CN114184208A - Method, apparatus, electronic device, and medium for providing navigation route for vehicle - Google Patents
Method, apparatus, electronic device, and medium for providing navigation route for vehicle Download PDFInfo
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- CN114184208A CN114184208A CN202111511939.0A CN202111511939A CN114184208A CN 114184208 A CN114184208 A CN 114184208A CN 202111511939 A CN202111511939 A CN 202111511939A CN 114184208 A CN114184208 A CN 114184208A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Abstract
The application discloses a method, a device, electronic equipment and a medium for providing a navigation route for a vehicle. According to the method and the device, all road section information passing through the initial navigation route can be acquired if the navigation task is acquired; traversing a preset road section steering information set to obtain the steering relation between every two adjacent road section information in all road section information, and generating a steering information set; and merging the steering relations meeting the merging conditions in the steering information set to obtain a steering event set and generate a target navigation line containing all road section information and corresponding steering prompts. By applying the technical scheme of the application, the steering relation between each two adjacent road sections can be calculated in advance according to the initial road section data, and the steering prompt required by actual driving in navigation is obtained after merging processing is carried out on one or more steering relations meeting merging conditions. And finally, generating a corresponding navigation route for the user based on the steering prompt and the steering relation of each road section.
Description
Technical Field
The present application relates to data processing technologies, and in particular, to a method, an apparatus, an electronic device, and a medium for providing a navigation route for a vehicle.
Background
In the related art, a scene that navigation needs to be provided for a vehicle in real time often exists, wherein a service platform for providing navigation at present generates a corresponding navigation line for a vehicle of a user by adopting massive road test data.
However, in some areas, there may be a situation where the service platform cannot know detailed road data, which may also cause the navigation effect to be seriously affected.
Disclosure of Invention
The embodiment of the application provides a method, a device, electronic equipment and a medium for providing a navigation route for a vehicle. The method and the device are used for solving the problem that the generated navigation route is not accurate enough under the condition that detailed road data cannot be obtained in the related technology.
According to an aspect of the embodiments of the present application, there is provided a method for providing a navigation route for a vehicle, including:
if the navigation task is obtained, obtaining information of all road sections passing by the initial navigation route;
traversing a preset road section steering information set to obtain the steering relation between every two adjacent road section information in all the road section information, and generating a steering information set;
merging the steering relations meeting merging conditions in the steering information set to obtain a steering event set;
and generating a target navigation line containing all the road section information and corresponding steering prompts based on the steering event set.
Optionally, in another embodiment based on the foregoing method of the present application, before the obtaining the navigation task, the method further includes:
acquiring information of a road section to be detected in a target area, wherein the information of the road section to be detected comprises information of all road sections passing through the initial navigation path;
determining a passing rule of each piece of road section information to be detected, wherein the passing rule comprises one of one-way passing and two-way passing; and the number of the first and second groups,
determining a road coordinate point of each piece of road section information to be detected, wherein the road coordinate points comprise a road starting coordinate point and a road ending coordinate point;
determining a road direction angle corresponding to the road section to be detected according to the road coordinate point of each road section information to be detected, wherein the road direction angle is an included angle between the direction of the start coordinate point pointing to the end coordinate point and the due north direction;
and generating the preset road section steering information set based on the passing rule and the road direction angle of each piece of road section information to be detected.
Optionally, in another embodiment based on the above method of the present application, the generating the preset road segment turning information set based on the traffic rule and the road direction angle of each piece of road segment information to be detected includes:
calculating a road direction angle difference value between each first road section to be detected and a second road section to be detected, wherein the second road section to be detected is a road section adjacent to the first road section to be detected;
determining the steering relation between the first road section to be detected and the second road section to be detected according to the direction angle difference and the passing rule of each road section to be detected;
and obtaining the road section steering information set according to the steering relation between the adjacent road sections to be detected.
Optionally, in another embodiment based on the foregoing method of the present application, the determining a steering relationship between the first road section to be detected and the second road section to be detected according to the direction angle difference and the traffic rule of each road section to be detected includes:
acquiring the number of second road sections to be detected adjacent to each first road section to be detected and the road direction angle difference value of each first road section to be detected and the second road section to be detected;
selecting different comparison rules based on different numbers of second road sections to be detected adjacent to each road section to be detected;
and determining the steering relation between the first road section to be detected and the second road section to be detected based on the road direction angle difference between each first road section to be detected and the second road section to be detected according to the corresponding comparison rule.
