CN116858275A - Navigation route generation method, vehicle-mounted controller and storage medium - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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Abstract
The present disclosure relates to a navigation route generation method, an in-vehicle controller implementing the method, and a computer storage medium implementing the method. The navigation route generation method comprises the following steps: A. segmenting a current navigation route for autopilot at a first frequency to generate a plurality of sub-segments connected end to end; B. evaluating the automatic driving fitness of each sub-road section by using a road section evaluation algorithm to generate an evaluation score of each sub-road section; and C, replacing the sub-road sections with the evaluation scores smaller than the first threshold value to generate the optimized navigation route. The vehicle-mounted controller comprises: a memory; a processor; and a computer program stored on the memory and executable on the processor, the execution of the computer program causing the navigation route generation method to be performed.
Description
Technical Field
The present disclosure relates to the field of autopilot, and more particularly to a navigation route generation method, an on-board controller implementing the method, and a computer storage medium implementing the method.
Background
Currently, development of an automatic driving automobile has been significantly progressed, and use rate of an automatic driving function is rapidly rising. However, existing solutions for generating an autopilot path focus only on planning or recommending a route for the user to avoid obstacles and to follow the dynamics of the vehicle before the vehicle is on the road, and controlling the vehicle to travel along the planned path. However, due to the increasingly complex road environment, the road conditions encountered by the automobile during the automatic driving process may change at any time, so that some difficulties may be encountered when the automobile runs according to a given planned path, for example, some roads are no longer suitable for the automatic driving automobile to pass due to the reasons of sudden flow increase, existence of mixed traffic of people and vehicles, and the like.
It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
To solve or at least alleviate one or more of the above problems, the following solutions are provided. Embodiments of the present disclosure provide a navigation route generation method, an on-vehicle controller implementing the same, and a computer storage medium implementing the same, which are capable of adjusting a current navigation route to a route having a higher degree of autopilot adaptation during autopilot to provide a safer and more efficient autopilot driving experience for a user.
According to a first aspect of the present disclosure, there is provided a navigation route generation method including the steps of: A. segmenting a current navigation route for autopilot at a first frequency to generate a plurality of sub-segments connected end to end; B. evaluating the automatic driving fitness of each sub-road section by using a road section evaluation algorithm to generate an evaluation score of each sub-road section; and C, replacing the sub-road sections with the evaluation scores smaller than the first threshold value to generate the optimized navigation route.
Alternatively or additionally to the above, in a navigation route generating method according to an embodiment of the present disclosure, the method further includes: an initial navigation route returned by the third party navigation service is received, wherein the initial navigation route is generated based on the start point and the end point entered by the user and includes GPS point string information.
Alternatively or additionally to the above, in a navigation route generating method according to an embodiment of the present disclosure, step a includes: the current navigation route is segmented into a plurality of sub-segments having a first length and a sub-segment comprising a start point or an end point.
Alternatively or additionally to the above, in a navigation route generating method according to an embodiment of the present disclosure, step a includes: segmenting an urban road portion of the current navigation route into one or more sub-segments having a first length; and segmenting the highway section of the current navigation route into one or more sub-segments having a second length, wherein the second length is greater than the first length.
Alternatively or additionally to the above, in a navigation route generating method according to an embodiment of the present disclosure, step B includes: the degree of autopilot adaptation for each sub-segment is evaluated based on one or more of: the traffic light is characterized in that the hard isolation in the sub road section is provided, the traffic line is provided, the indicator light is provided, the traffic habit is historic, the traffic flow is updated in real time, and whether the traffic light and the traffic light are mixed and the construction scene exists or not.
Alternatively or additionally to the above, in a navigation route generating method according to an embodiment of the present disclosure, step C includes: if the evaluation score of a first sub-road section in the plurality of sub-road sections is smaller than the first threshold value, a connecting line between the starting point and the ending point of the first sub-road section is used as a third length extending to the left and right sides of a rectangular central axis respectively so as to obtain a rectangular search area; obtaining one or more to-be-selected road segments which are in the rectangular search area and are the same as the starting point and the ending point of the first sub road segment from a road segment database; evaluating the automatic driving fitness of the one or more road segments to be selected by using the road segment evaluation algorithm; and replacing the first sub-road segment with one of the one or more candidate road segments based on the evaluation result to generate an optimized navigation route.
