CN116045993A

CN116045993A - Route creation method and device, electronic equipment and vehicle

Info

Publication number: CN116045993A
Application number: CN202310181585.0A
Authority: CN
Inventors: 张正源; 杨幸鑫; 许林
Original assignee: Chengdu Seres Technology Co Ltd
Current assignee: Chongqing Selis Phoenix Intelligent Innovation Technology Co ltd
Priority date: 2023-02-28
Filing date: 2023-02-28
Publication date: 2023-05-02

Abstract

The embodiment of the application provides a route creation method, a route creation device, electronic equipment and a vehicle, wherein when the vehicle drives out a route which is not recorded by a navigation map, the route can be mapped out and stored based on driving information acquired on the route, and navigation service is provided for a user when the user drives in the route again, so that user experience is improved. The route creation method comprises the following steps: if the vehicle is driven into the non-recorded route, acquiring the driving information of the vehicle, wherein the non-recorded route is a route which is not recorded by the navigation map; if the vehicle is driven out of the non-recorded route, mapping the driving information into a first recorded route; the first listing route is stored.

Description

Route creation method and device, electronic equipment and vehicle

[ field of technology ]

The embodiment of the application relates to the field of intelligent automobiles, in particular to a route creation method, a route creation device, electronic equipment and a vehicle.

[ background Art ]

Today, navigation maps are an indispensable aid for users in driving, and users travel through navigation maps to find routes to destinations. Many mountain areas, villages or suburban roads are not recorded with the navigated map in time, but creating routes not recorded by the navigated map can only be mapped and uploaded to the navigated map database by relying on the navigation map provider, which is a long and complex process.

[ invention ]

The embodiment of the application provides a route creation method, a route creation device, electronic equipment and a vehicle, which can generate a corresponding driving route more conveniently based on driving information of the vehicle when the vehicle drives on a route which is not recorded by a navigation map.

In a first aspect, an embodiment of the present application provides a route creation method, applied to a vehicle, including:

if a vehicle is driven into an unrecorded route, acquiring the driving information of the vehicle, wherein the unrecorded route is a route which is not recorded by a navigation map;

if the vehicle exits the non-recorded route, mapping the driving information into a first recorded route;

and storing the first recording route.

In the embodiment of the application, when the user drives into the non-recorded route, the driving information of the vehicle can be acquired, when the user drives out of the non-recorded route, the acquired driving information of the vehicle is mapped into the first recorded route, the first recorded route can be considered to be drawn out of the non-recorded route which the user drives on the basis of the acquired driving information, and the first recorded route is stored, namely, the route which is not recorded by the navigation map can be drawn out more conveniently by means of the vehicle, so that the route creation efficiency is improved.

Optionally, the driving information includes a periodically collected instantaneous driving speed of the vehicle, an instantaneous steering angle of the vehicle, an instantaneous head elevation angle of the vehicle, and a longitude and latitude of the vehicle, and if the vehicle exits the non-recorded route, mapping the driving information into the first recorded route includes:

calculating an average running speed of each cycle based on the instantaneous running speed of the vehicle at the beginning of each cycle and the instantaneous running speed at the end of each cycle;

calculating a first average steering angle of each cycle based on the instantaneous steering angle at the beginning of each cycle and the instantaneous steering angle at the end of each cycle of the vehicle;

calculating the average head elevation angle of each period based on the instantaneous head elevation angle of the vehicle at the beginning of each period and the head elevation angle of the vehicle at the end of each period;

calculating a first driving distance of each cycle of the vehicle based on the average driving speed of each cycle;

generating a first travel displacement of the vehicle for each cycle based on the first travel distance, the first average steering angle, the average head elevation angle for each cycle;

And mapping the first driving displacement to the longitude and latitude at the beginning and the longitude and latitude at the ending of the same period to generate the first recording route.

In the embodiment of the application, the running information of the vehicle includes the instantaneous running speed, the instantaneous steering angle, the instantaneous head elevation angle and the longitude and latitude of the vehicle periodically acquired when the vehicle runs on the uncorrupted route, the instantaneous running speed, the instantaneous steering angle, the instantaneous head elevation angle and the longitude and latitude of a group of vehicles can be acquired respectively at the beginning and the ending of each period, the average running speed, the first average steering angle and the average head elevation angle of each period of the vehicle are calculated based on the instantaneous running speed at the beginning of each period and the instantaneous running speed at the ending of each period, the instantaneous steering angle at the beginning of each period and the instantaneous head elevation angle at the ending of each period, the average running speed of each period is calculated based on the average running speed of each period, wherein the first range may characterize a travel length amount per cycle, the first average steering angle and the average head elevation may characterize a travel direction amount per cycle, the first travel distance, the first average steering angle, and the average head elevation angle for each cycle may thus generate a first travel displacement for each cycle of the vehicle, map the first travel displacement for each cycle to between the longitude and latitude at the beginning and the longitude and latitude at the end of the same cycle, it can be considered that the travel length amount and the travel direction amount of each cycle of the vehicle are accurately mapped to the corresponding latitude and longitude positions, the first recorded route is generated, the first recording route can be accurately drawn to the corresponding longitude and latitude position, and therefore accuracy of the first recording route is improved.

Optionally, after generating the first driving displacement of the vehicle for each period based on the first driving mileage, the first average steering angle, and the average head elevation angle for each period, the method further includes:

calculating a first angle difference between the first average steering angle corresponding to the ith period and the first average steering angle corresponding to the (i-1) th period;

if the first angle difference is in a first set threshold range, and the average head elevation angle corresponding to the ith period and the average head elevation angle corresponding to the ith-1 period are both in a second set threshold range, summing the first driving mileage corresponding to the ith period and the first driving mileage corresponding to the ith-1 period to obtain a second driving mileage;

generating a second driving displacement which is commonly corresponding to the ith period and is corresponding to the ith period based on the second driving mileage, the first average steering angle corresponding to the ith period and the average vehicle head elevation angle corresponding to the ith period and the ith period;

mapping the first travel displacement to a position between a longitude and a latitude at the beginning and a longitude and a latitude at the end of the same period, generating the first recording route, including:

Mapping the second driving displacement to a position between the longitude and latitude at the beginning of the ith period and the longitude and latitude at the ending of the ith period, and generating the first recording route.