Optionally, in another embodiment based on the foregoing method of the present application, the traversing a preset road segment steering information set to obtain a steering relationship between every two adjacent road segment information in all the road segment information, and generating a steering information set includes:
acquiring a road section identifier of each road section information in all road section information;
searching a steering direction between every two adjacent road section information and a steering coordinate point from the road section steering information set on the basis of the road section identification;
and obtaining the steering relation between every two adjacent road section information in all the road section information based on the steering direction and the steering coordinate point.
Optionally, in another embodiment of the method according to the present application, after obtaining the turning relationship between every two adjacent road segment information in all the road segment information based on the turning direction and the turning coordinate point, the method further includes:
detecting a coordinate distance difference value and a steering angle difference value between two adjacent steering coordinate points;
and determining whether the two adjacent steering information meet a merging condition or not based on whether the coordinate distance difference value is smaller than a first distance threshold value or not and whether the steering angle difference value is larger than a preset angle threshold value or not.
Optionally, in another embodiment based on the above method of the present application, the generating a target navigation route including all the road segment information and corresponding steering prompts based on the steering event set includes:
traversing the steering event set and determining a coordinate point corresponding to each steering event;
generating a corresponding steering prompt before a second distance threshold before the coordinate point corresponding to each steering event;
and generating a target navigation line containing all the road section information and corresponding steering prompts based on the steering event set and the steering prompts.
According to another aspect of the embodiments of the present application, there is provided an apparatus for providing a navigation route for a vehicle, including:
the acquisition module is configured to acquire all road section information passing through the initial navigation route if the navigation task is acquired;
the detection module is configured to traverse a preset road section steering information set to obtain a steering relationship between every two adjacent road section information in all the road section information, and generate a steering information set;
the merging module is configured to merge steering relations meeting merging conditions in the steering information set to obtain a steering event set;
and the generating module is configured to generate a target navigation line containing all the road section information and corresponding steering prompts based on the steering event set.
According to another aspect of the embodiments of the present application, there is provided an electronic device including:
a memory for storing executable instructions; and
a display for communicating with the memory to execute the executable instructions to perform any of the above-described operations of the method of providing a navigation route for a vehicle.
According to a further aspect of the embodiments of the present application, there is provided a computer-readable storage medium for storing computer-readable instructions, which when executed, perform the operations of any of the above methods for providing a navigation route for a vehicle.
According to the method and the device, all road section information passing through the initial navigation route can be acquired if the navigation task is acquired; traversing a preset road section steering information set to obtain the steering relation between every two adjacent road section information in all road section information, and generating a steering information set; merging the steering relations meeting the merging conditions in the steering information set to obtain a steering event set; and generating a target navigation line containing all road section information and corresponding steering prompts based on the steering event set. By applying the technical scheme of the application, the steering relation between each two adjacent road sections can be calculated in advance according to the initial road section data, and the steering prompt required by actual driving in navigation is obtained after merging processing is carried out on one or more steering relations meeting merging conditions. And finally, generating a corresponding navigation route for the user based on the steering prompt and the steering relation of each road section.
The technical solution of the present application is further described in detail by the accompanying drawings and examples.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
The present application may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a method for providing a navigation route for a vehicle according to the present application;
FIG. 2 is a schematic diagram of calculating a road direction angle according to the present application;
3-6 are schematic flow charts illustrating a method for providing a navigation route for a vehicle according to the present application;
fig. 7 is a schematic structural diagram of an electronic device for providing a navigation path for a vehicle according to the present application;
fig. 8 is a schematic structural diagram of an electronic device for providing a navigation path for a vehicle according to the present application.
Detailed Description
Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In addition, technical solutions between the various embodiments of the present application may be combined with each other, but it must be based on the realization of the technical solutions by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should be considered to be absent and not within the protection scope of the present application.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present application are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
A method for performing providing a navigation route for a vehicle according to an exemplary embodiment of the present application is described below in conjunction with fig. 1-6. It should be noted that the following application scenarios are merely illustrated for the convenience of understanding the spirit and principles of the present application, and the embodiments of the present application are not limited in this respect. Rather, embodiments of the present application may be applied to any scenario where applicable.
