CN116246477A

CN116246477A - Navigation prompt method and device, electronic equipment and storage medium

Info

Publication number: CN116246477A
Application number: CN202111490844.5A
Authority: CN
Inventors: 高璇
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2021-12-08
Filing date: 2021-12-08
Publication date: 2023-06-09

Abstract

The invention discloses a navigation prompting method, a device, electronic equipment and a storage medium, which can be applied to the field of maps, and the method comprises the following steps: under the condition that the current running position meets the navigation prompt condition, determining a current lane corresponding to the current running position and corresponding target prompt position information; acquiring lane prompt mapping information corresponding to the target prompt position information; the lane prompt mapping information characterizes the mapping relation between the lane in the line corresponding to the target prompt position information and the navigation prompt information, and the navigation prompt information is generated according to the corresponding relation between the lane in the line and the intersection lane; determining target navigation prompt information corresponding to a lane in a current lane in lane prompt mapping information; and outputting a navigation prompt according to the target navigation prompt information. The invention can more accurately guide navigation when the number of lanes in the road is inconsistent with the number of lanes at the crossing.

Description

Navigation prompt method and device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of computer technologies, and in particular, to a navigation prompting method, a device, an electronic apparatus, and a storage medium.

Background

At present, navigation by using an electronic map in the driving process is very popular, and the electronic map can guide and prompt a guiding lane line at a road opening in the navigation process. In the related art, when there is a case where the number of lanes in the lane shown in fig. 1 (the number of lanes on the normal lane before entering the intersection range) is not identical to the number of lanes at the intersection (the number of lanes before the stop line of the vehicle at the intersection, which is generally divided by a solid line and has a steering guide arrow), the traffic lane is presented based on the guiding lane line of the intersection only. Still taking fig. 1 as an example, assuming that a navigation prompt is given at the position X shown in fig. 1, since the guiding lane line of this intersection indicates that the middle two lanes are straight lanes, the navigation prompt is given as "walk the middle two lanes", but there is only 1 middle lane at the position X shown in fig. 1. Therefore, the navigation prompt mode in the related art gives inaccurate prompts, so that the user cannot determine whether to drive in a correct lane or not and whether to change lanes or not from the prompt information.

Disclosure of Invention

In order to solve the problems in the prior art, the embodiment of the invention provides a navigation prompt method, a navigation prompt device, electronic equipment and a storage medium. The technical scheme is as follows:

In one aspect, a navigation prompt method is provided, the method including:

under the condition that the current running position meets the navigation prompt condition, determining a current lane corresponding to the current running position and target prompt position information corresponding to the current running position;

acquiring lane prompt mapping information corresponding to the target prompt position information; the lane prompt mapping information characterizes the mapping relation between the lane in the lane corresponding to the target prompt position information and the navigation prompt information, and the navigation prompt information is generated according to the corresponding relation between the lane in the lane and the intersection lane;

determining target navigation prompt information corresponding to the current lane in the lane prompt mapping information;

and outputting a navigation prompt according to the target navigation prompt information.

In another aspect, there is provided a navigation prompt apparatus, the apparatus comprising:

the first determining module is used for determining a current lane in the road corresponding to the current running position and target prompt position information corresponding to the current running position under the condition that the current running position meets navigation prompt conditions;

the lane prompt mapping information acquisition module is used for acquiring lane prompt mapping information corresponding to the target prompt position information; the lane prompt mapping information characterizes the mapping relation between the lane in the lane corresponding to the target prompt position information and the navigation prompt information, and the navigation prompt information is generated according to the corresponding relation between the lane in the lane and the intersection lane;

The target navigation prompt information determining module is used for determining target navigation prompt information corresponding to the current lane in the lane prompt mapping information;

and the navigation prompt output module is used for outputting a navigation prompt according to the target navigation prompt information.

In an exemplary embodiment, the apparatus further comprises:

the target navigation path generation module is used for generating a target navigation path according to the initial position and the target position;

the navigation segment dividing module is used for dividing the target navigation path into at least one navigation segment according to the steering position in the target navigation path;

the second determining module is used for determining target prompt position information corresponding to the intersection and lane information in a row corresponding to the target prompt position information according to the guide lane line information of the road opening in each navigation section;

the corresponding relation determining module is used for determining the corresponding relation between the lane in the lane corresponding to the target prompt position information and the lane of the intersection according to the lane in the lane information corresponding to the target prompt position information and the guide lane line information of the intersection;

the lane prompt mapping information generation module is used for generating lane prompt mapping information corresponding to the target prompt position information according to the corresponding relation between the lane in the lane corresponding to the target prompt position information and the intersection lane.

In an exemplary embodiment, the second determining module includes:

the target prompt position information determining module is used for determining the position of the navigation section, the distance between the position and the guide lane line of the intersection of which is a preset distance, according to the guide lane line information of the intersection of the navigation section, so as to obtain the target prompt position information corresponding to the intersection;

the lane change point determining module is used for determining lane change points in the navigation section; the lane change point is a position where the number of lanes in the navigation section changes;

the distance determining module is used for determining a first distance between the lane change point and the steering position corresponding to the navigation section and a second distance between the guiding lane line of the intersection and the steering position;

the target lane change point determining module is used for determining a target lane change point according to the first distance, the second distance and the preset distance; the target lane change point is the lane change point with the smallest difference value, and the difference value is the difference value between the sum value of the second distance and the preset distance and the first distance;

and the lane information generation module in the lane is used for generating lane information in the lane corresponding to the target prompt position information according to the lanes before the lane number corresponding to the target lane change point changes.

