WO2017063171A1 - 导航系统、装置和方法 - Google Patents

导航系统、装置和方法 Download PDF

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Publication number
WO2017063171A1
WO2017063171A1 PCT/CN2015/091997 CN2015091997W WO2017063171A1 WO 2017063171 A1 WO2017063171 A1 WO 2017063171A1 CN 2015091997 W CN2015091997 W CN 2015091997W WO 2017063171 A1 WO2017063171 A1 WO 2017063171A1
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WO
WIPO (PCT)
Prior art keywords
navigation device
global
path
roadside
terminal
Prior art date
Application number
PCT/CN2015/091997
Other languages
English (en)
French (fr)
Inventor
宋永刚
李辉
杨志华
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP15906056.5A priority Critical patent/EP3351902B1/en
Priority to CN201580083830.8A priority patent/CN108139218B/zh
Priority to JP2018519700A priority patent/JP6671750B2/ja
Priority to PCT/CN2015/091997 priority patent/WO2017063171A1/zh
Publication of WO2017063171A1 publication Critical patent/WO2017063171A1/zh
Priority to US15/952,394 priority patent/US10809086B2/en

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
    • G08G1/096822—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard where the segments of the route are transmitted to the vehicle at different locations and times
    • 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
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • 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
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3658—Lane guidance
    • 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
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3691—Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions

Definitions

  • the present invention relates to the field of communications and, more particularly, to navigation systems, apparatus and methods in the field of wireless communications.
  • terminal navigation has been widely used, but at present it is mainly a human-oriented navigation application. Its positioning and navigation are mostly developed based on the Global Positioning System (GPS). The basic principle is: according to the starting position and purpose. Ground, combined with the local stored electronic map, path planning, and according to GPS positioning during driving, through the visual, voice to the driver real-time path prompts and guidance.
  • GPS Global Positioning System
  • Such a navigation method requires terminal navigation to have the capability of path planning calculation, resulting in high cost of the terminal, inconvenient map updating, and inability to associate dynamic road condition information with path planning.
  • the central navigation system for vehicles is an inevitable development trend of intelligent transportation.
  • the central navigation system includes a navigation center server and a plurality of vehicle-mounted terminals, and the advantage is that the vehicle-mounted terminal can obtain related information services and map device data provided by the navigation center in real time through the network.
  • the existing route guidance method based on the central navigation is to determine whether there is a road condition change in the road that the terminal has not arrived, according to the current location information uploaded by the vehicle terminal after the navigation center server sends the planned path to the vehicle-mounted terminal.
  • the path is re-planned according to the current position information, the road condition information and the end point information of the vehicle-mounted terminal, and the re-planned path is sent to the vehicle-mounted terminal, and the vehicle-mounted terminal can navigate the vehicle according to the re-planned path, so that the vehicle The terminal can update the planning path in time to alleviate traffic congestion.
  • Embodiments of the present invention provide a navigation system, apparatus, and method, which can improve the accuracy of a navigation system planning path, and are suitable for a large-scale automatic driving scenario.
  • a navigation system comprising: a global navigation device, a first roadside navigation device, and a terminal navigation device; the terminal navigation device is configured to send the global navigation device Sending a global path request for requesting to determine a global path from the destination to the destination; the global navigation device is configured to receive the global path request sent by the terminal navigation device, and determine, according to the global path request Initially reaching a global path of the road level of the destination, and transmitting first indication information to the terminal navigation device, the first indication information is used to indicate the global path; the first roadside navigation device is configured to be based on the global a path, determining a local area path of the lane level corresponding to at least a portion of the global path, and transmitting second indication information for indicating the local area path to the terminal navigation device; the terminal navigation device is further configured to receive the global navigation The first indication information sent by the device and the second indication information sent by the first roadside navigation device, and according to the global path indicated by the first indication information and the local path
  • the navigation system of the embodiment of the present invention includes a global navigation device, a first roadside navigation device, and a terminal navigation device.
  • the global navigation device determines a global path of the road level according to the global path request sent by the terminal navigation device, and the first roadside navigation device is The global path determines a local path of the lane level corresponding to at least a part of the global path, and the terminal navigation device determines the driving path according to at least one of the global path and the local path, and implements planning and navigation of the lane level path. , improve the accuracy of navigation, and does not increase the burden of the global navigation device.
  • the global navigation device is specifically configured to: receive the global path request sent by the terminal navigation device; according to the start location, the destination, and the Determining the global path, wherein the additional information includes at least one of the following information: current road condition information, information of the global path policy, vehicle type information of the vehicle corresponding to the terminal navigation device, and driving type information of the vehicle,
  • the driving type information is used to indicate that the driving type of the vehicle is manned or unmanned;
  • the first indication information is sent to the terminal navigation device, and the first indication information is used to indicate the global path.
  • the first roadside navigation device is further configured to: receive the a global path request, and forwarding the global path request to the global navigation device; the global navigation device is specifically configured to: receive the global path request forwarded by the first roadside navigation device, and request the first path according to the global path request The first navigation device sends the first indication information, and the first roadside navigation device is further configured to: receive the first indication information sent by the global navigation device, and forward the first indication information to the terminal navigation device; The device is specifically configured to receive the first indication information forwarded by the first roadside navigation device.
  • the first roadside navigation device is further configured to: a global path, before determining a local area path of a lane level corresponding to at least a part of the global path, receiving a local path request sent by the terminal navigation device, where the local path request carries information of the global path; the first road side The navigation device is specifically configured to determine the local path according to the local path request.
  • the navigation system further includes a second roadside navigation device; the first The roadside navigation device is further configured to: before determining the localized path of the lane level corresponding to at least a part of the global path according to the global path, receive the first driving notification message sent by the second roadside navigation device, The first driving notification message is used to indicate that the terminal navigation device is about to enter the coverage of the first roadside navigation device, and the first driving notification message carries information of the global path; the first roadside navigation device is specific And configured to determine the local path according to the first incoming notification message.
  • the first road side navigation The device is specifically configured to: determine the local path according to the global path and the local path policy, where the local path policy includes at least one of lane load balancing, avoiding frequent lane change, throughput priority, and speed priority.
  • the system further includes a third a roadside navigation device; the first roadside navigation device is further configured to: send a second driving notification message to the third roadside navigation device, where the second driving notification message is used to indicate that the terminal navigation device is about to enter the The coverage of the third roadside navigation device; receiving the driving confirmation message sent by the third roadside navigation device, the driving confirmation message is used to indicate that the terminal navigation device has entered the coverage of the third roadside navigation device .
  • the navigation device is further configured to: send a terminal registration request to the global navigation device, the terminal registration request is used to request the global navigation device to authenticate the terminal navigation device; and receive a terminal registration confirmation sent by the global navigation device according to the terminal registration request.
  • the navigation system of the embodiment of the present invention includes a global navigation device, a first roadside navigation device, and a terminal navigation device.
  • the global navigation device determines a global path of the road level according to the global path request sent by the terminal navigation device, and the first roadside navigation device is The global path determines a local path of the lane level corresponding to at least a portion of the global path, and the terminal navigation device determines the driving path according to at least one of the global path and the local path, and implements planning of the full lane level path and Navigation, which improves the accuracy of navigation, can be applied to large-scale autonomous driving scenarios, and does not increase the burden of the global navigation device.
  • the global navigation device shares a large number of lane-level path navigation services to multiple roadside navigation devices, single The failure of the roadside navigation device does not cause the entire system to collapse, which improves the reliability of the system.
  • a roadside navigation device comprising: a first determining module for determining a global path from a starting point to a destination road level; and a second determining module for The global path determined by the first determining module determines a local path of the lane level corresponding to at least a part of the global path; the first sending module is configured to send second indication information to the terminal navigation device, where the second indication The information is used to indicate the local path determined by the second determining module.
  • the first determining module is configured to: receive, by the global navigation device, first indication information, where the first indication information is used to indicate the global path And determining the global path according to the first indication information.
  • the first determining module is configured to: receive a first driving notification message sent by the second roadside navigation device, the first driving notification The message is used to indicate that the terminal navigation device is about to enter the coverage of the first roadside navigation device, and the first driving notification message carries information of the global path; and the global path is determined according to the first driving notification message.
  • the first determining module is specifically configured to: receive a local path request sent by the terminal navigation device, where the local path request carries the global path Information; the local path is determined according to the local path request.
  • the second determining module is specifically configured to: determine the local area according to the global path and the local path policy The path, the local path policy includes at least one of lane load balancing, avoiding frequent lane changes, throughput priority, and speed priority.
  • the roadside navigation device The second sending module is configured to send a second driving notification message to the third roadside navigation device, where the second driving notification message is used to indicate that the terminal navigation device is about to enter the third roadside navigation device.
  • the first receiving module is configured to receive the driving confirmation message sent by the third roadside navigation device according to the second driving notification message, where the driving confirmation message is used to indicate that the terminal navigation device has entered the first The coverage of the three-way navigation device.
  • a roadside navigation device determines a local path of a lane level corresponding to at least a part of the global path according to the global path by determining a global path from the road level that initially arrives at the destination, and Sending the second indication information for indicating the local path to the terminal navigation device, realizing the planning and navigation of the whole lane-level path, improving the navigation accuracy, and being applicable to a large-scale automatic driving scene, and not
  • the burden of the global navigation device is increased, and the global navigation device distributes a large number of lane-level path navigation services to a plurality of roadside navigation devices, and failure of a single roadside navigation device does not cause the entire system to be paralyzed, thereby improving system reliability.
  • a terminal navigation device comprising: a first sending module, configured to send a global path request to the global navigation device, where the global path request is used to request to determine that the destination is reached by the origin a first receiving module, configured to receive first indication information that is sent by the global navigation device according to the global path request sent by the first sending module, where the first indication information is used to indicate that the destination is reached by the initial destination a second-level receiving unit, configured to receive second indication information sent by the first roadside navigation device, where the second indication information is used to indicate a locality of a lane level corresponding to at least a part of the global path a determining module, configured to: according to the global path indicated by the first indication information received by the first receiving module, and at least one of the local path indicated by the second indication information received by the second receiving module Item determines the first travel path.
  • the first sending module is configured to: send the global path request to the first roadside navigation device, to facilitate the first roadside navigation The device forwards the global path request to the global navigation device;
  • the first receiving module is configured to: receive the first indication information that is forwarded by the first roadside navigation device, where the first indication information is that the global navigation device is based on The global path request is sent to the first roadside navigation device.
  • the global path request carries additional information, where the additional information includes at least one of the following information : current road condition information, information of a global path policy, vehicle type information of the vehicle corresponding to the terminal navigation device, and driving type information of the vehicle, the driving type information is used to refer to It indicates that the driving type of the vehicle is manned or unmanned.
  • the apparatus further includes: a second sending module, the second sending module Before the second receiving module receives the second indication information sent by the first roadside navigation device, sending a local path request to the first roadside navigation device, where the local path request is used to request to determine the global The local receiving path corresponding to the path; the second receiving module is specifically configured to: receive the second indication information that is sent by the first roadside navigation device according to the local area planning request.
  • the terminal navigation device further includes a third sending module: configured to send a terminal registration request to the global navigation device before the first sending module sends a global path request to the global navigation device, where the terminal registration request is used to request the global navigation device to authenticate the terminal a navigation device: a third receiving module: configured to receive a terminal registration confirmation sent by the global navigation device according to the terminal registration request.
  • a terminal navigation apparatus receives a global path request from a global navigation apparatus, and receives a road-level global path that is sent by the global navigation apparatus according to the global path request to indicate that the destination is initially arrived at the destination.
  • An indication information and second indication information sent by the first roadside navigation device for indicating a lane-level local path corresponding to at least a part of the global path, and according to the first indication information and the second indication information At least one determines the driving path, realizes the planning and navigation of the lane-level path, improves the navigation accuracy, can be applied to a large-scale automatic driving scene, and does not increase the burden of the global navigation device, and the global navigation device will be massive
  • the lane-level path navigation service is shared by multiple roadside navigation devices, and the failure of a single roadside navigation device does not cause the entire system to be paralyzed, thereby improving the reliability of the system.
  • a global navigation device includes: a first receiving module, configured to receive a global path request sent by the terminal navigation device, where the global path request is used to request to determine to arrive at the destination from the beginning a global path; a determining module, configured to determine, according to the global path request received by the first receiving module, a global path of the road level that is initially arrived at the destination; and a first sending module, configured to The first roadside navigation device corresponding to the navigation device sends the first indication information, where the first indication information is used to indicate the global path determined by the determining module, so that the first roadside navigation device determines the At least a portion of the global path corresponds to a localized path of the lane level.
  • the first receiving mode is specifically configured to: receive the global path request forwarded by the first roadside navigation device, where the global path request forwarded by the first roadside navigation device is sent by the terminal navigation device.
  • the determining module is specifically configured to: according to the start location, the destination, and the additional information Determining the global path of the road level from the origin to the destination, wherein the additional information comprises at least one of the following information: current road condition information, information of the global path policy, the vehicle corresponding to the terminal navigation device Vehicle type information and driving type information of the vehicle, the driving type information is used to indicate that the driving type of the vehicle is manned or unmanned.
  • the global navigation apparatus further includes: a second receiving module, configured to receive The terminal navigation device sends a terminal registration request, the terminal registration request is used to request the global navigation device to authenticate the terminal navigation device, and the second sending module is configured to send a terminal registration confirmation to the terminal navigation device according to the terminal registration request.
  • a global navigation device receives a global path request sent by a terminal navigation device, and determines a global path of the road level that is initially arrived at the destination according to the global path request, and navigates to the terminal
  • the first roadside navigation device corresponding to the device sends first indication information for indicating the global path, so that the first roadside navigation device determines, according to the global path, a lane for indicating at least a portion corresponding to the global path.
  • the localized path of the class realizes the planning and navigation of the whole lane-level path, improves the accuracy of navigation, can be applied to large-scale auto-driving scenarios, and does not increase the burden of the global navigation device.
  • the global navigation device will be massive.
  • the lane-level path navigation service is shared by multiple roadside navigation devices, and the failure of a single roadside navigation device does not cause the entire system to be paralyzed, thereby improving the reliability of the system.
  • a navigation method comprising: a first roadside navigation device determining a global path from a starting point to a destination road level; the first roadside navigation device determining according to the global path a local area path of the lane level corresponding to at least a part of the global path; the first road side navigation sends second indication information to the terminal navigation device, where the second indication information is used to indicate the local area path.
  • the first roadside navigation device determines a global path of the road level from the origin to the destination, including: receiving, by the global navigation device An indication information, the first indication information is used to indicate the global path; and the global path is determined according to the first indication information.
  • the first roadside navigation device determines a global path of the road level from the origin to the destination, including: receiving the second roadside navigation device a first incoming notification message, the first incoming notification message is used to indicate that the terminal navigation device is about to enter the coverage of the first roadside navigation device, and the first incoming notification message carries information of the global path And determining the global path according to the first ingress notification message.
  • the first roadside navigation device determines a global path of the road level from the origin to the destination, including: receiving, sent by the terminal navigation device A local path request, the local path request carries information of the global path; and the global path is determined according to the local path request.