The application also provides a method, a device, electronic equipment and a medium for providing the navigation route for the vehicle.
Fig. 1 schematically shows a flow chart of a method for providing a navigation route for a vehicle according to an embodiment of the present application. As shown in fig. 1, the method includes:
s101, if the navigation task is obtained, obtaining information of all road sections passing by the initial navigation route.
S102, traversing a preset road section steering information set to obtain the steering relation between every two adjacent road section information in all road section information, and generating a steering information set.
And S103, combining the steering relations meeting the combination conditions in the steering information set to obtain a steering event set.
And S104, generating a target navigation line containing all road section information and corresponding steering prompts based on the steering event set.
In one mode, the method needs to acquire all road section information to be detected in the target area in advance, so as to determine the steering relationship between every two adjacent pieces of road section information to be detected. It should be noted that the information of the road sections to be detected includes information of all road sections passing through the initial leading route.
Furthermore, according to the method and the device, a road coordinate point according to information of each road section to be detected is acquired, and a road direction angle corresponding to each road section to be detected is determined, wherein the road direction angle is an included angle between a direction of a starting coordinate point pointing to an ending coordinate point and a due north direction, so that a preset road section steering information set is generated based on a subsequent passing rule and the road direction angle of the information of each road section to be detected.
It should be noted that, as shown in fig. 2, the direction angle of each road segment to be detected is calculated as an included angle d between a direction of the road segment from the starting point a (starting node) to the end point B (ending node) and a due north direction.
For example, for the road segment a to be detected, the direction angle difference between each route (for example, the road segment b, the road segment c) to be detected and a, which is adjacent to the road end coordinate point of the road segment a, can be calculated according to the direction angle of the road segment a to be detected.
For example, if the road section information a to b to be detected are adjacent (i.e. the road end coordinate point of a is equal to the road start coordinate point of b), the steering relationship of a- > b is calculated. It should be noted that the present application may also obtain the passing rules of a and b (for example, one-way passing or two-way passing).
It can be understood that if one-way traffic, a- > b ≠ b- > a. And if the 2 pieces of road section information are not adjacent, their relationship is not calculated.
Specifically, the following conditions may be included for calculating the steering relationship from the road section information a to be detected to the road section information b to be detected:
in the first case:
as shown in fig. 3, if only the link b adjacent to the link a and 1 other branch road (both adjacent to the link a) are determined as follows:
step 1: calculating delta d1, namely the road direction angle difference between a and b; and calculating Δ d2, i.e., the difference in the direction angle of a from the other branch. Wherein Δ d1 ≠ Δ d 2.
Step 2: if the absolute values of Δ d1 and Δ d2 are both less than 30 degrees, if Δ d1> Δ d2, the steering relationship in which the vehicle is running to the left can be obtained. On the other hand, if Δ d1< Δ d2, the steering relationship in which the vehicle is traveling to the right can be obtained.
And step 3: if the absolute values of Δ d1 and Δ d2 are not both less than 30 degrees, if Δ d1> Δ d2, the steering relationship in which the vehicle is running with a left turn can be obtained. On the other hand, if Δ d1< Δ d2, the steering relationship for right-turn running of the vehicle can be obtained.
In the second case:
as shown in fig. 4, if there are a link b adjacent to the link a and other 2 branches (both adjacent to the link a), and all 2 branches can pass through, the determination rule is as follows:
step 1: calculating delta d1, namely the road direction angle difference between a and b; and calculating Δ d2, i.e., the difference in the direction angle of a from the other branch. Wherein Δ d1 ≠ Δ d 2.
Step 2: if the absolute values of Δ d1 and Δ d2 are both less than 30 degrees, if Δ d1> Δ d2, the steering relationship in which the vehicle is running to the left can be obtained. On the other hand, if Δ d1< Δ d2, the steering relationship in which the vehicle is traveling to the right can be obtained.
And step 3: if the absolute values of Δ d1 and Δ d2 are not both less than 30 degrees, if Δ d1>150 degrees, the steering relationship in which the vehicle is driven in a u-turn can be obtained.
Otherwise, if Δ d1> Δ d2, the steering relationship for left-turn running of the vehicle can be obtained. On the other hand, if Δ d1< Δ d2, the steering relationship for right-turn running of the vehicle can be obtained.