In this embodiment of the present invention, since the time of each period is very short, the change of the driving direction vector of each period is not large, by calculating the first angle difference between the first average steering angle corresponding to the i-th period and the first average steering angle corresponding to the i-1 th period, if the first angle difference is within the first set threshold range and the average head elevation angle corresponding to the i-1 th period and the average head elevation angle corresponding to the i-th period are both within the second set threshold range, the change of the driving direction vector within two adjacent period times is represented as small as possible, wherein the change of the driving direction vector includes the steering change and the gradient change when the vehicle is driving, and it can be considered that the steering change and the gradient change when the vehicle is driving are both small within the two adjacent period times, and therefore, the vehicle is approximately driving on a straight road within the adjacent period, however, when the route on the straight road is drawn, only the straight road is represented by the straight road, and the route mapped by the first driving displacement represents the driving path of the vehicle, and the driving path of the vehicle is more tortuous than the straight road. Therefore, the first driving displacement of the adjacent period with tortuous presentation effect is required to be filtered, the first driving mileage corresponding to the i-1 th period is summed with the first driving mileage corresponding to the i-1 th period to obtain the second driving mileage, and based on the second driving mileage, the first average steering angle corresponding to the i-1 th period and the average head elevation angle corresponding to the i-1 th period, the respective first driving displacements of the adjacent periods are integrated into a common second driving displacement, the second driving displacement is mapped between the longitude and latitude at the beginning of the i-1 th period and the longitude and latitude at the end of the i-1 th period, and the first recording route is generated, so that the generated first recording route is more intuitively drawn to an accurate position, and the navigation experience of a user is improved.

calculating a second angle difference value between the average steering angle corresponding to the ith period and the first average steering angle corresponding to the i-1 th period, and a third angle difference value between the first average steering angle corresponding to the (i+1) th period and the average steering angle corresponding to the (i) th period;

if the first average steering angle corresponding to the i-1 th period, the first average steering angle corresponding to the i-1 th period and the first average steering angle corresponding to the i+1 th period are all within a third set threshold range, the sum of the second angle difference and the third angle difference is smaller than a fourth set threshold, and the average steering angle corresponding to the i-1 th period, the average steering angle corresponding to the i-1 th period and the average steering angle corresponding to the i+1 th period are all within a fifth set threshold range, summing the first driving distance corresponding to the i+1 th period and the first driving distance corresponding to the i-1 th period to obtain a third driving distance, and summing the first average steering angle corresponding to the i-1 th period, the second angle difference and the third angle difference to obtain a second average steering angle;

Generating a third driving displacement which is commonly corresponding to the ith-1 period, the ith period and the (i+1) th period based on the third driving mileage, the second average steering angle and the average head elevation angle corresponding to the ith-1 period;

mapping the third driving displacement to a position between the longitude and latitude at the beginning of the ith-1 th period and the longitude and latitude at the ending of the (i+1) th period, and generating the first recording route.

In this embodiment of the present application, since the time of each cycle is short, the change in the running direction vector of each cycle is not large, and by calculating the second angle difference between the average steering angle corresponding to the i-th cycle and the average steering angle corresponding to the i-1 th cycle and the third angle difference between the average steering angle corresponding to the i+1 th cycle and the average steering angle corresponding to the i-th cycle, it is considered that the change in the running direction vector between three adjacent cycles is obtained, and if the first average steering angle corresponding to the i-1 th cycle, the first average steering angle corresponding to the i-th cycle and the first average steering angle corresponding to the i+1 th cycle are all within the third set threshold range, it is indicated that the running direction vector between the adjacent cycles is changed in the same direction, the sum of the second angle difference and the third angle difference is smaller than a fourth set threshold, the average head elevation angle corresponding to the i-1 th period and the average head elevation angle corresponding to the i+1 th period are all within a fifth set threshold, which indicates that only the steering of the vehicle is changed when the vehicle is running, the gradient change is smaller and negligible, in combination, the vehicle can be considered to be approximately in the leftward or rightward turning running in the adjacent period, however, when the route on the curve is drawn, only the curve line with a specific angle is needed to be embodied, the route mapped by the first running displacement is embodied as the curve running path of the vehicle, the curve running path of the vehicle is composed of a plurality of sections of curve lines with smaller lengths compared with the curve line with the specific angle, therefore, the first driving displacement of the adjacent period with tortuous effect is required to be filtered, the first driving path corresponding to the i-1 th period, the first driving mileage corresponding to the i-1 th period and the first driving mileage corresponding to the i+1 th period are summed to obtain a third driving mileage, the first average steering angle, the second angle difference value and the third angle difference value corresponding to the i-1 th period are summed to obtain a second average steering angle, and based on the third driving mileage, the second average steering angle and the average head elevation angle corresponding to the i-1 th period, the respective first driving displacements of the adjacent periods are integrated into a common third driving displacement, the third driving displacement is mapped between the longitude and latitude at the beginning of the i-1 th period and the longitude and latitude at the end of the i+1 th period, and a first recording route is generated, so that the generated first recording route is more intuitively drawn to an accurate position, and the navigation experience of a user is improved.

Optionally, after storing the first listing route, the method includes:

when the vehicle runs along the first recording route, the running information of the vehicle is acquired;

mapping the travel information into a second listing route;

comparing the driving mileage of the first recording route with the driving mileage of the second recording route;

and if the driving distance of the first recording route is greater than that of the second recording route, updating the first recording route into the second recording route.

In this embodiment of the present application, the travel information acquired by the vehicle may be different each time the vehicle travels on the same route, so that the drawn travel path is different even if the vehicle travels on the same route based on the different travel information. When the vehicle travels on the first recorded route, travel information may be acquired again, the acquired travel information may be mapped into the second recorded route, and then the respective travel mileage of the first recorded route and the second recorded route may be compared. If the driving distance of the second recording route is smaller than that of the first recording route, the second recording route is considered to be a better route selection for the user than the first recording route, and then the first recording route is updated to be the second recording route, so that the user needs shorter time to drive on the second recording route at the same driving speed, and the driving efficiency of the user can be improved.

Optionally, after storing the first listing route, the method includes:

receiving a starting point and an ending point set by a user, and planning a target navigation route in the navigation map;

if the starting point is the same as the starting point of the first recording route and the ending point is the same as the ending point of the first recording route, comparing the driving mileage of the target navigation route with the driving mileage of the first recording route;

and if the driving distance of the first recording route is smaller than the driving distance of the target navigation route, navigating based on the first recording route.

In this embodiment, when a user sets a start point and an end point to plan a target navigation route in a navigation map, a first recording route with the same start point and end point is matched, it may be considered that the first recording route between the start point and the end point set by the user is not recorded by the navigation map, if the driving distance of the first recording route is smaller than the driving distance of the target navigation route, it may be considered that the driving distance required to travel along the first recording route is shorter, that is, the first recording route is a better route selection for the user than the target navigation route, and then the first recording route is selected for the user to navigate at the same driving speed, so that the user time can be saved, and the driving efficiency of the vehicle is improved.