Alternatively or additionally to the above, in the navigation route generation method according to an embodiment of the present disclosure, replacing the first sub-link with one of the one or more candidate links based on the evaluation result includes: selecting the road section to be selected with the highest evaluation score and larger than the first threshold value from the one or more road sections to be selected as a matched road section; and replacing the first sub-segment with the matching segment.
Alternatively or additionally to the above, in the navigation route generating method according to an embodiment of the present disclosure, step C further includes: and if the evaluation scores of the one or more sections to be selected are all smaller than the first threshold value, replacing the third length with a fourth length which is larger than the third length so as to enlarge the rectangular search area.
Alternatively or additionally to the above, in the navigation route generating method according to an embodiment of the present disclosure, step C further includes: and if the evaluation scores of the one or more to-be-selected road sections are smaller than the first threshold value, replacing the rectangular central axis with a connecting line between the starting point of the first sub-road section and the ending point of a second sub-road section connected with the ending point of the first sub-road section in the plurality of sub-road sections so as to enlarge the rectangular search area.
Alternatively or additionally to the above, in a navigation route generating method according to an embodiment of the present disclosure, the method further includes: calculating the overall score of the optimized navigation route, wherein the overall score is the average value of the evaluation scores of all sub-road sections; and updating the road segment assessment algorithm based at least on the overall score and a user satisfaction score.
According to a second aspect of the present disclosure, there is provided an in-vehicle controller comprising: a memory; a processor; and a computer program stored on the memory and executable on the processor, the execution of the computer program causing any one of the navigation route generation methods according to the first aspect of the present disclosure to be performed.
According to a third aspect of the present disclosure, there is provided a computer storage medium comprising instructions which, when executed, perform any one of the navigation route generation methods according to the first aspect of the present disclosure.
The navigation route generation scheme according to one or more embodiments of the present disclosure screens and optimizes sub-segments currently unsuitable for automatic driving by segmenting and adapting a current navigation route during automatic driving. Compared with the scheme of carrying out automatic driving path planning or recommending for the user just before focusing on the vehicle to get on the road, the scheme can automatically optimize the current navigation route into the route with higher automatic driving adaptation degree with specific frequency in the vehicle driving process, thereby providing safer and more efficient automatic driving experience for the user.
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The foregoing and/or other aspects and advantages of the present disclosure will become more apparent and more readily appreciated from the following description of the various aspects taken in conjunction with the accompanying drawings in which like or similar elements are designated with the same reference numerals. In the drawings:
FIG. 1 is a schematic flow diagram of a navigation route generation method 10 in accordance with one or more embodiments of the present disclosure;
FIG. 2 is a schematic illustration of the generation of a rectangular search area in accordance with one or more embodiments of the present disclosure;
FIG. 3 is an enlarged schematic illustration of a rectangular search area in accordance with one or more embodiments of the present disclosure; and
fig. 4 is a schematic block diagram of an in-vehicle controller 40 in accordance with one or more embodiments of the present disclosure.
Detailed Description
The following description of the specific embodiments is merely exemplary in nature and is in no way intended to limit the disclosed technology or the application and uses of the disclosed technology. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, or the following detailed description.
In the following detailed description of embodiments, numerous specific details are set forth in order to provide a more thorough understanding of the disclosed technology. It will be apparent, however, to one skilled in the art that the disclosed techniques may be practiced without these specific details. In other instances, well-known features have not been described in detail so as not to unnecessarily complicate the description.
Terms such as "comprising" and "including" mean that in addition to having elements and steps that are directly and explicitly recited in the description, the technical aspects of the present disclosure do not exclude the presence of other elements and steps not directly or explicitly recited. The terms such as "first" and "second" do not denote the order of units in terms of time, space, size, etc. but rather are merely used to distinguish one unit from another. The techniques of this disclosure are generally used in electric vehicles, including, but not limited to, electric-only vehicles (BEV), hybrid Electric Vehicles (HEV), fuel cell vehicles (FCEV), and the like.
