CN116659537B

CN116659537B - Navigation route determining method, navigation route determining device, electronic equipment and storage medium

Info

Publication number: CN116659537B
Application number: CN202310935205.8A
Authority: CN
Inventors: 董振宁; 孔万锋; 蔡晓军; 周小平; 黄伟; 曹启兵; 董敏剑; 曹灵芝; 唐骥; 邓世斌; 苏岳龙
Original assignee: Hangzhou Langshan Information Technology Co ltd; Traffic Police Division Of Hangzhou Public Security Bureau; Autonavi Software Co Ltd
Current assignee: Hangzhou Langshan Information Technology Co ltd; Traffic Police Division Of Hangzhou Public Security Bureau; Autonavi Software Co Ltd
Priority date: 2023-07-27
Filing date: 2023-07-27
Publication date: 2023-11-17
Anticipated expiration: 2043-07-27
Also published as: CN116659537A

Abstract

The embodiment of the disclosure discloses a navigation route determining method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a specified driving route and a current navigation route output by a navigation application based on the starting and ending points of the specified driving route; if the specified driving route is inconsistent with the current navigation route, acquiring historical road network data corresponding to the specified driving route and current road network data corresponding to the current navigation route; determining a target road segment starting point on the specified driving route based on the historical road network data and the current road network data; and generating a target navigation route based on the starting and ending point, the target road section starting point, the prescribed driving route and the current road network data. According to the technical scheme, when the freight vehicle needs to navigate by using the navigation application, the target navigation route which is similar to the specified driving route and accords with the urban traffic management rule can be generated, so that the navigation service is provided for the freight vehicle.

Description

Navigation route determining method, navigation route determining device, electronic equipment and storage medium

Technical Field

The disclosure relates to the technical field of navigation, in particular to a navigation route determining method, a navigation route determining device, electronic equipment and a storage medium.

Background

Road freight is basic service for national economy development, solves the problem of difficult passage of freight vehicles in cities, ensures smooth logistics and promotes stable supply chain of an industrial chain, and is a subject paid attention to current traffic safety management.

In the conventional freight management mode, when a freight pass is issued based on the management requirement of an urban freight, a prescribed travel route in which the freight is allowed to travel is prescribed according to manual experience, however, once a road name change, a road newly added intersection or the like occurs, road network data is changed, so that navigation application cannot generate a navigation route consistent with the prescribed travel route based on a starting point, and the freight cannot be guided to travel according to the prescribed travel route. In this case, a freight driver unfamiliar with road conditions easily deviates from a prescribed travel route, and is likely to cause a freight vehicle to travel to areas such as the vicinity of schools, dense areas of people, and elevated tunnels where the travel of the freight vehicle is prohibited, thereby forming a potential safety hazard.

Therefore, a navigation route determining method needs to be proposed for a freight vehicle, so that when a current navigation route output by a navigation application based on a starting and ending point is inconsistent with a prescribed travel route, a navigation route similar to the prescribed travel route can be restored on the navigation application, and the freight vehicle can be guided by the navigation application to safely travel on the premise of meeting the urban traffic management regulations.

Disclosure of Invention

The embodiment of the disclosure provides a navigation route determining method, a navigation route determining device, electronic equipment and a storage medium.

In a first aspect, an embodiment of the present disclosure provides a navigation route determining method, including:

acquiring a specified driving route and a current navigation route output by a navigation application based on the starting and ending points of the specified driving route;

if the specified driving route is inconsistent with the current navigation route, acquiring historical road network data corresponding to the specified driving route and current road network data corresponding to the current navigation route;

determining a target road segment starting point on the specified driving route based on the historical road network data and the current road network data;

and generating a target navigation route based on the starting and ending point, the target road section starting point, the prescribed driving route and the current road network data.

In a second aspect, an embodiment of the present invention provides a navigation method, including:

acquiring a starting and ending point of the navigation of the freight vehicle;

determining at least one planned driving route corresponding to the starting and ending point;

determining a target navigation route corresponding to the at least one specified driving route, wherein the target navigation route is determined based on the method in the first aspect;

And navigating the freight vehicle based on the target navigation route.

In a third aspect, an embodiment of the present invention provides a navigation route determining apparatus, including:

a first acquisition module configured to acquire a prescribed travel route and a current navigation route output by a navigation application based on a start-end point of the prescribed travel route;

the second acquisition module is configured to acquire historical road network data corresponding to the specified driving route and current road network data corresponding to the current navigation route if the specified driving route is inconsistent with the current navigation route;

a first determination module configured to determine a target link start point on the prescribed travel route based on the historical road network data and the current road network data;

and a generation module configured to generate a target navigation route based on the start and end point, the target link start point, the prescribed travel route, and the current road network data.

The functions may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above.

In one possible design, the structure of the above apparatus includes a memory for storing one or more computer instructions for supporting the above apparatus to perform the corresponding method, and a processor configured to execute the computer instructions stored in the memory. The apparatus may further comprise a communication interface for the apparatus to communicate with other devices or a communication network.