Optionally, before the vehicle exits the unencumbered route, the method further comprises:

if the driving distance of the vehicle on the non-recorded route is greater than a sixth set threshold, displaying a confirmation interface to the user, wherein the confirmation interface comprises a confirmation key and a rejection key, the confirmation key is used for indicating that the user needs to return to the starting point of the non-recorded route, and the rejection key is used for indicating that the user does not need to return to the starting point of the non-recorded route;

if the operation of selecting the confirmation key by the user is detected, mapping the driving information into a return route in an inverted sequence;

and navigating based on the return route until the vehicle returns to the starting point of the unrecorded route.

In this embodiment of the present application, when the driving distance of the vehicle on the non-recorded route is greater than the sixth set threshold, it is indicated that the vehicle has traveled a longer distance on the non-recorded route, and because the navigation map cannot provide the navigation service for the user, the user may need to return to the route recorded by the navigation map. Therefore, the vehicle displays a confirmation interface to the user, a confirmation key on the confirmation interface is used for indicating the user to return to the starting point of the unoccupied route, a rejection key on the confirmation interface is used for indicating the user to return to the starting point of the unoccupied route, wherein the starting point of the unoccupied route is the ending point of the route recorded by the navigation map, the user can return to the route recorded by the navigation map after finding the starting point of the unoccupied route, if the user selects the confirmation key, the mapping of the running information in the running process on the unoccupied route is mapped to a return route, the mapping of the return route is reverse to the order of the obtained running information, the direction quantity of the running information representing the running of the vehicle is changed to the opposite direction, and then the reverse order is mapped to generate the return route, the user can return to the route recorded by the navigation map along the return route, errors when the user searches the route recorded by memorizing the navigation map are avoided, the route searching time of the navigation map is saved, and the user experience is improved.

In a second aspect, an embodiment of the present application provides a route creation apparatus, including:

the system comprises an acquisition unit, a navigation map acquisition unit and a navigation unit, wherein the acquisition unit is used for acquiring the driving information of a vehicle when the vehicle drives into an unreceived route, and the unreceived route is a route which is not recorded by the navigation map;

the mapping unit is used for mapping the driving information into a first recorded route when the vehicle exits the unrecorded route;

and the storage unit is used for storing the first recording route.

Optionally, the driving information includes a periodically acquired instantaneous driving speed of the vehicle, an instantaneous steering angle of the vehicle, an instantaneous head elevation angle of the vehicle, and a longitude and latitude of the vehicle, and the mapping unit includes:

a calculation unit configured to calculate an average running speed for each cycle based on the instantaneous running speed at the start of each cycle and the instantaneous running speed at the end of each cycle of the vehicle;

the calculating unit is further used for calculating a first average steering angle of each cycle based on the instantaneous steering angle of the vehicle at the beginning of each cycle and the instantaneous steering angle of the vehicle at the end of each cycle;

The calculating unit is further used for calculating the average head elevation angle of each period based on the instantaneous head elevation angle of the vehicle at the beginning of each period and the head elevation angle of the vehicle at the end of each period;

the calculating unit is further used for calculating a first driving mileage of the vehicle in each period based on the average driving speed of the vehicle in each period;

a generation unit configured to generate a first travel displacement of the vehicle for each cycle based on the first travel distance, the first average steering angle, and the average head elevation angle for each cycle;

and the displacement mapping unit is used for mapping the first driving displacement to the longitude and latitude at the beginning and the longitude and latitude at the end of the same period to generate the first recording route.

Optionally, the calculating unit is further configured to calculate a first angle difference between the first average steering angle corresponding to the i-th period and the first average steering angle corresponding to the i-1 th period;

the calculation unit is further configured to sum the first driving distance corresponding to the ith period and the first driving distance corresponding to the ith-1 period to obtain a second driving distance if the first angle difference is in a first set threshold range and the average driving elevation corresponding to the ith period and the average driving elevation corresponding to the ith-1 period are both in a second set threshold range;

The generating unit is further configured to generate a second driving displacement that corresponds to the i-1 th period and the i-1 th period together, based on the second driving distance, the first average steering angle corresponding to the i-1 th period, and the average vehicle head elevation angle corresponding to the i-1 th period;

the displacement mapping unit is specifically configured to:

Optionally, the calculating unit is further configured to calculate a second angle difference between the first average steering angle corresponding to the i-th period and the first average steering angle corresponding to the i-1 th period, and a third angle difference between the first average steering angle corresponding to the i+1th period and the first average steering angle corresponding to the i-th period;

the calculation unit is further configured to sum the first driving distance corresponding to the i+1 th period, and the first driving distance corresponding to the i-1 th period if the first average steering angle corresponding to the i-1 th period, and the first average steering angle corresponding to the i-1 th period are all within a third set threshold range, a sum of the second angle difference and the third angle difference is smaller than a fourth set threshold, and the average driving distance corresponding to the i-1 th period, and the average driving distance corresponding to the i-1 th period are all within a fifth set threshold range, and sum the first driving distance corresponding to the i+1 th period, the second driving distance corresponding to the i-1 th period, and the second average driving distance corresponding to the i-1 th period are all obtained;

The generating unit is further configured to generate a third driving displacement that corresponds to the i-1 th period, and the i+1 th period together, based on the third driving distance, the second average steering angle, and the average vehicle head elevation angle corresponding to the i-1 th period;

the displacement mapping unit is specifically configured to:

Optionally, the apparatus further includes:

the acquisition unit is further used for acquiring the running information of the vehicle when the vehicle runs along the first recording route;

the mapping unit is further used for mapping the driving information into a second recording route;

the first comparison unit is used for comparing the driving mileage of the first recording route with the driving mileage of the second recording route;

and the updating unit is used for updating the first recording route into the second recording route if the driving distance of the first recording route is greater than the driving distance of the second recording route.

Optionally, the apparatus further includes:

the planning unit is used for receiving a starting point and an ending point set by a user and planning a target navigation route in the navigation map;

The second comparing unit is used for comparing the driving mileage of the target navigation route with the driving mileage of the first recording route if the starting point is the same as the starting point of the first recording route and the ending point is the same as the ending point of the first recording route;

and the first navigation unit is used for navigating based on the first recording route if the driving distance of the first recording route is smaller than the driving distance of the target navigation route.