In an exemplary embodiment, the lane guidance mapping information generating module includes:

the intersection driving direction information determining module is used for determining an intersection corresponding to the target prompt position information and corresponding driving direction information in the target planning path;

the traffic intersection lane determining module is used for determining traffic intersection lanes of the intersection matched with the driving direction information according to the guiding lane line information of the intersection;

the traffic lane determining module is used for determining a traffic lane corresponding to the traffic intersection lane according to the corresponding relation between the traffic lane corresponding to the target prompt position information and the intersection lane;

the navigation prompt information generation module is used for generating first navigation prompt information corresponding to the lanes in the passing line according to the relative positions of the lanes in the passing line and the lanes at the passing intersection, and generating second navigation prompt information corresponding to the lanes in the non-passing line according to the relative positions of the lanes in the non-passing line and the lanes in the passing line.

In an exemplary embodiment, the correspondence determining module includes:

The third determining module is used for determining an intersection lane corresponding to the intersection according to the guide lane line information of the intersection; the intersection lanes comprise straight intersection lanes and additional intersection lanes;

a fourth determining module, configured to determine, according to lane-in-line information corresponding to the target prompt location information, an associated lane-in-line associated with the additional intersection lane, and use a lane-in-line other than the associated lane-in-line as a remaining lane-in-line;

the corresponding relation establishing module is used for establishing the corresponding relation between the lanes in the associated line and the first intersection lane and the corresponding relation between the lanes in the remaining line and the second intersection lane;

the first intersection lane comprises the additional intersection lane and a straight intersection lane adjacent to the additional intersection lane, and the second intersection lane is a straight intersection lane except for the straight intersection lane adjacent to the additional intersection lane in the straight intersection lanes.

In an exemplary embodiment, the apparatus further comprises:

the current running position acquisition module is used for acquiring the current running position;

the searching module is used for searching target prompt position information containing the current driving position in a plurality of target prompt position information;

And the condition determining module is used for determining that the current driving position meets the navigation prompt condition when the searching module searches.

In another aspect, an electronic device is provided, including a processor and a memory, where at least one instruction or at least one program is stored in the memory, where the at least one instruction or the at least one program is loaded and executed by the processor to implement the navigation prompt method described above.

In another aspect, a computer readable storage medium having at least one instruction or at least one program stored therein is provided, the at least one instruction or the at least one program loaded and executed by a processor to implement a navigation prompt method as described above.

In another aspect, a computer program product or computer program is provided, the computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the navigation prompting method.

According to the embodiment of the invention, under the condition that the current driving position meets the navigation prompt condition, the current driving lane corresponding to the current driving position and the target prompt position information are determined, and then the lane prompt mapping information corresponding to the target prompt position information is obtained, and as the lane prompt mapping information characterizes the mapping relation between the driving lane corresponding to the target prompt position information and the navigation prompt information, the target navigation prompt information corresponding to the current driving lane can be determined from the lane prompt mapping information, and as the navigation prompt information corresponding to the driving lane is generated according to the corresponding relation between the driving lane and the crossing lane, the navigation prompt information can more accurately give guidance under the condition that the number of driving lanes in the driving is inconsistent with the number of crossing lanes, so that a user can more accurately determine whether the driving is in the correct lane and whether the lane needs to be changed in advance from the navigation prompt information, and further better auxiliary driving experience is given.

Drawings

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

FIG. 1 is a schematic diagram of inconsistent lane numbers in a lane and road crossing provided by an embodiment of the present invention;

FIG. 2a is a schematic diagram of an implementation environment provided by an embodiment of the present invention;

FIG. 2b is a schematic flow chart of a navigation prompt method according to an embodiment of the present invention;

FIG. 3 is a schematic view of a roadway of a road junction according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart of generating lane prompt mapping information corresponding to target prompt position information according to an embodiment of the present invention;

FIG. 5 is a schematic flow chart of determining target prompt position information corresponding to an intersection and lane information in a lane corresponding to the target prompt position information according to an embodiment of the present invention;

FIG. 6 is a schematic view of a lane provided by an embodiment of the present invention;

fig. 7 is a block diagram of a navigation prompt device according to an embodiment of the present invention;

fig. 8 is a block diagram of a hardware structure of an electronic device according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It will be appreciated that in the specific embodiments of the present invention, related data such as user information is involved, and when the above embodiments of the present application are applied to specific products or technologies, user permissions or consents need to be obtained, and the collection, use and processing of related data need to comply with related laws and regulations and standards of related countries and regions.

Referring to fig. 2a, a schematic diagram of an implementation environment provided by an embodiment of the present invention is shown, where the implementation environment may include a terminal 210 and a server 220, and the terminal 210 and the server 220 may be directly or indirectly connected through a wired or wireless communication manner, which is not limited herein.

The terminal 210 may include, but is not limited to, a mobile phone, a computer, an intelligent voice interaction device, an intelligent home appliance, a vehicle-mounted terminal, and the like. The terminal 210 has running therein client software having a navigation function, such as an Application (App), which may be a stand-alone Application or a subroutine in the Application.

The server 220 may be a server for providing background services for an application program in the terminal 210, and specifically, the service provided by the server 220 may be a navigation prompt service based on map data, for example, a target navigation path is generated based on map data in an initial navigation path planning stage, and lane prompt mapping information corresponding to each target prompt position information on the target navigation path is generated based on the target navigation path, where the target prompt position information is a position where the navigation prompt information in the corresponding lane prompt mapping information needs to be output.