In one possible scenario, after the user has set the starting and ending point information of the trip, the third party navigation service provides one or more navigation routes, and possibly also provides the user with tendentious advice regarding the one or more navigation routes in the form of an identifier for the user to select according to the system advice and personal preference. However, such solutions focus only on planning or recommending a route for the user to avoid obstacles and to follow the dynamics of the vehicle before the vehicle is on the road, and controlling the vehicle to travel along the planned path. Because of the increasingly complex road environment, the road conditions encountered by the automobile during the automatic driving process may change at any time, so that some difficulties are encountered when the automobile runs according to a given planned path, for example, some roads are no longer suitable for the automatic driving automobile to pass due to the reasons of sudden increase of flow, existence of mixed traffic of people and automobiles, and the like, so that the driving safety and efficiency are seriously affected.
Hereinafter, various exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings.
Referring now to the drawings, FIG. 1 is a schematic flow diagram of a navigation route generation method 10 in accordance with one or more embodiments of the present disclosure.
As shown in fig. 1, in step S110, a current navigation route for autopilot is segmented at a first frequency to generate a plurality of sub-segments connected end to end. The first frequency may be, for example, once every 20 minutes or once every 10 minutes.
It will be appreciated that in some embodiments according to the present disclosure, step S110 occurs during an autopilot ride, i.e., during a vehicle that has received an initial navigation route returned by a third party navigation service and is autopilot in accordance with the planned navigation route. At this time, the current navigation route may be different from the initial navigation route returned by the third-party navigation service, that is, the current navigation route is an optimized route generated according to the navigation route generation method 10 shown in fig. 1. It will also be appreciated that in other embodiments according to the present disclosure, step S110 may occur during an initial navigation phase, i.e., when the user sets start and end point information for a trip and receives an initial navigation route returned by the third party navigation service based on the start and end point information set by the user. At this time, the current navigation route is equivalent to the initial navigation route returned by the third-party navigation service.
Illustratively, the initial or current navigation route returned by the third party navigation service (e.g., high-precision map) includes a series of global positioning system (Global Positioning System, GPS) point string information. The GPS point string information may include a plurality of road points, where each road point represents a coordinate point of a real road, and all the road points in the GPS point string are sequentially connected to form the initial navigation route or the current navigation route, and a start point and an end point on the navigation route may be included in the GPS point string information.
Alternatively, in step S110, the current navigation route may be segmented uniformly according to a preset fixed length. Illustratively, segmenting the current navigation route for autopilot in step S110 includes: the current navigation route is segmented into a plurality of sub-segments having a first length (e.g., 500 meters) and one sub-segment including a start point or an end point. At this time, the length of the sub-link including the start point or the end point is less than or equal to the first length.
Alternatively, in step S110, different segment lengths may also be set for different section closures of the current navigation route. For example, urban road segments commonly have multiple intersections and parallel routes, so there are typically many alternative travel routes within the section, with a low closure. As another example, highway sections tend to have only a few alternative routes of travel, and thus have a high degree of closure. For this purpose, the section with lower closure in the current navigation route may be segmented into shorter sub-sections, and the section with higher closure in the current navigation route may be segmented into longer sub-sections, to provide more selectivity for the following replacement steps of sub-sections. Specifically, segmenting the current navigation route for autopilot in step S110 includes: segmenting an urban road portion of a current navigation route into one or more sub-segments having a first length (e.g., 500 meters); and segmenting the highway section of the current navigation route into one or more sub-segments having a second length (e.g., 1000 meters), wherein the second length is greater than the first length.
In step S120, the degree of autopilot adaptation of each sub-link is evaluated using a link evaluation algorithm to generate an evaluation score for each sub-link.