Optionally, the apparatus further includes:

the display unit is used for displaying a confirmation interface to a user if the driving distance of the vehicle on the non-recorded route is greater than a sixth set threshold, wherein the confirmation interface comprises a confirmation key and a rejection key, the confirmation key is used for indicating that the user needs to return to the starting point of the non-recorded route, and the rejection key is used for indicating that the user does not need to return to the starting point of the non-recorded route;

the mapping unit is further configured to map the driving information into a return route in reverse order if an operation of selecting the confirmation key by the user is detected;

and the second navigation unit is used for navigating based on the return route until the vehicle returns to the starting point of the non-recorded route.

In a third aspect, an embodiment of the present invention provides an electronic device, the electronic device comprising a processor and a memory, the processor being configured to implement the steps of the method according to any one of the embodiments of the first or second aspects when executing a computer program stored in the memory.

In a fourth aspect, an embodiment of the present invention provides a vehicle including: an embodiment of the third aspect of the present invention provides an electronic device.

It should be understood that, the second to fourth aspects of the embodiments of the present invention are consistent with the technical solutions of the first aspect of the embodiments of the present invention, and the beneficial effects obtained by each aspect and the corresponding possible implementation manner are similar, and are not repeated.

[ description of the drawings ]

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present specification, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a route creation method according to an embodiment of the present application;

Fig. 2 is a flow chart of a route generation method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of route generation according to an embodiment of the present application;

fig. 4 is a flow chart of a route generation method according to an embodiment of the present application;

FIG. 5 is a schematic diagram of generating a second travel displacement in an embodiment of the present application;

fig. 6 is a flow chart of a route generation method according to an embodiment of the present application;

FIG. 7 is a schematic diagram of generating a third travel displacement in an embodiment of the present application;

fig. 8 is a flowchart of a first recording route updating method according to an embodiment of the present application;

fig. 9 is a flow chart of a navigation method according to an embodiment of the present application;

fig. 10 is a flow chart of a navigation method according to an embodiment of the present application;

FIG. 11 is a schematic diagram of route generation according to an embodiment of the present application;

FIG. 12 is a schematic diagram of a route creation structure according to an embodiment of the present application;

fig. 13 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 14 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

[ detailed description ] of the invention

For a better understanding of the technical solutions of the present specification, the following detailed description of the embodiments of the present application is given with reference to the accompanying drawings.

It should be understood that the described embodiments are only some, but not all, of the embodiments of the present description. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present disclosure.

The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the description. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

According to the research of the inventor, the travel of the user is mainly to find the route to the destination through the navigation map, but when the user enters into some routes which are not recorded by the navigation map, the navigation map can not provide navigation service for the user, and the route which is not recorded by the navigation map can only be mapped by depending on the navigation map provider and uploaded to the navigation map, so that the navigation service can be provided for the user, and the process is long and complicated.

In view of this, the embodiment of the application provides a route creation method, in which, when a vehicle drives into an unrecorded route which is not recorded by a navigation map, the travel information of the vehicle can be acquired in the whole course, when the vehicle drives out of the unrecorded route, the acquired travel information is mapped into a first recorded route and the first recorded route is stored, i.e. the route which is not recorded by the navigation map can be drawn out more conveniently by the vehicle, thereby improving the route creation efficiency.

Referring to fig. 1, the embodiment of the present application provides a route creation method, which is applied to a vehicle, and the flow of the method is described as follows:

step 101: and if the vehicle is driven into the non-recorded route, acquiring the driving information of the vehicle, wherein the non-recorded route is a route which is not recorded by the navigation map.

In this embodiment, in general, the navigation map provides navigation service for the user in the driving process, so long as the user runs on a route recorded by the navigation map, the navigation map can provide navigation service for the user, if the user runs on an unrecorded route which is not recorded by the navigation map, the navigation map cannot navigate for the user at this time, so in order to provide detailed data for drawing the unrecorded route, when it is detected that the vehicle has run on the unrecorded route at this time, the driving information of the vehicle is continuously acquired, and therefore, the unrecorded route can be accurately drawn.

Step 102: and if the vehicle exits the non-recorded route, mapping the driving information into a first recorded route.

In this embodiment of the present application, when it is detected that a user has traveled an unrecorded route, the user is represented as having returned to a route on which a navigation map can provide a navigation service for the user, the acquisition of the traveling information of the vehicle is stopped at this time, the traveling information of the vehicle when traveling on the unrecorded route is read, and the traveling information is mapped into a first recorded route based on the traveling information of the vehicle. After the first recording route is drawn, if the following vehicle drives into the route again or the user of other vehicles drives into the route, and the navigation map can not provide navigation service for the user, navigation can be performed based on the first recording route, and user experience is improved.

In some embodiments, the driving information includes a periodically collected instantaneous driving speed of the vehicle, an instantaneous steering angle of the vehicle, an instantaneous head elevation angle of the vehicle, and a longitude and latitude of the vehicle, and fig. 2 is a schematic flow chart of a method for generating a route provided in an embodiment of the present application, and when step 102 is executed, mapping the driving information into a first recorded route may be implemented by steps 1021-1026:

step 1021: the average running speed of each cycle is calculated based on the instantaneous running speed of the vehicle at the start of each cycle and the instantaneous running speed at the end of each cycle.

Step 1022: a first average steering angle for each cycle is calculated based on an instantaneous steering angle at the beginning of each cycle and an instantaneous steering angle at the end of each cycle of the vehicle.

Step 1023: the average head elevation angle of each period is calculated based on the instantaneous head elevation angle of the vehicle at the beginning of each period and the head elevation angle of the vehicle at the end of each period.

Step 1024: based on the average travel speed per cycle, a first travel range per cycle of the vehicle is calculated.

Step 1025: a first travel displacement of the vehicle for each cycle is generated based on the first travel distance, the first average steering angle, and the average head elevation angle for each cycle.

Step 1026: and mapping the first driving displacement to the longitude and latitude at the beginning and the longitude and latitude at the ending of the same period to generate a first recording route.

In the embodiment of the application, the running information of the vehicle includes an instantaneous running speed, an instantaneous steering angle, an instantaneous head elevation angle and a longitude and latitude of the vehicle, which are periodically collected when the vehicle runs on an uncombined route. The instantaneous travel speed, instantaneous steering angle, instantaneous head elevation angle and longitude and latitude of a group of vehicles can be acquired at the beginning and the end of a cycle respectively. In order to ensure the accuracy of the running information of each cycle, an average value is generally adopted, so that an average value between the instantaneous running speed at the beginning of each cycle and the instantaneous speed at the end of each cycle is taken as the average speed of each cycle, an average value between the instantaneous steering angle at the beginning of each cycle and the instantaneous steering angle at the end of each cycle is taken as the first average steering angle of each cycle, and an average value between the instantaneous head elevation angle at the beginning of each cycle and the instantaneous head elevation angle at the end of each cycle is taken as the average head elevation angle of each cycle. After calculating the average running speed, the first average steering angle and the average head elevation angle of each period, calculating the first running mileage of each period according to the product of the average running speed and the duration of a single period according to the average running speed of each period, wherein the first running mileage represents the running length of the vehicle in each period, the first average steering angle and the average head elevation angle respectively represent the running direction and the running gradient of the vehicle, the first running displacement of each period can be determined according to the first running mileage, the first average steering angle and the average head elevation angle of each period, and it is understood that the first running displacement is a vector and can indicate the length and the direction of a distance.