In a specific embodiment, after generating the lane prompt mapping information corresponding to each target prompt position information, the server 220 may send the lane prompt mapping information to the terminal 210 that initiates the navigation path planning, so that the terminal 210 may timely perform navigation prompt based on the lane prompt mapping information corresponding to each target prompt position information in the process of navigating based on the target navigation path. In another specific embodiment, after the server 220 generates the lane prompt mapping information corresponding to each target prompt position information, the lane prompt mapping information may be stored locally instead of being issued to the terminal 210 that initiates the navigation path planning, and in the process of navigating based on the target navigation path, the terminal 210 sends corresponding navigation prompt information to the terminal 210 according to the real-time driving position of the terminal 210 and the lane prompt mapping information corresponding to each target prompt position information, so as to perform navigation prompt.

The server 220 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs (Content Delivery Network, content delivery networks), basic cloud computing services such as big data and artificial intelligent platforms, and the like.

In an exemplary embodiment, the terminal 210 and the server 220 may each be a node device in a blockchain system, and may be capable of sharing acquired and generated information to other node devices in the blockchain system, so as to implement information sharing between multiple node devices. The plurality of node devices in the blockchain system can be configured with the same blockchain, the blockchain consists of a plurality of blocks, and the blocks adjacent to each other in front and back have an association relationship, so that the data in any block can be detected through the next block when being tampered, thereby avoiding the data in the blockchain from being tampered, and ensuring the safety and reliability of the data in the blockchain.

The navigation prompt method provided by the embodiment of the invention can be applied to various scenes such as cloud technology, intelligent traffic, internet of vehicles and the like.

The cloud technology comprises cloud computing (cloud computing), which is a computing mode, and distributes computing tasks on a resource pool formed by a large number of computers, so that various application systems can acquire computing power, storage space and information service according to requirements. The network that provides the resources is referred to as the "cloud". Resources in the cloud are infinitely expandable in the sense of users, and can be acquired at any time, used as needed, expanded at any time and paid for use as needed. As a basic capability provider of cloud computing, a cloud computing resource pool (called IaaS (Infrastructure as a Service) platform for short is established, and various types of virtual resources are deployed in the resource pool for external clients to select and use.

The intelligent transportation system (Intelligent Traffic System, ITS), also called intelligent transportation system (Intelligent Transportation System), is a comprehensive transportation system which uses advanced scientific technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operation study, artificial intelligence, etc.) effectively and comprehensively for transportation, service control and vehicle manufacturing, and enhances the connection among vehicles, roads and users, thereby forming a comprehensive transportation system for guaranteeing safety, improving efficiency, improving environment and saving energy.

The concept of the internet of things is derived from the internet of things, namely the internet of things of vehicles, and the running vehicles are used as information sensing objects, and network connection between the vehicles and X (namely the vehicles, the people, the roads and the service platforms) is realized by means of a new generation of information communication technology, so that the overall intelligent driving level of the vehicles is improved, safe, comfortable, intelligent and efficient driving feeling and traffic service are provided for users, meanwhile, the traffic running efficiency is improved, and the intelligent level of social traffic service is improved. The communication between vehicles and workshops means that information exchange and information sharing are realized between vehicles, and the vehicle state information including vehicle position, running speed and the like can be used for judging the road traffic flow condition; the communication between the vehicles and the road refers to the information communication between the vehicles and the road by means of a ground road fixed communication facility, and the communication is used for monitoring the road surface condition and guiding the vehicles to select the optimal running path.

The navigation prompt method provided by the embodiment of the invention is described in detail below with reference to the application environment shown in fig. 2 a. It should be noted that, the navigation prompting method of the embodiment of the present invention may be applied to a navigation prompting device, where the navigation prompting device may be configured in an electronic device, and the electronic device may be a terminal or a server.

Fig. 2b is a schematic flow chart of a navigation prompting method according to an embodiment of the invention. It is noted that the present specification provides method operational steps as described in the examples or flowcharts, but may include more or fewer operational steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. In actual system or product execution, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment). As shown in fig. 2b, the method may include:

s201, determining a current lane in the road corresponding to the current running position and target prompt position information corresponding to the current running position under the condition that the current running position meets navigation prompt conditions.

The current driving position can be obtained through GPS (Global Positioning System ) positioning information. The current in-lane corresponding to the current traveling position refers to an in-lane on which the current vehicle is traveling, which is determined based on the current traveling position. In practical applications, the lane on which the vehicle is currently traveling can be determined by means of image recognition, a positioning chip, a sensor and the like.

The lane in the lane refers to a lane on a normal lane before entering an intersection range, which is a range belonging to a certain intersection indicated by standard road data in the standard road database. A schematic of a lane including an intersection is shown in fig. 3. The intersection lane is a lane before the stop line of the intersection vehicle, and is generally divided into solid lines and has a guide lane line (i.e., a guide arrow in fig. 3).

The target prompt position information refers to a position needing to be subjected to navigation prompt, and in the embodiment of the invention, the target prompt position information corresponding to each intersection in the target navigation path can be determined after the target navigation path is generated, so that in the process of navigating based on the target navigation path, if the current driving position hits a certain target prompt position information, the condition that the navigation prompt condition is met is indicated to trigger a navigation prompt instruction, and the terminal responds to the navigation prompt instruction to output the navigation prompt. In practical applications, in order to trigger a navigation prompt instruction to output a navigation prompt, the target prompt position information is generally a position range, and when the current driving position falls within the position range indicated by a certain target prompt position information, it is indicated that the current driving position hits the target prompt position information.

