:

acquiring a driving position of the vehicle in the first lane;

5. The method of claim 4, wherein determining the vehicle yaw when the vehicle is determined not to be able to switch to the second lane through the lane-change position based on the travel position when the number of lane-change positions is at least two comprises:

determining that the vehicle is yawing when it is determined that the vehicle cannot pass through a latest lane change position of the at least two lane change positions to switch to the second lane based on the driving position;

6. The method of claim 5, wherein the method further comprises:

the at least two lane change positions are determined by performing the following operations:

7. The method of claim 1, wherein the method further comprises:

displaying a navigation guidance function switch in a navigation setting interface;

the switching the first lane guide information to second lane guide information corresponding to a current lane using the current position of the vehicle as a starting point includes:

and when the navigation guidance function aiming at the vehicle is started, the first lane guidance information is switched to second lane guidance information corresponding to the current lane by taking the current position of the vehicle as a starting point.

8. The method of claim 1, wherein the first lane includes a plurality of travel segments of the same length, and the switching the first lane guide information to the second lane guide information corresponding to the current lane starting from the current position of the vehicle comprises:

determining a running road section corresponding to the current position of the vehicle, and acquiring a plurality of downstream running road sections of the running road section in the advancing direction of the vehicle;

9. The method of claim 8, wherein the obtaining the plurality of downstream travel sections of the travel section in the forward direction of the vehicle comprises:

acquiring the distance between the current position of the vehicle and the end position of the current driving road section of the vehicle;

10. The method of claim 1, wherein prior to switching the presented second lane guidance information to third lane guidance information corresponding to a second navigation route, the method further comprises:

acquiring the real-time position of the vehicle in the driving process according to the second lane guide information;

11. The method of claim 1, wherein the switching the presented second lane guidance information to third lane guidance information corresponding to a second navigation route comprises:

determining a current lane corresponding to the current position of the vehicle, and determining a target lane which is corresponding to the current lane and is about to run through;

12. The method of claim 11, wherein said generating, in conjunction with said second navigation route, third lane guidance information for driving from said current lane to said target lane corresponding to said second navigation route based on said current lane and said target lane comprises:

determining a lane route corresponding to driving from the current lane to the target lane based on the current lane and the target lane in combination with the second navigation route;

13. The method of claim 12, wherein the determining, in conjunction with the second navigation route, a lane route corresponding to driving from the current lane to the target lane based on the current lane and the target lane comprises:

determining a driving route which is driven from the current lane to the target lane on the second navigation route according to the current lane and the target lane, wherein the driving route comprises a plurality of driving road section combinations, and each driving road section combination comprises at least two parallel and adjacent driving road sections;

14. The method of claim 12, wherein when the number of the lane routes is at least two, the generating third lane guide information for driving from the current lane to the target lane corresponding to a second navigation route based on the lane routes includes:

acquiring lane driving parameters corresponding to the lane routes, and selecting a target lane route from the at least two lane routes based on the lane driving parameters;

15. The method of claim 1, wherein the presenting of the vehicle traveling in the first lane of the roadway comprises:

positioning the vehicle to obtain positioning information, inquiring in an electronic map according to the positioning information to obtain a first lane where the vehicle is located, and presenting the vehicle in the first lane;

16. The method of claim 15, wherein said locating the vehicle results in location information comprising:

any one of the following processes is performed:

acquiring positioning information set for the vehicle;

17. The method of claim 1, wherein said presenting first lane guidance information corresponding to a first navigation route comprises:

displaying a first lane guiding line corresponding to a first navigation route in a navigation mode;

switching the navigation mode into a cruise mode, and switching the first lane guide line into a second lane guide line corresponding to the current lane by taking the current position of the vehicle as a starting point;

the switching the displayed second lane guidance information to third lane guidance information corresponding to a second navigation route includes:

and switching the cruise mode to the navigation mode, and switching the displayed second lane guiding line to a third lane guiding line corresponding to a second navigation route.

18. A vehicular navigation apparatus, characterized in that the apparatus comprises:

19. An electronic device, characterized in that the electronic device comprises:

a memory for storing executable instructions;

a processor for implementing the vehicle navigation method of any one of claims 1 to 17 when executing executable instructions stored in the memory.

20. A computer-readable storage medium storing executable instructions for implementing the vehicle navigation method of any one of claims 1 to 17 when executed.