For example, as shown in fig. 3, the displacement a represents a first travel displacement corresponding to a certain period, the y-axis is taken as the central axis of the vehicle, the angle of the displacement a mapped on the y z plane is the angle a, the angle of the displacement a mapped on the x y plane is the angle b, the angle a is directed upward, the vehicle is considered to be in an uphill state at this time, the angle b is directed rightward, the vehicle is considered to be in a right-turn state at this time, and the length of the displacement a indicates the travel distance of the vehicle in the corresponding period. It follows that the first range indicates the length of the first travel displacement, and the first average steering angle indicates the direction of the first travel displacement in the X y plane _， The average head elevation angle indicates the direction vector of the first travel displacement on the y z plane, so the first travel distance, the first average steering angle and the average head elevation angle of each period are jointly synthesized into the first travel displacement of each period, the starting point of the first travel displacement of each period is mapped to the longitude and latitude of the starting point of each period based on the longitude and latitude of the starting point and the ending point of each period, the end point of the first travel displacement of each period is mapped to the longitude and latitude of the ending point of each period, and a first recording route is generated, so that the first recording route can accurately map the first travel displacement of each period to the corresponding longitude and latitude position, thereby improving the first receiving Accuracy of the recorded route.

Fig. 4 is a schematic diagram of a route generation method provided in the embodiment of the present application, as a possible implementation manner, after performing step 1025, a specific process of generating the first recorded route may be implemented by steps 201 to 204:

step 201: and calculating a first angle difference between the first average steering angle corresponding to the ith period and the first average steering angle corresponding to the (i-1) th period.

Step 202: and if the first angle difference is in the first set threshold range, and the average head elevation angle corresponding to the ith period and the average head elevation angle corresponding to the i-1 th period are both in the second set threshold range, summing the first driving mileage corresponding to the ith period and the first driving mileage corresponding to the i-1 th period to obtain the second driving mileage.

Step 203: and generating a second driving displacement which is commonly corresponding to the ith cycle and is based on the second driving mileage, the first average steering angle corresponding to the ith cycle and the ith cycle, and the average head elevation angle corresponding to the ith cycle and the ith cycle.

In executing step 1026, it may be specifically implemented through step 204.

Step 204: mapping the second driving displacement to a position between the longitude and latitude at the beginning of the ith period and the longitude and latitude at the ending of the ith period to generate a first recording route.

In this embodiment of the present application, the time of each cycle is shorter, the steering angle of the vehicle in a shorter time is less, it may be considered that the first average steering angle corresponding to each cycle is less, by calculating the first angle difference between the first average steering angle corresponding to the ith cycle and the first average steering angle corresponding to the ith-1 cycle, the change condition of the first average steering angle of the vehicle in the adjacent cycle may be represented, if the first angle difference is within the first set threshold range (for example, the first set threshold range may be between-5 ° and 5 °, and may be adjusted by itself according to the requirement, without any limitation), and the average head elevation angle corresponding to the ith-1 cycle and the average head elevation angle corresponding to the ith cycle are both within the second set threshold range (the second set threshold range may be between-5 ° and 5 °, can be adjusted according to the requirement without any limitation), wherein the first angle difference is in the first set threshold range, the first average steering angle corresponding to the ith period of the vehicle can be considered to have smaller phase difference with the first average steering angle corresponding to the ith-1 period, the driving route of the vehicle in the period from the ith-1 period to the ith period is approximately straight, the average head elevation angle corresponding to the ith-1 period and the average head elevation angle corresponding to the ith period are both in the second set threshold range, the gradient change of the road on which the vehicle is driven in the period from the ith-1 period to the ith period can be considered to be smaller, the road on which the vehicle is driven in the period from the ith-1 period to the ith period can be considered to be straight, however, when the route on the straight road is drawn, the first driving displacement is only needed to represent by a straight line, the driving path of the vehicle is mapped, compared with the straight line, the displayed effect is more tortuous, the first driving displacement of the adjacent period with the tortuous effect needs to be filtered, wherein the first driving mileage corresponding to the i-1 th period and the first driving mileage corresponding to the i-1 th period are summed to obtain the second driving mileage, and the first driving displacement corresponding to the i-1 th period is integrated into the common second driving displacement based on the second driving mileage, the first average steering angle corresponding to the i-1 th period and the average head elevation angle corresponding to the i-1 th period, and then the generated second driving displacement is mapped between the longitude and latitude at the beginning of the i-1 th period and the longitude and latitude at the end of the i-1 th period, so that the generated first recording route is more intuitively drawn to the accurate position, and the navigation experience of the user is improved.

For example, as shown in fig. 5, fig. 5 shows a schematic diagram of generating the second travel displacement. In fig. 5, the displacement 1 is a first driving displacement corresponding to the i-1 th period, the displacement 2 is a first driving displacement corresponding to the i-1 th period, the angle 1 is a first average steering angle corresponding to the i-1 th period, the angle 2 is a first angle difference, if the angle value of the angle 2 is 4 °, the change of the first average steering angle corresponding to the i-1 th period compared with the first average steering angle corresponding to the i-1 th period is extremely small, and the vehicle is considered to be in straight running in the period from the i-1 th period to the i-1 th period, therefore, based on the direction of the displacement 1, the length of the displacement 2 is added to the length of the displacement 1, so that the displacement 3 is generated, and the displacement 3 is a second driving displacement synthesized by the displacement 1 and the displacement 2. The displacement 3 can more intuitively show the straight-through route to the user.

Fig. 6 is a schematic diagram of a route generation method provided in the embodiment of the present application, as a possible implementation manner, after performing step 1025, a specific process of generating the first recorded route may be implemented by steps 205-208:

step 205: and calculating a second angle difference value between the average steering angle corresponding to the ith period and the first average steering angle corresponding to the i-1 th period, and a third angle difference value between the first average steering angle corresponding to the (i+1) th period and the average steering angle corresponding to the (i) th period.

