CN113421451A

CN113421451A - Navigation processing method and device, electronic equipment and computer readable storage medium

Info

Publication number: CN113421451A
Application number: CN202110736302.5A
Authority: CN
Inventors: 张佩龙; 吴逸飞
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: 2021-09-21
Anticipated expiration: 2041-06-30
Also published as: CN113421451B

Abstract

The application provides a navigation processing method, a navigation processing device, electronic equipment and a computer readable storage medium, which are applied to a vehicle-mounted scene; the method comprises the following steps: displaying a road driven by a vehicle in a navigation interface, wherein the road comprises a plurality of lanes and the lanes are separated by lane lines; displaying a navigation route through a first lane of the road in response to the vehicle traveling along the first lane, a real-time location of the vehicle being displayed in the first lane; in response to continuing to travel along the first lane will deviate from the navigation route, displaying the navigation route that is switched from the first lane to a second lane that can lead to a navigation destination ahead of the vehicle, and outputting first vehicle action directions, wherein the first vehicle action directions include a lane change direction and a number of lane changes for switching from the first lane to the second lane. By the method and the device, accurate and efficient lane action guidance can be realized in a lane level navigation scene.

Description

Navigation processing method and device, electronic equipment and computer readable storage medium

Technical Field

The present application relates to a car networking technology, and in particular, to a navigation processing method and apparatus, an electronic device, and a computer-readable storage medium.

Background

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

Since a road usually includes a plurality of lanes, and the road conditions and driving rules of different lanes may be different, in the lane-level navigation scheme provided in the related art, the navigation guidance is not fine enough, which may cause the vehicle to enter a wrong lane and further cause yaw.

Disclosure of Invention

The embodiment of the application provides a navigation processing method, a navigation processing device, electronic equipment and a computer readable storage medium, which can realize accurate and efficient lane action guidance in a lane level navigation scene.

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

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

displaying a road driven by a vehicle in a navigation interface, wherein the road comprises a plurality of lanes and the lanes are separated by lane lines;

displaying a navigation route through a first lane of the road in response to the vehicle traveling along the first lane, a real-time location of the vehicle being displayed in the first lane;

in response to continuing to travel along the first lane to deviate from the navigation route, displaying the navigation route in front of the vehicle switching from the first lane to a second lane that can lead to a navigation end, an

Outputting a first vehicle action guide, wherein the first vehicle action guide comprises a lane change direction and a lane change number for switching from the first lane to the second lane.

An embodiment of the present application provides a navigation processing apparatus, including: .

The display module is used for displaying a road on which a vehicle runs in a navigation interface, wherein the road comprises a plurality of lanes and the lanes are spaced by lane lines;

the display module further to display a navigation route through a first lane of the road in response to the vehicle traveling along the first lane, a real-time location of the vehicle being displayed in the first lane;

the display module is further configured to display the navigation route switched from the first lane to a second lane capable of leading to a navigation destination ahead of the vehicle in response to the navigation route deviating from the first lane while continuing to travel along the first lane;

the output module is used for outputting a first vehicle action guide, wherein the first vehicle action guide comprises a lane changing direction and a lane changing number for switching from the first lane to the second lane.

In the foregoing solution, the display module is further configured to display a first partial route of the navigation route in the first lane, at least one lane change route that is switched from the first lane to a second lane that can lead to a navigation destination via at least one lane change position, and a second partial route in the second lane, where the lane change position and the lane change route are in one-to-one correspondence.

In the above solution, when the number of lane change positions is multiple, the display module is further configured to display a first partial route of the navigation route in the first lane, multiple lane change routes switched from the first lane to a second lane capable of leading to a navigation destination via the multiple lane change positions, and a second partial route in the second lane; the lane change routes are displayed in a differentiated display mode and are used for representing differences among characteristic parameters of the lane change routes, and the characteristic parameters comprise at least one of smoothness and lane change time consumption.

In the above solution, when the number of lane change positions is 1, the display module is further configured to display a first partial route of the navigation route in the first lane, an optimal lane change route switched from the first lane to a second lane capable of leading to a navigation destination via an optimal lane change position, and a second partial route in the second lane; the optimal lane changing route is provided with optimal lane changing parameters, and the optimal lane changing parameters comprise at least one of maximum smooth degree and shortest lane changing time consumption.

In the above solution, when the number of lane change positions is 1, the display module is further configured to display a first partial route of the navigation route in the first lane, a latest lane change route switched from the first lane to the second lane via a latest lane change position, and a second partial route in the second lane; and the latest lane changing position is the last lane changing position which is positioned in front of the travelling crane and can be switched to the second lane.

In the foregoing solution, the apparatus further includes a determining module, configured to determine the second lane by: dividing the navigation route into a plurality of navigation sections according to a steering model; and determining a lane which can be communicated to the next navigation section in the target navigation section until the navigation end point as the second lane aiming at the target navigation section where the vehicle is located currently.

In the above scheme, the determining module is further configured to determine, as the second lane, a lane in the target navigation segment that can be passed through to the next navigation segment until the navigation end point and that the traffic rule allows the vehicle to travel.

In the foregoing solution, the output module is further configured to perform at least one of the following operations: broadcasting a voice first vehicle action guide comprising the lane changing direction and the lane changing quantity; displaying a textual first vehicle action heading comprising the lane change direction and the lane change number.

In the foregoing solution, the output module is further configured to output a second vehicle action guide when the first lane is a lane in which the traffic regulation prohibits the vehicle from traveling, where the second vehicle action guide includes a lane change direction and a lane change number for switching from the first lane to a third lane, and the third lane is a lane in which the traffic regulation allows the vehicle to travel.

In the foregoing solution, the output module is further configured to output a third vehicle action guide in response to that the first lane does not deviate from the navigation route, where the third vehicle action guide includes continuing to travel along the first lane.

In the above scheme, the determining module is further configured to determine a latest lane change position according to map data of a target navigation segment where the vehicle is currently located; and taking a position which is positioned in front of the running of the vehicle and is away from the latest lane change position by a preset distance as a prompt position for outputting the first vehicle action guide.

In the above scheme, the determining module is further configured to determine a latest lane change position according to map data of a target navigation segment where the vehicle is currently located; determining a first time at which the vehicle reaches the latest lane change position based on a traveling speed of the vehicle; and taking a second moment with a preset time length before the first moment as a prompting moment for outputting the first vehicle action guide.

In the foregoing solution, the determining module is further configured to determine, according to map data of a target navigation segment where the vehicle is currently located, an intersection where the target navigation segment includes ground icon information, where the ground icon information includes at least one of: stop lines, zebra stripes; and determining the intersection comprising the ground icon information as the latest lane change position.

In the above scheme, the determining module is further configured to determine, according to map data of a target navigation segment where the vehicle is currently located, a position where a lane attribute changes in the target navigation segment; and determining the position where the lane attribute changes as the latest lane change position.

In the above scheme, the determining module is further configured to determine, according to map data of a target navigation segment where the vehicle is currently located, a position where the number of lanes in the target navigation segment changes; and determining the position where the number of the lanes changes as the latest lane change position.

In the foregoing solution, the determining module is further configured to determine the lane change direction and the lane change number in the following manner: determining the lane change direction according to the direction of the second lane relative to the first lane; and determining the lane change number according to the number of lanes separated between the first lane and the second lane.

In the above solution, the apparatus further comprises a switching module for controlling the navigation interface to switch from a lane-level navigation mode to a normal navigation mode in response to the vehicle not deviating from the navigation route in the second lane, and for controlling the navigation interface to switch from the normal navigation mode to the lane-level navigation mode in response to the vehicle deviating from the navigation route in the second lane; wherein the normal navigation mode does not display the plurality of lanes in the road differently, and the lane-level navigation mode displays the plurality of lanes in the road differently.

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

a memory for storing executable instructions;

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

An embodiment of the present application provides a computer program product, where the computer program product includes computer-executable instructions, and is used for implementing the navigation processing method provided in the embodiment of the present application when being executed by a processor.

The embodiment of the application provides a computer-readable storage medium, which stores executable instructions for causing a processor to execute, so as to implement the navigation processing method provided by the embodiment of the application.

The embodiment of the application has the following beneficial effects:

the method comprises the steps of displaying a plurality of lanes in a road and the real-time position of a vehicle in a first lane of the road during the driving of the vehicle, and outputting lane changing directions and the number of lane changing of the vehicle from the first lane to a second lane capable of leading to a navigation destination when the first lane is about to deviate from a navigation route, namely providing lane-level action guidance comprising the lane changing directions and the number of lane changing during the driving of the vehicle by a user, and ensuring the driving accuracy along the navigation route.