In a fourth aspect, an embodiment of the present disclosure provides an electronic device, including a memory, a processor, and a computer program stored on the memory, where the processor executes the computer program to implement the method of any one of the above aspects.

In a fifth aspect, embodiments of the present disclosure provide a computer-readable storage medium storing computer instructions for use by any one of the above-described apparatuses, which when executed by a processor, are configured to implement the method of any one of the above-described aspects.

In a sixth aspect, embodiments of the present disclosure provide a computer program product comprising computer instructions for implementing the method of any one of the above aspects when executed by a processor.

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:

in this embodiment, when determining the navigation route for the freight vehicle, the current navigation route generated by the prescribed travel route and the navigation application for the start and end points of the prescribed travel route may be acquired first, and when the prescribed travel route and the current navigation route are inconsistent, the historical road network data corresponding to the prescribed travel route and the current road network data corresponding to the current navigation route are acquired, the historical road network data and the current road network data are compared, the target link start point of the road link in the prescribed travel route is determined, and the target navigation route is generated based on the target link start point, the start and end points, the prescribed travel route, and the current road network data. In this way, when the freight vehicle needs to navigate using the navigation application, even if the road network data is changed, the target navigation route which is similar to the prescribed travel route and accords with the urban traffic management rule can be generated, thereby providing navigation service for the freight vehicle.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Other features, objects and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. The following is a description of the drawings.

Fig. 1 shows a flowchart of a navigation route determination method according to an embodiment of the present disclosure.

Fig. 2A to 2D are diagrams illustrating effects of new and old road network data, a prescribed travel route, and a start point of a target link according to an embodiment of the present disclosure.

Fig. 3 shows a flow chart of a navigation method according to an embodiment of the present disclosure.

Fig. 4 shows a block diagram of a navigation route determination device according to an embodiment of the present disclosure.

Fig. 5 shows a block diagram of a navigation device according to an embodiment of the present disclosure.

Fig. 6 shows a block diagram of an electronic device according to an embodiment of the present disclosure.

FIG. 7 is a schematic diagram of a computer system suitable for use in implementing a navigation route determination method and/or a navigation method in accordance with an embodiment of the present disclosure.

Detailed Description

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for the sake of clarity, portions irrelevant to description of the exemplary embodiments are omitted in the drawings.

In this disclosure, it should be understood that terms such as "comprises" or "comprising," etc., are intended to indicate the presence of features, numbers, steps, acts, components, portions, or combinations thereof disclosed in this specification, and do not preclude the presence or addition of one or more other features, numbers, steps, acts, components, portions, or combinations thereof.

In addition, it should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

User information (including but not limited to user equipment information such as location information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in this disclosure are both information and data that is authorized by the user or is sufficiently authorized by parties, and the collection, use and processing of relevant data requires compliance with relevant laws and regulations and standards of the relevant country and region, and is provided with corresponding access to the user for selection of authorization or denial.

Details of embodiments of the present disclosure are described in detail below with reference to specific embodiments.

Fig. 1 shows a flowchart of a navigation route determination method according to an embodiment of the present disclosure. As shown in fig. 1, the navigation route determining method includes the steps of:

in step S101, a prescribed travel route and a current navigation route output by a navigation application based on a start-end point of the prescribed travel route are acquired;

in step S102, if the specified driving route is inconsistent with the current navigation route, acquiring historical road network data corresponding to the specified driving route and current road network data corresponding to the current navigation route;

in step S103, determining a target link start point on the prescribed travel route based on the historical road network data and the current road network data;

in step S104, a target navigation route is generated based on the start-end point, the target link start point, the prescribed travel route, and the current road network data.

In this embodiment, the navigation route determining method may be executed on a server or a terminal device. Freight vehicles are understood to be vehicles, typically large or medium vehicles, for which the urban traffic management authority sets a different management rule for their travel routes than for domestic vehicles. Because the freight vehicles are large in size and heavy in weight, accidents are easy to cause under the environments of large traffic flow and complex road conditions, urban traffic management departments set a plurality of restricted rules, forbidden marks and the like for the freight vehicles. Thus, the travel route of the freight vehicle from the start to the end of the shipment needs to be specified and cannot be generated by the navigation application in accordance with conventional routing rules.

The prescribed travel route is a travel route planned for the freight vehicle that meets the urban traffic management rules by an urban traffic management department or other authorized person or navigation application. The freight vehicle may claim the prescribed travel route to an urban traffic management or other authorized person or navigation application by the relevant person before departure, after which the freight vehicle may transport goods on the prescribed travel route.

If the truck driver is unfamiliar with the prescribed travel route, the current navigation route may be generated by entering a start and end point of the prescribed travel route in the navigation application so that the truck driver can be guided by the navigation application to travel along the current navigation route. If the current navigation route output by the navigation application based on the starting and ending point is consistent with the prescribed driving route, the truck driver can select the current navigation route for navigation, however if the current navigation route is inconsistent with the prescribed driving route, the truck driver can cause the freight vehicle to drive to a forbidden or limited road section if the current navigation route is selected for navigation.