Step 206: if the first average steering angle corresponding to the i-1 th period, the first average steering angle corresponding to the i-1 th period and the first average steering angle corresponding to the i+1 th period are all within a third set threshold range, the sum of the second angle difference and the third angle difference is smaller than a fourth set threshold, the average head elevation angle corresponding to the i-1 th period and the average head elevation angle corresponding to the i+1 th period are all within a fifth set threshold range, the first driving range corresponding to the i+1 th period and the first driving range corresponding to the i-1 th period are summed to obtain a third driving range, and the first average steering angle, the second angle difference and the third angle difference corresponding to the i-1 th period are summed to obtain a second average steering angle.

Step 207: and generating a third driving displacement which is commonly corresponding to the ith-1 period, the ith period and the (i+1) th period based on the third driving mileage, the second average steering angle and the average head elevation angle corresponding to the ith-1 period.

In performing step 1026, it may be specifically implemented by step 208.

Step 208: mapping the third driving displacement to a position between the longitude and latitude at the beginning of the ith period and the longitude and latitude at the end of the (i+1) th period to generate a first recording route.

In this embodiment, the time of each period is shorter, the change of the steering angle of the vehicle in the shorter time is smaller, the change of the first average steering angle corresponding to each period may be considered smaller, by calculating the second angle difference between the average steering angle corresponding to the i-th period and the average steering angle corresponding to the i-1 th period and the third angle difference between the average steering angle corresponding to the i+1 th period and the average steering angle corresponding to the i-th period, the change condition of the average steering angle of the vehicle in the adjacent three periods may be represented, the first average steering angle corresponding to the i-1 th period, the first average steering angle corresponding to the i-th period and the first average steering angle corresponding to the i+1 th period may be considered to be within the third set threshold range (for example, the third set threshold may be-180 ° -0 ° or 0 ° -180 °, if the first average steering angle corresponding to the i-1 th period, the first average steering angle corresponding to the i+1 th period and the first average steering angle corresponding to the i+1 th period are both within the third set threshold range, the first average steering angle corresponding to the fourth set threshold may be considered to be within the fourth set threshold range, the first average steering angle corresponding to the fourth threshold may be considered to be different from the fourth set to be any one of the fourth set threshold ranges (the fourth average angle is not equal to the first threshold value and the fourth average angle is considered to be set to be equal to the fourth threshold value), the vehicle can be adjusted by itself according to the requirement, no limitation is made here), the vehicle can be characterized in that the vehicle turns leftwards or rightwards but the turning amplitude is not large in the time of three periods, the average head elevation angle corresponding to the i-1 th period and the average head elevation angle corresponding to the i+1 th period are all in the fifth set threshold range (the fifth set threshold range can be between-5 DEG and 5 DEG, and can be adjusted by itself according to the requirement, no limitation is made here), the road gradient of the vehicle running in the period from the i-1 th period to the i+1 th period can be considered to be smaller, the road on which the vehicle runs in the period from the i-1 th period to the i+1 th period is considered to be a curve, then the running path of the vehicle on which the first running displacement is mapped is only required to be embodied in a specific angle when the route on the curve is drawn, the running path of the vehicle on the curve is compared with the curve, the running path on the curve is formed by a plurality of small end lengths and is not limited by the requirements, the first average angle, the first average road slope is required to be obtained, the first average road slope is not formed by the first average angle is required to be a corresponding to the first average angle, the first average road slope is obtained, the first average road is required to be steered by the first average angle is a corresponding to the first average angle 1 th period, the first average road is obtained by the first average angle is a corresponding to the first period, the first period is 1 to the first average angle is obtained, and the first average road is obtained, and the first angle is corresponding to the first period is corresponding to the first angle and the first period is 1 to the first running distance is based on the first average, and is 1 first angle and is based on the first average and is on the first angle and is on the first driving distance and is, the first driving displacement of each adjacent period is integrated into a common third driving displacement, and the generated third driving displacement is mapped between the longitude and latitude at the beginning of the ith-1 period and the longitude and latitude at the end of the (i+1) th period to generate a first recording route, so that the generated first recording route is more intuitively drawn to an accurate position, and the navigation experience of a user is improved.

For example, as shown in fig. 7, fig. 7 shows a schematic diagram of generating a third travel displacement. The displacement 1 is a first driving displacement corresponding to the i-1 th period, the displacement 2 is a first driving displacement corresponding to the i-1 th period, the displacement 3 is a first driving displacement corresponding to the i+1 th period, the angle 1 is a first average steering angle corresponding to the i-1 th period, the angle 2 is a second angle difference value between the first average steering angle corresponding to the i-1 th period and the first average steering angle corresponding to the i-1 th period, the angle 3 is a third angle difference value between the first average steering angle corresponding to the i+1 th period and the first average steering angle corresponding to the i-th period, as can be seen from fig. 7, assuming that the head elevation angles corresponding to the displacements 1, 2 and 3 are all in a state of right rotation, the first average steering angles corresponding to the displacements 1, 2 and 3 are all in a range of 0 ° -180 °, and the sum of the angles 2 and 3 is smaller than 90 °, the displacements 1, 2 and 3 are integrated into a displacement 4, wherein the angle difference value is the angle vector of the first average steering angle corresponding to the i+1, the displacement 2 and the displacement 3 is the displacement 2, and the displacement 3 is the displacement of the distance of the user, and the distance of the displacement is more visual, and the distance of the displacement is the displacement 1, and the distance of the displacement is the distance of the user and the displacement is the distance of the displacement and the distance 1.

Step 103: the first listing route is stored.

In the embodiment of the application, when the vehicle drives out an unreported route which is not recorded by the navigation map, the first recorded route is drawn based on the driving information acquired in the driving process, and then the first recorded route is stored, so that a subsequent user can conveniently drive the vehicle to drive into the first recorded route again or other vehicles to drive into the recorded route.

Referring to fig. 8, in order to provide a first recording route updating method according to an embodiment of the present application, as shown in fig. 8, after step 103 is executed, steps 301 to 304 may be specifically implemented:

step 301: when the vehicle runs along the first recording route, running information of the vehicle is acquired.

Step 302: the travel information is mapped to a second listing route.

Step 303: and comparing the driving mileage of the first recorded route with the driving mileage of the second recorded route.

Step 304: and if the driving mileage of the first recording route is greater than the driving mileage of the second recording route, updating the first recording route into the second recording route.