Drawings

Fig. 1 is a schematic architecture diagram of a navigation processing system 100 according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a terminal device 400 provided in an embodiment of the present application;

fig. 3 is a schematic flowchart of a navigation processing method according to an embodiment of the present application;

fig. 4A to 4G are schematic diagrams of a navigation interface provided in an embodiment of the present application;

fig. 5 is a schematic flowchart of a navigation processing method provided in an embodiment of the present application;

fig. 6A is a schematic flowchart of a navigation processing method according to an embodiment of the present application;

fig. 6B is a schematic flowchart of a navigation processing method according to an embodiment of the present application;

fig. 7 is a schematic flowchart of a navigation processing method according to an embodiment of the present application;

fig. 8A to 8D are schematic diagrams of a navigation interface provided in an 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) 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 separated by lane lines, and the lane lines are traffic facilities provided on the road and indicated by lines, and may include, for example, white dotted lines (lane change is allowed) and white solid lines (lane change is prohibited).

2) Connecting line (link): the line segment for representing the road includes information such as a road name, a road grade, and a road attribute.

3) Turning to a model: when the vehicle drives to an intersection connected by a plurality of links, guiding a user to drive the vehicle to execute a model of turning action for entering a target link from a current link, wherein the turning action comprises: "turn left", "turn right", "turn around", etc.

4) Navigation route: the navigation method refers to a route calculated according to a set navigation starting point and a set navigation end point, namely, a route which passes through a series of roads from the navigation starting point and finally reaches the navigation end point. In the embodiment of the present application, the navigation route may include a lane suggested to be traveled on each road that needs to be traveled, or may not be distinguished, or of course, the lane may be distinguished on a part of the road, or the lane may not be distinguished on a part of the road.

5) A navigation section: and segmenting the disconnected navigation route according to the steering model, wherein the user only needs to drive the vehicle to execute steering action when entering into another navigation segment from one navigation segment.

The embodiment of the application provides a navigation processing method and device, electronic equipment and a computer readable storage medium, which can realize accurate and efficient navigation, thereby improving the travel efficiency of a user. An exemplary application of the electronic device provided in the embodiment of the present application is described below, and the electronic device provided in the embodiment of the present application may be implemented as various types of terminal devices, and may also be implemented as a server.

In some embodiments, the server may be an independent physical server, or may be a server cluster or a distributed system formed by a plurality of physical servers, or may be a cloud server that provides 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 Content Delivery Network (CDN), and a big data and artificial intelligence platform, where the cloud service may be a vehicle navigation service for a terminal device to call. The terminal device may be a smart phone, a tablet computer, a notebook computer, a desktop computer, an intelligent voice interaction device, an intelligent household appliance, a vehicle-mounted terminal, and the like, but is not limited thereto. The terminal device and the server may be directly or indirectly connected through wired or wireless communication, and the embodiment of the present application is not limited.

Referring to fig. 1, fig. 1 is a schematic architecture diagram of a navigation processing system 100 provided in an embodiment of the present application, and a terminal device 400 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 both.

In some embodiments, taking an electronic device as an example of the terminal device, the terminal device 400 displays a road on which the vehicle travels in the navigation interface, wherein the road includes a plurality of lanes and the lanes are spaced by lane lines; displaying a navigation route through a first lane of a road in response to a vehicle traveling along the first lane, a real-time location of the vehicle being displayed in the first lane; the method includes the steps of displaying a navigation route that is switched from a first lane to a second lane that can lead to a navigation destination in front of a vehicle in response to a first lane that will deviate from the navigation route (i.e., the navigation route is continuously updated according to the travel of the vehicle), and outputting first vehicle action directions, wherein the first vehicle action directions include a lane change direction and a number of lane changes for switching from the first lane to the second lane.

In other embodiments, the navigation processing method provided in the embodiments of the present application may also be cooperatively implemented by a server and a terminal device. For example, the terminal device 400 may transmit a navigation start point and a navigation end point input by the user to the server 200, so that the server 200 determines a navigation route according to the received navigation start point and navigation end point, and transmits the navigation route to the terminal device 400. The terminal device 400 displays a road on which the vehicle travels in the navigation interface, wherein the road includes a plurality of lanes and the plurality of lanes are spaced by lane lines; in response to the vehicle traveling along the first lane, a navigation route is displayed that passes through the first lane of the road, in which the real-time location of the vehicle is displayed. Meanwhile, the terminal device 400 also transmits the real-time position of the vehicle to the server 200, calculates a lane change direction and a lane change number for switching from the first lane to a second lane that can lead to the navigation end point when the server 200 determines that the first lane will deviate from the navigation route according to the real-time position of the vehicle, and transmits the calculated lane change direction and the calculated lane change number to the terminal device 400 to be displayed in the navigation interface of the terminal device 400.

As an example, fig. 1 shows a lane change direction and a lane change number for switching from a first lane to a second lane, which are output in a navigation interface, for example, a prompt message "please turn left and 4 lanes" may be displayed in the navigation interface in a text form, and of course, a prompt message "please turn left and 4 lanes" may also be played in a voice broadcast manner.

In some embodiments, the terminal device 400 or the server 200 may implement the navigation processing method provided by the embodiment of the present application by running a computer program, such as the client 410 shown in fig. 1. For example, the computer program may be a native program or a software module in an operating system; may be a local (Native) Application program (APP), i.e. a program that needs to be installed in the operating system to run, such as a navigation APP; or may be an applet, i.e. a program that can be run only by downloading it to the browser environment; but also an applet that can be embedded in any APP, where the applet can be run or shut down by user control. In general, the computer programs described above may be any form of application, module or plug-in.

Taking the electronic device provided in the embodiment of the present application as an example for illustration, it can be understood that, for the case where the electronic device is a server, parts (such as the user interface, the presentation module, and the input processing module) in the structure shown in fig. 2 may be default. Referring to fig. 2, fig. 2 is a schematic structural diagram of a terminal device 400 provided in an embodiment of the present application, where the terminal device 400 shown in fig. 2 includes: at least one processor 410, memory 450, at least one network interface 420, and a user interface 430. The various components in the terminal device 400 are coupled together by a bus system 440. It is understood that the bus system 440 is used to enable communications among the components. The bus system 440 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 440 in fig. 2.

The Processor 410 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 430 includes one or more output devices 431, including one or more speakers and/or one or more visual displays, that enable the presentation of media content. The user interface 430 also includes one or more input devices 432, including user interface components that facilitate user input, such as a keyboard, mouse, microphone, touch screen display, camera, other input buttons and controls.

The memory 450 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 450 optionally includes one or more storage devices physically located remote from processor 410.

The memory 450 includes either volatile memory or nonvolatile memory, and may include 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 450 described in embodiments herein is intended to comprise any suitable type of memory.

In some embodiments, memory 450 is capable of storing data, examples of which include programs, modules, and data structures, or a subset or superset thereof, to support various operations, as exemplified below.

An operating system 451, including system programs for handling 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 handling hardware-based tasks;

a network communication module 452 for communicating to other computing devices via one or more (wired or wireless) network interfaces 420, exemplary network interfaces 420 including: bluetooth, wireless compatibility authentication (WiFi), and Universal Serial Bus (USB), etc.;

a presentation module 453 for enabling presentation of information (e.g., user interfaces for operating peripherals and displaying content and information) via one or more output devices 431 (e.g., display screens, speakers, etc.) associated with user interface 430;

an input processing module 454 for detecting one or more user inputs or interactions from one of the one or more input devices 432 and translating the detected inputs or interactions.

In some embodiments, the navigation processing device provided by the embodiments of the present application may be implemented in software, and fig. 2 illustrates the navigation processing device 455 stored in the memory 450, which may be software in the form of programs and plug-ins, and includes the following software modules: a display module 4551, an output module 4552, a determination module 4553 and a switching module 4554, which are logical and thus may be arbitrarily combined or further divided according to the functions implemented, and the functions of the respective modules will be described below.

In other embodiments, the navigation processing Device provided in the embodiments of the present Application may be implemented in hardware, and for example, the navigation processing 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 navigation processing method provided in the embodiments of the present Application, for example, the processor in the form of the hardware decoding processor may employ 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.