To this end, in the embodiments of the present disclosure, after the navigation application generates the current navigation route based on the start and end points, it may be compared whether the current navigation route coincides with the prescribed travel route. It will be appreciated that the navigation application may output a plurality of current navigation routes based on the start and end points, and if the plurality of current navigation routes are not consistent with the prescribed travel route, the prescribed travel route may be considered inconsistent with the current navigation route, and if one of the plurality of current navigation routes is consistent with the prescribed travel route, the prescribed travel route may be considered consistent with the current navigation route, and the truck driver may select the consistent current navigation route for navigation.

In some embodiments, the prescribed travel route may also be generated by a function in the navigation application that generates a navigation route specifically for the freight vehicle. In this scenario, the prescribed travel route may also be inconsistent with the current navigation route because the historical road network data on which the prescribed travel route was generated and the current road network data on which the current navigation route was generated may have changed. Roads in the real world often change, such as road names change or a road section has an intersection added. Thus, the road network data on which the navigation application is based is also updated based on changes in the real world, and the road network data is typically updated every day. If the road segments involved in the prescribed travel route are just changed, the current navigation route generated by the navigation application may not be consistent with the prescribed travel route.

Therefore, if the specified driving route is inconsistent with the current navigation route, the historical road network data corresponding to the specified driving route and the current road network data corresponding to the current navigation route can be obtained. The historical road network data can be understood as road network data according to which a driving route is defined, as road network data before change, while the current road network data is road network data according to which a current navigation route is defined, as road network data after change. In some embodiments, the historical road network data corresponding to the prescribed travel route may be pre-saved when the prescribed travel route is generated. In other embodiments, based on the generation time of the prescribed travel route, the historical road network data corresponding to the prescribed travel route may be extracted from the historical electronic map corresponding to the generation time.

In some embodiments, the historical road network data and the current road network data may include, but are not limited to, road segment data of various possible connectivity between a starting point and an ending point, the road segment data may include topological connectivity relationships between road segments and attribute information of the road segments, the attribute information of the road segments may include, but is not limited to, road segment identification, road class, road angle, road travel direction, road starting point coordinates, road ending point coordinates, road location (which may include coordinates of various points between the starting point and the ending point of the road segment), and the like. When the current road network data and the history road network data are high-precision data, the attribute information of the road section may further include lane configuration information on the section, such as the number of lanes, lane lines, road boundary lines, and the like.

It should be noted that, for convenience in manufacturing road network data, a complete road in the real world is split into a plurality of road segments, and then each road segment is manufactured separately. The road network data in the embodiment of the disclosure may include a plurality of road segments and attribute information of the road segments, and the road segments may be any road segment obtained by cutting one or more complete roads. In order to represent the connection relationship of each road segment in the real world in the road network data, a topological connection relationship between road segments is usually created in the road network data, and the topological connection relationship between road segments is used to represent the front-back connection relationship between road segments.

In some embodiments, after the current road network data and the historical road network data are obtained, a target road segment origin point for a road segment on a prescribed travel route is determined based on a difference between the current road network data and the historical road network data.

In some embodiments, the road segment may be a partial road segment in the prescribed travel route, and the target segment start point may be a start point of the partial road segment in the prescribed travel route, which may be understood as a start point of a corresponding road segment included in the prescribed travel route in the road segment accessed in the current road network data. The road segment to which the starting point is connected may be understood as a road segment having the starting point as a starting point in the road traveling direction. Thus, the target link start point may be a start point of a road link on the prescribed travel route, and the target link start point coincides with the road link accessed in the prescribed travel route in the current road network data. In some embodiments, the determination of the target link starting point of the road link in the prescribed driving route may be understood as determining the relevant information of the target link starting point, such as the position coordinates of the target link starting point, the accessed road link, and the like.

After the target link start point is determined, a target navigation route may be generated based on the start and end point, the target link start point, the prescribed travel link, and the current road network data.

In some embodiments, the target navigation route may include a road segment having a topological connection between a segment where a starting point and a destination segment start point in the current road network data. The road segments with topological connection relations between the starting points of the target segments are determined by the current road network data. In some embodiments, the target navigation route has a higher similarity with the specified driving route, for example, the target navigation route may be a navigation route having the highest similarity with the specified driving route among candidate navigation routes including a road segment where a start point is located and a road segment where a start point of the target road segment is accessed in the current road network data.

In addition, according to the current traffic management mode, the starting and ending points of the specified driving route are the starting point and the ending point of the same management area in practical application, the starting and ending points do not necessarily coincide with the starting point and the ending point of the freight transportation vehicle, if the freight transportation vehicle transports the freight from one management area to the other management area, when the two management areas are managed by different traffic management departments, the specified driving route of the two management areas can be respectively applied from the traffic management departments of the two management areas, so that the target navigation route can be respectively determined based on the two specified driving routes which are received during navigation. In order to provide a good navigation experience for the truck driver, the navigation application can combine the two target navigation routes so as to obtain a complete navigation route from the cargo transportation starting point to the cargo transportation end point, wherein the complete navigation route is a navigation route which can be guided by the navigation application currently and accords with the regulations of the traffic management department.