In this embodiment of the present application, since the driving paths of the vehicles may be different each time the vehicles travel on the same route, the formed routes may also be different. Therefore, when the vehicle runs along the first recording route, the vehicle still starts to acquire the running information of the vehicle when the vehicle drives into the first recording route until the vehicle drives out of the first recording route, and the running information on the first recording route is read out to generate the second recording route, wherein the method for generating the second recording route is consistent with the steps and is not repeated herein. By comparing the mileage of the first recorded route with the mileage of the second recorded route, if the mileage of the second recorded route is less than the mileage of the first recorded route, the mileage required to travel along the second recorded route is characterized as shorter than the mileage required to travel along the first travel route, and the second recorded route is a better route selection for the user. And under the same running speed, the time required by the user to run on the second recording route is shorter, so that the first recording route is updated to be the first recording route, the original first recording route is eliminated, and the running efficiency of the user can be improved.

Referring to fig. 9, after step 103 is performed, a navigation method provided in the embodiment of the present application, as shown in fig. 9, may be specifically implemented by steps 401 to 403:

Step 401: and receiving a starting point and an ending point set by a user, and planning a target navigation route in the navigation map.

Step 402: and if the starting point is the same as the starting point of the first recorded route and the ending point is the same as the ending point of the first recorded route, comparing the driving mileage of the target navigation route with the driving mileage of the first recorded route.

Step 403: and if the driving mileage of the first recorded route is smaller than the driving mileage of the target navigation route, navigating based on the first recorded route.

In this embodiment of the present invention, before using a navigation map service, a user needs to input a start point and an end point on a navigation map, and when the navigation map plans a target navigation route in a recorded route based on the start point and the end point input by the user, the navigation map is simultaneously matched to a first recorded route having the same start point and end point, and the first recorded route may be considered to be a route not recorded by the navigation map between the start point and the end point set by the user.

Referring to fig. 10, in order to provide a navigation method according to an embodiment of the present application, as shown in fig. 10, before executing step 102, steps 501 to 503 may be specifically implemented:

step 501: and if the driving distance of the vehicle on the non-recorded route is greater than a sixth set threshold, displaying a confirmation interface to the user, wherein the confirmation interface comprises a confirmation key and a rejection key, the confirmation key is used for indicating that the user needs to return to the starting point of the non-recorded route, and the rejection key is used for indicating that the user does not need to return to the starting point of the non-recorded route.

Step 502: if the operation of selecting the confirmation key by the user is detected, the driving information is mapped into a return route in reverse order.

Step 503: navigation is performed based on the return route until the vehicle returns to the start point of the unrecorded route.

In this embodiment, the driving distance of the vehicle on the non-recorded route is greater than the sixth set threshold, which indicates that the vehicle has traveled a longer distance on the non-recorded route, and when the vehicle travels on the non-recorded route, the navigation map may not provide navigation service, but the user may want to travel back on the route recorded by the navigation map, so that a confirmation interface is displayed to the user, and the user of the confirmation interface is allowed to select whether to travel back on the route recorded by the navigation map, where the navigation map includes a confirmation key and a reject key, the confirmation key is used to indicate that the user needs to return to the start point of entering the non-recorded route, the reject key is used to indicate that the user needs to return to the start point of the non-recorded route, and the start point of the non-recorded route may be regarded as the end point of the route recorded by the navigation map, so that finding the start point of the non-recorded route may return to the end point of the route recorded by the non-navigation map. It is known that when a vehicle is driving into an unrecorded route, the vehicle starts to acquire the driving information of the vehicle, and when the user selects a confirmation key, the vehicle starts to reversely read the driving information of the vehicle in the driving process on the unrecorded route, the first average steering angle value of the first driving displacement corresponding to each period acquired in the driving information is uniformly added by 180 degrees, and the average head elevation angle of the first driving displacement corresponding to each period acquired in the driving information is changed from the opposite number to the original value.

For example, as shown in fig. 11, the displacement b is a first travel displacement corresponding to a certain period, the first average steering angle corresponding to the displacement b is an angle 1, the angle value of the angle 1 is 16 °, when the return route is mapped, since the vehicle travel direction is the opposite direction, the start point of the displacement b becomes the end point, the end point becomes the start point, the displacement b ' is generated, the first average travel steering angle corresponding to the displacement b ' is an angle 2, the angle value of the angle 2 is 196 °, the angle value of the angle 2 is calculated by adding 180 ° to the angle value of the angle 1, and the average head elevation angle of the displacement b ' is-5 ° if the average head elevation angle of the displacement b is 5 °. The generated displacement b' is the first driving displacement when the return route is mapped, and the method when the return route is mapped is consistent with the method, which is not repeated herein, after the return route is generated, the user can return to the route recorded by the navigation map along the return route, so that errors when the user searches for the route returned to the recorded navigation map by memorizing the route are avoided, the route searching time of the user is saved, and the user experience is improved.

Referring to fig. 12, based on the same inventive concept, an embodiment of the present application further provides a route creation device, including: acquisition unit 601, mapping unit 602, and storage unit 603.

An obtaining unit 601, configured to obtain driving information of a vehicle when the vehicle is driving into an unrecorded route, where the unrecorded route is a route that is not recorded by the navigation map;

a mapping unit 602, configured to map the driving information into a first recorded route when the vehicle exits the unrecorded route;

the storage unit 603 is configured to store the first recording route.

Optionally, the driving information includes a periodically acquired instantaneous driving speed of the vehicle, an instantaneous steering angle of the vehicle, an instantaneous head elevation angle of the vehicle, and a longitude and latitude of the vehicle, and the mapping unit 602 includes:

a calculation unit for calculating an average running speed of each cycle based on an instantaneous running speed of the vehicle at the start of each cycle and an instantaneous running speed of the vehicle at the end of each cycle;

the calculating unit is further used for calculating a first average steering angle of each period based on the instantaneous steering angle of the vehicle at the beginning of each period and the instantaneous steering angle of the vehicle at the end of each period;

the calculating unit is also used for calculating the average head elevation angle of each period based on the instantaneous head elevation angle of the vehicle at the beginning of each period and the head elevation angle of the vehicle at the end of each period;

the calculating unit is further used for calculating the first driving mileage of each cycle of the vehicle based on the average driving speed of each cycle;

A generation unit configured to generate a first travel displacement of the vehicle for each cycle based on a first travel distance, a first average steering angle, and an average head elevation angle for each cycle;

the displacement mapping unit is used for mapping the first driving displacement to the longitude and latitude at the beginning and the longitude and latitude at the end of the same period to generate a first recording route.

the calculation unit is further used for summing the first driving mileage corresponding to the ith period and the first driving mileage corresponding to the ith-1 period to obtain a second driving mileage if the first angle difference is in a first set threshold range and the average driving elevation corresponding to the ith period and the average driving elevation corresponding to the ith-1 period are both in a second set threshold range;

the generating unit is further used for generating a second driving displacement which is commonly corresponding to the ith period and the ith period according to the second driving mileage, the first average steering angle corresponding to the ith period and the average head elevation angle corresponding to the ith period and the ith period;