In the second case:
as shown in fig. 5, if there are a link b adjacent to the link a and other 3 or more branches (m branches are provided and are all adjacent to the link a) that can pass, the determination rule is as follows:
step 1: calculating delta d1, namely the road direction angle difference between a and b; and calculating Δ d2, i.e., the difference in the direction angle of a from the other branch; wherein Δ d1 ≠ Δ d 2.
Step 2: if the delta d1 is larger than 150 degrees, the steering relation of the vehicle in turning around can be obtained; otherwise, if Δ d1 is greater than 0, the steering relationship for driving along the nth left lane may be obtained, otherwise, the steering relationship for driving along the (m-n + 1) th right lane may be obtained.
In summary, after the steering relationship between each adjacent road segment to be detected is calculated, in one way, the plurality of steering relationships may be stored in a (key-value) map structure. For example, the key _ b and the value turn left indicate that the steering relationship is a left turn when the link information a is moved to the link information b. Thereby generating a set of turn information for use with subsequent key value reads.
Furthermore, when the navigation task is obtained, all road section information passing through the initial navigation route can be obtained, a preset road section steering information set is traversed to obtain the steering relation between every two adjacent road section information in all road section information, a steering information set is generated, so that the steering direction and the steering coordinate point between every two adjacent road section information in all road section information are searched from the road section steering information set based on road section identification in the follow-up process, and finally the steering relation between every two adjacent road section information in all road section information is obtained based on the steering direction and the steering coordinate point.
Specifically, according to all road section information and road section steering information sets passing through an initial leading route, an original steering information point (hereinafter, referred to as an original point, including position coordinates of the point, information of a turning-in road section, information of a turning-out road section and turning direction) sequence R is generated:
traversing an initial navigation route, taking continuous 2 adjacent road section information each time, setting the numbers of the nth and the (n + 1) th road section information as a1 and b1 respectively, and according to key: a1_ b1, a steering direction (value) between adjacent link information a1 and b1 and a corresponding steering coordinate point are acquired. For example, it may include [ a0_ a1, straight line ], [ a1_ b1, right turn ], [ b1_ b2, straight line ], [ b2_ b22, left turn ], [ b22_ b23, left turn ], [ b23_ c0, straight line ], and the like.
Furthermore, the method and the device can also detect a coordinate distance difference value and a steering angle difference value between two adjacent steering coordinate points, and determine whether the two adjacent steering information meet a merging condition based on whether the coordinate distance difference value is smaller than a first distance threshold value and whether the steering angle difference value is larger than a preset angle threshold value.
Specifically, for example, if the coordinate distance of 2 consecutive adjacent turning coordinate points r1 and r2 is x, x is greater than the threshold D, and the points are not merged. If x is smaller than the threshold D, merging according to the following rule:
d1 is the direction of the incoming link information of r1, and d2 is the direction of the outgoing link information of r 2. Steering is judged by the change of d1 to d 2. Wherein if Δ d is d 1-d 2, and if | Δ d | is greater than 150 degrees, r1 and r2 are combined as a u-turn event. If Δ d is not greater than 150 degrees, and if Δ d is greater than 0, merging into a right turn event; if Δ d is less than 0, merge into one left turn event.
Furthermore, the method and the device can also traverse the steering event set and determine the corresponding coordinate point of each steering event; and generating a corresponding steering prompt before a second distance threshold before a coordinate point corresponding to each steering event, and generating a target navigation line containing all road section information and the corresponding steering prompt based on the steering event set and the steering prompt.
Specifically, the steering event set can be traversed reversely according to the navigation route sequence, the event point is directly converted into the prompt point from the last event point (end point), and a forward prompt point n meters ahead is generated according to the route distance (the accumulated distance along the navigation route, the nonlinear distance) between 2 continuous event points, namely the vehicle is prompted to turn in advance before driving to a turn. As shown in fig. 6, the vehicle should turn left at point a and then turn right at point B. Wherein M1 and M2 are advance cue points of B.
The manner of calculating the coordinate position of M1 is as follows:
an initial sub-navigation route sS from the point A to the point B is obtained, wherein sS is a sub-route of the initial navigation route (road section information _4, road section information _ 5.,. road section information _ j).