The navigation processing method provided by the embodiment of the present application will be described below with reference to an exemplary application and implementation of the electronic device provided by the embodiment of the present application. It should be noted that the navigation processing method provided by the embodiment of the present application may be implemented by the terminal device alone, or implemented by the server and the terminal device in a cooperation manner, and the navigation processing method provided by the embodiment of the present application is implemented by the terminal device alone as an example in the following.

Referring to fig. 3, fig. 3 is a schematic flowchart of a navigation processing method provided in an embodiment of the present application, and will be described with reference to the steps shown in fig. 3.

In step S101, a road on which the vehicle is traveling is displayed in the navigation interface, wherein the road includes a plurality of lanes and the plurality of lanes are spaced apart by lane lines.

In some embodiments, the terminal device displays, in response to a navigation mode selection operation, map information of an accuracy corresponding to the selected navigation mode in the navigation interface, for example, when a lane-level navigation mode is selected by a user, a road on which the vehicle is traveling is displayed in the navigation interface, and distinguishes different lanes included in the displayed road, for example, a lane line is displayed between the different lanes to distinguish the different lanes included in the displayed road by the lane line.

For example, taking the terminal device as an in-vehicle terminal as an example, a plurality of navigation modes (e.g., a lane-level navigation mode, a normal navigation mode, etc.) are displayed in a navigation interface of the in-vehicle terminal for a user to select, when the lane-level navigation mode is selected by the user (e.g., the user clicks a button corresponding to "lane-level navigation" displayed in the navigation interface), a road on which the vehicle (i.e., the vehicle driven by the user) travels may be subsequently displayed in the navigation interface, and different lanes included in the road may be distinguished and displayed, for example, different lanes included in the road may be distinguished and displayed in a lane line manner, where the lane line may be a white dotted line (i.e., lane change is allowed between different lanes) or a white solid line (i.e., lane change is prohibited between different lanes).

In other embodiments, the navigation mode may also be automatically switched according to the network environment where the terminal device is currently located, for example, when it is detected that the network environment where the terminal device is currently located is better (i.e. the transmission rate of the network connection is greater than the rate threshold), the navigation mode is automatically switched to the lane-level navigation mode; when the network environment where the terminal equipment is currently located is poor (namely the transmission rate of network connection is smaller than a rate threshold value), the navigation mode is automatically switched to the common navigation mode, and therefore the navigation mode is automatically switched to the corresponding navigation mode according to different network environments where the terminal equipment is located, the smoothness of the whole navigation process is guaranteed, and user experience is improved.

It should be noted that, in practical applications, the navigation interface may have a plurality of navigation viewing angles, including a head-up direction and a north-up direction, where the head-up direction means that the direction directly above the map changes along with the driving direction of the user all the time, for example, when the user drives the vehicle towards the west, the direction directly above the map is towards the west, and when the user drives the vehicle towards the east, the direction directly above the map is towards the east, that is, it is determined by left and right which direction the user drives the vehicle to turn, so that the user can control the direction conveniently; the north direction is that the direction of the map is always north, and is fixed and unchanged, and the direction of the map can not be changed along with the change of the advancing direction of the user, namely, the direction of the map is determined to turn in the due north direction by mainly using the direction or adjusting the direction of the mobile phone (generally, the direction of the map displayed on the terminal needs to be adjusted by referring to the actual position of a building and the position of the building on the map), so that the method is suitable for the user with better direction sense, and the user can conveniently master the direction needing to advance at any time. That is, the user can select the corresponding navigation view angle according to actual needs.

In addition, it should be noted that the road displayed in the navigation interface may be a solid road (i.e., the map displayed in the navigation interface is three-dimensional) or a planar road (i.e., the map displayed in the navigation interface is two-dimensional), and the user may select the road according to his or her needs.

In step S102, a navigation route passing through a first lane of a road is displayed in response to a vehicle traveling along the first lane, a real-time position of the vehicle being displayed in the first lane.

In some embodiments, a plurality of lanes in a road where a vehicle (i.e., a vehicle driven by a user) is located and a real-time position of the vehicle in a first lane of the road are displayed in a navigation interface of the terminal device, where the first lane is a lane where the vehicle is located in real time. In addition, a navigation route (i.e., a route from a navigation start point to a navigation end point, including one or more sequentially connected roads) may be displayed in the navigation interface, wherein the navigation route passes through a first road of the roads, i.e., the navigation route is based on a real-time location where the vehicle is currently located as the navigation start point. In practical applications, besides displaying the road where the vehicle is located in the navigation interface, other roads different from the road where the vehicle is located may also be displayed to help the user to know the surrounding road conditions.

For example, referring to fig. 4A, fig. 4A is a schematic view of a navigation interface provided in an embodiment of the present application, as shown in fig. 4A, a road where a vehicle is located and a position (represented by a vehicle shape in fig. 4A) where the vehicle is located in a first lane of the road are displayed in the navigation interface, and in addition, regarding the road where the vehicle is located, in addition to the first lane where the vehicle is located, other lanes parallel to the first lane are also displayed, where different lanes are displayed in a lane line manner, for example, a lane line may be composed of a partial dotted line and a partial solid line, lane change of the vehicle is allowed in the dotted line portion, and lane change of the vehicle is prohibited in the solid line portion.

In other embodiments, displaying a first lane of the navigation route through the road in the navigation interface, prior to displaying the real-time location of the vehicle in the first lane, may further perform the following: and carrying out lane identification processing on the vehicle to obtain a first lane where the vehicle is located. For example, during the driving of the vehicle, the lane recognition processing may be periodically performed on the vehicle to obtain the first lane where the real-time position of the vehicle is located.

For example, the lane identification process may be performed on the vehicle in the following manner to obtain a first lane where the vehicle is located: positioning the vehicle to obtain positioning information, and inquiring in an electronic map according to the positioning information to obtain a first lane where the vehicle is located; or, performing visual identification processing on the environment where the vehicle is located to obtain environment visual information, and determining the first lane where the vehicle is located according to the environment visual information. The method for obtaining the positioning information by positioning the vehicle may be: the method comprises the steps of obtaining positioning information set for a vehicle (suitable for a scene with poor network environment or without condition for automatic positioning), carrying out positioning processing based on a global positioning system on the vehicle to obtain the positioning information (capable of realizing automatic positioning), or carrying out positioning processing based on carrier phase difference on the vehicle to obtain the positioning information (capable of obtaining the positioning information with higher precision and suitable for the scene with higher precision requirement).

It should be noted that, in practical application, any one of the above manners may be flexibly applied to implement lane identification processing according to requirements of a practical application scenario, which is not limited in this embodiment of the present application.

In step S103, in response to deviation from the navigation route in response to continuation of the travel along the first lane, a navigation route that is switched from the first lane to a second lane that can lead to a navigation end point in front of the travel is displayed.

Here, the display in front of the vehicle means that the user is reminded to avoid the vehicle deviating from the navigation route before the vehicle reaches the latest lane change position (i.e., the last available lane change position in front of the vehicle to ensure that the vehicle does not yaw), i.e., before the vehicle reaches the latest lane change position.

For example, referring to fig. 4B, fig. 4B is a schematic view of a navigation interface provided in an embodiment of the present application, as shown in fig. 4B, in a first stage, a vehicle travels in a first lane of a road, and a navigation route is always on the first lane, that is, the first lane does not deviate from the navigation route; the method comprises the following steps of entering a second stage along with the continuous driving of a vehicle, and displaying a switch of a navigation route from a first lane to a second lane capable of leading to a navigation terminal in a navigation interface (a process of determining the second lane will be specifically described below) when the first lane is about to deviate from the navigation route in the second stage.

In some embodiments, the navigation route switching from the first lane to the second lane capable of leading to the navigation end point in front of the vehicle may be displayed by: displaying a first part of the navigation route in a first lane, at least one lane change route for switching from the first lane to a second lane capable of leading to a navigation terminal via at least one lane change position, and a second part of the navigation route in the second lane, wherein the lane change positions correspond to the lane change routes one by one (namely one lane change position corresponds to one lane change route).

For example, when the number of lane change positions is plural, the navigation route may be displayed in a first partial route in the first lane, at least one lane change route switched from the first lane to the second lane capable of leading to the navigation destination via at least one lane change position, and a second partial route in the second lane by: displaying a first partial route of the navigation route in a first lane, a plurality of lane change routes switching from the first lane to a second lane capable of leading to the navigation end point via a plurality of lane change positions, and a second partial route in the second lane; the lane change routes are displayed in a differentiated manner (for example, different lane change routes can be distinguished by different colors, or different line thickness degrees corresponding to different lane change routes are different), and are used for representing differences among characteristic parameters of the lane change routes, where the characteristic parameters include at least one of a smoothing degree and a lane change time consumption.