In this embodiment, when determining the navigation route for the freight vehicle, the specified travel route corresponding to the starting and ending point and the current navigation route generated by the navigation application for the starting and ending point of the specified travel route may be acquired first, when the specified travel route and the current navigation route are inconsistent, the historical road network data corresponding to the specified travel route and the current road network data corresponding to the current navigation route are acquired, the historical road network data and the current road network data are compared, the target road segment starting point of the road segment in the specified travel route is determined, and the target navigation route is generated based on the target road segment starting point, the starting and ending point, the specified travel route and the current road network data. In this way, when the freight vehicle needs to navigate using the navigation application, even if the road network data is changed, the target navigation route which is similar to the prescribed travel route and accords with the urban traffic management rule can be generated, thereby providing navigation service for the freight vehicle.

In an optional implementation manner of this embodiment, step S103, that is, a step of determining a target road segment start point on the specified driving route based on the historical road network data and the current road network data, further includes the following steps:

Determining a first road segment on the specified driving route and a first candidate starting point of the first road segment based on the historical road network data;

determining a second candidate starting point corresponding to the first candidate starting point and a second road section accessed by the second candidate starting point in the current road network data;

and screening the target road segment starting point from the second candidate starting point based on the first road segment and the second road segment.

In this alternative implementation manner, the road segment start points of all road segments in the prescribed driving route may be determined based on the historical road network data and the prescribed driving route, all the road segments are determined to be first road segments, the start point of the first road segments is determined to be a first candidate start point, and the start point of the road segments may be determined based on the attribute information of the road segments. The location coordinates of the first candidate origin may be determined based on historical road network data.

In some embodiments, a second candidate origin with the same location coordinates may be determined from the current road network data based on the location coordinates of the first candidate origin. It will be appreciated that for some first candidate starting points, a second candidate starting point with the same position coordinates can be found in the current road network data, whereas for some first candidate starting points a second candidate starting point with the same position coordinates cannot be found in the current road network data. The first candidate starting point of the second candidate starting point with the same position coordinates cannot be found, and can be understood as the removed starting point or the starting point with the changed position coordinates after the road network data is changed. For example, when an intersection on a road is being repaired, the intersection is blocked and cannot pass, so that when the road network data is updated, the road section corresponding to the intersection is removed, and the starting point of the road section may also be removed.

The second road segment to which the second candidate starting point is attached may be understood as a second road segment having the second candidate starting point as a starting point and/or an ending point in the current road network data.

The corresponding first candidate starting point and second candidate starting point can be understood as starting points with consistent position coordinates in the current road network data and the historical road network data. In the current road network data, although the position coordinates of the second candidate starting point are consistent with the position coordinates of the corresponding first candidate starting point in the historical road network data, the accessed second road section may be different from the first road section accessed by the first candidate starting point, for example, the first candidate starting point and the second candidate starting point correspond to the same intersection in the real world, however, the road to which the intersection is accessed may be changed, for example, the original road is closed, and a new adjacent road is opened.

In some embodiments, the target road segment origin may be determined by comparing whether the first road segment and the second road segment are identical and determining a second candidate origin of the first road segment and the second road segment being identical. Whether the first road segment and the second road segment are identical or not may be understood as whether the attribute information of the first road segment and the second road segment are identical or not, and the attribute information may include, for example, position coordinates of a road, an angle of the road, a direction of the road, and the like. That is, when the attribute information of the first road segment to which the first candidate origin is connected is different from that of the second road segment to which the corresponding second candidate origin is connected, the second candidate origin is screened out, and when the attribute information of the second road segment to which the second candidate origin is connected is the same as that of the first road segment to which the corresponding first candidate origin is connected, the second candidate origin is determined as the target road segment origin. When the second candidate starting point is connected to a plurality of second road segments, one of the plurality of second road segments is the same as any one of the first road segments connected to the corresponding first candidate starting point, the attribute information of the second road segment connected to the second candidate starting point and the attribute information of the first road segment connected to the corresponding first candidate starting point can be considered to be the same.

Fig. 2A to 2D are diagrams illustrating effects of new and old road network data, a prescribed travel route, and a start point of a target link according to an embodiment of the present disclosure. Fig. 2A shows the historical road network data and the road segments on the prescribed travel route in the historical road network data. For convenience of illustration, only road segments on a prescribed travel route and relevant partial road segments are shown in the historical road network data in fig. 2A, the road segments on the prescribed travel route being shown with thick line segments and the relevant other road segments being shown with thin line segments. In fig. 2A, arrows on respective road segments indicate traveling directions of the road segments, and open circles indicate segment start points and/or segment end points of the respective road segments in the historical road network data. The start link is a link where the start point of the start-end point of the prescribed travel route is located, and the end link is a link where the end point of the start-end point of the prescribed travel route is located.