Based on this, in an exemplary embodiment, the method may further include:

acquiring a current driving position;

searching target prompt position information containing the current running position in a plurality of target prompt position information;

if the current driving position is found, determining that the current driving position meets the navigation prompt condition.

According to the embodiment, the target prompt position information hit in the current driving position is directly searched in the target prompt position information, so that the instantaneity of the navigation prompt can be improved.

S203, lane prompt mapping information corresponding to the target prompt position information is obtained.

The lane prompt mapping information characterizes a mapping relation between a lane in a lane corresponding to the target prompt position information and navigation prompt information, the navigation prompt information is generated according to a corresponding relation between the lane in the lane and an intersection lane, and the intersection lane is a lane at an intersection corresponding to the target prompt position information.

In the embodiment of the invention, the lane prompt mapping information corresponding to each target prompt position information is generated in the navigation path planning stage before navigation, so that the lane prompt mapping information corresponding to the target prompt position information can be acquired based on the target prompt position information hit by the current driving position when the navigation is actually performed based on the target navigation path. The lane guidance mapping information corresponding to each target guidance position information will be described in detail in the following sections of the embodiments of the present invention.

S205, determining target navigation prompt information corresponding to the current lane in the lane prompt mapping information.

Specifically, a target mapping relationship matched with the lane in the current lane can be determined from lane prompt mapping information corresponding to the hit target prompt position information, so that target navigation prompt information in the target mapping relationship is obtained, and the target navigation prompt information is generated according to a corresponding relationship between the lane in the lane corresponding to the hit target prompt position information and an intersection lane of the corresponding intersection.

S207, outputting a navigation prompt according to the target navigation prompt information.

For example, the corresponding navigation prompt may be output in a voice form according to the target navigation prompt information, such as "please continue driving along the current lane", "please change one lane to the right", "please change two lanes to the left".

According to the technical scheme, the lane prompt mapping information characterizes the mapping relation between the lane in the lane corresponding to the target prompt position information and the navigation prompt information, so that the target navigation prompt information corresponding to the lane in the current lane can be determined from the lane prompt mapping information, and the navigation prompt information corresponding to the lane in the lane is generated according to the corresponding relation between the lane in the lane and the intersection lane, so that under the condition that the number of lanes in the lane is inconsistent with the number of lanes at the intersection, the navigation prompt information can give more accurate guidance, and a user can determine whether to run in the correct lane and whether to change the lane in advance more accurately from the navigation prompt information, thereby giving better auxiliary driving experience.

In an exemplary implementation manner, the navigation prompt method according to the embodiment of the present invention may further include a process of generating lane prompt mapping information corresponding to the target prompt location information, as shown in fig. 4, and the generating the lane prompt mapping information corresponding to the target prompt location information may include:

s401, generating a target navigation path according to the initial position and the target position.

The start position and the target position may be information input in the electronic map.

S403, dividing the target navigation path into at least one navigation segment according to the steering position in the target navigation path.

Each divided navigation section comprises a steering position, and the steering position is positioned at the end of the navigation section.

S405, determining target prompt position information corresponding to the intersection and lane information in the row corresponding to the target prompt position information according to the guide lane line information of the intersection in each navigation section.

In actual reference, there may be one or more intersections in each navigation segment, and each intersection may have one or more guiding lanes, where the guiding directions of the guiding lanes may be the same or different. And determining target prompt position information corresponding to each intersection and lane information in a row corresponding to the target prompt position information according to the guide lane line information corresponding to each intersection in each navigation section.

In an exemplary embodiment, the step S405 may include the following steps when implemented, as shown in fig. 5:

s501, determining the position of the navigation section, which is a preset distance from the guide lane line of the intersection, according to the guide lane line information of the intersection in the navigation section, and obtaining target prompt position information corresponding to the intersection.

For example, the preset distance may be a preset fixed distance, such as 200 meters. In order to improve the real-time performance of the navigation prompt and the driving safety, the preset distance can also be a distance which is selected from the distance attribute mapping information according to the intersection lane attribute of the intersection and is matched with the intersection lane attribute, wherein the distance attribute mapping information characterizes the corresponding relation between the intersection lane attribute and the preset distance, namely, different intersection lane attributes can correspond to different preset distances, so that the determined preset distance of each intersection is matched with the intersection road attribute of the intersection. Intersection road attributes may include width of an intersection road, type of intersection (e.g., expressway, urban road intersection, etc.).

The distance between the navigation section and the guiding lane line of the intersection may be a distance extending in the opposite direction of the driving direction from the tail of the guiding lane line, so that a position in the navigation section, where the distance between the navigation section and the guiding lane line of the intersection is a preset distance, may be found, and further, target prompt position information corresponding to the intersection may be obtained according to the position, and the specific target prompt position information may be a position range determined based on the position, where the size of the range may be determined according to practical experience.

S503, determining a lane change point in the navigation section, wherein the lane change point refers to a position where the number of lanes in the navigation section changes.

As shown in fig. 3, the position at which the 3-lane is changed to the 4-lane is one lane change point. It will be appreciated that there may be multiple lane change points in each navigation segment, each lane change point corresponding to lane information before a lane number change (e.g., 3 lanes in fig. 3) and lane information after a lane number change (e.g., 4 lanes in fig. 3),

s505, determining a first distance between the lane change point and the steering position corresponding to the navigation section and a second distance between the guiding lane line of the intersection and the steering position.