For example, a set of road segment evaluation algorithms may be preset to evaluate whether a specific road segment is suitable for automatic driving in real time (e.g., at a first frequency) according to characteristics of an automatic driving automobile, road hardware conditions, and dynamic traffic information, wherein the road hardware conditions may relate to factors such as hard isolation, traffic lanes, indicator lights, and the like, and the dynamic traffic information may relate to factors such as traffic flow, people and vehicles mixing, and construction scenes. Optionally, in step S120, the autopilot adaptation of each sub-road segment may be evaluated based on one or more of the following: the method comprises the steps of hard isolation in a sub-road section, traffic line, indicator lights, historical traffic habits, real-time updated traffic flow, and whether people and vehicles are mixed and a construction scene exists. Specifically, in one example, the evaluation score for each sub-segment may be calculated by means of the following formula:
evaluation score = 100-hard isolation score a-lane score B-pilot score C-man-vehicle mix score D-construction scene score E
When the hard isolation exists, the traffic line does not exist, the indicator light does not exist, the people and vehicles are mixed, and the construction scene exists, the hard isolation fraction, the traffic line fraction, the indicator light fraction, the people and vehicles are mixed, and the construction scene fraction are respectively counted as 1; when the hard isolation exists, the driving line exists, the indicator light exists, the people and vehicles do not exist, and the construction scene does not exist, the hard isolation score, the driving line score, the indicator light score, the people and vehicles do not exist, and the construction scene score is respectively calculated to be 0. A, B, C, D, E in the above formula are all preset constants. Optionally, the pedestrian and vehicular mixed score and the construction scene score may be updated at a first frequency or in real time.
After automatic line route segmentation and road section evaluation are carried out, sub road sections unsuitable for automatic driving traffic can be found out according to the evaluation scores, so that potential safety risks are reduced. In contrast, in step S130, sub-segments with an evaluation score smaller than the first threshold are replaced to generate an optimized navigation route. The first threshold is, for example, 80 minutes.
In one or more embodiments according to the present disclosure, the above step S130 may include: if the evaluation score of the first sub-road section in the plurality of sub-road sections is smaller than a first threshold value, a connecting line between the starting point and the ending point of the first sub-road section is used as a rectangular central axis, and a third length is respectively extended to the left and right sides of the rectangular central axis so as to obtain a rectangular search area; obtaining one or more to-be-selected road segments which are in the rectangular search area and are the same as the starting point and the ending point of the first sub road segment from a road segment database; evaluating the automatic driving fitness of one or more road segments to be selected by using a road segment evaluation algorithm; and replacing the first sub-road segment with one of the one or more candidate road segments based on the evaluation result to generate an optimized navigation route. Optionally, replacing the first sub-road segment with one of the one or more candidate road segments based on the evaluation result includes: selecting a road section to be selected with the highest evaluation score and larger than a first threshold value from the one or more road sections to be selected as a matched road section; and replacing the first sub-road segment with the matching road segment.
For example, referring to fig. 2, when the evaluation score of the first sub-road segment with the start point a and the end point B is smaller than the first threshold (e.g., 80), the line segment AB is taken as the central axis of the rectangle, and extends to the left and right sides by a third length (e.g., 500 meters) to obtain the rectangular search area as shown in the figure. By searching and screening the information of the to-be-selected road section in the road section database, the rectangular search is performedIn the area there are two sections AB to be selected with the starting point being point A and the ending point being point B 1 And AB 2 The road segments AB to be selected are then respectively treated by the road segment evaluation algorithm in step S120 1 And AB 2 An evaluation is performed. At this time, if the section AB to be selected 1 The evaluation score is greater than the first threshold value and the section AB to be selected 2 If the evaluation score of the road segment is smaller than the first threshold value, the original first sub-road segment is replaced by the candidate road segment AB 1 The method comprises the steps of carrying out a first treatment on the surface of the If the road segment AB to be selected 1 And AB 2 If the evaluation scores of the search regions are smaller than the first threshold, the candidate solutions in the existing search regions are abandoned and the expansion of the search regions can be considered to obtain the solution with higher automatic driving adaptation degree.
Optionally, in step S130, if the evaluation scores of the one or more segments to be selected are all smaller than the first threshold, the third length is replaced with a fourth length greater than the third length, so as to enlarge the rectangular search area. For example, in the embodiment shown in fig. 2, the line segment AB may extend to the left and right sides of the central axis of the rectangle by a fourth length (for example, 1000 meters) to obtain a larger rectangular search area, and the above-mentioned screening step of the candidate road segments is repeated.