For example, referring to fig. 4C, fig. 4C is a schematic diagram of a navigation interface provided in the embodiment of the present application, as shown in fig. 4C, 3 lane-changing positions are displayed in the navigation interface, where each lane-changing position corresponds to one lane-changing route, for example, lane-changing position 1 corresponds to lane-changing route 1, lane-changing position 2 corresponds to lane-changing route 2, lane-changing position 3 corresponds to lane-changing route 3, and different lane-changing routes are distinguished by using lines with different thicknesses, for example, the line corresponding to lane-changing route 1 is thickest (representing the highest degree of smoothness), the line corresponding to lane-changing route 2 is next to the line (representing the normal degree of smoothness), and the line corresponding to lane-changing route 3 is thinnest (representing the lowest degree of smoothness), and a first partial route of the navigation route in the first lane (i.e., a position where a vehicle is located to a starting point of the lane-changing route (e., a position where a user performs a turning action to be a starting point of the lane-changing route) is also displayed in the navigation interface Inter-route) and a second partial route in the second lane (i.e., a route that continues forward a preset length (e.g., 50 meters) along the navigation route from the end point of the lane-change route (e.g., the corresponding position when the user switches from a turning action to straight driving may be taken as the end point of the lane-change route).

It should be noted that, in practical applications, in order to avoid the interference of displaying too many lane change routes to the user, only a lane change route corresponding to one lane change position (for example, a lane change route corresponding to an optimal lane change position or a latest lane change position) may be displayed in the navigation interface, so that redundant information received by the user during the driving process is reduced, and the attention of the user is saved.

For example, when the number of lane change positions is 1, a first partial route of the navigation route in the first lane, at least one lane change route switching from the first lane to the second lane capable of leading to the navigation destination via at least one lane change position, and a second partial route in the second lane may be displayed by: displaying a first partial route of the navigation route in a first lane, an optimal lane change route switching from the first lane to a second lane capable of leading to the navigation end point via an optimal lane change position, and a second partial route in the second lane; the optimal lane changing route has optimal lane changing parameters, and the optimal lane changing parameters comprise at least one of maximum smooth degree and shortest lane changing time consumption.

For example, referring to fig. 4D, fig. 4D is a schematic diagram of a navigation interface provided in the embodiment of the present application, as shown in fig. 4D, an optimal lane change position and an optimal lane change route corresponding to the optimal lane change position (for example, a lane change route with the maximum smoothness or a lane change route with the shortest time for lane change) are displayed in the navigation interface, and in addition, a first partial route of the navigation route in a first lane (i.e., a route from a real-time position where the vehicle is located to a start point of the optimal lane change route) and a second partial route of the navigation route in a second lane (i.e., a route continuing forward from an end point of the optimal lane change route by a preset length along the navigation route) are also displayed in the navigation interface.

For example, when the number of lane change positions is 1, a first partial route of the navigation route in the first lane, at least one lane change route switching from the first lane to the second lane capable of leading to the navigation destination via at least one lane change position, and a second partial route in the second lane may be displayed by: displaying a first partial route of the navigation route in the first lane, a latest lane change route switching from the first lane to the second lane via the latest lane change position, and a second partial route in the second lane; and the latest lane changing position is the last lane changing position which is positioned in front of the travelling crane and can be switched to the second lane.

For example, referring to fig. 4E, fig. 4E is a schematic diagram of a navigation interface provided in an embodiment of the present application, as shown in fig. 4E, a latest lane change position and a latest lane change route corresponding to the latest lane change position are displayed in the navigation interface, and in addition, a first partial route of the navigation route in a first lane (i.e., a route from a real-time position where the vehicle is located to a start point of the latest lane change route) and a second partial route of the navigation route in a second lane (i.e., a route continuing from an end point of the latest lane change route to a preset length along the navigation route) are also displayed in the navigation interface.

It should be noted that, in practical applications, the first partial route of the first lane and the second partial route of the second lane may be displayed in the same manner (for example, the first partial route of the first lane and the second partial route of the second lane are both white solid lines) or different manners (for example, the first partial route of the first lane is white solid lines, the second partial route of the second lane is white dotted lines), the lane change route may be displayed in the same manner as the first partial route of the first lane and the second partial route of the second lane (for example, the first partial route of the first lane, the lane change route, and the second partial route of the second lane are all displayed by white solid lines), or may be different from each other (for example, the lane change route is displayed by dotted lines, and the first partial route of the first lane and the second partial route of the second lane are displayed by solid lines of different colors).

In addition, it should be further noted that, in practical applications, a user may also perform setting for a display mode of the lane change position, for example, the user may preset, in a navigation interface, to display only the optimal lane change position, only the latest lane change position, or to display a plurality of lane change positions, and then the subsequent terminal device displays the lane change position in the navigation interface according to a display mode selected by the user when displaying the lane change position in the navigation interface, for example, when the display mode selected by the user is to display only the optimal lane change position, the terminal device determines the optimal lane change position from the plurality of lane change positions after acquiring the plurality of lane change positions, and displays only the optimal lane change position in the navigation interface.

In some embodiments, prior to displaying the navigation route that switches from the first lane to the second lane ahead of the vehicle, the following operations may also be performed: and outputting second vehicle action directions when the first lane is a lane in which the traffic regulation prohibits the vehicle from driving, wherein the second vehicle action directions comprise a lane change direction for switching from the first lane to a third lane and a lane change number, and the third lane is a lane in which the traffic regulation permits the vehicle to drive.

For example, referring to fig. 4F, fig. 4F is a schematic diagram of a navigation interface provided in an embodiment of the present application, as shown in fig. 4F, when it is detected that a lane where a vehicle is currently located (i.e., a first lane) is a lane where a traffic rule prohibits the vehicle (i.e., a vehicle driven by a user) from traveling (e.g., a bus lane, only the bus is allowed to travel), a second vehicle action guidance may be output, for example, a lane change direction and a lane change number for switching from the first lane to a third lane where the traffic rule allows the vehicle to travel may be displayed in a text manner in the navigation interface, for example, the following content "the current lane is the bus lane, please go to the left and 1 lane" may be displayed in the navigation interface.

In other embodiments, the terminal device may further perform the following operations: outputting third vehicle motion directions in response to the first lane not deviating from the navigation route, wherein the third vehicle motion directions include continuing to travel along the first lane.

For example, referring to fig. 4G, fig. 4G is a schematic diagram of a navigation interface provided in an embodiment of the present application, and as shown in fig. 4G, when it is detected that the first lane does not deviate from the navigation route, a third vehicle action guide may be output, for example, the following content "please continue to travel along the current lane" may be displayed in the navigation interface in a text manner.

In some embodiments, referring to fig. 5, before performing step S103 shown in fig. 3, step S105 and step S106 shown in fig. 5 may also be performed, which will be described in conjunction with the steps shown in fig. 5.

In step S105, the navigation route is divided into a plurality of navigation segments according to the steering model.

In some embodiments, the above-described division of the navigation route into a plurality of navigation segments according to the steering model may be achieved by: the method comprises the steps of determining the number of times of turning in a navigation route according to a turning model, dividing the navigation route into navigation sections with the number corresponding to the turning number, for example, when the number of times of turning in the navigation route is determined to be 3 according to the turning model, dividing the navigation route into 4 corresponding navigation sections according to 3 positions where the turning occurs, wherein the 1 st navigation section is a route from a navigation starting point to a 1 st turning point, the 2 nd navigation section is a route from the 1 st turning point to a 2 nd turning point, the 3 rd navigation section is a route from the 2 nd turning point to the 3 rd turning point, and the 4 th navigation section is a route from the 3 rd turning point to a navigation end point.

In step S106, for the target navigation segment where the vehicle is currently located, a lane that can be navigated to the next navigation segment in the target navigation segment until the navigation end point is determined as the second lane.

In some embodiments, taking the target navigation segment where the vehicle is currently located as the 1 st navigation segment composed from the navigation starting point to the 1 st turning point as an example, the lane which can be accessed to the 2 nd navigation segment until the navigation ending point in the 1 st navigation segment is determined as the second lane. For example, assuming that the 1 st navigation segment includes 4 lanes, wherein the 3 rd lane and the 4 th lane can be passed to the 2 nd navigation segment and up to the navigation end, the 3 rd lane and the 4 th lane may be determined as the second lane. Further, assuming that the vehicle is currently located in the 1 st lane in the 1 st navigation segment and the 2 nd navigation segment is located on the right side of the user, when the 1 st lane is about to deviate from the navigation route, the following first vehicle action guidance may be output, for example, the following "please right and 2 lanes or 3 lanes" may be broadcasted by voice.