Fig. 2B shows current road network data. For convenience of illustration, only a part of road segments corresponding to fig. 2A are shown in fig. 2B. The solid line segment with arrows in fig. 2B shows road segments in the current road network data. For convenience of comparison, a part of historical road segments in the historical road network data are further shown by dashed segments with arrows in fig. 2B, the part of historical road segments shown by the dashed segments have been changed in the current road network data, wherein road nodes (corresponding to intersections in real roads) where three historical road segments shown by the dashed segments intersect are moved backward, so that the road segments where the road nodes are located after being moved backward are changed relative to the historical road network data, the road segments where the road nodes are moved backward respectively to two next road nodes are changed from the historical road segments in the historical road network data, the changed three historical road segments are 3 dashed segments in fig. 2B, and in order to clearly distinguish the change, in an upper rectangular box in fig. 2B, the three road segments in the current road network data and the three historical road segments in the historical road network data are split and displayed.

Fig. 2C shows current road network data. Similar to what is shown in fig. 2B, further shown by the solid circles in the dashed small circles in fig. 2C are target link start points, which coincide with link links on prescribed travel routes in the historical link data, for link links accessed in the current link data. In fig. 2C, road segments that coincide with road segments on prescribed travel routes in the historical road network data are also shown with thick line segments. As can be seen from fig. 2C, since some road segments in the current road network data are changed, a navigation route corresponding to the prescribed travel route is not obtained in the current road network data. Thus, with the disclosed embodiments, the target navigation route shown in fig. 2D may be obtained based on the determined target link start point shown in fig. 2C.

Fig. 2D shows current road network data, and road segments on a target navigation route planned in the current road network data, and road segments on the target navigation route, where the road segments on the target navigation route are shown as thick line segments with arrows, and thin line segments with arrows are other partial road segments that are communicated with the road segments on the target navigation route. Similarly to fig. 2B, for convenience of comparison, a part of the historical road segments in the historical road network data are also shown with an arrow-headed broken line segment, and the part of the historical road segments shown with the broken line segment are road segments in which a change has occurred in the current road network data. As can be seen from fig. 2A-2B, the target navigation route in the current road network data is similar, though different from the prescribed travel route in the historical road network data.

In an optional implementation manner of this embodiment, step S104, that is, a step of generating a target navigation route based on the starting and ending point, the target road segment starting point, the prescribed travel route, and the current road network data, further includes the steps of:

acquiring a third road section accessed by the starting point of the target road section, a starting road section where the starting point of the starting point and the ending road section where the ending point of the starting point are located in the current road network data;

and generating a target navigation route between the starting point and the ending point based on the current road network data, the third road section, the prescribed driving route, the starting section and the ending section, wherein the target navigation route comprises the third road section, the starting section and the ending section.

In this optional implementation manner, after the target road segment start point is determined, since the target road segment start point also exists in the current road network data, a third road segment to which the target road segment start point is connected may be determined from the current road network data based on the target road segment start point, where the start road segment where the start point of the start point is located, and the end road segment where the end point is located. The third road segment to which the target segment start point is connected may be understood as a communication segment having the target segment start point as a start point and/or an end point in the road traveling direction in the current road network data, and the communication segment is identical to the first road segment to which the target segment start point is connected on the prescribed traveling route.

Then, a target navigation route between the start and end points may be generated based on the current road network data, the third road section, the prescribed travel route, the start section, and the end section, the target navigation route including all of the third road section, the start section, and the end section, and the communication section other than the third road section, the start section, and the end section in the target navigation route being most similar to, or the similarity being the greatest with, the section at the corresponding position on the prescribed travel route.

In an optional implementation manner of this embodiment, the step of generating the target navigation route between the start and end points based on the current road network data, the third road segment, the prescribed travel route, the start segment, and the end segment further includes the steps of:

generating a plurality of candidate navigation routes including the third road segment, the start segment, and the end segment based on the current road network data;

and determining a candidate navigation route with the maximum similarity with the specified driving route from the plurality of candidate navigation routes as the target navigation route.

In this alternative implementation, the plurality of candidate navigation routes generated based on the current road network data may be understood as navigation routes including all third road segments, a start segment, and an end segment.