Since the link information data contains the coordinate series of the road in the form of (113.5667622.13635; 113.5675322.13629; 113.567722.13628). The sS can be converted into a coordinate series corresponding to a series of link information, i.e., a coordinate point series P from point a to point B (P0(x0, y0), P1(x1, y1), P2(x2, y2), …, pn (xn, yn)).
pn (xn, yn), i.e. B point coordinates, sequentially accumulate the distances between every 2 points from pn to pn-1(xn-1, yn-1), and accumulate the length sumDis (pn to pn-1) + distance (pn-1 to pn-2) + …. If SumDis exceeds 20 meters when distance (pn-1 to pn-2) is accumulated, M1 is located between 2 points pn-1 and pn-2 of the round accumulation, and
percent ═ SumDis-20)/distance (pn-1 to pn-2)
ym1＝yn-2+(yn-1-yn-2)*percent
xm1＝xn-2+(xn-1-xn-2)*percent
When the vehicle runs to the point M1, the navigation prompts: turn right at 20 m ahead.
In the manner, according to the preset reminding distance parameter, a prompt can be generated for the front turning once every x distance.
According to the method and the device, all road section information passing through the initial navigation route can be acquired if the navigation task is acquired; traversing a preset road section steering information set to obtain the steering relation between every two adjacent road section information in all road section information, and generating a steering information set; merging the steering relations meeting the merging conditions in the steering information set to obtain a steering event set; and generating a target navigation line containing all road section information and corresponding steering prompts based on the steering event set. By applying the technical scheme of the application, the steering relation between each two adjacent road sections can be calculated in advance according to the initial road section data, and the steering prompt required by actual driving in navigation is obtained after merging processing is carried out on one or more steering relations meeting merging conditions. And finally, generating a corresponding navigation route for the user based on the steering prompt and the steering relation of each road section.
Optionally, in another embodiment based on the foregoing method of the present application, before the obtaining the navigation task, the method further includes:
acquiring information of a road section to be detected in a target area, wherein the information of the road section to be detected comprises information of all road sections passing through the initial navigation path;
determining a passing rule of each piece of road section information to be detected, wherein the passing rule comprises one of one-way passing and two-way passing; and the number of the first and second groups,
determining a road coordinate point of each piece of road section information to be detected, wherein the road coordinate points comprise a road starting coordinate point and a road ending coordinate point;
determining a road direction angle corresponding to the road section to be detected according to the road coordinate point of each road section information to be detected, wherein the road direction angle is an included angle between the direction of the start coordinate point pointing to the end coordinate point and the due north direction;
and generating the preset road section steering information set based on the passing rule and the road direction angle of each piece of road section information to be detected.
Optionally, in another embodiment based on the above method of the present application, the generating the preset road segment turning information set based on the traffic rule and the road direction angle of each piece of road segment information to be detected includes:
calculating a road direction angle difference value between each first road section to be detected and a second road section to be detected, wherein the second road section to be detected is a road section adjacent to the first road section to be detected;
determining the steering relation between the first road section to be detected and the second road section to be detected according to the direction angle difference and the passing rule of each road section to be detected;
and obtaining the road section steering information set according to the steering relation between the adjacent road sections to be detected.
Optionally, in another embodiment based on the foregoing method of the present application, the determining a steering relationship between the first road section to be detected and the second road section to be detected according to the direction angle difference and the traffic rule of each road section to be detected includes:
acquiring the number of second road sections to be detected adjacent to each first road section to be detected and the road direction angle difference value of each first road section to be detected and the second road section to be detected;
selecting different comparison rules based on different numbers of second road sections to be detected adjacent to each road section to be detected;
and determining the steering relation between the first road section to be detected and the second road section to be detected based on the road direction angle difference between each first road section to be detected and the second road section to be detected according to the corresponding comparison rule.
Optionally, in another embodiment based on the foregoing method of the present application, the traversing a preset road segment steering information set to obtain a steering relationship between every two adjacent road segment information in all the road segment information, and generating a steering information set includes:
acquiring a road section identifier of each road section information in all road section information;
searching a steering direction between every two adjacent road section information and a steering coordinate point from the road section steering information set on the basis of the road section identification;
and obtaining the steering relation between every two adjacent road section information in all the road section information based on the steering direction and the steering coordinate point.