In other embodiments, the second lane may also be determined in combination with the traffic rule, for example, taking the target navigation segment as the 1 st navigation segment as an example, assuming that the 1 st navigation segment includes 4 lanes, where the 3 rd lane and the 4 th lane are lanes that can be led to the 2 nd navigation segment and reach the navigation end, but the terminal device simultaneously detects that the 4 th lane is a lane in which the traffic rule prohibits the vehicle of the user from traveling (e.g., an emergency lane, a bus lane, etc.), and only the 3 rd lane is determined as the second lane.

With continued reference to fig. 3, in step S104, a first vehicle action guideline is output, wherein the first vehicle action guideline includes a lane change direction and a number of lane changes for switching from the first lane to the second lane.

In some embodiments, the first vehicle action guideline may be output by: performing at least one of the following operations: broadcasting voice first vehicle action guide comprising lane changing directions and lane changing quantity; displaying a textual first vehicle action heading comprising a lane change direction and a number of lane changes.

For example, after determining the lane change direction and the lane change number for switching from the first lane to the second lane, the lane change direction and the lane change number may be reported in a voice manner, for example, the terminal device may report that "please turn right and 3 lanes" is reported, that is, the user is prompted to change lanes in a voice manner.

For example, after the lane change direction and the lane change number for switching from the first lane to the second lane are determined, the lane change direction and the lane change number may be displayed in a navigation interface in a text manner, for example, the following content "please right and 3 lanes" may be displayed in the navigation interface of the terminal device, and of course, while displaying in the navigation interface, the following content may be broadcasted in a voice manner synchronously, so that the navigation capability is improved in multiple dimensions, and effective reminding is achieved.

It should be noted that, in practical applications, the timing of displaying the navigation route in the navigation interface of the terminal device to switch from the first lane to the second lane capable of leading to the navigation destination in front of the vehicle may be synchronized with the timing of outputting the first vehicle action guide, for example, when the navigation route is displayed in the navigation interface to switch from the first lane to the second lane capable of leading to the navigation destination in front of the vehicle, the voice first vehicle action guide of the lane change direction and the lane change amount for switching from the first lane to the second lane is broadcasted synchronously; of course, the timing of switching the navigation route from the first lane to the second lane capable of leading to the navigation destination in front of the vehicle may be displayed in the navigation interface, or may be asynchronous with the timing of outputting the first vehicle action guide, for example, the navigation route may be displayed in the navigation interface, and the first vehicle action guide may be output after a preset time period (for example, 10 seconds) after switching from the first lane to the second lane capable of leading to the navigation destination in front of the vehicle.

In still other embodiments, prior to outputting the first vehicle action heading, the following operations may also be performed: determining lane change direction and lane change number by: determining a lane changing direction according to the direction of the second lane relative to the first lane; determining a lane change number according to the number of lanes spaced between the first lane and the second lane.

For example, after the second lane is determined, a lane-change direction may be determined according to the direction of the second lane relative to the first lane, for example, when the second lane is located on the right side of the first lane, the corresponding lane-change direction is "right"; meanwhile, the lane change number may also be determined according to the number of lanes spaced between the first lane and the second lane, for example, when the number of lanes spaced between the first lane and the second lane is 1, then the corresponding lane change number is 2, that is, the finally output first vehicle action guide may be: to the right and 2 lanes.

In some embodiments, referring to fig. 6A, before performing step S104 shown in fig. 3, step S107A to step S108A shown in fig. 6A may also be performed, which will be described in conjunction with the steps shown in fig. 6A.

In step S107A, the latest lane change position is determined based on the map data of the target navigation segment where the vehicle is currently located.

In some embodiments, the latest lane change location may be determined by: determining intersections of the target navigation section, which comprise ground icon information, according to map data of the target navigation section where the vehicle is located currently; determining the intersection comprising the ground icon information as the latest lane change position; wherein the ground icon information includes at least one of: stop line, zebra crossing.

For example, taking a target navigation segment as a 1 st navigation segment composed of a navigation starting point and a 1 st turning point as an example, the terminal device acquires map data of the 1 st navigation segment, determines whether the 1 st navigation segment includes an intersection with a stop line or a zebra crossing according to the map data of the 1 st navigation segment, and determines the determined intersection as a latest lane change position when the 1 st navigation segment includes the intersection with the stop line or the zebra crossing.

It should be noted that, for each navigation segment, the number of the latest lane change positions may be 1 or more, for example, taking the 1 st navigation segment as an example, assuming that 3 intersections with stop lines or zebra crossings are determined from the 1 st navigation segment, all the 3 intersections are taken as the latest lane change positions, that is, before the vehicle reaches any one of the 3 intersections, the user needs to be reminded.

In other embodiments, the latest lane change position may also be determined by: determining the position of the lane attribute change (such as the position of lane separation) in the target navigation section according to the map data of the target navigation section where the vehicle is currently located; and determining the position where the lane attribute changes as the latest lane change position.

For example, still taking the target navigation segment as the 1 st navigation segment as an example, the terminal device acquires the map data of the 1 st navigation segment, determines whether the lane attribute in the 1 st navigation segment changes according to the map data of the 1 st navigation segment, and determines the position where the lane attribute changes as the latest lane change position when the lane attribute changes (for example, lane separation occurs), where the number of the latest lane change positions corresponds to the number of the positions where the lane attribute changes in the 1 st navigation segment, for example, when it is determined that there are 2 positions in the 1 st navigation segment where the lane attribute corresponding to the 2 positions changes, the 2 positions are determined as the latest lane change positions, that is, before the lane reaches any one of the 2 positions, the user needs to be reminded.

In some embodiments, the latest lane change location may also be determined by: determining the position of the lane number change (such as the increase of the lane number or the decrease of the lane number) in the target navigation section according to the map data of the target navigation section where the vehicle is located; and determining the position where the number of the lanes changes as the latest lane change position.

For example, still taking the target navigation segment as the 1 st navigation segment as an example, the terminal device obtains the map data of the 1 st navigation segment, and determines whether the number of lanes in the 1 st navigation segment changes (for example, reduces from 3 lanes to 2 lanes) according to the map data of the 1 st navigation segment, and when it is determined that the number of lanes changes, determines the position where the number of lanes changes as the latest lane change position, that is, before the vehicle reaches the position where the number of vehicles changes, the user needs to be reminded.

In step S108A, the position that is located in front of the vehicle and is a predetermined distance from the latest lane change position is used as the presentation position for outputting the first vehicle operation guidance.

In some embodiments, after the latest lane change position is determined, a prompting position for outputting the first vehicle action guide may be determined, for example, a position located in front of the traveling vehicle and a preset distance (for example, 20 meters) from the latest lane change position may be used as the prompting position for outputting the first vehicle action guide. For example, assuming that the determined latest lane change position is 100 meters away from the current position of the vehicle, the position 80 meters away from the vehicle may be used as a prompt position for outputting the first vehicle action guide, that is, when the vehicle travels 80 meters further, the terminal device outputs the first vehicle action guide.

It should be noted that, in practical applications, the value of the preset distance may be related to the current driving speed of the vehicle, for example, when the driving speed of the vehicle is fast, the value corresponding to the preset distance may be larger, so as to leave sufficient reaction time for the user; when the driving speed of the vehicle is slow, the value corresponding to the preset distance can be small, that is, the value of the preset distance can be flexibly adjusted according to the actual situation.

In other embodiments, referring to fig. 6B, before performing step S104 shown in fig. 3, step S107B to step S109B shown in fig. 6B may also be performed, which will be described in conjunction with the step shown in fig. 6B.

In step S107B, the latest lane change position is determined based on the map data of the target navigation segment where the vehicle is currently located.

Here, the specific implementation process of determining the latest lane change position according to the map data of the target navigation segment where the vehicle is currently located may refer to the description of step S107A, and details of the embodiment of the present application are not described herein again.

In step S108B, the first time at which the vehicle reaches the latest lane change position is determined based on the traveling speed of the vehicle.

In some embodiments, after determining the latest lane change position based on step S107B, the real-time travel speed of the vehicle may be obtained, and the first time when the vehicle reaches the latest lane change position may be determined according to the current position of the vehicle and the travel speed of the vehicle, for example, assuming that the current time is 10:00, the form speed of the vehicle is 50 m/S, and the current position of the vehicle is 1000 m away from the latest lane change position, the first time when the vehicle reaches the latest lane change position may be determined to be 10: 20.