The second distance between the guiding lane line of the intersection and the steering position may refer to a distance from the tail of the guiding lane line to the steering position corresponding to the navigation section, which extends linearly in the driving direction.

S507, determining a target lane change point according to the first distance, the second distance and the preset distance.

The target lane change point is the lane change point with the smallest difference, and the difference is a difference between a sum value of the second distance and the preset distance and the first distance.

In a specific implementation, the preset distance may be denoted as voice_dis, the second distance between the guiding lane line and the steering position of the intersection is denoted as dis_to_event, and the first distance between the lane change point and the steering position is denoted as s, so that according to (voice_dis+dis_to_event), a first lane change point with s being less than or equal to (voice_dis+dis_to_event) may be searched for as the target lane change point, that is, the difference between s corresponding to the target lane change point and s is less than (voice_dis+dis_to_event) is minimum.

S509, generating lane-in-line information corresponding to the target prompt position information according to the lanes before the lane number corresponding to the target lane change point changes.

According to the embodiment, the lane information in the lane corresponding to the target prompt position information in the navigation section can be rapidly and accurately determined through the distance between the lane change point and the steering position, the distance between the guiding lane line of the intersection and the steering position and the position at which the navigation prompt is required to be output aiming at the intersection.

S407, determining the corresponding relation between the lane in the lane corresponding to the target prompt position information and the lane at the intersection according to the lane in the lane information corresponding to the target prompt position information and the guide lane line information at the intersection.

Each target prompting position information can correspond to a plurality of lane-in-line lanes, each lane-in-line lane can correspond to one or a plurality of road junction lanes, when a corresponding relation is established between a lane-in-line lane and a road junction lane, the lane-in-line lane in the corresponding relation is communicated with the road junction lane, but the lane-in-line lane which does not establish the corresponding relation with the road junction lane is not communicated with the road junction lane, when the road junction lane in the corresponding relation is a passable lane, vehicles in other lane-in-line lanes can only enter the road junction lane through the lane-in-line lane in the corresponding relation, and if the vehicles in other lane-in-line lanes enter the road junction lane, the vehicles can only enter the road junction lane in the corresponding relation.

In an exemplary embodiment, the step S407 may include, when determining the correspondence between the lane in the lane corresponding to the target prompt position information and the lane of the intersection according to the lane in the lane corresponding to the target prompt position information and the guide lane line information of the intersection:

determining an intersection lane corresponding to the intersection according to the guide lane line information of the intersection; the intersection lanes comprise straight intersection lanes and additional intersection lanes;

Determining an associated lane in the lane associated with the additional intersection lane according to lane in the lane information corresponding to the target prompt position information, and taking lanes in the lane except the associated lane in the lane as remaining lanes in the lane;

establishing a corresponding relation between the lanes in the associated line and the first intersection lane and a corresponding relation between the lanes in the remaining line and the second intersection lane;

the first intersection lane comprises an additional intersection lane corresponding to the lane in the associated line and a straight intersection lane adjacent to the additional intersection lane, and the second intersection lane is a straight intersection lane except for the straight intersection lane adjacent to the additional intersection lane in the straight intersection lane.

The additional road junction lanes are road junction lanes expanded for improving the traffic capacity of the road junction, and can be divided into a left additional lane and a right additional lane for realizing different steering at the road junction, and it can be understood that the additional road junction lanes in the embodiment of the invention can comprise the left additional lane and the right additional lane, and also can comprise the left additional lane or the right additional lane. The straight crossing lanes are lanes except for the additional crossing lanes in the crossing lanes, and can be used for realizing the crossing lanes of straight crossing, and in the lane diagram shown in fig. 6, T1 and T5 are the additional crossing lanes, and T2-T4 are the straight crossing lanes. The associated lane of the road associated with the additional intersection lane refers to the lane of the road adjacent to the road edge on the same side as the additional intersection lane, such as in fig. 6, the associated lane of T1 is C1, the associated lane of T5 is C3, and C2 is the remaining lane.

The establishment of the correspondence between the lanes in the above-described row and the intersection lanes will be specifically described below by taking fig. 6 as an example. As shown in fig. 6, the intersection lane: the first additional crossing lane is T1, the second additional crossing lane is T5, and the straight crossing lanes are T2-T4; lane in line corresponding to the target prompt position information: the lanes in the first associated row are C1, the lanes in the second associated row are C3, and the lanes in the remaining rows are C2. The straight-through intersection lane adjacent to the first additional intersection lane T1 is T2, the straight-through intersection lane adjacent to the second additional intersection lane is T4, and the second intersection lane is T3. Then, establishing a corresponding relation between C1 and T1, T2, a corresponding relation between C3 and T4, T5, and a corresponding relation between C2 and T3, wherein after the corresponding relation is established, it is indicated that C1 is communicated with T1, T2, C3 is communicated with T4, T5, and C2 is communicated with T3, so that the corresponding relation between the lane in the line corresponding to the target prompt position information and the intersection lane can be expressed as { C1- > (T1, T2); c2- - > T3; c3- - > (T4, T5) }.

In the above embodiment, an accurate communication corresponding relation is established between the lanes in each row corresponding to the target prompt position information and the lanes at each intersection, which is beneficial to accurately generating the navigation prompt information for the lanes in each row based on the accurate communication corresponding relation.