Optionally, in another embodiment of the method according to the present application, after obtaining the turning relationship between every two adjacent road segment information in all the road segment information based on the turning direction and the turning coordinate point, the method further includes:
detecting a coordinate distance difference value and a steering angle difference value between two adjacent steering coordinate points;
and determining whether the two adjacent steering information meet a merging condition or not based on whether the coordinate distance difference value is smaller than a first distance threshold value or not and whether the steering angle difference value is larger than a preset angle threshold value or not.
Optionally, in another embodiment based on the above method of the present application, the generating a target navigation route including all the road segment information and corresponding steering prompts based on the steering event set includes:
traversing the steering event set and determining a coordinate point corresponding to each steering event;
generating a corresponding steering prompt before a second distance threshold before the coordinate point corresponding to each steering event;
and generating a target navigation line containing all the road section information and corresponding steering prompts based on the steering event set and the steering prompts.
Further, a method for providing a navigation route for a vehicle proposed by the present application is exemplified herein:
step 1: acquiring an initial navigation route, and reading a road section steering information set S;
step 2: and traversing S, traversing a preset road section steering information set to obtain a steering relation R between every two adjacent road section information in all road section information, such as: [ a0_ a1, straight line ], [ a1_ b1, right turn ], [ b1_ b2, straight line ], [ b2_ b22, left turn ], [ b22_ b23, left turn ], [ b23_ c0, straight line ].
And step 3: traversing R, merging the steering relations meeting merging conditions in the steering information set to obtain a steering event set M
And 4, step 4: according to M, a steering prompt is generated, with position prompts, such as 100 meters, 50 meters, 25 meters, current point. (advance cues are generated intelligently based on the distance by route between consecutive 2 turn events).
By applying the technical scheme of the application, the steering relation between each two adjacent road sections can be calculated in advance according to the initial road section data, and the steering prompt required by actual driving in navigation is obtained after merging processing is carried out on one or more steering relations meeting merging conditions. And finally, generating a corresponding navigation route for the user based on the steering prompt and the steering relation of each road section.
Optionally, in another embodiment of the present application, as shown in fig. 7, the present application further provides an apparatus for providing a navigation route for a vehicle. Which comprises the following steps:
the obtaining module 201 is configured to obtain information of all road sections passing through an initial navigation route if a navigation task is obtained;
the detection module 202 is configured to traverse a preset road segment steering information set, obtain a steering relationship between every two adjacent road segment information in all the road segment information, and generate a steering information set;
a merging module 203, configured to merge steering relations meeting merging conditions in the steering information set to obtain a steering event set;
a generating module 204 configured to generate a target navigation route including the all-segment information and the corresponding steering prompt based on the set of steering events.
According to the method and the device, all road section information passing through the initial navigation route can be acquired if the navigation task is acquired; traversing a preset road section steering information set to obtain the steering relation between every two adjacent road section information in all road section information, and generating a steering information set; merging the steering relations meeting the merging conditions in the steering information set to obtain a steering event set; and generating a target navigation line containing all road section information and corresponding steering prompts based on the steering event set. By applying the technical scheme of the application, the steering relation between each two adjacent road sections can be calculated in advance according to the initial road section data, and the steering prompt required by actual driving in navigation is obtained after merging processing is carried out on one or more steering relations meeting merging conditions. And finally, generating a corresponding navigation route for the user based on the steering prompt and the steering relation of each road section.
In another embodiment of the present application, the obtaining module 201 is configured to perform the steps including:
acquiring information of a road section to be detected in a target area, wherein the information of the road section to be detected comprises information of all road sections passing through the initial navigation path;
determining a passing rule of each piece of road section information to be detected, wherein the passing rule comprises one of one-way passing and two-way passing; and the number of the first and second groups,
determining a road coordinate point of each piece of road section information to be detected, wherein the road coordinate points comprise a road starting coordinate point and a road ending coordinate point;
determining a road direction angle corresponding to the road section to be detected according to the road coordinate point of each road section information to be detected, wherein the road direction angle is an included angle between the direction of the start coordinate point pointing to the end coordinate point and the due north direction;
and generating the preset road section steering information set based on the passing rule and the road direction angle of each piece of road section information to be detected.