It should be noted that, the starting and ending points of the plurality of candidate navigation routes are all the same, and all include all the third road segments, the starting segment and the ending segment. When the two front and rear third road sections between the starting point and the ending point, the starting section and the next third road section, the last third road section and the ending section are not communicated, all the communicated sections which can be communicated with the two third road sections, the starting section, the next third road section, the last third road section and the ending section can be found out from the current road network data, and one or more candidate navigation routes can be correspondingly obtained after the communicated sections, the third road sections, the starting section and the ending section. The target navigation route may be obtained by selecting one or more communication links having the highest similarity with the prescribed travel route from among the all communication links, that is, the target navigation route is one of the candidate navigation routes. In this way, for the third road section, the start section and the end section which are not communicated between the start point and the end point, the communication section most similar to the prescribed travel route can be found from the current road network data, so that the target navigation route with the highest similarity to the prescribed travel route can be obtained.

traversing a next communication road segment of the starting road segment from the starting road segment based on the current road network data;

if the next communication path section comprises a third road section, determining the third road section included in the next communication path section as a communication section of the starting section in the target navigation route;

if the next communication path section does not comprise a third road section, a target road section is screened from the next communication path section, and the target road section is determined to be the communication section of the starting section in the target navigation route;

and after the communication road section of the starting road section in the target navigation route is determined to be a new starting road section, the step of jumping to the next communication road section of the starting road section is repeatedly executed until the communication road section of the new starting road section is consistent with the ending road section.

In this optional implementation manner, the starting road section is a road section where the starting point in the current road network data is located, and the ending road section is a road section where the ending point in the current road network data is located. After determining the third road segment corresponding to the starting point of all the target road segments, the next communication segment of the starting segment in the current road network data can be traversed from the starting segment. The next communication link of the starting link may be understood as having a topological communication relationship with the starting link, and may be directly entered into the next communication link after exiting from the starting link based on the road traveling direction of the starting link. It is understood that the next communication link of the starting link may include one or more. When the next communication path segment of the starting path segment includes one, the one communication path segment may be directly determined as the communication path segment of the starting path segment in the target navigation route. When the next link of the start link includes a plurality of links, and one of the links is a third link, the third link may be used as the link of the start link in the target navigation route. If the next link section includes a plurality of and does not include the third link section, a target link section most similar to the prescribed travel route may be selected from the plurality of next link sections as the link section of the starting link section in the target navigation route. In some embodiments, the similarity of the next communication path segment to the prescribed travel route may be determined by comparing the attribute information of the next communication path segment with the attribute information of the path segment at the corresponding position in the prescribed travel route. The attribute information of the next communication link may include, but is not limited to, position coordinates, a road traveling direction, a road angle, and the like.

After the communication link on the target navigation route is determined for the start link, the next communication link of the start link may be traversed continuously, so that the communication link of the start link in the target navigation route may be used as a new start link, and the above steps may be repeated to find the communication link (the communication link may be a third road link or a link most similar to the prescribed travel route) of the new start link in the target navigation route. If the communication link coincides with the ending link, indicating that all communication links on the target navigation route have been found, the above-described repeatedly performed process may end.

In an alternative implementation of the present embodiment, the prescribed travel route and the current navigation route are navigation routes of the freight vehicle generated based on traffic management rules.

In this alternative implementation, the navigation application may generate different navigation routes for common vehicles and freight vehicles using different traffic management rules. In the embodiment of the disclosure, the prescribed travel route and the current navigation route are both navigation routes that satisfy traffic management rules of the freight vehicle. For example, the prescribed travel route and the current navigation route both conform to the regulations of the freight vehicle such as height limit, weight limit, travel limit, etc.

In an optional implementation manner of this embodiment, the step S101, that is, the step of acquiring the prescribed travel route and the current navigation route output by the navigation application based on the start and end points of the prescribed travel route, further includes the steps of:

obtaining a route identifier of a specified driving route corresponding to the starting and ending point;

and acquiring the specified driving route from the stored historical data based on the route identification.

In this alternative implementation, when a prescribed travel route is generated for the start and end points, a corresponding route identifier may be set for the generated prescribed travel route, and the prescribed travel route and road network data corresponding to the prescribed travel route may be stored in association as history data. When a user uses the navigation application, a starting point or a route identifier of a prescribed travel route corresponding to the starting point can be provided. After the user provides only the origin and destination, the navigation application may acquire the route identification of the saved prescribed travel route corresponding to the origin and destination based on the origin and destination, and acquire the prescribed travel route based on the route identification. When it is necessary to acquire the historical road network data corresponding to the predetermined travel route, the corresponding historical road network data may be acquired from the historical data based on the route identification.

Fig. 3 shows a flow chart of a navigation method according to an embodiment of the present disclosure. As shown in fig. 3, the navigation method includes the steps of:

in step S301, a start and end point of the freight car navigation is acquired;

in step S302, at least one planned travel route corresponding to the start and end points is determined;

in step S303, a target navigation route corresponding to the at least one specified driving route is determined, where the target navigation route is determined based on the navigation route determining method described above;

in step S304, the freight vehicle is navigated based on the target navigation route.

In this embodiment, the navigation method may be executed on the terminal device. The user can input or select the starting and ending point of the freight car navigation through the navigation application installed and executed on the terminal device. The start and end points may include a start point and an end point. The navigation application may determine a corresponding target navigation route based on the origin and destination points. The target navigation route may be determined based on the navigation route determination method described above.