In step S109B, the second time that is a preset time period before the first time is taken as the presentation time for outputting the first vehicle action guide.

In some embodiments, taking the above example into account, when it is determined that the first time at which the vehicle reaches the latest lane change position is 10:20, a second time, for example, 10:15, which is a preset time period (for example, 5 seconds) before 10:20 may be used as the prompting time for outputting the first vehicle action guide.

It should be noted that, in practical applications, the value of the preset duration may be related to the driving speed of the vehicle, for example, when the driving speed of the vehicle is fast, the value corresponding to the preset duration may be larger, so as to leave sufficient response time for the user; when the running speed of the vehicle is low, the value corresponding to the preset duration can be small.

In some embodiments, after the vehicle switches to the second lane, the terminal device may further perform the following: in response to the vehicle not deviating from the navigation route in the second lane, controlling the navigation interface to switch from the lane-level navigation mode to the normal navigation mode, and in response to the vehicle deviating from the navigation route in the second lane, controlling the navigation interface to switch from the normal navigation mode to the lane-level navigation mode; the common navigation mode does not distinguish and display a plurality of lanes in the road, and the lane-level navigation mode distinguishes and displays a plurality of lanes in the road.

For example, taking the terminal device as an in-vehicle terminal, after the user successfully switches the vehicle to the second lane according to the first vehicle action guidance output by the in-vehicle terminal, the in-vehicle terminal may further perform the following operations: in response to the fact that the vehicle does not deviate from the navigation route in the second lane (namely, the navigation route is always in the second lane), the navigation interface is controlled to be switched from the lane-level navigation mode to the common navigation mode (such as the road-level navigation mode), and therefore on the premise that accurate navigation is guaranteed, the data transmission amount is reduced; in addition, when the vehicle is in the subsequent driving process and the second lane is about to deviate from the navigation route, the vehicle-mounted terminal controls the navigation interface to switch back to the lane-level navigation mode from the common navigation mode, and displays that the navigation route is switched from the second lane to the fourth lane which can lead to the navigation terminal point in the navigation interface in front of the vehicle.

According to the navigation processing method provided by the embodiment of the application, the multiple lanes in the road and the real-time position of the vehicle in the first lane of the road are displayed in the driving process of the vehicle, when the first lane is about to deviate from the navigation route, the lane changing direction and the lane changing number of the vehicle switched from the first lane to the second lane capable of leading to the navigation destination are output, namely, in the process that a user drives the vehicle to travel, lane-level action guidance including the lane changing direction and the lane changing number can be provided, the accuracy of traveling along the navigation route is guaranteed, and the traveling efficiency of the user is improved.

Next, an exemplary application of the embodiment of the present application in a practical application scenario will be described.

In the navigation system provided by the related art, the selection of the broadcast information is not enough to screen the information in the navigation, so that the accuracy of the output navigation information is poor, and the personalized requirement of a user cannot be met.

The navigation processing method provided by the embodiment of the application is based on a visual recognition technology and a high-precision positioning technology, a current lane (corresponding to the first lane) where a user vehicle is located is recognized, the relation between the current lane and a target lane (corresponding to the second lane) is calculated, a planned route (namely a navigation route) of the user is obtained, then, according to lane information and intersection information on the planned route and steering actions required by the user, broadcasting logic is designed to accept or reject and calculate the information, and specific differential broadcasting contents are generated for each user, wherein the differential broadcasting contents include but are not limited to: and calculating the lane change number according to the relation between the current lane and the target lane so as to broadcast the specific lane change number to the user. In addition, if the current lane is a special channel which does not allow the vehicle of the user to run, such as a bus lane or an emergency lane, strong reminding can be broadcasted to the user.

The following describes a navigation processing method provided in the embodiment of the present application in detail.

In some embodiments, a terminal device (for example, a vehicle-mounted terminal) may implement the navigation processing method provided in the embodiments of the present application by running a vehicle-mounted program, and first, an operation flow of the vehicle-mounted program is introduced from a user side as follows:

1. a user enters a navigation system (for example, the user clicks a car machine program running on a car terminal to present a navigation interface provided by the car machine program), and starts to drive according to a navigation route planned by the navigation system;

2. the navigation system acquires a current lane where a user vehicle is located, calculates broadcast contents by combining lane information, and broadcasts the broadcast contents to the user; for example, after acquiring a lane where a user vehicle is located on a current road, the navigation system enumerates all situations according to map data, determines a target lane according to a route, calculates a relationship between the current lane and the target lane, and then selectively broadcasts the user according to a calculation result (such as the number of lane changes, the lane change direction, and the like);

3. the user drives according to the broadcast information, and other operations are not needed.

In other embodiments, referring to fig. 7, fig. 7 is a flowchart illustrating a navigation processing method according to an embodiment of the present application, and will be described with reference to the steps shown in fig. 7.

In step S701, a navigation route is determined.

In some embodiments, after receiving a navigation starting point and a navigation ending point reported by the terminal device and input by a user in a human-computer interaction interface provided by the vehicle-mounted program, the server generates a corresponding navigation route according to the navigation starting point and the navigation ending point.

In step S702, the navigation route is segmented according to the steering model.

In step S703, a plurality of navigation segments are obtained according to the segmentation result.

In some embodiments, after the server generates the navigation route, the server may invoke the steering model to segment the navigation route, and form a plurality of navigation segments according to the segmentation result, for example, if the server invokes the steering model to determine that the navigation route includes 3 turning points, the navigation route may be divided into 4 navigation segments according to the 3 turning points.

In step S704, it is determined whether each lane in the navigation segment can travel to the end of the navigation segment and a steering action is performed according to the lane connection relationship and the traffic rules in the high-precision data.

In step S705, a lane including a passable state is obtained based on the determination result.

In some embodiments, for each of the navigation segments obtained after the division, the server may perform the following operations: judging the passable state of each lane included in the navigation section, for example, the server can search high-precision data corresponding to each link on the navigation section, including lane lines, ground icon information, traffic rules and the like, and then judging which lane the user needs to be located when driving the vehicle to the last link according to a steering model at the tail of the navigation section; then, according to the traffic rules and the lane connection relationship, the travelable lane (i.e. the lane in the passable state) of each link where the user vehicle is located is estimated from the navigation segment end point to the starting point.

In step S706, feature points for generating voice information are generated based on the ground icon information, the lane attribute, and the lane number change information in the high-precision data.

In step S707, the feature points are integrated to obtain a plurality of feature points.

In some embodiments, the server needs to find the reported position, identified by the characteristic point (corresponding to the latest lane change position described above); for example, the server may first generate feature points according to the ground icon information (e.g., stop lines, zebra stripes, etc.) in the high-precision data; of course, the server may generate feature points based on lane information (e.g., lane number change, lane attribute, etc.) in the high-precision data, and then integrate the generated feature points to obtain a plurality of feature points.

It should be noted that, in practical applications, steps S704 to S705 and steps S706 to S707 may be performed synchronously, that is, for each navigation segment, a lane including a passable state and a plurality of feature points may be obtained at the same time.

In step S708, the position where voice guidance is required is found from the feature point position, and the action that the user needs to perform when the user is in the current lane is determined according to the passable state of lanes that are parallel to each other on the left and right sides of each lane.

In step S709, a plurality of pieces of voice broadcast information are generated.

In some embodiments, at a position that needs to be broadcasted (for example, a position that advances forward by a certain distance from a feature point), an action that a user needs to perform is determined according to passable state information of lanes that are parallel to the left and right of the lane, and for example, according to a determination result, the following broadcast information may be generated: "right and 2 lanes".

In step S710, the generated voice broadcast information is sent to the client.

In some embodiments, after generating the plurality of pieces of voice broadcast information, the server may send the generated plurality of pieces of voice broadcast information to the client, so that the client determines a link and a lane where the user vehicle is currently located according to the positioning information of the vehicle, and then selects an appropriate sentence for broadcast.