S409, generating lane prompt mapping information corresponding to the target prompt position information according to the corresponding relation between the lane in the line corresponding to the target prompt position information and the intersection lane.

The lane prompt mapping information is a mapping relationship between lanes in a lane and navigation prompt information, and the navigation prompt information is used for indicating whether lane changing is needed at present, further indicating which direction to change the lane if the lane changing is needed, changing a plurality of lanes, and the like.

In a specific embodiment, the step S409 may include, when generating the lane guidance mapping information corresponding to the target guidance location information according to the correspondence between the lane in the row corresponding to the target guidance location information and the intersection lane:

determining the intersection corresponding to the target prompt position information and the corresponding driving direction information in the target planning path;

determining a passing intersection lane of the intersection matched with the driving direction information according to the guiding lane line information of the intersection;

determining a traffic lane corresponding to the traffic intersection lane according to the corresponding relation between the traffic lane corresponding to the target prompt position information and the intersection lane;

Generating first navigation prompt information corresponding to the lanes in the through line according to the relative positions of the lanes in the through line and the traffic intersection lanes, and generating second navigation prompt information corresponding to the lanes in the non-through line according to the relative positions of the lanes in the non-through line and the traffic lanes; the non-traffic lane is a lane except the traffic lane in the traffic lanes corresponding to the target prompt position information.

Taking fig. 6 as an example, (1) assuming that the driving direction information corresponding to the intersection corresponding to the target prompt position information in the target planned path is left-turning at the intersection, according to the guiding lane line information of the intersection in fig. 6, it can be determined that the traffic intersection lanes matched with the left-turning at the intersection are T1 and T2, and according to the corresponding relationship { C1- > (T1, T2) between the lane in the lane corresponding to the target prompt position information and the intersection lane; c2- - > T3; c3- > (T4, T5) }, C1 is a lane in the traffic line, C2 and C3 are both lanes in the non-traffic line, and then generate first navigation prompt information for C1, such as "please continue driving along the current lane" or "please turn left along the current lane", generate second navigation prompt information for C2, such as "please change lane to the left" or "please change lane to the left", and generate second navigation prompt information for C3, such as "please change two lanes to the left".

(2) Assuming that the corresponding driving direction information of the intersection corresponding to the target prompt position information in the target planning path is right turn at the intersection, according to the guiding lane line information of the intersection in fig. 6, traffic intersection lanes matched with the right turn at the intersection can be determined to be T4 and T5, and according to the corresponding relationship { C1- > (T1, T2) between the lane in the row corresponding to the target prompt position information and the intersection lane; c2- - > T3; c3- > (T4, T5) }, wherein C3 is a lane in the traffic line, C1 and C2 are both lanes in the non-traffic line, and then generate first navigation prompt information for C3, such as "please continue driving along the current lane" or "please turn right along the current lane", generate second navigation prompt information for C2, such as "please change lane to the right" or "please change lane to the right", and generate second navigation prompt information for C1, such as "please change two lanes to the right".

(3) Assuming that the corresponding driving direction information of the intersection corresponding to the target prompt position information in the target planning path is straight going at the intersection, according to the guiding lane line information of the intersection in fig. 6, traffic intersection lanes matched with the straight going at the intersection can be determined to be T2-T5, and according to the corresponding relationship { C1- > (T1, T2) between the lane in the line corresponding to the target prompt position information and the intersection lane; c2- - > T3; c3- > (T4, T5) }, wherein C1-C3 are all traffic lanes, and a first navigation prompt message is generated for C1-C3, such as "please continue running along the current lane" or "please go straight along the current lane".

According to the embodiment, the navigation prompt information corresponding to each lane in the lane can be accurately generated based on the corresponding driving direction information of the intersection corresponding to the target prompt position information in the target planning path and the corresponding relation between the lane in the lane corresponding to the target prompt position information and the lane at the intersection, so that the accuracy of the navigation prompt information is improved.

The embodiment of the present invention also provides a navigation prompting device corresponding to the navigation prompting method provided by the above embodiments, and since the navigation prompting device provided by the embodiment of the present invention corresponds to the navigation prompting method provided by the above embodiments, implementation of the navigation prompting method described above is also applicable to the navigation prompting device provided by the present embodiment, and will not be described in detail in the present embodiment.

Referring to fig. 7, a schematic structural diagram of a navigation prompt device according to an embodiment of the present invention is shown, where the device has a function of implementing the navigation prompt method in the above method embodiment, and the function may be implemented by hardware or implemented by executing corresponding software by hardware. As shown in fig. 7, the navigation prompt apparatus 700 may include:

a first determining module 710, configured to determine a current lane in the vehicle corresponding to a current driving position and target prompt position information corresponding to the current driving position, where the current driving position meets a navigation prompt condition;

The lane prompt mapping information obtaining module 720 is configured to obtain lane prompt mapping information corresponding to the target prompt position information; the lane prompt mapping information characterizes the mapping relation between the lane in the lane corresponding to the target prompt position information and the navigation prompt information, and the navigation prompt information is generated according to the corresponding relation between the lane in the lane and the intersection lane;

the target navigation prompt information determining module 730 is configured to determine target navigation prompt information corresponding to the lane in the current lane prompt mapping information;

and the navigation prompt output module 740 is configured to output a navigation prompt according to the target navigation prompt information.