The navigation application may obtain a prescribed travel route that the freight vehicle has claimed based on the origin and destination point, the origin and destination point of the prescribed travel route being the same as the origin and destination point of the target navigation route. In some embodiments, the declared course of travel for the freight vehicle may be stored on a terminal device or server, and the user may provide the license plate number of the freight vehicle to the navigation application and request from the terminal device or server by the navigation application to obtain the declared course of travel corresponding to the license plate number of the freight vehicle.

The current navigation route may also be generated by the navigation application based on the origin and destination point when there is a route corresponding to the origin and destination point in the prescribed travel route that the freight vehicle has claimed. The current navigation route generated by the navigation application may be generated based on the current road network data. The historical road network data and the current road network data on which the travel route is specified may be different, and the travel route and the current navigation route may all be different.

When the specified driving route and the current navigation route are different, the target navigation route can be generated based on the navigation route determining method, and the details of determining the target navigation route in the scene can be referred to the description of the navigation route determining method, which is not repeated herein. And when the prescribed travel route is the same as the current navigation route, the current navigation route may be determined as the target navigation route.

The navigation application may provide navigation services for the freight vehicle based on the target navigation route.

In the present traffic management mode, the start and end points of the travel route are defined as the start point and the end point in the same management area in practical application, and the start and end points do not necessarily coincide with the start and end points of the freight transportation in the freight transportation vehicle, that is, do not necessarily coincide with the start and end points of the freight transportation vehicle in the freight transportation vehicle. If the freight vehicle transports the freight from one management area to another management area, when the two management areas are managed by different traffic management departments, the prescribed travel routes in the two management areas can be respectively declared from the traffic management departments of the two management areas, so that when navigating, the respective corresponding target navigation routes can be determined based on the declared two prescribed travel routes, and the freight vehicle can be navigated based on the respective corresponding target navigation routes.

In some embodiments, to give the truck driver a better navigation experience, the navigation application may combine the two target navigation routes to obtain a complete navigation route from the origin of the cargo transportation to the destination of the cargo transportation, and the complete navigation route is a navigation route that can be currently guided by the navigation application and meets the rules of the traffic management department. It can be understood that if the plurality of target navigation routes corresponding to the plurality of planned driving routes are not the routes connected in front-to-back, a navigation path between the end point of the previous target navigation route and the start point of the next target navigation route can be planned, so that the planned navigation path and the target navigation route are combined to obtain the complete navigation route.

Based on this, the starting and ending points of the freight car navigation acquired in the method may not be the freight transportation starting point and the freight transportation ending point input by the freight car driver. In some embodiments, the specified travel route declared for the freight vehicle may be matched based on the freight transportation origin and the freight transportation destination, and the corresponding target navigation route may be determined for the matched specified travel route. Since the start and end points of the prescribed travel route are located in the same management area, if the trucking start point and the trucking end point are in different management areas, a plurality of prescribed travel routes may be matched. In this case, the origin and destination of the acquired freight vehicle navigation is the origin and destination of the matched prescribed travel route, and after the target navigation route is determined for each prescribed travel route, the plurality of target navigation routes may also be combined to form one complete navigation route from the freight transportation origin to the freight transportation destination, whereby the freight vehicle can be guided to pass by using the complete navigation route.

The following are device embodiments of the present disclosure that may be used to perform method embodiments of the present disclosure.

Fig. 4 shows a block diagram of a navigation route determination device according to an embodiment of the present disclosure. The apparatus may be implemented as part or all of an electronic device by software, hardware, or a combination of both. As shown in fig. 4, the navigation route determination device includes:

a first acquisition module 401 configured to acquire a prescribed travel route and a current navigation route output by a navigation application based on a start-end point of the prescribed travel route;

a second obtaining module 402, configured to obtain, if the specified driving route is inconsistent with the current navigation route, historical road network data corresponding to the specified driving route and current road network data corresponding to the current navigation route;

a first determining module 403 configured to determine a target link start point on the prescribed travel route based on the historical road network data and the current road network data;

a generating module 404 configured to generate a target navigation route based on the start and end point, the target road segment start point, the prescribed travel route, and the current road network data.

In this embodiment, the navigation route determining apparatus may be executed on a server or a terminal device. Freight vehicles are understood to be vehicles, typically large or medium vehicles, for which the urban traffic management authority sets a different management rule for their travel routes than for domestic vehicles. Because the freight vehicles are large in size and heavy in weight, accidents are easy to cause under the environments of large traffic flow and complex road conditions, urban traffic management departments set a plurality of restricted rules, forbidden marks and the like for the freight vehicles. Thus, the travel route of the freight vehicle from the start to the end of the shipment needs to be specified and cannot be generated by the navigation application in accordance with conventional routing rules.