  • the first roadside navigation device determines, according to the global path, a portion corresponding to at least a part of the global path
  • the localized path at the lane level includes: determining the local path according to the global path and the local path policy, where the local path policy includes at least one of lane load balancing, avoiding frequent lane change, throughput priority, and speed priority Kind.
  • the navigation method further includes: sending the second driving notification message to the third roadside navigation device
  • the second driving notification message is used to indicate that the terminal navigation device is about to enter the coverage of the third roadside navigation device; and receive the confirmation of the driving of the third roadside navigation device according to the second driving notification message.
  • the message confirms that the terminal navigation device has entered the coverage of the third roadside navigation device.
  • a navigation method comprising: transmitting a global path request to a global navigation device, the global path request for requesting to determine a global path from a destination to a destination; receiving the global navigation device according to The first indication information sent by the global path request, the first indication information is used to indicate a global path of the road level that is initially arrived at the destination; and the second indication information sent by the first roadside navigation device is received, where The second indication information is used to indicate a local area path of the lane level corresponding to at least a part of the global path; at least one of the global path indicated by the first indication information and the local path indicated by the second indication information Item determines the first travel path.
  • the sending the global path request to the global navigation device includes: sending the global path request to the first roadside navigation device, to facilitate the first The roadside navigation device forwards the global path request to the global navigation device; the receiving The first indication information that is sent by the global navigation device according to the global path request includes: receiving the first indication information that is forwarded by the first roadside navigation device, where the first indication information is that the global navigation device is based on the global path Request to send to the first roadside navigation device.
  • the global path request carries additional information, where the additional information includes at least one of the following information
  • the second indication information that is sent by the first roadside navigation device is received
  • the navigation method further includes: sending a local path request to the first roadside navigation device, where the local path request carries the information of the global path; and the receiving the second indication information sent by the first roadside navigation device includes: Receiving the second indication information that is sent by the first roadside navigation device according to the local area planning request.
  • the navigation method further includes: sending a terminal registration request to the global navigation device, the terminal registration request is used to authenticate the terminal navigation device to the global navigation device; and receiving the global navigation device to register according to the terminal The terminal requesting to send the registration confirmation.
  • a navigation method comprising: receiving a global path request sent by a terminal navigation device, the global path request for requesting to determine a global path from a destination to a destination; and requesting according to the global path Determining, by the first roadside navigation device corresponding to the terminal navigation device, the first indication information, where the first indication information is used to indicate the global path, So that the first roadside navigation device determines a locale path of a lane level corresponding to at least a portion of the global path according to the first indication information.
  • the global path request sent by the receiving terminal navigation device includes: receiving a global path request forwarded by the first roadside navigation device, where the The global path request forwarded by the one-way navigation device is sent by the terminal navigation device.
  • the determining, by the global path request, determining, by the initial destination, the destination a global path at the road level of the ground comprising: determining, according to the origin, the destination, and additional information, a global path of the road level from the origin to the destination, wherein the additional information includes the following information At least one of: current road condition information, information of a global path policy, vehicle type information of the vehicle corresponding to the terminal navigation device, and driving type information of the vehicle, the driving type information is used to indicate that the driving type of the vehicle is manned or not People driving.
  • the navigation The method before the receiving the global path request sent by the terminal navigation device, the navigation The method further includes: receiving a terminal registration request sent by the terminal navigation device, the terminal registration request for requesting the global navigation device to authenticate the terminal navigation device; and transmitting a terminal registration confirmation to the terminal navigation device according to the terminal registration request.
  • the navigation system of the embodiment of the present invention includes a global navigation device, a first roadside navigation device, and a terminal navigation device.
  • the global navigation device determines a global path of the road level according to the global path request sent by the terminal navigation device, and the first roadside navigation device is The global path determines a local path of the lane level corresponding to at least a part of the global path, and the terminal navigation device determines the driving path according to at least one of the global path and the local path, and implements planning and navigation of the lane level path. , improve the accuracy of navigation, and does not increase the burden of the global navigation device.
  • 1 is an example of the architecture of a navigation system of the present invention.
  • FIG. 3 is a schematic block diagram of a navigation system in accordance with an embodiment of the present invention.
  • FIG. 4 is a schematic flowchart of a navigation method according to an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of a navigation method according to an embodiment of the present invention.
  • FIG. 6 is a schematic flowchart of a navigation method according to an embodiment of the present invention.
  • FIG. 7 is a schematic flowchart of a navigation method according to an embodiment of the present invention.
  • FIG. 8 is a schematic flowchart of a navigation method according to an embodiment of the present invention.
  • Figure 9 is a schematic block diagram of a roadside navigation device in accordance with an embodiment of the present invention.
  • FIG. 10 is a schematic block diagram of a terminal navigation apparatus according to an embodiment of the present invention.
  • FIG. 11 is a schematic block diagram of a global navigation device in accordance with an embodiment of the present invention.
  • Figure 12 is a schematic block diagram of a roadside navigation device in accordance with an embodiment of the present invention.
  • FIG. 13 is a schematic block diagram of a terminal navigation device according to an embodiment of the present invention.
  • Figure 14 is a schematic block diagram of a global navigation device in accordance with an embodiment of the present invention.
  • a mobile terminal which may also be called a user equipment, a mobile user equipment, or the like, may communicate with one or more core networks via a radio access network, and the user equipment may be a mobile terminal, such as a mobile telephone (or "cellular" telephone.
  • a computer having a mobile terminal for example, a portable, pocket, handheld, computer built-in or in-vehicle mobile device that exchanges language and/or data with the wireless access network.
  • Embodiments of the present invention provide a navigation system including a Global Navigation Unit (GNU), N Onboard Navigation Units (ONUs), and M Roadside Navigation Units (Roadside Navigation Units). RNU), where M ⁇ 1, N ⁇ 1.
  • GNU Global Navigation Unit
  • ONUs Onboard Navigation Units
  • RNU Roadside Navigation Units
  • the global navigation unit is responsible for planning a global path for the in-vehicle navigation unit from the road level that initially arrives at the destination, wherein the accuracy of the global path is road level.
  • the global path can be a one-way driving route from the starting point to the ending point.
  • the starting point can generally be the current position of the vehicle, and the ending point can be specified by the user according to the requirements.
  • the global navigation unit determines that the target of the global path may be to find a shortest path.
  • the "shortest path" as used herein may refer to the shortest distance, and may be the fastest time, the least cost, etc., according to different needs. set.
  • the global navigation unit needs to consider the dynamic road condition information of the entire road network to perform intelligent analysis and comprehensive scheduling, and the present invention is not limited thereto.
  • the roadside navigation unit is responsible for planning a locale path of the lane level corresponding to at least a portion of the global path for the in-vehicle navigation unit.
  • the accuracy of the local path can be lane level.
  • the local path may refer to a relatively short route ahead of the vehicle as it travels along the global path.
  • the detailed driving route is within the coverage area of the roadside navigation unit.
  • the roadside navigation unit determines that the target of the local path planning is to select an appropriate lane.
  • the roadside navigation unit may perform local vehicle scheduling and control to implement lanes in consideration of lane attributes in the coverage area, load conditions of each lane, and destination direction of the vehicle. Load balancing and improve vehicle traffic efficiency and quality (eg controlling speed, less parking, etc.).
  • the in-vehicle navigation unit may be in-vehicle navigation, in particular integrated in the vehicle, or may be a separate unit, for example, in an autonomous driving scene, the in-vehicle navigation unit is required to be integrated in the vehicle.
  • the invention is not limited thereto.
  • the in-vehicle navigation unit may determine the travel path based only on the global path, determine the travel path based only on the local path, or determine the travel path based on the global path and the local path.
  • the in-vehicle navigation unit may further have the capability of performing autonomous path planning, wherein the autonomous path planning is an emergency path adjustment made by the in-vehicle navigation unit to a surrounding emergency situation or a simple decision scenario, such as an emergency obstacle avoidance.
  • the vehicle navigation unit performs the autonomous path planning, it can synthesize the surrounding information perceived by the vehicle, make quick decision and judgment, and select an emergency path while ensuring safety.
  • the autonomous planning path refers to a plan in which the vehicle does not depend on the global navigation unit and the roadside navigation unit, but a temporary path planned by itself, and the accuracy of the autonomous planning path may be a road level or a lane level, but the present invention is not limited thereto.
  • the global navigation unit can communicate with each of the M roadside navigation units.
  • Each of the M roadside navigation units may have a certain coverage and may provide a local path service for one or more car navigation units within its coverage.
  • the coverage of any two of the two roadside navigation units may be completely non-coincident or partially overlapped, which is not limited by the disclosure.
  • the navigation system includes a global navigation unit 110, a roadside navigation unit 121 and a roadside navigation unit 122 that communicate with the global navigation unit through a T2 interface, and roadside navigation.
  • the unit 121 communicates with the car navigation unit 131 via the T1 interface, and the car navigation unit 132 and the car navigation unit 133 that communicate with the roadside navigation unit 122 via the T1 interface, wherein the roadside navigation unit 121 and the roadside navigation unit 122
  • the coverage ranges are adjacent or partially overlapping, and the roadside navigation unit 121 and the roadside navigation unit 122 communicate via the T3 interface.
  • the car navigation unit 133 may be in-vehicle navigation, specifically integrated in the vehicle, or may be a separate unit, for example, in an automatic driving scenario, the in-vehicle navigation unit is required to be integrated in the vehicle.
  • the invention is not limited thereto.
  • the global navigation unit in the navigation system architecture of the embodiment of the present invention is responsible for planning a global path for the in-vehicle navigation unit from the road level that initially arrives at the destination, and each roadside navigation unit is responsible for planning and the global navigation unit. At least a portion of the path corresponds to a localized path at the lane level.
  • the navigation system architecture of the embodiment of the present invention may have a roadside navigation unit.
  • the coverage of the roadside navigation unit is the same as that of the global navigation unit, and all the paths corresponding to the global path are planned.
  • the navigation system architecture of the embodiment of the present invention may further include other roadside navigation units and other car navigation units.
  • the FIG. 1 exemplarily shows the roadside navigation unit 121 and the roadside navigation unit 122.
  • the in-vehicle navigation unit 131, the in-vehicle navigation unit 132, and the in-vehicle navigation unit 133 but the embodiment of the present invention is not limited thereto, wherein the coverage of the roadside navigation unit 121 and the roadside navigation unit 122 are adjacent or partially overlapping, and Each roadside navigation unit is responsible for planning a part of the local path corresponding to the global path.
  • the main interface message that the car navigation unit communicates with the roadside navigation unit through the T1 interface may be as shown in Table 1:
  • the main interface message that the roadside navigation unit communicates with the global navigation unit through the T2 interface may be as shown in Table 2:
  • the main interface messages that are communicated through the T3 interface between the two roadside navigation units that are adjacent or partially overlapping may be as shown in Table 3:
  • interface messages described in Tables 1 to 3 are the main interface messages between the units in the navigation system.
  • the present invention is not limited thereto, and more interface messages may be extended in combination with specific requirements in practical applications. All should be within the scope of protection of the present invention.
  • the navigation system includes a global navigation unit 210, a roadside navigation unit 221 and a roadside navigation unit 222 that communicate with the global navigation unit through a T2 interface, and a road
  • the side navigation unit 221 communicates with the car navigation unit 231 via the T1 interface, and the car navigation unit 232 and the car navigation unit 233 that communicate with the roadside navigation unit 222 via the T1 interface, wherein the roadside navigation unit 221 and the roadside navigation unit
  • the coverage of 222 is adjacent or partially overlapping or partially overlapping, and the roadside navigation unit 221 and the roadside navigation unit 222 communicate via the T3 interface.
  • the global navigation unit 210 can also directly communicate with the car navigation unit 231, the car navigation unit 232, and the car navigation unit 233 through the T4 interface.
  • the in-vehicle navigation unit may be in-vehicle navigation, in particular integrated in the vehicle, or may be a separate unit, for example, in an autonomous driving scene, the in-vehicle navigation unit is required to be integrated in the vehicle.
  • the invention is not limited thereto.
  • the global navigation unit in the navigation system architecture of the embodiment of the present invention is responsible for planning a global path for the in-vehicle navigation unit from the road level that initially arrives at the destination, and each roadside navigation unit is responsible for planning and the global navigation unit. At least a portion of the path corresponds to a localized path at the lane level.
  • the navigation system architecture of the embodiment of the present invention may have a roadside navigation unit.
  • the coverage of the roadside navigation unit is the same as that of the global navigation unit, and all the paths corresponding to the global path are planned.
  • the navigation system architecture of the embodiment of the present invention may further have other roadside navigation units and other car navigation units.
  • FIG. 2 exemplarily shows the roadside navigation unit 221 and the roadside navigation unit 222.
  • a car navigation unit 231, a car navigation unit 232, and a car navigation unit 233 wherein the roadside navigation unit 221 and the roadside navigation unit 222 have adjacent or partially overlapping coverage areas, and each roadside navigation unit is responsible for planning the A part of the global path corresponds to the local path, but the invention is not limited thereto.
  • the main interface message that the car navigation unit communicates with the roadside navigation unit through the T1 interface may be as shown in Table 4:
  • the main interface message that the roadside navigation unit communicates with the global navigation unit through the T2 interface may be as shown in Table 5:
  • the main interface messages that are communicated through the T3 interface between the two roadside navigation units that are adjacent or partially overlapping may be as shown in Table 6.
  • the main interface message that the car navigation unit communicates with the global navigation unit through the T4 interface may be as shown in Table 7:
  • interface messages described in Tables 4 to 7 are the main interface messages between the units in the navigation system.
  • the present invention is not limited thereto, and more interface messages may be extended in combination with specific requirements in practical applications. All should be within the scope of protection of the present invention.
  • FIG. 3 shows a schematic block diagram of a navigation system 300 in accordance with an embodiment of the present invention.
  • the system 300 includes a global navigation device 310, a first roadside navigation device 320, and a terminal navigation device 330.
  • the global navigation device in the system may be a global navigation unit in the navigation system architecture
  • the roadside navigation device may be a roadside navigation unit in the navigation system architecture
  • the terminal navigation device may be a car navigation in the navigation system architecture. unit.
  • the terminal navigation device 330 is configured to send a global path request to the global navigation device 310, where the global path request is used to request to determine a global path from the destination to the destination.
  • the global navigation device 310 is configured to receive a global path request sent by the terminal navigation device 330, determine a global path of the road level that is initially arrived at the destination according to the global path request, and send the global path to the terminal navigation device 330.
  • the first indication information indicating the global path.
  • the first roadside navigation device 320 is configured to determine, according to the global path, a local path of a lane level corresponding to at least a part of the global path, and send a second to the terminal navigation device 330 to indicate the local path. Instructions.
  • the local path is located within the navigation coverage of the first roadside navigation device, and the local path determined by the first roadside navigation device may be part or all of the global path determined by the global path.
  • the terminal navigation device 330 is further configured to receive the first indication information sent by the global navigation device 310 and the second indication information sent by the first roadside navigation device 320, and may indicate the global indication according to the first indication information.
  • the path and at least one of the local path indicated by the second indication information determine the first travel route.
  • the terminal navigation device may determine the travel path according to the global path indicated by the first indication information, or may determine the travel path according to the local path indicated by the second indication information, or may be based on the first indication information.