For example, referring to fig. 8A, fig. 8A is a schematic view of a navigation interface provided in an embodiment of the present application, as shown in fig. 8A, a navigation route runs from west to east, a "turn right" action is performed at a road junction, and runs to south, and the navigation route has 9 links. Wherein, link1 to link6 are in navigation segment 1; link7 through link9 are in navigation segment 2, and link1 through link4 each have 3 lanes, and link5 through link9 each have 2 lanes. In generating the voice announcement of navigation segment 1, the following operations may be performed:

1. searching high-precision data corresponding to each link;

2. judging that the user vehicle needs to go to the 2 nd lane and cannot go to the 1 st lane when driving into the link6 according to the turning direction 'right turn' determined by the steering model at the tail end of the navigation section, and then deducing to the link1 according to the connection relation between the lanes on the front link and the rear link from the lane passable state of the link6, wherein the 2 nd lane and the 3 rd lane of the link4 can both run to the 2 nd lane of the link5, so that the 2 nd lane and the 3 rd lane of the link4 can both pass but the 1 st lane can not pass;

3. extracting feature points according to the road feature information, for example, from link4 to link5, the number of lanes changes (from 3 lanes to 2 lanes), so that the boundary between link4 and link5 can be regarded as one feature point;

4. by combining the passable lane state and the position of the characteristic point, before a user drives to the link4, if the vehicle of the user is in the 1 st lane, the following voice information of 'right and 2 lanes' is broadcasted, if the vehicle of the user is in the 2 nd lane, the following voice information of 'right and 1 lane' is broadcasted, and if the vehicle of the user is in the 3 rd lane, the following voice information of 'keeping the current lane to drive' is broadcasted, so that different voice broadcasting is carried out according to different lanes where the vehicle of the user is located, and the user can normally turn right when arriving at an intersection.

For example, referring to fig. 8B, fig. 8B is a schematic view of a navigation interface provided in an embodiment of the present application, as shown in fig. 8B, compared with fig. 8A, in a navigation segment 1, there is one lane for each link, and an extra lane is a lane where the vehicle of the user is prohibited to travel (for example, a bus lane, an emergency lane, and other special channels), so when it is detected that the current lane where the vehicle of the user is located is a special channel where the vehicle of the user is prohibited to travel, a following voice message "please comply with the traffic rules, and move left and 1 lane" may be broadcasted to strongly remind the user.

For example, referring to fig. 8C, fig. 8C is a schematic diagram of a navigation interface provided by an embodiment of the present application, as shown in fig. 8C, when there is an intersection including a ground icon (e.g., a stop line) in the navigation segment 1 and the intersection is between link4 and link5, the intersection between link4 and link5 may be used as a feature point, and the feature point position and the lane passable state are combined, before the user drives to the link4, if the user vehicle is in lane 1, the following voice information "right and 2 lanes after passing through the intersection" is broadcast, "if the user vehicle is in lane 2, the following voice information" right and 1 lane after passing through the intersection "is broadcast, if the user vehicle is in lane 3," current lane crossing through the intersection is maintained, "and thus, for different lanes where the user vehicle is located, a differential voice broadcast is performed, redundant information received by the user in the driving process is reduced, the attention of the user is saved, and the navigation efficiency is improved.

For example, referring to fig. 8D, fig. 8D is a schematic diagram of a navigation interface provided in an embodiment of the present application, as shown in fig. 8D, a navigation route runs from west to east, and after lane separation, a 3 rd lane is taken, and the navigation route has 9 links, where each link includes 3 lanes, and when a voice broadcast of navigation segment 1 is generated, the following operations may be performed:

according to the road characteristic information, extracting characteristic points, for example, from link6 to link7, when lane attributes change (lane separation occurs), the position between link6 and link7 can be taken as one characteristic point, and the following voice information of 'right and 2 lanes' can be broadcasted if the user vehicle is in the 1 st lane, if the user vehicle is in the 2 nd lane, the following voice information of 'right and 1 lane' can be broadcasted, if the user vehicle is in the 3 rd lane, the following voice information of 'keeping the current lane running' can be broadcasted before the user vehicle drives to link6 by combining the lane passable state and the position of the characteristic point, so that no matter which lane the user vehicle is currently in, after corresponding action is executed according to the voice information, the user vehicle can drive according to the instruction of the navigation route, and then the final navigation end point can be reached.

The navigation processing method provided by the embodiment of the application can customize the voice broadcast information of the lane level for the user, reduce the redundant information received by the user in the driving process, save the attention of the user and realize more accurate and efficient navigation voice broadcast.

Continuing with the exemplary structure of the navigation processing device 455 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 navigation processing device 455 of the memory 450 may include: a display module 4551 and an output module 4552.

A display module 4551 configured to display a road on which a vehicle travels in a navigation interface, wherein the road includes a plurality of lanes and the lanes are spaced by lane lines; a display module 4551 further configured to display a navigation route through a first lane of a road in response to the vehicle traveling along the first lane, the real-time location of the vehicle being displayed in the first lane; a display module 4551 further configured to display a navigation route that is switched from the first lane to a second lane that can lead to a navigation destination ahead of the vehicle in response to a deviation from the navigation route that is to continue traveling along the first lane; an output module 4552 configured to output a first vehicle action guide, wherein the first vehicle action guide includes a lane change direction and a lane change number for switching from a first lane to a second lane.

In some embodiments, the display module 4551 is further configured to display a first part of the navigation route in the first lane, at least one lane change route for switching from the first lane to the second lane capable of leading to the navigation destination via at least one lane change position, and a second part of the navigation route in the second lane, wherein the lane change position corresponds to the lane change route in a one-to-one correspondence.

In some embodiments, when the number of lane change positions is multiple, the display module 4551 is further configured to display a first part of the navigation route in the first lane, multiple lane change routes switching from the first lane to a second lane capable of leading to the navigation destination via the multiple lane change positions, and a second part of the navigation route in the second lane; the lane changing routes are displayed in a differentiated display mode and are used for representing differences among characteristic parameters of the lane changing routes, and the characteristic parameters comprise at least one of smoothness and lane changing time consumption.

In some embodiments, when the number of lane change positions is 1, the display module 4551 is further configured to display a first part of the navigation route in the first lane, an optimal lane change route for switching from the first lane to the second lane capable of leading to the navigation destination via the optimal lane change position, and a second part of the navigation route in the second lane; the optimal lane changing route has optimal lane changing parameters, and the optimal lane changing parameters comprise at least one of maximum smooth degree and shortest lane changing time consumption.

In some embodiments, when the number of lane change positions is 1, the display module 4551 is further configured to display a first part of the navigation route in the first lane, a latest lane change route for switching from the first lane to the second lane via the latest lane change position, and a second part of the navigation route in the second lane; and the latest lane changing position is the last lane changing position which is positioned in front of the travelling crane and can be switched to the second lane.

In some embodiments, the navigation processing device 455 further comprises a determining module 4553 for determining the second lane by: dividing the navigation route into a plurality of navigation sections according to the steering model; and determining a lane which can be communicated to the next navigation section in the target navigation section until the navigation end point as a second lane aiming at the target navigation section where the vehicle is located currently.

In some embodiments, the determining module 4553 is further configured to determine, as the second lane, a lane in the target navigation segment that can pass through the next navigation segment to the navigation end and the traffic rule allows the vehicle to travel.

In some embodiments, the output module 4552 is further configured to perform at least one of the following operations: broadcasting voice first vehicle action guide comprising lane changing directions and lane changing quantity; displaying a textual first vehicle action heading comprising a lane change direction and a number of lane changes.

In some embodiments, the output module 4552 is further configured to output a second vehicle action direction when the first lane is a lane in which the traffic regulation prohibits the vehicle from traveling, wherein the second vehicle action direction includes a lane change direction and a lane change number for switching from the first lane to a third lane, and the third lane is a lane in which the traffic regulation permits the vehicle to travel.

In some embodiments, the output module 4552 is further configured to output a third vehicle action guideline in response to the first lane not deviating from the navigation route, wherein the third vehicle action guideline includes continuing to travel along the first lane.

In some embodiments, the determining module 4553 is further configured to determine the latest lane change position according to the map data of the target navigation segment where the vehicle is currently located; and taking the position which is positioned in front of the running of the vehicle and is away from the latest lane change position by a preset distance as a prompt position for outputting the first vehicle action guide.

In some embodiments, the determining module 4553 is further configured to determine the latest lane change position according to the map data of the target navigation segment where the vehicle is currently located; determining a first time when the vehicle reaches the latest lane change position based on the running speed of the vehicle; and taking a second moment with a preset time length before the first moment as a prompting moment for outputting the first vehicle action guide.

In some embodiments, the determining module 4553 is further configured to determine, according to the map data of the target navigation segment where the vehicle is currently located, an intersection including ground icon information in the target navigation segment, where the ground icon information includes at least one of: stop lines, zebra stripes; and determining the intersection comprising the ground icon information as the latest lane change position.