Alternatively, in step S130, if the evaluation scores of the one or more candidate segments are all smaller than the first threshold, the central axis of the rectangle may be replaced with a line between the start point of the first sub-segment and the end point of the second sub-segment connected to the end point of the first sub-segment in the plurality of sub-segments, so as to expand the rectangular search area. For example, referring to fig. 3, the first sub-road segment has a start point a and an end point B, the second sub-road segment received by the first sub-road segment has a start point B and an end point C, and if the evaluation scores of the road segments to be selected in the search area defined by using the line segment AB as the rectangular central axis are all smaller than the first threshold, the line segment AC may be used as the rectangular central axis, and the third lengths may be extended to the left and right sides respectively to expand the rectangular search area and repeat the above-mentioned road segment screening step.
Alternatively, the above-described scheme of replacing the extension length and the scheme of replacing the rectangular central axis may be implemented separately or in parallel as the case may be. For example, in the embodiment shown in fig. 3, if the evaluation scores of the segments to be selected in the search area defined by the line segment AB as the central axis of the rectangle are all smaller than the first threshold, the line segment AC may be taken as the central axis of the rectangle, and the left and right sides may be extended by a fourth length greater than the third length, so as to obtain a larger rectangular search area.
Optionally, the navigation route generation method 10 may further include: after the optimized navigation route is obtained, calculating the overall score of the optimized route, wherein the overall score is the average value of the evaluation scores of the sub-road segments. It can be understood that the overall score of the optimized route is greater than the overall score of the original navigation route, and the overall score of the optimized route given by the system and the satisfaction score given by the user can be comprehensively considered to optimize the road segment evaluation algorithm, for example, the weighting coefficients of the various items in the above formula are adjusted, so that the road segment evaluation algorithm has higher technical suitability and user suitability.
It should be noted that, the numerical ranges of the preset values (for example, the first frequency, the first threshold, the first length, the second length, the third length, etc.) described herein may be set according to actual requirements, and are not limited to the numerical ranges shown in the foregoing embodiments.
The navigation route generation method 10 reduces potential safety risks by segmenting and evaluating the adaptation degree of the current navigation route in the driving process of automatic driving, so as to screen and optimize the sub-road sections which are not suitable for automatic driving currently. Compared to a solution that focuses only on automatic driving route planning or recommendation for a user before a vehicle gets on the road, the navigation route generation method 10 can automatically optimize the current navigation route to a route with higher automatic driving adaptation at a specific frequency during the driving of the vehicle, thereby providing a safer and more efficient automatic driving experience for the user.
Fig. 4 is a block diagram of an in-vehicle controller 40 in accordance with one or more embodiments of the present disclosure. The in-vehicle controller 40 includes a memory 410, a processor 420, and a computer program 430 stored on the memory 410 and executable on the processor 420, the execution of the computer program 430 causing the navigation route generation method 10 as shown in fig. 1 to be performed.
In addition, as described above, the present disclosure may also be embodied as a computer storage medium in which a program for causing a computer to execute the navigation route generation method 10 shown in fig. 1 is stored. Here, as the computer storage medium, various types of computer storage media such as disks (e.g., magnetic disks, optical disks, etc.), cards (e.g., memory cards, optical cards, etc.), semiconductor memories (e.g., ROM, nonvolatile memory, etc.), tapes (e.g., magnetic tape, magnetic cassette, etc.), and the like can be employed.
Where applicable, hardware, software, or a combination of hardware and software may be used to implement the various embodiments provided by the present disclosure. Moreover, where applicable, the various hardware components and/or software components set forth herein may be combined into composite components comprising software, hardware, and/or both without departing from the scope of the present disclosure. Where applicable, the various hardware components and/or software components set forth herein can be separated into sub-components comprising software, hardware, or both without departing from the scope of the present disclosure. Further, where applicable, it is contemplated that software components may be implemented as hardware components, and vice versa.
Software in accordance with the present disclosure, such as program code and/or data, may be stored on one or more computer storage media. It is also contemplated that the software identified herein may be implemented using one or more general-purpose or special-purpose computers and/or computer systems that are networked and/or otherwise. Where applicable, the order of the various steps described herein may be changed, combined into composite steps, and/or divided into sub-steps to provide features described herein.