  • the driving information is determined by the second indication information, which is not limited by the present invention.
  • the terminal navigation device may directly determine the driving route according to the global path indicated by the first indication information; when the terminal navigation device is traveling along the global path, it needs to be changed. In the case of the road, the travel route may be determined according to the local path indicated by the second indication information.
  • the navigation system of the embodiment of the present invention includes a global navigation device, a first roadside navigation device, and a terminal navigation device, and the global navigation device determines the road according to the global path request sent by the terminal navigation device.
  • a global path of the level the first roadside navigation device determines a local path of the lane level corresponding to at least a part of the global path according to the global path, and the terminal navigation device determines according to at least one of the global path and the local path
  • the driving path realizes the planning and navigation of the lane-level path, improves the navigation accuracy, and does not increase the burden of the global navigation device.
  • the global navigation device may jointly determine a global path of the road level from the origin to the destination according to the origin, the destination, and the additional information, where the additional information includes at least one of the following information: current The road condition information, the information of the global path policy, the vehicle type information of the vehicle corresponding to the terminal navigation device, and the driving type information of the vehicle.
  • the driving type information is used to indicate that the driving type of the vehicle is manned or unmanned
  • the vehicle type is used to indicate that the vehicle is an ordinary social vehicle, a bus, a school bus, 120/110/119, etc.
  • the terminal navigation device corresponding vehicle may be a vehicle in which the terminal navigation device is located.
  • the additional information may be carried in the global path request, for example, the global path request carries at least one of global path policy information, vehicle type information, and driving type information, or information of the global path policy. It can also be set in advance.
  • the global navigation device may also pre-store or acquire at least one of the terminal information and the driving type information from other servers, and the present invention is not limited thereto.
  • the global path policy may be: shortest distance first, shortest time first, least cost first, minimum traffic light priority, etc., and the present invention is not limited thereto.
  • the global path request is used to request to determine a global path of the road level from the destination to the destination, wherein the starting location may be the current location of the terminal navigation device, or the user is in the history of the user interface a historical starting point selected in the start information list, or a specified position input by the user in the user interface; the destination may be a historical destination selected by the user through voice input or in a historical destination information list, or the user is at
  • the setting destination input in the user interface is not limited to this.
  • the global navigation device may send the multiple matching locations to the terminal navigation device.
  • Information such that the user determines a target matching location from the plurality of matching locations.
  • the global navigation device determines a unique destination according to the information of the target matching location, and further determines a global destination from the initial destination to the unique destination. path.
  • the global navigation device when the global navigation device receives the global path request When there is a plurality of matching locations in the map, the global navigation device may forward the information of the plurality of matching locations to the terminal navigation device by the first roadside navigation device, so that the user from the multiple matching locations Determine the target match location. And after receiving the information of the target matching location forwarded by the terminal navigation device by the roadside navigation device, the global navigation device determines a unique destination according to the information of the target matching location, and further determines that the initial destination is reached. The global path to the only destination.
  • the user sets the destination to A University.
  • the map may have multiple matching addresses such as A University South Gate, A University North Gate, and A University Teaching Building.
  • the global navigation device needs to know which of these matching addresses is the target.
  • the destination can then determine a global path based on the origin and the destination of the target, the first roadside navigation device being responsible for transmitting the matched address information to the terminal navigation device and transmitting the terminal navigation device determination to the global navigation device.
  • the target destination so that the global navigation device can determine the global path from the origin to the target destination, but the embodiment of the present invention is not limited thereto.
  • the first roadside navigation device can acquire the global path in multiple manners.
  • the first roadside navigation device may receive the indication information that is sent by the global navigation device to indicate the global path, and determine the global path according to the indication information, where the global navigation device may take the initiative.
  • the indication information is transmitted to the first roadside navigation device, or is transmitted to the first roadside navigation device upon receiving the request of the first roadside navigation device.
  • the terminal navigation device may navigate to the global navigation through the first roadside navigation device.
  • the device sends the global path request, and after the global navigation device determines the global path according to the global path request, the first indication information may be sent by the first roadside navigation device. At this time, the first road side The navigation device may determine the global path according to the first indication information.
  • the terminal navigation device may directly send the global path request to the global navigation device, and the global navigation device may directly The terminal navigation device sends the first indication information.
  • the global navigation device may further send third indication information to the first roadside navigation device, where the third indication information is used to indicate a global path, and correspondingly, the first The roadside navigation device may determine the global path according to the third indication information, but the embodiment of the present invention is not limited thereto.
  • the first roadside navigation device may further acquire information of the global path from other roadside navigation devices.
  • the navigation system of the embodiment of the present invention may further include a second a roadside navigation device, the coverage of the second roadside navigation device may be adjacent to or partially overlap with the coverage of the first roadside navigation device, and the terminal navigation device may be covered by the second roadside navigation device Enter the coverage of the first roadside navigation device.
  • the second roadside navigation device may send the first roadside navigation device to the first roadside navigation device.
  • a first driving notification message where the first driving notification message carries information of the global path
  • the first roadside navigation device may determine the global path according to the first driving notification message sent by the second roadside navigation device And determining the local path according to the first incoming notification message.
  • the first roadside navigation device may further acquire information of the global path from the terminal navigation device.
  • the terminal navigation device may send the local path to the first roadside navigation device before the first roadside navigation device determines the localized path of the lane level corresponding to at least a portion of the global path according to the global path.
  • the local path request may carry information of the global path
  • the first roadside navigation device determines the global path according to the local path request sent by the terminal navigation device, and may determine the local area according to the local path request Path, the invention is not limited thereto.
  • the first roadside navigation device may further determine, according to the global path and the local path policy, a localized path of a lane level corresponding to at least a part of the global path, where the local path policy may be the following At least one of the information: lane load balancing, avoiding frequent lane changes, throughput priority and speed priority, or other local path strategies that need to be added in practical applications, and can also eliminate lane load and avoid frequent lane changes.
  • the local path strategy other than the local path policy is not limited to this.
  • the throughput priority is that the first roadside navigation device can plan more vehicles to travel on the lane
  • the speed priority is that the first roadside navigation device can plan the vehicle to travel at the maximum speed possible.
  • the throughput priority is considered and more vehicles are planned, the maximum possible speed of the vehicle will be limited. Therefore, when the local path policy is used, the throughput priority and the speed priority may be considered at the same time, and the throughput priority or the speed priority may be considered separately, which is not limited by the present invention.
  • the local path policy may be carried in the local path request, for example, the local path request carries the global path and the local path policy, or the local path policy may be preset, The invention is not limited to this.
  • the navigation system of the embodiment of the present invention may further include a third roadside navigation device, and the coverage of the third roadside navigation device is adjacent to or adjacent to the coverage of the first roadside navigation device.
  • the terminal navigation device is about to enter the coverage of the third roadside navigation device from the coverage of the first roadside navigation device
  • the first roadside navigation device may be directed to the third roadside navigation device.
  • the third roadside navigation device may send a second driving confirmation message to the first roadside navigation device, the second driving confirmation The message is used to confirm that the terminal navigation device has entered the coverage of the third roadside navigation device; the first roadside navigation device can be cleared after receiving the second navigation confirmation message sent by the third roadside navigation device.
  • the related information of the terminal navigation device stored in the first roadside navigation device may be, for example, the vehicle information of the terminal navigation device corresponding to the vehicle and the global path determined by the global navigation device, etc., the present invention This is not limited.
  • the second driving notification message may be sent to the third roadside navigation device when the terminal navigation device is about to exit the coverage of the first roadside navigation device; or the terminal navigation device may be When entering the first roadside navigation device, transmitting to the third roadside navigation device, so that the third roadside navigation device has sufficient time to determine the coverage of the third roadside navigation device for the terminal navigation device.
  • the local path within the range, the present invention is not limited thereto.
  • the navigation system of the embodiment of the present invention may further include a fourth roadside navigation device, and the coverage of the fourth roadside navigation device is adjacent to or partially overlaps with the coverage of the first roadside navigation device.
  • the terminal navigation device determines that the third roadside navigation is no longer entered due to the change of the trip or the actual road condition.
  • the first roadside navigation device may send a second driving cancellation message to the third roadside navigation device, the third road side
  • the navigation device may clear the related information of the terminal navigation device stored in the third roadside navigation device, for example, the terminal navigation device corresponding to the vehicle in the embodiment of the present invention.
  • the vehicle information and the global path determined by the global navigation device and the like are not limited by the present invention.
  • the terminal navigation device may periodically send the terminal navigation device corresponding vehicle information to the global navigation device, or send the global navigation device to the global navigation device through the first roadside navigation device, so as to facilitate the global navigation device.
  • the vehicle is acquired and monitored in real time, and the vehicle information may include current location information, speed information, operational status information, and the like, and the present invention is not limited thereto.
  • the terminal navigation device may send a heartbeat message to the global navigation device, in the heart
  • the hop message carries the vehicle information of the vehicle corresponding to the terminal navigation device; the terminal navigation device can also send a heartbeat message to the global navigation device by using the first roadside navigation device, and the vehicle information is carried in the heartbeat message, so as to facilitate the
  • the first roadside navigation device can aggregate the vehicle information of all the vehicles in the coverage area and send it to the global navigation device in a unified manner.
  • the terminal navigation device may send a global path change request to the global navigation device, where the global The path change request is for requesting to plan a first global path that reaches the first destination by the first origin; the global navigation device determines the first global path according to the first start location and the first destination, and The terminal navigation device transmits the first global path.
  • the first origin may be the current location of the terminal navigation device, and the first destination may be a target destination that is re-determined by the terminal navigation device.
  • the terminal navigation device may also use the first roadside navigation device to The navigation device forwards the global path change request for requesting planning of a first global path from the first origin to the first destination; the global navigation device is based on the first origin and the first destination Determining the first global path, and forwarding, by the first roadside navigation device, the first global path to the terminal navigation device, so that the first roadside navigation device determines the first local path according to the first global path .
  • the first origin may be the current location of the terminal navigation device
  • the first destination may be a target destination that is re-determined by the terminal navigation device.
  • the The global navigation device may determine the second global path according to the current location information of the terminal navigation device, and send the second global path to the terminal navigation device.
  • the global navigation device when the global navigation device determines that the driving path of the terminal navigation device deviates from the global path, or temporarily constructs or seals a road ahead of the driving path, when the terminal navigation device needs to bypass the road, The global navigation device may further forward the second global path to the terminal navigation device by using the first roadside navigation device, so that the first roadside navigation device determines the second local path according to the second global path.
  • the terminal navigation device when the terminal navigation device needs to be along the global path In the case of driving, the driving lane is actively changed.
  • the terminal navigation device may further send a local path change request to the first roadside navigation device, and the global path change request is used to request re-request. Determining a local path; the first roadside navigation device redetermines the third local path according to the current location information of the terminal navigation device and the global path, and sends the third local path to the terminal navigation device to facilitate the The terminal navigation device re-determines the travel route based on the third local area path and the global path, but the present invention is not limited thereto.
  • the first roadside navigation device may determine the fourth local path according to the current location information of the terminal navigation device, the global path, and the local path policy, and send the path to the terminal navigation device.
  • the fourth local path may be determined according to the current location information of the terminal navigation device, the global path, and the local path policy, and send the path to the terminal navigation device.
  • the terminal navigation device may further perform autonomous path planning.
  • the terminal navigation device may detect an emergency situation around the terminal, for example, detecting an obstacle in front or an emergency braking of the preceding vehicle, when an emergency lane change or emergency braking is required, the terminal navigation device may The terminal navigation device may make an emergency path adjustment for the emergency situation, determine an autonomous planning path, and report the emergency situation and the autonomous planning path to the first roadside navigation device, and at the same time, through terminal-terminal communication or terminal
  • the infrastructure communication notifies the peripheral terminal of emergency avoidance, and the accuracy of the autonomous planning path may be road level or lane level, and the present invention is not limited thereto.
  • the terminal navigation device may send a terminal registration request to the global navigation device, where the terminal registration request is used to request the global navigation device to authenticate the terminal navigation device; the global navigation device registers according to the terminal A request is made to send a terminal registration confirmation to the terminal navigation device.
  • the terminal navigation device may further forward a terminal registration request to the global navigation device by using the first roadside navigation device, where the terminal registration request is used to request the global navigation device to authenticate the terminal.
  • a navigation device the global navigation device transmits, by the first roadside navigation device, a terminal registration confirmation determined according to the terminal registration request to the terminal navigation device.
  • the terminal registration request may be directly sent to the global navigation device, or the terminal registration request may be forwarded to the global navigation device by the first roadside navigation device, and the terminal registration request carries the terminal.
  • the identification information of the navigation device after receiving the terminal registration request, the global navigation device performs authentication processing on the terminal navigation device according to the identification information of the terminal navigation device, and sends a terminal registration to the terminal navigation device after successful authentication. Indeed Recognize, or forward the terminal registration confirmation through the first roadside navigation device.
  • the terminal navigation device may receive the information that is sent by the global navigation device to indicate the identifier of the first roadside navigation device, and determine, according to the identifier of the first roadside navigation device, that the terminal navigation device is in the first roadside navigation. Within the coverage of the device, thereby communicating with the first roadside navigation device.
  • the global navigation device may determine, according to the location information and the identification information of the terminal navigation device, that the terminal navigation device is in the coverage of the first roadside navigation device, and send the first navigation device to the terminal navigation device to indicate the first Information on the identification of the roadside navigation device.
  • the current location information and the identifier information of the terminal navigation device may be sent to the global navigation device in a terminal registration request, or may be forwarded to the global navigation device by the first roadside navigation device. Not limited.
  • the current location information and the identifier information of the terminal navigation device may be sent to the global navigation device in a heartbeat message, or may be forwarded to the global navigation device by the first roadside navigation device. Not limited.
  • the terminal navigation device may detect the current location information of the corresponding vehicle by itself, or obtain the current location information of the corresponding vehicle by using another detection device, which is not limited by the disclosure.
  • the identifier information corresponding to the vehicle of the terminal navigation device may be pre-stored in the terminal navigation device, or may be obtained by other means, wherein the identifier information may be, for example, an identification number of the vehicle (Identity, The ID) or the Subscriber Identity Module (SIM) and the like are not limited by the present invention.
  • the first roadside navigation registration request may be sent to the global navigation device, and the first roadside navigation device
  • the registration request is used to request activation of the first roadside navigation device, and the first roadside navigation registration request may carry the identification information of the first roadside navigation device, so that the global navigation device is configured according to the first roadside navigation device.
  • the identification information monitors the operational status of the first roadside navigation device, and the present invention is not limited thereto.
  • the first roadside navigation device may send the first roadside navigation logout request to the global navigation device, where the first roadside side
  • the navigation cancellation request is used to request to deactivate the first roadside navigation device
  • the first roadside navigation registration request may carry the identification information of the first roadside navigation device
  • the global navigation device may be configured according to the first roadside navigation device.
  • the one-way side navigation device sends a roadside navigation cancellation confirmation message, the first roadside navigation device exits the local path planning service, and saves the storage in the first roadside navigation device except for retaining the necessary vehicle information in the log.
  • the related information of the terminal navigation device may be, for example, the vehicle information of the vehicle corresponding to the terminal navigation device and the global path determined by the global navigation device in the embodiment of the present invention, which is not limited by the present invention.