In another embodiment of the present application, the obtaining module 201 is configured to perform the steps including:
calculating a road direction angle difference value between each first road section to be detected and a second road section to be detected, wherein the second road section to be detected is a road section adjacent to the first road section to be detected;
determining the steering relation between the first road section to be detected and the second road section to be detected according to the direction angle difference and the passing rule of each road section to be detected;
and obtaining the road section steering information set according to the steering relation between the adjacent road sections to be detected.
In another embodiment of the present application, the obtaining module 201 is configured to perform the steps including:
acquiring the number of second road sections to be detected adjacent to each first road section to be detected and the road direction angle difference value of each first road section to be detected and the second road section to be detected;
selecting different comparison rules based on different numbers of second road sections to be detected adjacent to each road section to be detected;
and determining the steering relation between the first road section to be detected and the second road section to be detected based on the road direction angle difference between each first road section to be detected and the second road section to be detected according to the corresponding comparison rule.
In another embodiment of the present application, the obtaining module 201 is configured to perform the steps including:
acquiring a road section identifier of each road section information in all road section information;
searching a steering direction between every two adjacent road section information and a steering coordinate point from the road section steering information set on the basis of the road section identification;
and obtaining the steering relation between every two adjacent road section information in all the road section information based on the steering direction and the steering coordinate point.
In another embodiment of the present application, the obtaining module 201 is configured to perform the steps including:
detecting a coordinate distance difference value and a steering angle difference value between two adjacent steering coordinate points;
and determining whether the two adjacent steering information meet a merging condition or not based on whether the coordinate distance difference value is smaller than a first distance threshold value or not and whether the steering angle difference value is larger than a preset angle threshold value or not.
In another embodiment of the present application, the obtaining module 201 is configured to perform the steps including:
traversing the steering event set and determining a coordinate point corresponding to each steering event;
generating a corresponding steering prompt before a second distance threshold before the coordinate point corresponding to each steering event;
and generating a target navigation line containing all the road section information and corresponding steering prompts based on the steering event set and the steering prompts.
FIG. 8 is a block diagram illustrating a logical structure of an electronic device in accordance with an exemplary embodiment. For example, the electronic device 300 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.
In an exemplary embodiment, there is also provided a non-transitory computer readable storage medium, such as a memory, including instructions executable by an electronic device processor to perform the method of providing a navigation route for a vehicle, comprising: if the navigation task is obtained, obtaining information of all road sections passing by the initial navigation route; traversing a preset road section steering information set to obtain the steering relation between every two adjacent road section information in all the road section information, and generating a steering information set; merging the steering relations meeting merging conditions in the steering information set to obtain a steering event set; and generating a target navigation line containing all the road section information and corresponding steering prompts based on the steering event set. Optionally, the instructions may also be executable by a processor of the electronic device to perform other steps involved in the exemplary embodiments described above. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
In an exemplary embodiment, there is also provided an application/computer program product including one or more instructions executable by a processor of an electronic device to perform the above method of providing a navigation route for a vehicle, the method comprising: if the navigation task is obtained, obtaining information of all road sections passing by the initial navigation route; traversing a preset road section steering information set to obtain the steering relation between every two adjacent road section information in all the road section information, and generating a steering information set; merging the steering relations meeting merging conditions in the steering information set to obtain a steering event set; optionally, the instructions may also be executed by a processor of the electronic device to perform other steps involved in the above exemplary embodiment.
Fig. 8 is an exemplary diagram of the computer device 30. Those skilled in the art will appreciate that the schematic diagram 8 is merely an example of a computer device 30 and is not intended to limit the computer device 30 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the computer device 30 may also include input output devices, network access devices, buses, etc.
The Processor 302 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor 302 may be any conventional processor or the like, the processor 302 being the control center for the computer device 30 and connecting the various parts of the overall computer device 30 using various interfaces and lines.
The modules integrated by the computer device 30 may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by hardware related to computer readable instructions, which may be stored in a computer readable storage medium, and when the computer readable instructions are executed by a processor, the steps of the method embodiments may be implemented.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A method of providing a navigation route for a vehicle, comprising:
if the navigation task is obtained, obtaining information of all road sections passing by the initial navigation route;
traversing a preset road section steering information set to obtain the steering relation between every two adjacent road section information in all the road section information, and generating a steering information set;
merging the steering relations meeting merging conditions in the steering information set to obtain a steering event set;
and generating a target navigation line containing all the road section information and corresponding steering prompts based on the steering event set.