In some embodiments, the determining module 4553 is further configured to determine, according to the map data of the target navigation segment where the vehicle is currently located, a location where the lane attribute changes in the target navigation segment; and determining the position where the lane attribute changes as the latest lane change position.

In some embodiments, the determining module 4553 is further configured to determine, according to the map data of the target navigation segment where the vehicle is currently located, a position where the number of lanes in the target navigation segment changes; and determining the position where the number of the lanes changes as the latest lane change position.

In some embodiments, the determining module 4553 is further configured to determine the lane change direction and the lane change number by: determining a lane changing direction according to the direction of the second lane relative to the first lane; determining a lane change number according to the number of lanes spaced between the first lane and the second lane.

In some embodiments, the navigation processing device 455 further includes a switching module 4554 for controlling the navigation interface to switch from the lane-level navigation mode to the normal navigation mode in response to the vehicle not deviating from the navigation route in the second lane, and for controlling the navigation interface to switch from the normal navigation mode to the lane-level navigation mode in response to the vehicle deviating from the navigation route in the second lane; the common navigation mode does not distinguish and display a plurality of lanes in the road, and the lane-level navigation mode distinguishes and displays a plurality of lanes in the road.

Embodiments of the present application provide a computer program product or 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 executes the computer instructions, so that the computer device executes the navigation processing method in the embodiment of the present application.

Embodiments of the present application provide a computer-readable storage medium having stored therein executable instructions that, when executed by a processor, cause the processor to perform a method provided by embodiments of the present application, for example, a navigation processing method as illustrated in fig. 3, fig. 5, fig. 6A, fig. 6B, or fig. 7.

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.

In summary, the embodiment of the application displays the lanes in the road and the real-time position of the vehicle in the first lane of the road during the driving process of the vehicle, and outputs the lane changing direction and the lane changing number of the vehicle switched from the first lane to the second lane capable of leading to the navigation destination when the first lane deviates from the navigation route, that is, during the driving process of the vehicle by the user, the high-precision navigation information (including the lane changing direction and the lane changing number) can be provided for the user, and the traveling efficiency of the user is improved.

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 navigation processing method, characterized in that the method comprises:

2. The method of claim 1, wherein the displaying the navigation route that switches from the first lane to a second lane that can lead to a navigation destination ahead of a vehicle comprises:

displaying a first part of the navigation route in the first lane, at least one lane change route for switching from the first lane to a second lane capable of leading to a navigation destination via at least one lane change position, and a second part of the navigation route in the second lane, wherein the lane change positions are in one-to-one correspondence with the lane change routes.

3. The method of claim 2, wherein when the number of lane change positions is plural, the displaying the navigation route at a first portion of the route in the first lane, at least one lane change route switching from the first lane to a second lane capable of leading to a navigation destination via at least one lane change position, and a second portion of the route in the second lane comprises:

displaying a first partial route of the navigation route in the first lane, a plurality of lane change routes switching from the first lane to a second lane that can lead to a navigation destination via a plurality of lane change positions, and a second partial route in the second lane;

the lane change routes are displayed in a differentiated display mode and are used for representing differences among characteristic parameters of the lane change routes, and the characteristic parameters comprise at least one of smoothness and lane change time consumption.

4. The method of claim 2, wherein when the number of lane change positions is 1, the displaying the navigation route at a first portion of the route in the first lane, at least one lane change route switching from the first lane to a second lane capable of leading to a navigation destination via at least one lane change position, and a second portion of the route in the second lane comprises:

displaying a first partial route of the navigation route in the first lane, an optimal lane change route switching from the first lane to a second lane that can lead to a navigation destination via an optimal lane change position, and a second partial route in the second lane;

the optimal lane changing route is provided with optimal lane changing parameters, and the optimal lane changing parameters comprise at least one of maximum smooth degree and shortest lane changing time consumption.

5. The method of claim 2, wherein when the number of lane change positions is 1, the displaying the navigation route at a first portion of the route in the first lane, at least one lane change route switching from the first lane to a second lane capable of leading to a navigation destination via at least one lane change position, and a second portion of the route in the second lane comprises:

displaying a first partial route of the navigation route in the first lane, a latest lane change route switching from the first lane to the second lane via a latest lane change position, and a second partial route in the second lane;

and the latest lane changing position is the last lane changing position which is positioned in front of the travelling crane and can be switched to the second lane.

6. The method of claim 1, wherein prior to displaying the navigation route that switches from the first lane to a second lane that can lead to a navigation destination ahead of a vehicle, the method further comprises:

determining the second lane by:

dividing the navigation route into a plurality of navigation sections according to a steering model;

and determining a lane which can be communicated to the next navigation section in the target navigation section until the navigation end point as the second lane aiming at the target navigation section where the vehicle is located currently.

7. The method of claim 6, wherein the determining a lane of the target navigation segment that can be navigated to a next navigation segment until the navigation end point as the second lane comprises:

and determining the lane which can pass through the next navigation section to the navigation terminal point in the target navigation section and allows the vehicle to run by the traffic rule as the second lane.

8. The method of claim 1, wherein the outputting the first vehicle action guideline comprises:

performing at least one of the following operations:

broadcasting a voice first vehicle action guide comprising the lane changing direction and the lane changing quantity;

displaying a textual first vehicle action heading comprising the lane change direction and the lane change number.

9. The method of claim 1, wherein prior to displaying the navigation route that switches from the first lane to the second lane ahead of a vehicle, the method further comprises:

outputting second vehicle action directions when the first lane is a lane in which a traffic rule prohibits the vehicle from traveling, wherein the second vehicle action directions include a lane change direction and a lane change number for switching from the first lane to a third lane, the third lane being a lane in which the traffic rule permits the vehicle to travel.

10. The method of claim 1, further comprising:

outputting third vehicle action directions in response to the first lane not deviating from the navigation route, wherein the third vehicle action directions include continuing to travel along the first lane.

11. The method of claim 1, wherein prior to outputting the first vehicle action heading, the method further comprises:

determining the latest lane change position according to the map data of the target navigation section where the vehicle is currently located;

and taking a position which is positioned in front of the running of the vehicle and is away from the latest lane change position by a preset distance as a prompt position for outputting the first vehicle action guide.

12. The method of claim 1, wherein prior to outputting the first vehicle action heading, the method further comprises:

determining a first time at which the vehicle reaches the latest lane change position based on a traveling speed of the vehicle;

and taking a second moment with a preset time length before the first moment as a prompting moment for outputting the first vehicle action guide.

13. The method according to claim 11 or 12, wherein determining the latest lane change position from the map data of the target navigation segment where the vehicle is currently located comprises:

determining an intersection comprising ground icon information in a target navigation segment according to map data of the target navigation segment where the vehicle is located currently, wherein the ground icon information comprises at least one of the following: stop lines, zebra stripes;

and determining the intersection comprising the ground icon information as the latest lane change position.

14. The method according to claim 11 or 12, wherein determining the latest lane change position from the map data of the target navigation segment where the vehicle is currently located comprises:

determining the position of the change of the lane attribute in the target navigation section according to the map data of the target navigation section where the vehicle is located currently;

and determining the position where the lane attribute changes as the latest lane change position.

15. The method according to claim 11 or 12, wherein determining the latest lane change position from the map data of the target navigation segment where the vehicle is currently located comprises:

determining the position of the change of the number of lanes in the target navigation section according to the map data of the target navigation section where the vehicle is located currently;

and determining the position where the number of the lanes changes as the latest lane change position.

16. The method of claim 1, wherein prior to outputting the first vehicle action heading, the method further comprises:

determining the lane change direction and the lane change number by:

determining the lane change direction according to the direction of the second lane relative to the first lane;

and determining the lane change number according to the number of lanes separated between the first lane and the second lane.

17. The method of claim 1, wherein after the vehicle switches to the second lane, the method further comprises:

in response to the vehicle not deviating from the navigation route in the second lane, controlling the navigation interface to switch from a lane-level navigation mode to a normal navigation mode, an

Controlling the navigation interface to switch from the normal navigation mode to the lane-level navigation mode in response to the vehicle deviating from the navigation route in the second lane;

wherein the normal navigation mode does not display the plurality of lanes in the road differently, and the lane-level navigation mode displays the plurality of lanes in the road differently.

18. A navigation processing 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 navigation processing 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 navigation processing method of any one of claims 1 to 17 when executed by a processor.