  • the terminal navigation device may send a terminal logout request to the global navigation device; the terminal logout request is used to request to cancel the terminal navigation device, after receiving the terminal logout request, the global navigation device
  • the related information of the terminal navigation device may be cleared; after the completion of the clearing, the global navigation device sends a terminal logout confirmation message to the terminal navigation device, where the related information of the terminal navigation device may be, for example, the terminal navigation in the embodiment of the present invention.
  • the device corresponds to the vehicle information of the vehicle and the global path determined by the global navigation device, and the like, which is not limited by the present invention.
  • the terminal navigation device may further forward the terminal logout request to the global navigation device by using the first roadside navigation device; the global navigation device may clear after receiving the terminal logout request The related information of the terminal navigation device; after the completion of the clearing, the global navigation device may further forward the terminal logout confirmation message to the terminal navigation device by using the first roadside navigation device, where the related information of the terminal navigation device may be, for example,
  • the terminal navigation device in the embodiment of the present invention corresponds to the vehicle information of the vehicle and the global path determined by the global navigation device, and the like, which is not limited by the present invention.
  • the terminal navigation device may send a terminal logout request to the global navigation device, or forward the terminal logout to the global navigation device through the first roadside navigation device.
  • the global navigation device clears the related information of the stored terminal navigation device; after the clearing is completed, the global navigation device sends a terminal logout confirmation message to the terminal navigation device, or passes the first The roadside navigation device forwards the terminal logout confirmation message to the terminal navigation device.
  • the navigation system of the embodiment of the present invention includes a global navigation device, a first roadside navigation device, and a terminal navigation device.
  • the global navigation device determines a global path of the road level according to the global path request sent by the terminal navigation device, and the first roadside navigation device is Determining, by the global path, a local path of a lane level corresponding to at least a portion of the global path, the terminal navigation device according to the global path and the local road At least one of the paths determines the driving path, improves the accuracy of the navigation, and can be applied to a large-scale automatic driving scene, and the global navigation device shares a large number of lane-level path navigation services to a plurality of roadside navigation devices, a single road The failure of the side navigation device does not cause the entire system to collapse, which improves the reliability of the system.
  • the navigation system of the embodiment of the present invention implements planning and navigation of the full lane level path without increasing the burden of the global navigation device. If the planning and navigation of the lane-level path is implemented only by the two-layer navigation system architecture of the global navigation device and the terminal navigation device, the burden of the global navigation device is too heavy, and the three-layer navigation of the embodiment of the present invention is compared with the two-layer navigation system architecture.
  • the system architecture distributes the planning of the lane-level path to the roadside navigation device, while the global navigation device is only responsible for the planning of the road-level path, reducing the burden on the global navigation device.
  • FIG. 3 A schematic block diagram of a navigation system according to an embodiment of the present invention is described above with reference to FIG. 3.
  • the navigation method of the embodiment of the present invention will be described in detail below with reference to FIG. 4 to FIG.
  • FIG. 4 shows a schematic flow chart of a navigation method 400 according to an embodiment of the present invention.
  • the method 400 can be performed, for example, by a first roadside navigation device in a navigation system, as shown in FIG. 4:
  • the first roadside navigation device determines a global path of the road level from the origin to the destination.
  • the first roadside navigation device determines, according to the global path, a local path of a lane level corresponding to at least a part of the global path.
  • the local path is located within the navigation coverage of the first roadside navigation device, and the local path determined by the first roadside navigation device may be part or all of the global path.
  • the first roadside navigation sends second indication information to the terminal navigation device, where the second indication information is used to indicate the local path.
  • the first roadside navigation device determines a lane level corresponding to at least a portion of the global path according to the global path by determining a global path of the road level that initially arrives at the destination. a local path, and sending second indication information for indicating the local path to the terminal navigation device, realizing planning and navigation of the lane-level path, improving navigation accuracy, and not increasing the global navigation device burden.
  • the first roadside navigation device can acquire the global path in multiple manners.
  • the first roadside navigation device may receive the indication information that is sent by the global navigation device to indicate the global path, and determine the global path according to the indication information, where the global navigation device may take the initiative. Transmitting the indication information to the first roadside navigation device or transmitting the request to the first roadside navigation device when receiving the request of the first roadside navigation device Instructions.
  • the terminal navigation device may navigate to the global navigation through the first roadside navigation device.
  • the device sends the global path request, and after the global navigation device determines the global path according to the global path request, the first indication information may be sent by the first roadside navigation device. At this time, the first road side The navigation device may determine the global path according to the first indication information.
  • the terminal navigation device may directly send the global path request to the global navigation device, and the global navigation device may directly The terminal navigation device sends the first indication information.
  • the global navigation device may further send third indication information to the first roadside navigation device, where the third indication information is used to indicate a global path, and correspondingly, the first The roadside navigation device may determine the global path according to the third indication information, but the embodiment of the present invention is not limited thereto.
  • the first roadside navigation device may forward the global path request sent by the terminal navigation device to the global navigation device.
  • the global path request is for requesting to determine a global path of the road level from the destination to the destination, wherein the origin may be the current location of the terminal navigation device, or the historical start information of the user at the user interface The historical starting point selected in the list, or the specified location entered by the user in the user interface; the destination may be a historical destination selected by the user through voice input, or in a historical destination information list, or the user is in the user interface
  • the input destination is entered, and the present invention is not limited thereto.
  • the global navigation device may further send the first roadside navigation device to the first roadside navigation device.
  • the first roadside navigation device may forward the information of the plurality of matching locations to the terminal navigation device, and after receiving the information of the target matching location sent by the terminal navigation device, forward the target to the global navigation device.
  • the information of the location is matched so that the global navigation device determines a unique destination based on the information of the target matching location, and further determines a global path from the origin to the unique destination.
  • the user sets the destination to A University.
  • the map may have multiple matching addresses such as A University South Gate, A University North Gate, and A University Teaching Building.
  • the global navigation device needs to know which of these matching addresses is the target.
  • the destination can then determine the global path based on the origin and the destination of the target, and the first roadside navigation device is responsible for transmitting the matched address information to the terminal navigation device. And transmitting, to the global navigation device, the target destination determined by the terminal navigation device, so that the global navigation device can determine the global path from the initial destination to the target destination, but the embodiment of the present invention is not limited thereto.
  • the first roadside navigation device may further acquire information of the global path from other roadside navigation devices.
  • the navigation system of the embodiment of the present invention may further include a second roadside navigation device, and the coverage of the second roadside navigation device may be adjacent to or partially of the coverage of the first roadside navigation device. The overlapping, and the terminal navigation device can enter the coverage of the first roadside navigation device by the coverage of the second roadside navigation device.
  • the second roadside navigation device may send the first roadside navigation device to the first roadside navigation device.
  • a first incoming notification message the first incoming notification message carrying information of the global path.
  • the first roadside navigation device may determine the global path according to the first driving notification message sent by the second roadside navigation device, and may determine the local path according to the first driving notification message.
  • the first roadside navigation device may further acquire information of the global path from the terminal navigation device.
  • the terminal navigation device may send the local path to the first roadside navigation device before the first roadside navigation device determines the localized path of the lane level corresponding to at least a portion of the global path according to the global path.
  • the request, the local path request may carry information of the global path.
  • the first roadside navigation device may determine the global path according to the local path request sent by the terminal navigation device, and may determine the local path according to the local path request, and the present invention is not limited thereto.
  • the first roadside navigation device may determine the local path according to the global path.
  • the first roadside navigation device may further determine, according to the global path and the local path policy, a localized path of a lane level corresponding to at least a part of the global path, where the local path policy may be the following At least one of the information: lane load balancing, avoiding frequent lane changes, throughput priority and speed priority, or other local path strategies that need to be added in practical applications, and can also eliminate lane load and avoid frequent lane changes.
  • the local path strategy other than the local path policy is not limited to this.
  • the throughput priority is that the first roadside navigation device can plan more vehicles to travel on the lane
  • the speed priority is that the first roadside navigation device can plan the vehicle to travel at the maximum speed possible.
  • the throughput priority is considered and more vehicles are planned, the maximum possible speed of the vehicle will be limited. Therefore, when using the local path policy, you can The throughput priority and the speed priority are considered, and the throughput priority or the speed priority may be considered separately, which is not limited by the present invention.
  • the local path policy may be carried in the local path request, for example, the local path request carries the global path and the local path policy, or the local path policy may be preset, The invention is not limited to this.
  • the navigation system of the embodiment of the present invention may further include a third roadside navigation device, and the coverage of the third roadside navigation device is adjacent to or partially overlaps with the coverage of the first roadside navigation device.
  • the terminal navigation device When the terminal navigation device is about to enter the coverage of the third roadside navigation device from the coverage of the first roadside navigation device, the first roadside navigation device may send the second navigation entry to the third roadside navigation device.
  • a notification message the second inbound notification message carries the information of the global path, so that the third roadside navigation device determines the local path according to the global path.
  • the third roadside navigation device may send a second driving confirmation message to the first roadside navigation device, the second driving confirmation The message is used to confirm that the terminal navigation device has entered the coverage of the third roadside navigation device; the first roadside navigation device can be cleared after receiving the second navigation confirmation message sent by the third roadside navigation device.
  • the related information of the terminal navigation device stored in the first roadside navigation device may be, for example, the vehicle information of the terminal navigation device corresponding to the vehicle and the global path determined by the global navigation device, etc., the present invention This is not limited.
  • the second driving notification message may be sent to the third roadside navigation device when the terminal navigation device is about to exit the coverage of the first roadside navigation device; or the terminal navigation device may be When entering the first roadside navigation device, transmitting to the third roadside navigation device, so that the third roadside navigation device has sufficient time to determine the coverage of the third roadside navigation device for the terminal navigation device.
  • the local path within the range, the present invention is not limited thereto.
  • the navigation system of the embodiment of the present invention may further include a fourth roadside navigation device, and the coverage of the fourth roadside navigation device is adjacent to or partially overlaps with the coverage of the first roadside navigation device.
  • the terminal navigation device determines that the third roadside navigation is no longer entered due to the change of the trip or the actual road condition.
  • the first roadside navigation device may send a second driving cancellation message to the third roadside navigation device, the third road side
  • the navigation device may clear related information of the terminal navigation device stored in the third roadside navigation device, for example, may be the current
  • the terminal navigation device in the embodiment corresponds to the vehicle information of the vehicle and the global path determined by the global navigation device, and the like, which is not limited by the present invention.
  • the terminal navigation device may be sent to the global navigation device by the first roadside navigation device, so that the global navigation device acquires and monitors the vehicle in real time
  • vehicle information may include: current location information, speed information, and operation. State information and the like, the invention is not limited thereto.
  • the terminal navigation device may send a heartbeat message to the global navigation device by using the first roadside navigation device, and the vehicle information is carried in the heartbeat message, so that the first roadside navigation device can be within the coverage.
  • the vehicle information of all the vehicles is summarized and sent to the global navigation device.
  • the terminal navigation device may use the first roadside navigation device to the global navigation device. Forwarding the global path change request for requesting planning of the first global path from the first origin to the first destination; the global navigation device determining according to the first origin and the first destination The first global path is forwarded to the terminal navigation device by the first roadside navigation device, so that the first roadside navigation device determines the first local path according to the first global path.
  • the first origin may be the current location of the terminal navigation device
  • the first destination may be a target destination that is re-determined by the terminal navigation device.
  • the global navigation device when the global navigation device determines that the driving path of the terminal navigation device deviates from the global path, or temporarily constructs or seals a road ahead of the driving path, when the terminal navigation device needs to bypass the road, The global navigation device may further forward the second global path to the terminal navigation device by using the first roadside navigation device, so that the first roadside navigation device determines the second local path according to the second global path.
  • the terminal navigation device when the terminal navigation device needs to actively change the driving lane when traveling along the global path, for example, the terminal navigation device determines that active overtaking is required, the terminal navigation device may further The one-way side navigation device sends a local path change request for requesting re-determination of the local path; the first road-side navigation device re-determines the third according to the current location information of the terminal navigation device and the global path The local path is transmitted to the terminal navigation device, so that the terminal navigation device re-determines the travel path according to the third local path and the global path, but the invention is not limited thereto.
  • the first roadside navigation device when the first roadside navigation device determines to navigate at the terminal If the front lane load imbalance of the device travel path needs to be changed, or the first roadside navigation device determines that the travel path of the terminal navigation device deviates from the local path, the first roadside navigation device may be according to the terminal navigation device.
  • the current location information, the global path, and the local path policy determine a fourth local path, and send the fourth local path to the terminal navigation device.
  • the terminal navigation device may further perform autonomous path planning.
  • the terminal navigation device may detect an emergency situation around the terminal, for example, detecting an obstacle in front or an emergency braking of the preceding vehicle, when an emergency lane change or emergency braking is required, the terminal navigation device may The terminal navigation device may make an emergency path adjustment for the emergency situation, determine an autonomous planning path, and report the emergency situation and the autonomous planning path to the first roadside navigation device, and at the same time, through terminal-terminal communication or terminal
  • the infrastructure communication notifies the peripheral terminal of emergency avoidance, and the accuracy of the autonomous planning path may be road level or lane level, and the present invention is not limited thereto.
  • the first roadside navigation device may further re-plan the local path of the terminal navigation device according to the autonomous planning path information and the heartbeat message reported by the terminal navigation device, and the present invention is not limited thereto.
  • the terminal navigation device may further forward a terminal registration request to the global navigation device by using the first roadside navigation device, where the terminal registration request is used to request the global navigation device to authenticate the terminal navigation. And the global navigation device transmits, by the first roadside navigation device, the terminal registration confirmation determined according to the terminal registration request to the terminal navigation device.
  • the terminal registration request may be directly sent to the global navigation device, or the terminal registration request may be forwarded to the global navigation device by the first roadside navigation device, and the terminal registration request carries the terminal.
  • the identification information of the navigation device after receiving the terminal registration request, the global navigation device performs authentication processing on the terminal navigation device according to the identification information of the terminal navigation device, and sends a terminal registration to the terminal navigation device after successful authentication. Confirm, or forward the terminal registration confirmation through the first roadside navigation device.
  • the terminal navigation device may receive the information that is sent by the global navigation device to indicate the identifier of the first roadside navigation device, and determine, according to the identifier of the first roadside navigation device, that the terminal navigation device is in the first roadside navigation. Within the coverage of the device, thereby communicating with the first roadside navigation device.
  • the global navigation device may determine, according to the location information and the identification information of the terminal navigation device, that the terminal navigation device is in the coverage of the first roadside navigation device, and send the first navigation device to the terminal navigation device to indicate the first Information on the identification of the roadside navigation device.
  • the current location information and the identifier information of the terminal navigation device can be forwarded to the global navigation device by using the first roadside navigation device, which is not limited by the present invention.
  • the current location information and the identification information of the terminal navigation device may be forwarded to the global navigation device by using the first roadside navigation device, which is not limited in the present invention.
  • the terminal navigation device may detect the current location information of the corresponding vehicle by itself, or obtain the current location information of the corresponding vehicle by using another detection device, which is not limited by the disclosure.