In an exemplary embodiment, the apparatus 700 further comprises:

In an exemplary embodiment, the second determining module includes:

In an exemplary embodiment, the correspondence determining module includes:

In an exemplary embodiment, the apparatus further comprises:

It should be noted that, in the apparatus provided in the foregoing embodiment, when implementing the functions thereof, only the division of the foregoing functional modules is used as an example, in practical application, the foregoing functional allocation may be implemented by different functional modules, that is, the internal structure of the device is divided into different functional modules, so as to implement all or part of the functions described above. In addition, the apparatus and the method embodiments provided in the foregoing embodiments belong to the same concept, and specific implementation processes of the apparatus and the method embodiments are detailed in the method embodiments and are not repeated herein.

The embodiment of the invention provides electronic equipment, which comprises a processor and a memory, wherein at least one instruction or at least one section of program is stored in the memory, and the at least one instruction or the at least one section of program is loaded and executed by the processor so as to realize the navigation prompt method provided by the embodiment of the method.

The memory may be used to store software programs and modules that the processor executes to perform various functional applications and data processing by executing the software programs and modules stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs required for functions, and the like; the storage data area may store data created according to the use of the device, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory may also include a memory controller to provide access to the memory by the processor.

The method embodiments provided by the embodiments of the present invention may be executed in a computer terminal, a server, or similar computing device. Taking the operation on a terminal as an example, fig. 8 is a block diagram of a hardware structure of a terminal running a navigation prompt method according to an embodiment of the present invention, specifically:

the terminal can include RF (Radio Frequency) circuitry 810, memory 820 including one or more computer-readable storage media, input unit 830, display unit 840, sensor 850, audio circuitry 860, wiFi (wireless fidelity ) module 870, processor 880 including one or more processing cores, and power supply 890. It will be appreciated by those skilled in the art that the terminal structure shown in fig. 8 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components. Wherein:

The RF circuit 810 may be used for receiving and transmitting signals during a message or a call, and in particular, after receiving downlink information of a base station, the downlink information is processed by one or more processors 880; in addition, data relating to uplink is transmitted to the base station. Typically, RF circuitry 810 includes, but is not limited to, an antenna, at least one amplifier, a tuner, one or more oscillators, a Subscriber Identity Module (SIM) card, a transceiver, a coupler, an LNA (Low Noise Amplifier ), a duplexer, and the like. In addition, the RF circuitry 810 may also communicate with networks and other terminals via wireless communications. The wireless communication may use any communication standard or protocol including, but not limited to, GSM (Global System of Mobile communication, global system for mobile communications), GPRS (General Packet Radio Service ), CDMA (Code Division Multiple Access, code division multiple access), WCDMA (Wideband Code Division Multiple Access ), LTE (Long Term Evolution, long term evolution), email, SMS (Short Messaging Service, short message service), and the like.

The memory 820 may be used to store software programs and modules, and the processor 880 performs various functional applications and data processing by executing the software programs and modules stored in the memory 820. The memory 820 may mainly include a storage program area that may store an operating system, application programs required for functions, and the like, and a storage data area; the storage data area may store data created according to the use of the terminal, etc. In addition, memory 820 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 820 may also include a memory controller to provide access to the memory 820 by the processor 880 and the input unit 830.

The input unit 830 may be used to receive input numeric or character information and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control. In particular, the input unit 830 may include a touch-sensitive surface 831 as well as other input devices 832. The touch-sensitive surface 831, also referred to as a touch screen or touch pad, may collect touch operations thereon or thereabout by a user (e.g., operations of the user on the touch-sensitive surface 831 or thereabout by using any suitable object or accessory such as a finger, stylus, etc.), and actuate the corresponding connection device according to a predetermined program. Alternatively, touch-sensitive surface 831 can include both a touch detection device and a touch controller. The touch detection device detects the touch azimuth of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch detection device and converts it into touch point coordinates, which are then sent to the processor 880 and can receive commands from the processor 880 and execute them. In addition, the touch-sensitive surface 831 can be implemented using a variety of types, such as resistive, capacitive, infrared, and surface acoustic waves. In addition to the touch-sensitive surface 831, the input unit 830 may also include other input devices 832. In particular, other input devices 832 may include, but are not limited to, one or more of a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, mouse, joystick, etc.

The display unit 840 may be used to display information input by a user or information provided to the user and various graphical user interfaces of the terminal, which may be composed of graphics, text, icons, video, and any combination thereof. The display unit 840 may include a display panel 841, and optionally, the display panel 841 may be configured in the form of an LCD (Liquid Crystal Display ), an OLED (Organic Light-Emitting Diode), or the like. Further, touch-sensitive surface 831 can overlay display panel 841, and upon detection of a touch operation thereon or thereabout by touch-sensitive surface 831, is communicated to processor 880 for determining the type of touch event, whereupon processor 880 provides a corresponding visual output on display panel 841 based on the type of touch event. Wherein the touch-sensitive surface 831 and the display panel 841 may be implemented in two separate components for input and output functions, but in some embodiments the touch-sensitive surface 831 may be integrated with the display panel 841 to implement input and output functions.

The terminal may also include at least one sensor 850, such as a light sensor, a motion sensor, and other sensors. In particular, the light sensor may include an ambient light sensor that may adjust the brightness of the display panel 841 according to the brightness of ambient light, and a proximity sensor that may turn off the display panel 841 and/or the backlight when the terminal moves to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the acceleration in all directions (generally three axes), and can detect the gravity and the direction when the device is stationary, and the device can be used for applications of recognizing the gesture of a terminal (such as horizontal and vertical screen switching, related games, magnetometer gesture calibration), vibration recognition related functions (such as pedometer and knocking), and the like; other sensors such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc. that may be configured for the terminal are not described in detail herein.