2. The method of claim 1, prior to said obtaining a navigation task, further comprising:
acquiring information of a road section to be detected in a target area, wherein the information of the road section to be detected comprises information of all road sections passing through the initial navigation path;
determining a passing rule of each piece of road section information to be detected, wherein the passing rule comprises one of one-way passing and two-way passing; and the number of the first and second groups,
determining a road coordinate point of each piece of road section information to be detected, wherein the road coordinate points comprise a road starting coordinate point and a road ending coordinate point;
determining a road direction angle corresponding to the road section to be detected according to the road coordinate point of each road section information to be detected, wherein the road direction angle is an included angle between the direction of the start coordinate point pointing to the end coordinate point and the due north direction;
and generating the preset road section steering information set based on the passing rule and the road direction angle of each piece of road section information to be detected.
3. The method according to claim 2, wherein the generating the preset road segment turning information set based on the traffic rule and the road direction angle of each piece of road segment information to be detected comprises:
calculating a road direction angle difference value between each first road section to be detected and a second road section to be detected, wherein the second road section to be detected is a road section adjacent to the first road section to be detected;
determining the steering relation between the first road section to be detected and the second road section to be detected according to the direction angle difference and the passing rule of each road section to be detected;
and obtaining the road section steering information set according to the steering relation between the adjacent road sections to be detected.
4. The method according to claim 3, wherein the determining the turning relationship between the first road section to be detected and the second road section to be detected according to the direction angle difference and the passing rule of each road section to be detected comprises:
acquiring the number of second road sections to be detected adjacent to each first road section to be detected and the road direction angle difference value of each first road section to be detected and the second road section to be detected;
selecting different comparison rules based on different numbers of second road sections to be detected adjacent to each road section to be detected;
and determining the steering relation between the first road section to be detected and the second road section to be detected based on the road direction angle difference between each first road section to be detected and the second road section to be detected according to the corresponding comparison rule.
5. The method of claim 1, wherein traversing a preset link steering information set to obtain a steering relationship between every two adjacent link information in all the link information, and generating a steering information set comprises:
acquiring a road section identifier of each road section information in all road section information;
searching a steering direction between every two adjacent road section information and a steering coordinate point from the road section steering information set on the basis of the road section identification;
and obtaining the steering relation between every two adjacent road section information in all the road section information based on the steering direction and the steering coordinate point.
6. The method according to claim 5, further comprising, after the obtaining of the turn relation between each adjacent two pieces of the all-pieces of the link information based on the turn direction and the turn coordinate point:
detecting a coordinate distance difference value and a steering angle difference value between two adjacent steering coordinate points;
and determining whether the two adjacent steering information meet a merging condition or not based on whether the coordinate distance difference value is smaller than a first distance threshold value or not and whether the steering angle difference value is larger than a preset angle threshold value or not.
7. The method of claim 1, wherein generating a target navigation route including the all-segment information and corresponding steering tips based on the set of steering events comprises:
traversing the steering event set and determining a coordinate point corresponding to each steering event;
generating a corresponding steering prompt before a second distance threshold before the coordinate point corresponding to each steering event;
and generating a target navigation line containing all the road section information and corresponding steering prompts based on the steering event set and the steering prompts.
8. An apparatus for providing a navigation route for a vehicle, comprising:
the acquisition module is configured to acquire all road section information passing through the initial navigation route if the navigation task is acquired;
the detection module is configured to traverse a preset road section steering information set to obtain a steering relationship between every two adjacent road section information in all the road section information, and generate a steering information set;
the merging module is configured to merge steering relations meeting merging conditions in the steering information set to obtain a steering event set;
and the generating module is configured to generate a target navigation line containing all the road section information and corresponding steering prompts based on the steering event set.
9. An electronic device, comprising:
a memory for storing executable instructions; and the number of the first and second groups,
a processor for executing with the memory the executable instructions to perform the operations of the method of providing a navigation route for a vehicle of any of claims 1-7.
10. A computer-readable storage medium storing computer-readable instructions that, when executed, perform the operations of the method for providing a navigation route for a vehicle of any of claims 1-7.
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| CN202111511939.0A CN114184208A (en) | 2021-12-06 | 2021-12-06 | Method, apparatus, electronic device, and medium for providing navigation route for vehicle |
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