  • the identifier information corresponding to the vehicle of the terminal navigation device may be pre-stored in the terminal navigation device, or may be obtained by other means, wherein the identifier information may be, for example, an identification number of the vehicle (Identity, The ID) or the Subscriber Identity Module (SIM) and the like are not limited by the present invention.
  • the first roadside navigation registration request may be sent to the global navigation device, and the first roadside navigation device
  • the registration request is used to request activation of the first roadside navigation device, and the first roadside navigation registration request may carry the identification information of the first roadside navigation device, so that the global navigation device is configured according to the first roadside navigation device.
  • the identification information monitors the operational status of the first roadside navigation device, and the present invention is not limited thereto.
  • the first roadside navigation device may send the first roadside navigation logout request to the global navigation device, where the first roadside side
  • the navigation cancellation request is used to request to deactivate the first roadside navigation device
  • the first roadside navigation registration request may carry the identification information of the first roadside navigation device
  • the global navigation device may be configured according to the first roadside navigation device.
  • the identification information deactivates the first roadside navigation device, and sends a roadside navigation cancellation confirmation message to the first roadside navigation device, the first roadside navigation device exits the local path planning service, and is in the log
  • the related information of the terminal navigation device stored in the first roadside navigation device is cleared, for example, the vehicle information corresponding to the vehicle and the global navigation device of the terminal navigation device in the embodiment of the present invention.
  • the determined global path and the like are not limited by the present invention.
  • the terminal navigation device may further forward the terminal logout request to the global navigation device by using the first roadside navigation device; the global navigation device may clear after receiving the terminal logout request The related information of the terminal navigation device; after the completion of the clearing, the global navigation device may further forward the terminal logout confirmation message to the terminal navigation device by using the first roadside navigation device, where the related information of the terminal navigation device may be, for example, Implementation of the invention
  • the terminal navigation device in the example corresponds to the vehicle information of the vehicle and the global path determined by the global navigation device, and the like, which is not limited by the present invention.
  • the terminal navigation device may forward the terminal logout request to the global navigation device through the first roadside navigation device; the global navigation device receives the terminal After the request is cancelled, the related information of the stored terminal navigation device is cleared; after the completion of the clearing, the global navigation device can forward the terminal cancellation confirmation message to the terminal navigation device through the first roadside navigation device.
  • the first roadside navigation device determines a lane level corresponding to at least a portion of the global path according to the global path by determining a global path of the road level that initially arrives at the destination. a local path, and sending a second indication information for indicating the local path to the terminal navigation device, improving navigation accuracy, being applicable to a large-scale automatic driving scene, and the global navigation device will have a large number of lane levels
  • the path navigation service is shared by multiple roadside navigation devices, and the failure of a single roadside navigation device does not cause the entire system to be paralyzed, thereby improving the reliability of the system.
  • the navigation system of the embodiment of the present invention implements planning and navigation of the full lane level path without increasing the burden of the global navigation device. If the planning and navigation of the lane-level path is implemented only by the two-layer navigation system architecture of the global navigation device and the terminal navigation device, the burden of the global navigation device is too heavy, and the three-layer navigation of the embodiment of the present invention is compared with the two-layer navigation system architecture.
  • the system architecture distributes the planning of the lane-level path to the roadside navigation device, while the global navigation device is only responsible for the planning of the road-level path, reducing the burden on the global navigation device.
  • FIG. 5 is a schematic flowchart of a navigation method according to an embodiment of the present invention.
  • the method 500 can be performed, for example, by a terminal navigation device in a navigation system, as shown in FIG. 5:
  • S510 Send a global path request to the global navigation device, where the global path request is used to request to determine a global path from the destination to the destination.
  • the terminal navigation device may directly send the global path request to the global navigation device; or may send the global path request to the global navigation device by using the first roadside navigation device.
  • S520 Receive first indication information that is sent by the global navigation device according to the global path request, where the first indication information is used to indicate a global path of the road level that is initially arrived at the destination.
  • the terminal navigation device may directly receive the first indication information that is sent by the global navigation device according to the global path request; or may receive the global navigation device according to the global path.
  • the first indication information sent by the first roadside navigation device is requested.
  • S530 Receive second indication information sent by the first roadside navigation device, where the second indication information is used to indicate a local path of a lane level corresponding to at least a part of the global path.
  • the local path is located within the navigation coverage of the first roadside navigation device, and the local path determined by the first roadside navigation device may be part or all of the global path.
  • S540 Determine the first travel path according to at least one of the global path indicated by the first indication information and the local path indicated by the second indication information.
  • the first indication information may be directly sent by the global navigation device; or may be sent by the global navigation device by the first roadside navigation device.
  • the terminal navigation device may determine the travel path according to the global path indicated by the first indication information, or may determine the travel path according to the local path indicated by the second indication information, or may be based on the first indication information.
  • the driving information is determined by the second indication information, which is not limited by the present invention.
  • the terminal navigation device may determine the travel path only according to the local path, and may also determine the travel path according to the global path and the local path, for example, when the local path indicated by the second indication information only indicates the When the terminal navigation device drives the lane, the terminal navigation device can determine which lane of the road to travel according to the global route and the local route, which is not limited by the present invention.
  • the terminal navigation device may directly determine the driving route according to the global path indicated by the first indication information; when the terminal navigation device is traveling along the global path, it needs to be changed. In the case of the road, the travel route may be determined according to the local path indicated by the second indication information.
  • a navigation method receives a global path request from a global navigation device, and receives a road-level global path sent by the global navigation device according to the global path request to indicate that the destination is initially arrived.
  • a first indication information and second indication information that is sent by the first roadside navigation device to indicate a lane-level local path corresponding to at least a part of the global path, and according to the first indication information and the second indication information
  • At least one of the determination of the driving path realizes the planning and navigation of the lane-level path, improves the accuracy of the navigation, and does not increase the burden of the global navigation device.
  • the global path request is used to request to determine a global path of a road level that is initially arrived at the destination, where the initial location may be a current location of the terminal navigation device, Or a historical starting point selected by the user in the historical start information list of the user interface, or a specified position input by the user in the user interface; the destination may be input by the user through voice, or selected in the historical destination information list
  • the initial location may be a current location of the terminal navigation device, Or a historical starting point selected by the user in the historical start information list of the user interface, or a specified position input by the user in the user interface
  • the destination may be input by the user through voice, or selected in the historical destination information list
  • the historical destination, or the destination that the user inputs in the user interface, the present invention is not limited thereto.
  • the global navigation device may send the multiple matching locations to the terminal navigation device.
  • Information such that the user determines a target matching location from the plurality of matching locations.
  • the global navigation device determines a unique destination according to the information of the target matching location, and further determines a global destination from the initial destination to the unique destination. path.
  • the global navigation device may use the first roadside navigation device to The terminal navigation device forwards the information of the plurality of matching locations, so that the user determines the target matching location from the plurality of matching locations. And after receiving the information of the target matching location forwarded by the terminal navigation device by the roadside navigation device, the global navigation device determines a unique destination according to the information of the target matching location, and further determines that the initial destination is reached. The global path to the only destination.
  • the user sets the destination to A University.
  • the map may have multiple matching addresses such as A University South Gate, A University North Gate, and A University Teaching Building.
  • the global navigation device needs to know which of these matching addresses is the target.
  • the destination can then determine a global path based on the origin and the destination of the target, the first roadside navigation device being responsible for transmitting the matched address information to the terminal navigation device and transmitting the terminal navigation device determination to the global navigation device.
  • the target destination so that the global navigation device can determine the global path from the origin to the target destination, but the embodiment of the present invention is not limited thereto.
  • the terminal navigation device may send a local path request to the first roadside navigation device, where the local path request may carry information of the global path, where the first roadside navigation device may be configured according to the terminal
  • the local path request sent by the navigation device determines the global path, and can determine the local path according to the local path request.
  • the invention is not limited thereto.
  • the first roadside navigation device may further determine, according to the global path and the local path policy, a localized path of a lane level corresponding to at least a part of the global path, where the local path policy may be the following At least one of the information: lane load balancing, avoiding frequent lane changes, swallowing
  • the throughput priority and the speed priority may be, or may be other local path policies that need to be added in practical applications, and may also be local path strategies other than lane load and avoid frequent lane changes, and the present invention is not limited thereto.
  • the throughput priority is that the first roadside navigation device can plan more vehicles to travel on the lane
  • the speed priority is that the first roadside navigation device can plan the vehicle to travel at the maximum speed possible.
  • the throughput priority is considered and more vehicles are planned, the maximum possible speed of the vehicle will be limited. Therefore, when the local path policy is used, the throughput priority and the speed priority may be considered at the same time, and the throughput priority or the speed priority may be considered separately, which is not limited by the present invention.
  • the local path policy may be carried in the local path request, for example, the local path request carries the global path and the local path policy, or the local path policy may be preset, The invention is not limited to this.
  • the terminal navigation device may periodically send the terminal navigation device corresponding vehicle information to the global navigation device, or send the global navigation device to the global navigation device through the first roadside navigation device, so as to facilitate the global navigation device.
  • the vehicle is acquired and monitored in real time, and the vehicle information may include current location information, speed information, operational status information, and the like, and the present invention is not limited thereto.
  • the terminal navigation device may send a heartbeat message to the global navigation device, where the heartbeat message carries vehicle information of the vehicle corresponding to the terminal navigation device; and the terminal navigation device may further use the first roadside navigation device to The global navigation device sends a heartbeat message, and the vehicle information is carried in the heartbeat message, so that the first roadside navigation device can aggregate the vehicle information of all the vehicles in the coverage area and send the vehicle information to the global navigation device.
  • the terminal navigation device may send a global path change request to the global navigation device, where the global The path change request is for requesting to plan a first global path that reaches the first destination by the first origin; the global navigation device determines the first global path according to the first start location and the first destination, and The terminal navigation device transmits the first global path.
  • the first origin may be the current location of the terminal navigation device, and the first destination may be a target destination that is re-determined by the terminal navigation device.
  • the terminal navigation device may also use the first roadside navigation device to The navigation device forwards the global path change request, the global The path change request is for requesting to plan a first global path that reaches the first destination by the first origin; the global navigation device determines the first global path according to the first start location and the first destination, and passes the The first roadside navigation device forwards the first global path to the terminal navigation device, so that the first roadside navigation device determines the first local path according to the first global path.
  • the first origin may be the current location of the terminal navigation device, and the first destination may be a target destination that is re-determined by the terminal navigation device.
  • the The global navigation device may determine the second global path according to the current location information of the terminal navigation device, and send the second global path to the terminal navigation device.
  • the global navigation device when the global navigation device determines that the driving path of the terminal navigation device deviates from the global path, or temporarily constructs or seals a road ahead of the driving path, when the terminal navigation device needs to bypass the road, The global navigation device may further forward the second global path to the terminal navigation device by using the first roadside navigation device, so that the first roadside navigation device determines the second local path according to the second global path.
  • the terminal navigation device when the terminal navigation device needs to actively change the driving lane when traveling along the global path, for example, the terminal navigation device determines that active overtaking is required, the terminal navigation device may further The one-way side navigation device sends a local path change request for requesting re-determination of the local path; the first road-side navigation device re-determines the third according to the current location information of the terminal navigation device and the global path The local path is transmitted to the terminal navigation device, so that the terminal navigation device re-determines the travel path according to the third local path and the global path, but the invention is not limited thereto.
  • the first roadside navigation device may determine the fourth local path according to the current location information of the terminal navigation device, the global path, and the local path policy, and send the path to the terminal navigation device.
  • the fourth local path may be determined according to the current location information of the terminal navigation device, the global path, and the local path policy, and send the path to the terminal navigation device.
  • the terminal navigation device may further perform autonomous path planning.
  • the terminal navigation device detects an emergency situation around the terminal, for example, detecting an obstacle in front or an emergency braking of the preceding vehicle, when an emergency lane change or emergency braking is required, the terminal navigation device may The terminal navigation device can make the emergency The emergency path is adjusted, the autonomous planning path is determined, and the emergency situation and the self-planning road are reported to the first road side navigation device, and the terminal terminal can be notified of the emergency avoidance by terminal-terminal communication or terminal and infrastructure communication.
  • the accuracy of the planned path may be road level or lane level, and the invention is not limited thereto.
  • the terminal navigation device may send a terminal registration request to the global navigation device, where the terminal registration request is used to request the global navigation device to authenticate the terminal navigation device; the global navigation device registers according to the terminal A request is made to send a terminal registration confirmation to the terminal navigation device.
  • the terminal navigation device may further forward a terminal registration request to the global navigation device by using the first roadside navigation device, where the terminal registration request is used to request the global navigation device to authenticate the terminal navigation. And the global navigation device transmits, by the first roadside navigation device, the terminal registration confirmation determined according to the terminal registration request to the terminal navigation device.
  • the terminal registration request may be directly sent to the global navigation device, or the terminal registration request may be forwarded to the global navigation device by the first roadside navigation device, and the terminal registration request carries the terminal.
  • the identification information of the navigation device after receiving the terminal registration request, the global navigation device performs authentication processing on the terminal navigation device according to the identification information of the terminal navigation device, and sends a terminal registration to the terminal navigation device after successful authentication. Confirm, or forward the terminal registration confirmation through the first roadside navigation device.
  • the terminal navigation device may receive the information that is sent by the global navigation device to indicate the identifier of the first roadside navigation device, and determine, according to the identifier of the first roadside navigation device, that the terminal navigation device is in the first roadside navigation. Within the coverage of the device, thereby communicating with the first roadside navigation device.
  • the global navigation device may determine, according to the location information and the identification information of the terminal navigation device, that the terminal navigation device is in the coverage of the first roadside navigation device, and send the first navigation device to the terminal navigation device to indicate the first Information on the identification of the roadside navigation device.
  • the current location information and the identifier information of the terminal navigation device may be sent to the global navigation device in a terminal registration request, or may be forwarded to the global navigation device by the first roadside navigation device. Not limited.
  • the current location information and the identifier information of the terminal navigation device may be sent to the global navigation device in a heartbeat message, or may be forwarded to the global navigation device by the first roadside navigation device. Not limited.
  • the terminal navigation device may detect the current location information of the corresponding vehicle by itself, or obtain the current location information of the corresponding vehicle by using another detection device, which is not limited by the disclosure.
  • the identifier information corresponding to the vehicle of the terminal navigation device may be pre-stored in the terminal navigation device, or may be obtained by other means, wherein the identifier information may be, for example, an identification number of the vehicle (Identity, The ID) or the Subscriber Identity Module (SIM) and the like are not limited by the present invention.
  • the terminal navigation device may send a terminal logout request to the global navigation device; the terminal logout request is used to request to cancel the terminal navigation device, after receiving the terminal logout request, the global navigation device
  • the related information of the terminal navigation device may be cleared; after the completion of the clearing, the global navigation device sends a terminal logout confirmation message to the terminal navigation device, where the related information of the terminal navigation device may be, for example, the terminal navigation in the embodiment of the present invention.
  • the device corresponds to the vehicle information of the vehicle and the global path determined by the global navigation device, and the like, which is not limited by the present invention.