Audio circuitry 860, speaker 861, microphone 862 may provide an audio interface between the user and the terminal. The audio circuit 860 may transmit the received electrical signal converted from audio data to the speaker 861, and the electrical signal is converted into a sound signal by the speaker 861 to be output; on the other hand, the microphone 862 converts the collected sound signals into electrical signals, which are received by the audio circuit 860 and converted into audio data, which are processed by the audio data output processor 880 and transmitted to, for example, another terminal via the RF circuit 810, or which are output to the memory 820 for further processing. Audio circuitry 860 may also include an ear bud jack to provide communication of peripheral headphones with the terminal.

WiFi belongs to a short-distance wireless transmission technology, and the terminal can help a user to send and receive e-mails, browse web pages, access streaming media and the like through the WiFi module 870, so that wireless broadband Internet access is provided for the user. Although fig. 8 shows a WiFi module 870, it is understood that it does not belong to the essential constitution of the terminal, and may be omitted entirely as needed within the scope of not changing the essence of the invention.

The processor 880 is a control center of the terminal, connects various parts of the entire terminal using various interfaces and lines, and performs various functions of the terminal and processes data by running or executing software programs and/or modules stored in the memory 820 and calling data stored in the memory 820, thereby performing overall monitoring of the terminal. Optionally, processor 880 may include one or more processing cores; preferably, the processor 880 may integrate an application processor that primarily handles operating systems, user interfaces, applications, etc., with a modem processor that primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 880.

The terminal also includes a power supply 890 (e.g., a battery) for powering the various components, which may be logically connected to the processor 880 via a power management system, as well as performing functions such as managing charge, discharge, and power consumption via the power management system. Power supply 890 may also include one or more of any components of a dc or ac power supply, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, etc.

Although not shown, the terminal may further include a camera, a bluetooth module, etc., which will not be described herein. In particular, in this embodiment, the terminal further includes a memory, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the one or more processors. The one or more programs include instructions for performing the navigation prompt method provided by the method embodiments described above.

Embodiments of the present invention also provide a computer readable storage medium that may be disposed in an electronic device to store at least one instruction or at least one program related to implementing a navigation prompt method, where the at least one instruction or the at least one program is loaded and executed by the processor to implement the navigation prompt method provided by the above-described method embodiments.

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

Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

It should be noted that: the sequence of the embodiments of the present invention is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

1. A navigation prompt method, the method comprising:

2. The navigation prompt method according to claim 1, wherein the method further comprises:

generating a target navigation path according to the initial position and the target position; dividing the target navigation path into at least one navigation segment according to the steering position in the target navigation path;

determining target prompt position information corresponding to the intersection and lane-in-lane information corresponding to the target prompt position information according to guide lane line information of the intersection in each navigation section;

determining the corresponding relation between the lane in the lane corresponding to the target prompt position information and the lane at the intersection according to the lane in the lane corresponding to the target prompt position information and the guide lane line information at the intersection;

And generating lane prompt mapping information corresponding to the target prompt position information according to the corresponding relation between the lane in the lane corresponding to the target prompt position information and the intersection lane.

3. The navigation prompt method according to claim 2, wherein the determining the target prompt position information corresponding to the intersection and the lane-in-row information corresponding to the target prompt position information according to the guiding lane line information of the intersection in each navigation segment comprises:

determining the position of the navigation section, which is a preset distance from the guide lane line of the intersection, according to the guide lane line information of the intersection in the navigation section, so as to obtain target prompt position information corresponding to the intersection;

determining a lane change point in the navigation segment; the lane change point is a position where the number of lanes in the navigation section changes;

determining a first distance between the lane change point and a steering position corresponding to the navigation section and a second distance between a guiding lane line of the intersection and the steering position;

determining a target lane change point according to the first distance, the second distance and the preset distance; the target lane change point is the lane change point with the smallest difference value, and the difference value is the difference value between the sum value of the second distance and the preset distance and the first distance;

And generating lane-in-line information corresponding to the target prompt position information according to the lanes before the lane number corresponding to the target lane change point changes.

4. The navigation prompt method according to claim 2 or 3, wherein the generating the lane prompt map information corresponding to the target prompt position information according to the correspondence between the lane in the lane corresponding to the target prompt position information and the intersection lane includes:

generating first navigation prompt information corresponding to the lanes in the traffic line according to the relative positions of the lanes in the traffic line and the traffic intersection lanes, and generating second navigation prompt information corresponding to the lanes in the non-traffic line according to the relative positions of the lanes in the non-traffic line and the traffic line.

5. The navigation prompt method according to claim 4, wherein the determining the correspondence between the lane in the lane corresponding to the target prompt position information and the lane at the intersection according to the lane in the lane corresponding to the target prompt position information and the guide lane line information at the intersection comprises:

6. The navigation prompt method according to claim 1, wherein the method further comprises:

acquiring a current driving position;

7. A navigation prompt apparatus, the apparatus comprising:

8. An electronic device comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, the at least one instruction or the at least one program loaded and executed by the processor to implement the navigation prompt method of any one of claims 1-6.

9. A computer readable storage medium having stored therein at least one instruction or at least one program loaded and executed by a processor to implement a navigation prompt method according to any one of claims 1-6.

10. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the navigation prompt method of any one of claims 1-6.