In an alternative implementation of this embodiment, the first determining template may be implemented as:

In an alternative implementation of this embodiment, the generating module may be implemented as:

In an optional implementation manner of the present embodiment, generating the target navigation route between the start and end points based on the current road network data, the second road segment, the prescribed travel route, the start segment, and the end segment may be implemented as:

In an optional implementation manner of the present embodiment, generating the target navigation route between the start and end points based on the current road network data, the third road segment, the prescribed travel route, the start segment, and the end segment may be implemented as:

In an alternative implementation manner of this embodiment, the first obtaining module may be implemented as:

Fig. 5 shows a block diagram of a navigation device according to an embodiment of the present disclosure. The apparatus may be implemented as part or all of an electronic device by software, hardware, or a combination of both. As shown in fig. 5, the navigation device includes:

A third acquisition module 501 configured to acquire a start and end point of a freight car navigation;

a second determining module 502 configured to determine at least one prescribed travel route corresponding to the start and end points;

a third determining module 503 configured to determine a target navigation route corresponding to the at least one specified driving route, the target navigation route being determined based on the navigation route determining device described above;

a navigation module 504 configured to navigate the freight vehicle based on the target navigation route.

In this embodiment, the navigation device may be executed on the terminal apparatus. The user can input or select the starting and ending point of the freight car navigation through the navigation application installed and executed on the terminal device. The start and end points may include a start point and an end point. The navigation application may determine a corresponding target navigation route based on the origin and destination points. The target navigation route may be determined based on the navigation route determining means described above.

The present disclosure also discloses an electronic device, fig. 6 shows a block diagram of the electronic device according to an embodiment of the present disclosure, and as shown in fig. 6, the electronic device 600 includes a memory 601 and a processor 602; wherein,

the memory 601 is used to store one or more computer instructions that are executed by the processor 602 to implement the method steps described above.

As shown in fig. 7, the computer system 700 includes a processing unit 701, which may be implemented as a processing unit such as CPU, GPU, FPGA, NPU. The processing unit 701 may perform various processes in the embodiments of any of the above methods of the present disclosure according to a program stored in a Read Only Memory (ROM) 702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM703, various programs and data required for the operation of the computer system 700 are also stored. The processing unit 701, the ROM702, and the RAM703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

The following components are connected to the I/O interface 705: an input section 706 including a keyboard, a mouse, and the like; an output portion 707 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 708 including a hard disk or the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. The drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read therefrom is mounted into the storage section 708 as necessary.

In particular, according to embodiments of the present disclosure, any of the methods described above with reference to embodiments of the present disclosure may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for performing any of the methods of embodiments of the present disclosure. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 709, and/or installed from the removable medium 711.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units or modules described in the embodiments of the present disclosure may be implemented by software, or may be implemented by hardware. The units or modules described may also be provided in a processor, the names of which in some cases do not constitute a limitation of the unit or module itself.

As another aspect, the present disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the apparatus described in the above embodiment; or may be a computer-readable storage medium, alone, that is not assembled into a device. The computer-readable storage medium stores one or more programs for use by one or more processors in performing the methods described in the present disclosure.

The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention referred to in this disclosure is not limited to the specific combination of features described above, but encompasses other embodiments in which any combination of features described above or their equivalents is contemplated without departing from the inventive concepts described. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).

Claims

1. A navigation route determination method, comprising:

The stated running route is different from the stated current navigation route, obtain the stated history road network data that the stated running route corresponds to and stated current road network data that the current navigation route corresponds to;

generating a target navigation route based on the starting and ending point, the target road segment starting point, the prescribed driving route and the current road network data;

wherein determining a target road segment starting point on the specified driving route based on the historical road network data and the current road network data comprises:

2. The method of claim 1, wherein generating a target navigation route based on the origin point, the target road segment origin point, the prescribed travel route, and the current road network data comprises:

3. The method of claim 2, wherein generating a target navigation route between the origin and destination based on the current road network data, the third road segment, the prescribed travel route, the starting segment, and the ending segment comprises:

4. The method of claim 2, wherein generating a target navigation route between the origin and destination based on the current road network data, the third road segment, the prescribed travel route, the starting segment, and the ending segment comprises:

5. The method of any of claims 1-4, wherein the prescribed travel route and the current navigation route are navigation routes of a freight vehicle generated based on traffic management rules.

6. The method of any of claims 1-4, wherein obtaining a prescribed travel route and a current navigation route that a navigation application outputs based on a start-end point of the prescribed travel route comprises:

7. A navigation method, comprising:

acquiring a starting and ending point of the navigation of the freight vehicle;

determining a target navigation route corresponding to the at least one specified driving route, the target navigation route being determined based on the method of any one of claims 1-6;

and navigating the freight vehicle based on the target navigation route.

8. A navigation route determination apparatus, comprising:

the second acquisition module is configured to acquire historical road network data corresponding to the specified driving route and current road network data corresponding to the current navigation route, wherein the specified driving route and the current navigation route are different;

A generation module configured to generate a target navigation route based on the start-end point, the target link start point, the prescribed travel route, and the current road network data;

wherein the first determination module is implemented to:

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the method of any of claims 1-7.

10. A computer readable storage medium having stored thereon computer instructions, wherein the computer instructions, when executed by a processor, implement the method of any of claims 1-7.