  • the terminal navigation device may further forward the terminal logout request to the global navigation device by using the first roadside navigation device; the global navigation device may clear after receiving the terminal logout request The related information of the terminal navigation device; after the completion of the clearing, the global navigation device may further forward the terminal logout confirmation message to the terminal navigation device by using the first roadside navigation device, where the related information of the terminal navigation device may be, for example,
  • the terminal navigation device in the embodiment of the present invention corresponds to the vehicle information of the vehicle and the global path determined by the global navigation device, and the like, which is not limited by the present invention.
  • the terminal navigation device may send a terminal logout request to the global navigation device, or forward the terminal logout to the global navigation device through the first roadside navigation device.
  • the global navigation device clears the related information of the stored terminal navigation device; after the clearing is completed, the global navigation device sends a terminal logout confirmation message to the terminal navigation device, or passes the first The roadside navigation device forwards the terminal logout confirmation message to the terminal navigation device.
  • a navigation method receives a global path request from a global navigation device, and receives a road-level global path sent by the global navigation device according to the global path request to indicate that the destination is initially arrived.
  • First indication information and sent by the first roadside navigation device And second indication information indicating a lane-level local path corresponding to at least a part of the global path, and determining a driving path according to at least one of the first indication information and the second indication information, thereby improving navigation precision Degree, can be applied to large-scale automatic driving scenarios, the global navigation device to share a large number of lane-level path navigation services to multiple roadside navigation devices, the failure of a single roadside navigation device will not lead to the entire system, improve the system reliability.
  • the navigation system of the embodiment of the present invention implements planning and navigation of the full lane level path without increasing the burden of the global navigation device. If the planning and navigation of the lane-level path is implemented only by the two-layer navigation system architecture of the global navigation device and the terminal navigation device, the burden of the global navigation device is too heavy, and the three-layer navigation of the embodiment of the present invention is compared with the two-layer navigation system architecture.
  • the system architecture distributes the planning of the lane-level path to the roadside navigation device, while the global navigation device is only responsible for the planning of the road-level path, reducing the burden on the global navigation device.
  • FIG. 6 is a schematic flowchart of a navigation method according to an embodiment of the present invention.
  • the method 600 can be performed, for example, by a global navigation device in a navigation system, as shown in FIG.
  • S610 Receive a global path request sent by the terminal navigation apparatus, where the global path request is used to request to determine a global path that is initially arrived at the destination.
  • the global navigation device may receive the global path request directly sent by the terminal navigation device; or the global navigation device may receive the global path request sent by the terminal navigation device by using the first roadside navigation device.
  • the first indication information is sent to the first roadside navigation device corresponding to the terminal navigation device, where the first indication information is used to indicate the global path, so that the first roadside navigation device determines according to the first indication information.
  • the global navigation device may send first indication information for indicating the global path to the first roadside navigation device corresponding to the terminal navigation device, so that the first roadside navigation device can navigate to the terminal navigation device. Transmitting the first indication information; or the global navigation device may directly send third indication information for indicating the global path to the first roadside navigation device corresponding to the terminal navigation device.
  • first indication information and the third indication information sent by the global navigation device may be the same information or different information.
  • the navigation method of the embodiment of the present invention receives the global road sent by the terminal navigation device. And requesting, according to the global path request, a global path of the road level that arrives at the destination from the destination, and transmitting, by the first roadside navigation device corresponding to the terminal navigation device, a first indication for the global path Instructing information, so that the first roadside navigation device determines a localized path for indicating a lane level corresponding to at least a portion of the global path according to the global path, realizing planning and navigation of the lane level path, and improving navigation The accuracy is not increased by the burden of the global navigation device.
  • the global navigation device may jointly determine a global path of the road level from the origin to the destination according to the origin, the destination, and the additional information, where the additional information includes at least one of the following information: current The road condition information, the information of the global path policy, the vehicle type information of the vehicle corresponding to the terminal navigation device, and the driving type information of the vehicle.
  • the driving type information is used to indicate that the driving type of the vehicle is manned or unmanned
  • the vehicle type is used to indicate that the vehicle is an ordinary social vehicle, a bus, a school bus, 120/110/119, etc.
  • the terminal navigation device corresponding vehicle may be a vehicle in which the terminal navigation device is located.
  • the additional information may be carried in the global path request, for example, the global path request carries at least one of global path policy information, vehicle type information, and driving type information, or information of the global path policy. It can also be set in advance.
  • the global navigation device may also pre-store or acquire at least one of the terminal information and the driving type information from other servers, and the present invention is not limited thereto.
  • the global path policy may be: shortest distance first, shortest time first, least cost first, minimum traffic light priority, etc., and the present invention is not limited thereto.
  • the global path request is used to request to determine a global path of the road level from the destination to the destination, wherein the starting location may be the current location of the terminal navigation device, or the user is in the history of the user interface a historical starting point selected in the start information list, or a specified position input by the user in the user interface; the destination may be a historical destination selected by the user through voice input or in a historical destination information list, or the user is at
  • the setting destination input in the user interface is not limited to this.
  • the global navigation device may send the multiple matching locations to the terminal navigation device.
  • Information after the terminal navigation device determines the target destination, transmitting the information of the target destination to the global navigation device, so that the global navigation device determines the global path from the initial destination to the target destination.
  • the global navigation device may also use the first roadside navigation device to The terminal navigation device forwards the information of the plurality of matching locations, and the target destination is forwarded to the global navigation device by the first roadside navigation device after the terminal navigation device determines the target destination, so that the global navigation device determines The global path that initially arrives at the target destination.
  • the user sets the destination to A University.
  • the map may have multiple matching addresses such as A University South Gate, A University North Gate, and A University Teaching Building.
  • the global navigation device needs to know which of these matching addresses is the target.
  • the destination can then determine the global path based on the origin and destination of the destination.
  • the terminal navigation device may periodically send the terminal navigation device corresponding vehicle information to the global navigation device, or send the global navigation device to the global navigation device through the first roadside navigation device, so as to facilitate the global navigation device.
  • the vehicle is acquired and monitored in real time, and the vehicle information may include current location information, speed information, operational status information, and the like, and the present invention is not limited thereto.
  • the terminal navigation device may send a heartbeat message to the global navigation device, where the heartbeat message carries vehicle information of the vehicle corresponding to the terminal navigation device; and the terminal navigation device may further use the first roadside navigation device to The global navigation device sends a heartbeat message, and the vehicle information is carried in the heartbeat message, so that the first roadside navigation device can aggregate the vehicle information of all the vehicles in the coverage area and send the vehicle information to the global navigation device.
  • the terminal navigation device may send a global path change request to the global navigation device, where the global The path change request is for requesting to plan a first global path that reaches the first destination by the first origin; the global navigation device determines the first global path according to the first start location and the first destination, and The terminal navigation device transmits the first global path.
  • the first origin may be the current location of the terminal navigation device, and the first destination may be a target destination that is re-determined by the terminal navigation device.
  • the terminal navigation device may also use the first roadside navigation device to The navigation device forwards the global path change request for requesting planning of a first global path from the first origin to the first destination; the global navigation device is based on the first origin and the first destination , determining the first global path, And forwarding, by the first roadside navigation device, the first global path to the terminal navigation device, so that the first roadside navigation device determines the first local path according to the first global path.
  • the first origin may be the current location of the terminal navigation device
  • the first destination may be a target destination that is re-determined by the terminal navigation device.
  • the The global navigation device may determine the second global path according to the current location information of the terminal navigation device, and send the second global path to the terminal navigation device.
  • the global navigation device when the global navigation device determines that the driving path of the terminal navigation device deviates from the global path, or temporarily constructs or seals a road ahead of the driving path, when the terminal navigation device needs to bypass the road, The global navigation device may further forward the second global path to the terminal navigation device by using the first roadside navigation device, so that the first roadside navigation device determines the second local path according to the second global path.
  • the terminal navigation device when the terminal navigation device needs to actively change the driving lane when traveling along the global path, for example, the terminal navigation device determines that active overtaking is required, the terminal navigation device may further The one-way side navigation device sends a local path change request for requesting re-determination of the local path; the first road-side navigation device re-determines the third according to the current location information of the terminal navigation device and the global path The local path is transmitted to the terminal navigation device, so that the terminal navigation device re-determines the travel path according to the third local path and the global path, but the invention is not limited thereto.
  • the terminal navigation device may send a terminal registration request to the global navigation device, where the terminal registration request requests the global navigation device to authenticate the terminal navigation device; the global navigation device according to the terminal registration request A terminal registration confirmation is sent to the terminal navigation device.
  • the terminal navigation device may further forward a terminal registration request to the global navigation device by using the first roadside navigation device, where the terminal registration request is used to request the global navigation device to authenticate the terminal navigation. And the global navigation device transmits, by the first roadside navigation device, the terminal registration confirmation determined according to the terminal registration request to the terminal navigation device.
  • the terminal registration request may be directly sent to the global navigation device, or may be forwarded to the global navigation device by the first roadside navigation device.
  • the terminal registration request carries the identification information of the terminal navigation device; after receiving the terminal registration request, the global navigation device performs authentication processing on the terminal navigation device according to the identification information of the terminal navigation device, and the authentication After successful, the terminal registration confirmation is sent to the terminal navigation device, or the terminal registration confirmation is forwarded by the first roadside navigation device.
  • the terminal navigation device may receive the information that is sent by the global navigation device to indicate the identifier of the first roadside navigation device, and determine, according to the identifier of the first roadside navigation device, that the terminal navigation device is in the first roadside navigation. Within the coverage of the device, thereby communicating with the first roadside navigation device.
  • the global navigation device may determine, according to the location information and the identification information of the terminal navigation device, that the terminal navigation device is in the coverage of the first roadside navigation device, and send the first navigation device to the terminal navigation device to indicate the first Information on the identification of the roadside navigation device.
  • the current location information and the identifier information of the terminal navigation device may be sent to the global navigation device in a terminal registration request, or may be forwarded to the global navigation device by the first roadside navigation device. Not limited.
  • the current location information and the identifier information of the terminal navigation device may be sent to the global navigation device in a heartbeat message, or may be forwarded to the global navigation device by the first roadside navigation device. Not limited.
  • the terminal navigation device may detect the current location information of the corresponding vehicle by itself, or obtain the current location information of the corresponding vehicle by using another detection device, which is not limited by the disclosure.
  • the identifier information corresponding to the vehicle of the terminal navigation device may be pre-stored in the terminal navigation device, or may be obtained by other means, wherein the identifier information may be, for example, an identification number of the vehicle (Identity, The ID) or the Subscriber Identity Module (SIM) and the like are not limited by the present invention.
  • the first roadside navigation registration request may be sent to the global navigation device, and the first roadside navigation device
  • the registration request is used to request activation of the first roadside navigation device, and the first roadside navigation registration request may carry the identification information of the first roadside navigation device, so that the global navigation device is configured according to the first roadside navigation device.
  • the identification information monitors the operational status of the first roadside navigation device, and the present invention is not limited thereto.
  • the first roadside navigation device may send the first roadside navigation logout request to the global navigation device, where
  • the first way side navigation logout request is used to request to deactivate the first roadside navigation device, and the first roadside navigation registration request may carry the identification information of the first roadside navigation device, and the global navigation device may be according to the first The identification information of the roadside navigation device deactivates the first roadside navigation device, and sends a roadside navigation cancellation confirmation message to the first roadside navigation device, the first roadside navigation device exits the local path planning service, and
  • the related information of the terminal navigation device stored in the first roadside navigation device may be cleared, for example, the vehicle information of the vehicle corresponding to the terminal navigation device in the embodiment of the present invention may be
  • the global path and the like determined by the global navigation device are not limited in the present invention.
  • the terminal navigation device may send a terminal logout request to the global navigation device; the terminal logout request is used to request to cancel the terminal navigation device, after receiving the terminal logout request, the global navigation device
  • the related information of the terminal navigation device may be cleared; after the completion of the clearing, the global navigation device sends a terminal logout confirmation message to the terminal navigation device, where the related information of the terminal navigation device may be, for example, the terminal navigation in the embodiment of the present invention.
  • the device corresponds to the vehicle information of the vehicle and the global path determined by the global navigation device, and the like, which is not limited by the present invention.
  • the terminal navigation device may further forward the terminal logout request to the global navigation device by using the first roadside navigation device; the global navigation device may clear after receiving the terminal logout request The related information of the terminal navigation device; after the completion of the clearing, the global navigation device may further forward the terminal logout confirmation message to the terminal navigation device by using the first roadside navigation device, where the related information of the terminal navigation device may be, for example,
  • the terminal navigation device in the embodiment of the present invention corresponds to the vehicle information of the vehicle and the global path determined by the global navigation device, and the like, which is not limited by the present invention.
  • the terminal navigation device may send a terminal logout request to the global navigation device, or forward the terminal logout to the global navigation device through the first roadside navigation device.
  • the global navigation device clears the related information of the stored terminal navigation device; after the clearing is completed, the global navigation device sends a terminal logout confirmation message to the terminal navigation device, or passes the first The roadside navigation device forwards the terminal logout confirmation message to the terminal navigation device.
  • the navigation method of the embodiment of the present invention receives the global road sent by the terminal navigation device. And requesting, according to the global path request, a global path of the road level that arrives at the destination from the destination, and transmitting, by the first roadside navigation device corresponding to the terminal navigation device, a first indication for the global path Instructing information, so that the first roadside navigation device determines a localized path for indicating a lane level corresponding to at least a portion of the global path according to the global path, improving navigation accuracy, and being applicable to large-scale
  • the global navigation device shares a large number of lane-level path navigation services to multiple roadside navigation devices, and the failure of a single roadside navigation device does not cause the entire system to be paralyzed, thereby improving the reliability of the system.
  • the navigation system of the embodiment of the present invention implements planning and navigation of the full lane level path without increasing the burden of the global navigation device. If the planning and navigation of the lane-level path is implemented only by the two-layer navigation system architecture of the global navigation device and the terminal navigation device, the burden of the global navigation device is too heavy, and the three-layer navigation of the embodiment of the present invention is compared with the two-layer navigation system architecture.
  • the system architecture distributes the planning of the lane-level path to the roadside navigation device, while the global navigation device is only responsible for the planning of the road-level path, reducing the burden on the global navigation device.
  • FIG. 7 is a schematic flowchart of a navigation method according to an embodiment of the present invention, which may be performed by a system including a global navigation device, a first roadside navigation device, a second roadside navigation device, and a car navigation device, wherein
  • the car navigation device can be, for example, a car navigation device, which is integrated in the vehicle.
  • the car navigation device may send a vehicle registration request to the first roadside navigation device, where the vehicle registration request is used to request the global navigation device to authenticate the car navigation device.
  • the first roadside navigation device forwards the vehicle registration request to the global navigation device.
  • the global navigation device may perform an authentication process on the vehicle according to the identification information of the vehicle corresponding to the vehicle navigation device.
  • the identification information of the in-vehicle navigation device may be carried in the terminal registration request, or may be carried in the heartbeat message, which is not limited by the disclosure.
  • the car navigation device determines a starting point and a destination of the navigation.
  • the car navigation device sends a global path request to the first roadside navigation device.
  • the office path request is used to request to determine the global path from the origin to the destination.
  • the first roadside navigation device forwards the global path request to the global navigation device.
  • the global navigation device determines that the destination in the received global path request has multiple matching locations in the map.