The displacement mapping unit is specifically configured to:

mapping the second driving displacement to a position between the longitude and latitude at the beginning of the ith period and the longitude and latitude at the ending of the ith period to generate a first recording route.

the calculation unit is further configured to sum the first driving distance corresponding to the i+1th period, and the first driving distance corresponding to the i+1th period if the first average steering angle corresponding to the i-1th period, the second angle difference, and the third angle difference are all within a third set threshold range, and the sum of the second angle difference and the third angle difference is smaller than a fourth set threshold, and the average driving angle corresponding to the i-1 th period, and the average driving distance corresponding to the i+1th period, and the first driving distance corresponding to the i-1 th period are all within a fifth set threshold range, so as to obtain a third driving distance, and sum the first average steering angle corresponding to the i-1 th period, the second angle difference, and the third angle difference to obtain a second average steering angle;

The generating unit is further used for generating a third driving displacement which is commonly corresponding to the ith-1 period, the ith period and the (i+1) th period based on the third driving mileage, the second average steering angle and the average head elevation angle corresponding to the ith-1 period;

the displacement mapping unit is specifically configured to:

mapping the third driving displacement to a position between the longitude and latitude at the beginning of the ith period and the longitude and latitude at the end of the (i+1) th period to generate a first recording route.

Optionally, the apparatus further comprises:

an acquiring unit 601, configured to acquire travel information of a vehicle when traveling along a first recording route;

a mapping unit 602, configured to map the driving information into a second recording route;

and the updating unit is used for updating the first recording route into the second recording route if the driving mileage of the first recording route is greater than the driving mileage of the second recording route.

Optionally, the apparatus further comprises:

the second comparison unit is used for comparing the driving mileage of the target navigation route with the driving mileage of the first recording route if the starting point is the same as the starting point of the first recording route and the ending point is the same as the ending point of the first recording route;

And the first navigation unit is used for navigating based on the first recorded route if the driving distance of the first recorded route is smaller than the driving distance of the target navigation route.

Optionally, the apparatus further comprises:

the mapping unit 602 is further configured to map the travel information into a return route in reverse order if an operation of selecting the confirm key by the user is detected;

and the second navigation unit is used for navigating based on the return route until the vehicle returns to the starting point of the uncorrupted route.

Referring to fig. 13, based on the same inventive concept, an embodiment of the present application provides an electronic device 100, where the electronic device includes at least one processor 701, and the processor 701 is configured to execute a computer program stored in a memory, to implement the steps of the route creation method shown in fig. 1 provided in the embodiment of the present application.

Optionally, the electronic device 100 may further comprise a memory 702 coupled to the at least one process 701, the memory 702 may include ROM, RAM and disk memory. The memory 702 is used for storing data required for the operation of the processor 701, i.e. instructions executable by the at least one processor 701 are stored, and the at least one processor 701 performs the method as shown in fig. 1 by executing the instructions stored by the memory 702. Wherein the number of memories 702 is one or more. The memory 702 is also shown in the figure, but it should be understood that the memory 702 is not an essential functional block, and is therefore shown in dashed lines in fig. 13.

The physical devices corresponding to the obtaining unit 601, the mapping unit 602, and the storage unit 603 may be the aforementioned processor 701. The electronic device may be used to perform the methods provided by the embodiments shown in fig. 1-2, fig. 4, fig. 6, fig. 8-10. Therefore, for the functions that can be implemented by each functional module in the electronic device, reference may be made to executing corresponding descriptions in the embodiments shown in fig. 1-2, fig. 4, fig. 6, and fig. 8-10, which are not repeated.

Embodiments of the present application also provide a computer storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the methods described in fig. 1-2, fig. 4, fig. 6, fig. 8-10.

Referring to fig. 14, the embodiment of the present application further provides a vehicle 200, where the vehicle 200 includes the electronic device 100 shown in fig. 9.

The foregoing description of the preferred embodiments is provided for the purpose of illustration only, and is not intended to limit the scope of the disclosure, since any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the disclosure are intended to be included within the scope of the disclosure.

Claims

1. A route creation method, applied to a vehicle, comprising:

and storing the first recording route.

2. The method of claim 1, wherein the travel information comprises a periodically acquired instantaneous travel speed of the vehicle, an instantaneous steering angle of the vehicle, an instantaneous head elevation of the vehicle, and a longitude and latitude of the vehicle, and wherein mapping the travel information to a first recorded route if the vehicle exits the unrecorded route comprises:

3. The method of claim 2, further comprising, after generating the first travel displacement of the vehicle for each cycle based on the first travel distance, the first average steering angle, the average head elevation angle for each cycle:

4. The method of claim 2, further comprising, after generating the first travel displacement of the vehicle for each cycle based on the first travel distance, the first average steering angle, the average head elevation angle for each cycle:

calculating a second angle difference value between the first average steering angle corresponding to the ith period and the first average steering angle corresponding to the i-1 th period, and a third angle difference value between the first average steering angle corresponding to the (i+1) th period and the first average steering angle corresponding to the (i) th period;

If the first average steering angle corresponding to the i-1 th period, the first average steering angle corresponding to the i-1 th period and the first average steering angle corresponding to the i-1 th period are all within a third set threshold range, the sum of the second angle difference and the third angle difference is smaller than a fourth set threshold, the average vehicle head elevation angle corresponding to the i-1 th period and the average vehicle head elevation angle corresponding to the i+1 th period are all within a fifth set threshold range, the first driving mileage corresponding to the i+1 th period and the first driving mileage corresponding to the i-1 th period are summed to obtain a third driving mileage, and the first average steering angle corresponding to the i-1 th period, the second angle difference and the second average vehicle head elevation angle are summed to obtain a second average steering angle;

5. The method of claim 1, wherein after storing the first listing route, the method comprises:

mapping the travel information into a second listing route;

6. The method of claim 1, wherein after storing the first listing route, the method comprises:

7. The method of claim 1, wherein prior to the vehicle exiting the unencumbered route, the method further comprises:

8. A route creation apparatus, the apparatus comprising:

the first acquisition unit is used for acquiring the driving information of the vehicle when the vehicle drives into an unreceived route, wherein the unreceived route is a route which is not recorded by the navigation map;

The first mapping unit is used for mapping the driving information into a first recorded route when the vehicle drives out of the unrecorded route;

and the storage unit is used for storing the first recording route.

9. An electronic device comprising at least one processor and a memory coupled to the at least one processor, the at least one processor being configured to implement the steps of the method of any of claims 1-7 when executing a computer program stored in the memory.

10. A vehicle comprising the electronic device of claim 9.