The embodiments and examples set forth herein are presented to best explain the embodiments in accordance with the present disclosure and its particular application and to thereby enable those skilled in the art to make and use the disclosure. However, those skilled in the art will recognize that the foregoing description and examples have been presented for the purpose of illustration and example only. The description as set forth is not intended to cover various aspects of the disclosure or to limit the disclosure to the precise form disclosed.
Claims (12)
1. A navigation route generation method, characterized by comprising the steps of:
A. segmenting a current navigation route for autopilot at a first frequency to generate a plurality of sub-segments connected end to end;
B. evaluating the automatic driving fitness of each sub-road section by using a road section evaluation algorithm to generate an evaluation score of each sub-road section; and
C. sub-segments with evaluation scores less than a first threshold are replaced to generate an optimized navigation route.
2. The navigation route generation method according to claim 1, wherein the method further comprises:
an initial navigation route returned by the third party navigation service is received, wherein the initial navigation route is generated based on the start point and the end point entered by the user and includes GPS point string information.
3. The navigation route generating method according to claim 1, wherein step a includes:
the current navigation route is segmented into a plurality of sub-segments having a first length and a sub-segment comprising a start point or an end point.
4. The navigation route generating method according to claim 1, wherein step a includes:
segmenting an urban road portion of the current navigation route into one or more sub-segments having a first length; and
the highway section of the current navigation route is segmented into one or more sub-segments having a second length, wherein the second length is greater than the first length.
5. The navigation route generating method according to claim 1, wherein step B includes:
the degree of autopilot adaptation is evaluated based on one or more of: the traffic light is characterized in that the hard isolation in the sub road section is provided, the traffic line is provided, the indicator light is provided, the traffic habit is historic, the traffic flow is updated in real time, and whether the traffic light and the traffic light are mixed and the construction scene exists or not.
6. The navigation route generating method according to claim 1, wherein step C includes:
if the evaluation score of a first sub-road section in the plurality of sub-road sections is smaller than the first threshold value, a connecting line between the starting point and the ending point of the first sub-road section is used as a third length extending to the left and right sides of a rectangular central axis respectively so as to obtain a rectangular search area;
obtaining one or more to-be-selected road segments which are in the rectangular search area and are the same as the starting point and the ending point of the first sub road segment from a road segment database;
evaluating the automatic driving fitness of the one or more road segments to be selected by using the road segment evaluation algorithm; and
and replacing the first sub-road segment with one of the one or more road segments to be selected based on the evaluation result to generate an optimized navigation route.
7. The navigation route generation method according to claim 6, wherein replacing the first sub-segment with one of the one or more candidate segments based on the evaluation result comprises:
selecting the road section to be selected with the highest evaluation score and larger than the first threshold value from the one or more road sections to be selected as a matched road section; and
and replacing the first sub-road segment with the matching road segment.
8. The navigation route generating method according to claim 6, wherein step C further comprises:
and if the evaluation scores of the one or more sections to be selected are all smaller than the first threshold value, replacing the third length with a fourth length which is larger than the third length so as to enlarge the rectangular search area.
9. The navigation route generating method according to claim 6, wherein step C further comprises:
and if the evaluation scores of the one or more to-be-selected road sections are smaller than the first threshold value, replacing the rectangular central axis with a connecting line between the starting point of the first sub-road section and the ending point of a second sub-road section connected with the ending point of the first sub-road section in the plurality of sub-road sections so as to enlarge the rectangular search area.
10. The navigation route generation method according to claim 1, wherein the method further comprises:
calculating the overall score of the optimized navigation route, wherein the overall score is the average value of the evaluation scores of all sub-road sections; and
the link assessment algorithm is updated based at least on the overall score and a user satisfaction score.
11. A vehicle-mounted controller, characterized by comprising: a memory; a processor; and a computer program stored on the memory and executable on the processor, the execution of the computer program causing the navigation route generation method according to any one of claims 1-10 to be performed.
12. A computer storage medium, characterized in that it comprises instructions that, when executed, perform the navigation route generation method according to any one of claims 1-10.
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Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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