  • the user sets the destination to the A university in the car navigation device, and the map may have multiple matching addresses such as the A University South Gate, the A University North Gate, and the A University Teaching Building.
  • the global navigation device needs to know which of the matching addresses.
  • An address is the destination destination before the global path can be determined based on the origin and destination.
  • the global navigation device may send the information of the multiple matching locations to the first roadside navigation device.
  • the first roadside navigation device forwards the plurality of matched address information to the car navigation device.
  • the car navigation device determines a unique target destination.
  • the car navigation device transmits the information of the target destination to the first roadside navigation device.
  • the first roadside navigation device forwards the information of the target destination to the global navigation device.
  • the global navigation device determines a global path according to the starting location and the target destination.
  • the global navigation device may jointly determine a global path of the road level from the origin to the destination according to the origin, the destination, and the additional information, where the additional information includes at least one of the following information: current The road condition information, the information of the global path policy, the vehicle type information of the vehicle corresponding to the vehicle navigation device, and the driving type information of the vehicle.
  • the driving type information is used to indicate that the driving type of the vehicle is manned or unmanned
  • the vehicle type is used to indicate that the vehicle is an ordinary social vehicle, a bus, a school bus, 120/110/119, etc.
  • the vehicle navigation device corresponding vehicle may be a vehicle in which the car navigation device is located.
  • the additional information may be carried in the global path request, for example, the global path request carries at least one of information about a global path policy, in-vehicle information, and driving type information, or information about the global path policy is also Can be set in advance.
  • the global navigation device may also store or acquire at least one of the in-vehicle information and the driving type information from other servers in advance, and the present invention is not limited thereto.
  • the global path policy may be: shortest distance first, shortest time first, least cost first, minimum traffic light priority, etc., and the present invention is not limited thereto.
  • the global navigation device sends first indication information for indicating the global path to the first roadside navigation device.
  • the first roadside navigation device saves the global path.
  • the first roadside navigation device forwards the first indication information to the car navigation device.
  • the car navigation device saves the global path, so that the car navigation device determines the driving path according to the global path.
  • the car navigation device sends a local path request to the first roadside navigation device, where the local path request is used to request to determine a local path of a lane level corresponding to at least a portion of the global path.
  • the first roadside navigation device determines the local path according to the global path.
  • the information of the global path may be saved in the first roadside navigation device in S713, and may be carried in the local path request, and may also be in the first indication information sent by the global navigation device. Carrying.
  • the first roadside navigation device may further determine, according to the global path and the local path policy, a localized path of a lane level corresponding to at least a part of the global path, where the local path policy may be the following At least one of the information: lane load balancing, avoiding frequent lane changes, throughput priority and speed priority, or other local path strategies that need to be added in practical applications, and can also eliminate lane load and avoid frequent lane changes.
  • the local path strategy other than the local path policy is not limited to this.
  • the throughput priority is that the first roadside navigation device can plan more vehicles to travel on the lane
  • the speed priority is that the first roadside navigation device can plan the vehicle to travel at the maximum speed possible.
  • the throughput priority is considered and more vehicles are planned, the maximum possible speed of the vehicle will be limited. Therefore, when the local path policy is used, the throughput priority and the speed priority may be considered at the same time, and the throughput priority or the speed priority may be considered separately, which is not limited by the present invention.
  • the local path policy may be carried in the local path request, for example, the local path request carries the global path and the local path policy, or the local path policy may be preset, The invention is not limited to this.
  • the first roadside navigation device sends second indication information for indicating the local path to the car navigation device.
  • the car navigation device saves the local path, and according to the global path and the local road At least one of the paths determines the travel path.
  • the first roadside navigation device may send the second roadside navigation device to the second roadside navigation device.
  • the inbound notification message carries the information of the global path, so that the second roadside navigation device determines the local path according to the global path.
  • the second roadside navigation device may send a driving confirmation message to the first roadside navigation device, where the driving confirmation message is used. Confirming that the car navigation device has entered the coverage of the second roadside navigation device
  • the driving notification message may be sent to the second roadside navigation device when the car navigation device is about to exit the coverage of the first roadside navigation device; or the car navigation device may just enter the navigation device.
  • the first roadside navigation device is sent to the second roadside navigation device
  • the second roadside navigation device has sufficient time for the car navigation device to determine the coverage of the second roadside navigation device.
  • the local path the invention is not limited thereto.
  • the car navigation device may send a global path change request to the first roadside navigation device, where the global route change request is used.
  • the requesting re-planning changes the global path, wherein the first origin may be the current location of the car navigation device, and the first destination may be a target destination that is re-determined by the car navigation device.
  • the first roadside navigation device forwards the global path change request to the global navigation device.
  • the global navigation device determines the change global path according to the start location and the change destination.
  • the global navigation device sends third indication information for indicating the changed global path to the first roadside navigation device.
  • the first roadside navigation device determines to change the local path according to the changed global path.
  • the first roadside navigation device sends the changed local path to the car navigation device.
  • the car navigation device saves and executes the changed local path.
  • the car navigation device can also perform autonomous path planning.
  • the car navigation device when the car navigation device detects an emergency situation in the surroundings, for example, detecting an obstacle in front or an emergency braking of the preceding vehicle, when an emergency lane change or an emergency brake is required, the car navigation device can make an emergency for the emergency situation.
  • Path adjustment determine the autonomous planning path, and will tighten
  • the emergency situation and the self-planning route are reported to the first roadside navigation device, and the peripheral terminal can be notified of emergency avoidance through terminal-terminal communication or terminal and infrastructure communication, and the accuracy of the autonomous planning path can be road level or lane level.
  • the invention is not limited thereto.
  • the car navigation device may send a vehicle logout request to the first roadside navigation device.
  • the first roadside navigation device forwards the vehicle logout request to the global navigation device.
  • the global navigation device clears related information of the car navigation device.
  • the related information of the in-vehicle navigation device may be, for example, the vehicle information of the vehicle-mounted navigation device corresponding to the vehicle and the global path determined by the global navigation device, etc., which is not limited by the present invention.
  • the car navigation device may send an in-vehicle registration request to the first roadside navigation device; after receiving the terminal cancellation request, the global navigation device may Clearing the information about the stored car navigation device; after the cleaning is completed, the global navigation device sends a terminal cancellation confirmation message to the car navigation device, or forwards the terminal cancellation confirmation message to the car navigation device through the first roadside navigation device.
  • the information related to the in-vehicle navigation device may be, for example, the vehicle information of the vehicle-mounted navigation device corresponding to the vehicle and the global path determined by the global navigation device in the embodiment of the present invention, which is not limited by the present invention.
  • the navigation system of the embodiment of the present invention includes a global navigation device, a first roadside navigation device, and a terminal navigation device, and the global navigation device determines a global path of the road level according to the global path request sent by the terminal navigation device, and the first roadside navigation Determining, according to the global path, a local path of a lane level corresponding to at least a part of the global path, the terminal navigation device determining a driving path according to at least one of the global path and the local path, thereby improving navigation accuracy, It can be applied to large-scale autopilot scenarios.
  • the global navigation device distributes a large number of lane-level path navigation services to multiple roadside navigation devices. The failure of a single roadside navigation device will not cause the entire system to collapse, which improves the reliability of the system. .
  • the navigation system of the embodiment of the present invention implements planning and navigation of the full lane level path without increasing the burden of the global navigation device. If the planning and navigation of the lane-level path is implemented only by the two-layer navigation system architecture of the global navigation device and the terminal navigation device, the burden of the global navigation device is too heavy, and the three-layer navigation of the embodiment of the present invention is compared with the two-layer navigation system architecture. System architecture The planning is shared with the roadside navigation device, and the global navigation device is only responsible for the planning of the road level path, reducing the burden on the global navigation device.
  • FIG. 8 is a schematic flowchart of a navigation method according to an embodiment of the present invention, which may be performed by a system including a global navigation device, a first roadside navigation device, a second roadside navigation device, and a terminal navigation device, wherein
  • the terminal navigation device can be, for example, a car navigation device integrated in the vehicle.
  • the car navigation device may send a vehicle registration request to the global navigation device by using the first roadside navigation device, where the vehicle registration request is used to request the global navigation device to authenticate the car navigation device.
  • the global navigation device may perform an authentication process on the vehicle according to the identification information of the vehicle corresponding to the vehicle navigation device.
  • the identification information of the in-vehicle navigation device may be carried in the terminal registration request, or may be carried in the heartbeat message, which is not limited by the disclosure.
  • the car navigation device determines a starting point and a destination of the navigation.
  • the car navigation device sends a global path request to the global navigation device by using the first roadside navigation device, and the global path request is used to request to determine a global path from the destination to the destination.
  • the global navigation device determines that the destination in the received global path request has multiple matching locations in the map.
  • the user sets the destination to the A university in the car navigation device, and the map may have multiple matching addresses such as the A University South Gate, the A University North Gate, and the A University Teaching Building.
  • the global navigation device needs to know which of the matching addresses.
  • An address is the destination destination before the global path can be determined based on the origin and destination.
  • the global navigation device may send the information of the plurality of matching locations to the car navigation device by using the first roadside navigation device.
  • the car navigation device determines a unique target destination.
  • the car navigation device forwards the information of the target destination to the global navigation device by using the first roadside navigation device.
  • the global navigation device determines a global path according to the starting location and the target destination.
  • the global navigation device may jointly determine a global path of the road level from the origin to the destination according to the origin, the destination, and the additional information, where the additional information includes at least one of the following information: current The road condition information, the information of the global path policy, the vehicle type information of the vehicle corresponding to the vehicle navigation device, and the driving type information of the vehicle.
  • the driving type information is used to indicate that the driving type of the vehicle is manned or unmanned
  • the vehicle type is used to indicate that the vehicle is an ordinary social vehicle, a bus, a school bus, 120/110/119, etc.
  • the vehicle navigation device corresponding vehicle may be a vehicle in which the car navigation device is located.
  • the additional information may be carried in the global path request, for example, the global path request carries at least one of information about a global path policy, in-vehicle information, and driving type information, or information about the global path policy is also Can be set in advance.
  • the global navigation device may also store or acquire at least one of the in-vehicle information and the driving type information from other servers in advance, and the present invention is not limited thereto.
  • the global path policy may be: shortest distance first, shortest time first, least cost first, minimum traffic light priority, etc., and the present invention is not limited thereto.
  • the global navigation device sends first indication information for indicating the global path to the first roadside navigation device.
  • the first roadside navigation device saves the global path.
  • the global navigation device sends first indication information for indicating the global path to the global navigation device.
  • the car navigation device saves the global path, so that the car navigation device determines the driving path according to the global path.
  • the car navigation device sends a local path request to the first roadside navigation device, where the local path request is used to request to determine a locale path of a lane level corresponding to at least a portion of the global path.
  • the first roadside navigation device determines the local path according to the global path.
  • the information of the global path may be saved in the first roadside navigation device in S813, and may be carried in the local path request, and may also be in the first indication information sent by the global navigation device. Carrying.
  • the first roadside navigation device may further determine, according to the global path and the local path policy, a local path of a lane level corresponding to at least a part of the global path, where the local area
  • the path policy may be at least one of the following: lane load balancing, avoiding frequent lane changes, throughput priority, and speed priority, or may be other local path policies that need to be added in actual applications, and may be lane load And to avoid local path strategies other than frequent lane changes, the present invention is not limited thereto.
  • the throughput priority is that the first roadside navigation device can plan more vehicles to travel on the lane
  • the speed priority is that the first roadside navigation device can plan the vehicle to travel at the maximum speed possible.
  • the throughput priority is considered and more vehicles are planned, the maximum possible speed of the vehicle will be limited. Therefore, when the local path policy is used, the throughput priority and the speed priority may be considered at the same time, and the throughput priority or the speed priority may be considered separately, which is not limited by the present invention.
  • the local path policy may be carried in the local path request, for example, the local path request carries the global path and the local path policy, or the local path policy may be preset, The invention is not limited to this.
  • the first roadside navigation device sends second indication information for indicating the local path to the car navigation device.
  • the car navigation device saves the local path, and determines a driving path according to at least one of the global path and the local path.
  • the first roadside navigation device may send the second roadside navigation device to the second roadside navigation device.
  • the inbound notification message carries the information of the global path, so that the second roadside navigation device determines the local path according to the global path.
  • the second roadside navigation device may send a driving confirmation message to the first roadside navigation device, where the driving confirmation message is used Confirming that the car navigation device has entered the coverage of the second roadside navigation device
  • the driving notification message may be sent to the second roadside navigation device when the car navigation device is about to exit the coverage of the first roadside navigation device; or the car navigation device may just enter the navigation device.
  • the first roadside navigation device is sent to the second roadside navigation device
  • the second roadside navigation device has sufficient time for the car navigation device to determine the coverage of the second roadside navigation device.
  • the local path the invention is not limited thereto.
  • the car navigation device when the car navigation device needs to actively change the driving lane when traveling along the global path, for example, the car navigation device determines that the active overtaking is required, the car navigation device can also A local path change request is sent to the first roadside navigation device, and the global path change request is used to request to determine the local path.
  • the first roadside navigation device redetermines the changed local path according to the current location information of the car navigation device and the global path.
  • the current location information and the identifier information of the in-vehicle navigation device may be sent to the first roadside navigation device, for example, in a local path change request, which is not limited by the disclosure.
  • the current location information and the identification information of the in-vehicle navigation device may be sent to the first roadside navigation device, for example, in a heartbeat message, which is not limited in the present invention.
  • the first roadside navigation device sends third indication information for indicating the changed local path to the car navigation device.
  • the car navigation device saves and executes the changed local path.
  • the car navigation device can also perform autonomous path planning.
  • the car navigation device when the car navigation device detects an emergency situation in the surroundings, for example, detecting an obstacle in front or an emergency braking of the preceding vehicle, when an emergency lane change or an emergency brake is required, the car navigation device can make an emergency for the emergency situation.
  • the path is adjusted, the autonomous planning path is determined, and the emergency situation and the autonomous planning path are reported to the first road side navigation device, and the peripheral terminal emergency avoidance can be notified through terminal-terminal communication or terminal and infrastructure communication, and the independent planning
  • the accuracy of the path may be road level or lane level, and the invention is not limited thereto.
  • the car navigation device can send a vehicle logout request to the global navigation device.
  • the global navigation device clears related information of the car navigation device.
  • the related information of the in-vehicle navigation device may be, for example, the vehicle information of the vehicle-mounted navigation device corresponding to the vehicle and the global path determined by the global navigation device, etc., which is not limited by the present invention.
  • the car navigation device may send an in-vehicle registration request to the first roadside navigation device; after receiving the terminal cancellation request, the global navigation device may Clearing the information about the stored car navigation device; after the cleaning is completed, the global navigation device sends a terminal cancellation confirmation message to the car navigation device, or forwards the terminal cancellation confirmation message to the car navigation device through the first roadside navigation device.
  • the information related to the in-vehicle navigation device may be, for example, the vehicle information of the vehicle-mounted navigation device corresponding to the vehicle and the global path determined by the global navigation device in the embodiment of the present invention, which is not limited by the present invention.
  • the navigation system of the embodiment of the present invention includes a global navigation device, a first roadside navigation device, and a terminal navigation device.
  • the global navigation device determines a global path of the road level according to the global path request sent by the terminal navigation device, and the first roadside navigation device is The global path determines a local path of the lane level corresponding to at least a part of the global path, and the terminal navigation device determines the driving path according to at least one of the global path and the local path, thereby improving navigation accuracy and being applicable.
  • the global navigation device shares a large number of lane-level path navigation services to multiple roadside navigation devices, and the failure of a single roadside navigation device does not cause the entire system to be paralyzed, thereby improving system reliability.
  • the navigation system of the embodiment of the present invention implements planning and navigation of the full lane level path without increasing the burden of the global navigation device. If the planning and navigation of the lane-level path is implemented only by the two-layer navigation system architecture of the global navigation device and the car navigation device, the burden of the global navigation device is too heavy, and the three-layer navigation of the embodiment of the present invention is compared with the two-layer navigation system architecture.
  • the system architecture distributes the planning of the lane-level path to the roadside navigation device, while the global navigation device is only responsible for the planning of the road-level path, reducing the burden on the global navigation device.
  • the roadside navigation device, the terminal navigation device and the global navigation device of the embodiment of the present invention described in FIG. 9 to FIG. 14 can implement the steps of the method in FIGS. 4 to 6, in order to avoid repetition, no longer here. Detailed.
  • FIG. 9 is a schematic block diagram of a roadside navigation device according to an embodiment of the present invention. As shown in FIG. 9, the roadside navigation device 900 includes:
  • a first determining module 901 configured to determine a global path of a road level from the origin to the destination;
  • a second determining module 902 configured to determine, according to the global path determined by the first determining module 901, a local path of a lane level corresponding to at least a part of the global path;
  • the first sending module 903 is configured to send second indication information to the terminal navigation device, where the second finger
  • the indication information is used to indicate the local path determined by the second determining module 902.
  • a roadside navigation device determines a localized path of a lane level corresponding to at least a portion of the global path by determining a global path from a road level that initially arrives at a destination. And transmitting second indication information for indicating the local path to the terminal navigation device, realizing planning and navigation of the lane-level path, improving navigation accuracy, and not increasing the burden of the global navigation device.
  • the first determining module 901 is specifically configured to: receive the first indication information that is sent by the global navigation device, where the first indication information is used to indicate the global path; and according to the first indication information, The global path of the road level from the origin to the destination is determined.
  • the first determining module 901 is specifically configured to: receive a first driving notification message sent by the second roadside navigation device, where the first driving notification message is used to indicate the terminal navigation device. Entering the coverage of the first roadside navigation device, and the first driving notification message carries information of the global path; determining, according to the first driving notification message, the road level from the origin to the destination Global path.
  • the first determining module 901 is specifically configured to: receive a local path request sent by the terminal navigation device, where the local path request carries information of the global path; according to the local area A path request determines the global path of the road level from the origin to the destination.
  • the second determining module 902 is specifically configured to: determine the local path according to the global path and the local path policy, where the local path policy includes lane load balancing, avoid frequent change lanes, At least one of throughput priority and speed priority.
  • the roadside navigation device further includes: a second sending module, configured to send a second driving notification message to the third roadside navigation device, where the second driving notification message is used to indicate the The terminal navigation device is about to enter the coverage of the third roadside navigation device; the first receiving module is configured to receive the driving confirmation sent by the third roadside navigation device according to the second driving notification message The message confirms that the terminal navigation device has entered the coverage of the third roadside navigation device.
  • a second sending module configured to send a second driving notification message to the third roadside navigation device, where the second driving notification message is used to indicate the The terminal navigation device is about to enter the coverage of the third roadside navigation device
  • the first receiving module is configured to receive the driving confirmation sent by the third roadside navigation device according to the second driving notification message The message confirms that the terminal navigation device has entered the coverage of the third roadside navigation device.
  • a roadside navigation device determines a global path from a road level that initially arrives at a destination, and determines the global path according to the global path. At least a part of the path corresponds to a localized path of the lane level, and sends a second indication information for indicating the local path to the terminal navigation device, which improves navigation accuracy and can be applied to a large-scale automatic driving scenario.
  • Global navigation device will mass the lane-level path navigation service The operation of the roadside navigation device is shared, and the failure of the single roadside navigation device does not cause the entire system to be paralyzed, thereby improving the reliability of the system.
  • the navigation system of the embodiment of the present invention implements planning and navigation of the full lane level path without increasing the burden of the global navigation device. If the planning and navigation of the lane-level path is implemented only by the two-layer navigation system architecture of the global navigation device and the terminal navigation device, the burden of the global navigation device is too heavy, and the three-layer navigation of the embodiment of the present invention is compared with the two-layer navigation system architecture.
  • the system architecture distributes the planning of the lane-level path to the roadside navigation device, while the global navigation device is only responsible for the planning of the road-level path, reducing the burden on the global navigation device.
  • FIG. 10 is a schematic block diagram of a terminal navigation device according to an embodiment of the present invention. As shown in FIG. 10, the terminal navigation device 1000 includes:
  • a first sending module 1001 configured to send a global path request to the global navigation device, where the global path request is used to request to determine a global path that is initially arrived at the destination;
  • the first receiving module 1002 is configured to receive first indication information that is sent by the global navigation device according to the global path request sent by the first sending module 1001, where the first indication information is used to indicate that the destination is reached by the initial Road-level global path;
  • the second receiving module 1003 is configured to receive second indication information that is sent by the first roadside navigation device, where the second indication information is used to indicate a localized path of a lane level corresponding to at least a part of the global path;
  • the determining module 1004 is configured to: according to the global path indicated by the first indication information received by the first receiving module 1001 and at least the local path indicated by the second indication information received by the second receiving module 1003 One item determines the first travel path.
  • a terminal navigation apparatus receives a global path request from a global navigation apparatus, and receives a road-level global path sent by the global navigation apparatus according to the global path request to indicate that the destination is initially arrived.
  • the first indication information and the second indication information sent by the first roadside navigation device to indicate a lane-level local path corresponding to at least a part of the global path, and according to the first indication information and the second indication information At least one of the determinations of the travel path enables planning and navigation of the lane-level path, improves the accuracy of the navigation, and does not increase the burden on the global navigation device.
  • the first sending module 1001 is specifically configured to: send the global path request to the first roadside navigation device, so that the first roadside navigation device forwards the global to the global navigation device. a path request; the first receiving module 1002 is specifically configured to: receive the first The first indication information forwarded by the roadside navigation device, wherein the first indication information is sent by the global navigation device to the first roadside navigation device according to the global route request.
  • the global path request carries additional information, where the additional information includes at least one of the following information: current road condition information, information of the global path policy, vehicle type information of the vehicle corresponding to the terminal navigation device, and driving type of the vehicle.
  • Information the driving type information is used to indicate that the driving type of the vehicle is manned or unmanned, wherein the driving type information is used to indicate that the driving type of the vehicle is manned or unmanned, and the vehicle type is used for indicating
  • the vehicle is an ordinary social vehicle, a bus, a school bus, a vehicle that performs an emergency task such as 120/110/119, and the like, and the terminal navigation device corresponding to the vehicle may be a vehicle in which the terminal navigation device is located.
  • the terminal navigation device further includes: a second sending module, where the second sending module is configured to send the second indication information sent by the first roadside navigation device to the first road
  • the side navigation device sends a local path request, where the local path request is used to request to determine a local path corresponding to the global path
  • the second receiving module 1003 is specifically configured to: receive the first roadside navigation device according to the local area plan The second indication information requested to be sent.
  • the terminal navigation device further includes: a third sending module, configured to send a terminal registration request to the global navigation device before the first sending module sends the global path request to the global navigation device,
  • the terminal registration request is used to request the global navigation device to authenticate the terminal navigation device; and the third receiving module is configured to receive the terminal registration confirmation sent by the global navigation device according to the terminal registration request.
  • a terminal navigation apparatus receives a global path request from a global navigation apparatus, and receives a road-level global path sent by the global navigation apparatus according to the global path request to indicate that the destination is initially arrived.
  • the first indication information and the second indication information sent by the first roadside navigation device to indicate a lane-level local path corresponding to at least a part of the global path, and according to the first indication information and the second indication information At least one of the determinations of the driving path improves the accuracy of the navigation, and can be applied to a large-scale automatic driving scene.
  • the global navigation device shares a large number of lane-level path navigation services to a plurality of roadside navigation devices, and a single roadside navigation The failure of the device does not cause the entire system to falter, which improves the reliability of the system.
  • the navigation system of the embodiment of the present invention implements planning and navigation of the full lane level path without increasing the burden of the global navigation device. If the planning and navigation of the lane-level path is implemented only by the two-layer navigation system architecture of the global navigation device and the terminal navigation device, the burden of the global navigation device is too heavy, and the three-layer navigation of the embodiment of the present invention is compared with the two-layer navigation system architecture. System architecture The planning is shared with the roadside navigation device, and the global navigation device is only responsible for the planning of the road level path, reducing the burden on the global navigation device.
  • FIG. 11 is a schematic block diagram of a global navigation device according to an embodiment of the present invention. As shown in FIG. 11, the global navigation device 1100 includes:
  • the first receiving module 1101 is configured to receive a global path request sent by the terminal navigation apparatus, where the global path request is used to request to determine a global path that is initially arrived at the destination;
  • a determining module 1102 configured to determine, according to the global path request received by the first receiving module 1101, a global path from the road level that initially arrives at the destination;
  • the first sending module 1103 is configured to send first indication information to the first roadside navigation device corresponding to the terminal navigation device, where the first indication information is used to indicate the global path determined by the determining module 1102, so as to facilitate the first
  • the one-way side navigation device determines a local-area path of the lane level corresponding to at least a portion of the global path according to the first indication information.
  • a global navigation device receives a global path request sent by a terminal navigation device, and determines a global path of the road level from the initial destination to the destination according to the global path request, and The first roadside navigation device corresponding to the terminal navigation device sends first indication information for indicating the global path, so that the first roadside navigation device determines, according to the global path, that the indication corresponds to at least a part of the global path.
  • the lane-level local path realizes the planning and navigation of the lane-level path, improves the navigation accuracy, and does not increase the burden of the global navigation device.
  • the first receiving module 1101 is specifically configured to: receive a global path request forwarded by the first roadside navigation device, where the global path request forwarded by the first roadside navigation device is Transmitted by the terminal navigation device.
  • the determining module 1102 is specifically configured to: determine, according to the start location, the destination, and the additional information, a global path of the road level that is initially arrived at the destination, where
  • the additional information includes at least one of the following information: current road condition information, information of the global path policy, vehicle type information of the vehicle corresponding to the terminal navigation device, and driving type information of the vehicle.
  • the driving type information is used to indicate that the driving type of the vehicle is manned or unmanned
  • the vehicle type is used to indicate that the vehicle is an ordinary social vehicle, a bus, a school bus, 120/110/119, etc.
  • the terminal navigation device corresponding vehicle may be a vehicle in which the terminal navigation device is located.
  • the global navigation device further includes: a second receiving module, where the second receiving module is used Receiving, by the terminal navigation device, a terminal registration request, the terminal registration request is used to request the global navigation device to authenticate the terminal navigation device, and the second sending module is configured to navigate to the terminal according to the terminal registration request.
  • the device sends a terminal registration confirmation.
  • a global navigation device receives a global path request sent by a terminal navigation device, and determines a global path of the road level from the initial destination to the destination according to the global path request, and The first roadside navigation device corresponding to the terminal navigation device sends first indication information for indicating the global path, so that the first roadside navigation device determines, according to the global path, that the indication corresponds to at least a part of the global path.
  • the lane-level local path improves navigation accuracy and can be applied to large-scale autopilot scenarios.
  • the global navigation device distributes a large number of lane-level path navigation services to multiple roadside navigation devices, and a single roadside navigation device. The failure will not cause the entire system to collapse, which improves the reliability of the system.
  • the navigation system of the embodiment of the present invention implements planning and navigation of the full lane level path without increasing the burden of the global navigation device. If the planning and navigation of the lane-level path is implemented only by the two-layer navigation system architecture of the global navigation device and the terminal navigation device, the burden of the global navigation device is too heavy, and the three-layer navigation of the embodiment of the present invention is compared with the two-layer navigation system architecture.
  • the system architecture distributes the planning of the lane-level path to the roadside navigation device, while the global navigation device is only responsible for the planning of the road-level path, reducing the burden on the global navigation device.
  • the roadside navigation device 1200 includes a processor 1201, a memory 1202, a bus system 1203, and a transmitter 1204.
  • the processor 1201, the memory 1202 and the transmitter 1204 are connected by a bus system 1203 for storing instructions for executing the instructions stored by the memory 1202.
  • the processor 1201 is configured to determine a global path of a road level from the origin to the destination; according to the global path, determine a local path of a lane level corresponding to at least a portion of the global path;
  • the transmitter 1204 is configured to send, to the terminal navigation device, second indication information, where the second indication information is used to indicate the local path determined by the processor 1201.
  • a roadside navigation device determines a localized path of a lane level corresponding to at least a portion of the global path by determining a global path from a road level that initially arrives at a destination. And transmitting second indication information for indicating the local path to the terminal navigation device, realizing planning and navigation of the lane-level path, improving navigation accuracy, and not increasing the burden of the global navigation device.
  • the processor 1201 may be a central processing unit (“CPU"), and the processor 1201 may also be other general-purpose processors, digital signal processors (DSPs). , an application specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, and the like.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the memory 1202 can include read only memory and random access memory and provides instructions and data to the processor 1201.
  • the bus system 1203 may include a power bus, a control bus, a status signal bus, and the like in addition to the data bus. However, for clarity of description, various buses are labeled as bus system 1203 in the figure.
  • each step of the foregoing method may be completed by an integrated logic circuit of hardware in the processor 1201 or an instruction in a form of software.
  • the steps of the method disclosed in the embodiments of the present invention may be directly implemented as a hardware processor, or may be performed by a combination of hardware and software modules in the processor.
  • the software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like.
  • the storage medium is located in the memory 1202, and the processor 1201 reads the information in the memory 1202 and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.
  • the processor 1201 is specifically configured to: receive the first indication information that is sent by the global navigation device, where the first indication information is used to indicate the global path, and determine, according to the first indication information, The global path from the starting point to the road level of the destination.
  • the processor 1201 is specifically configured to: receive a first driving notification message sent by the second roadside navigation device, where the first driving notification message is used to indicate that the terminal navigation device is about to enter The coverage of the first roadside navigation device, and the first driving notification message carries information of the global path; and according to the first driving notification message, determining the global path of the road level from the origin to the destination .
  • the processor 1201 is specifically configured to: receive a local path request sent by the terminal navigation apparatus, where the local path request carries information of the global path; and according to the local path request Determine the global path of the road level from the origin to the destination.
  • the processor 1201 is specifically configured to: determine the local path according to the global path and the local path policy, where the local path policy includes lane load balancing, avoid frequent lane change, and throughput. At least one of quantity priority and speed priority.
  • the transmitter 1204 is further configured to send, to the third roadside navigation device, a second driving notification message, where the second driving notification message is used to indicate that the terminal navigation device is about to enter the first The coverage of the three-way navigation device;
  • the roadside navigation device further includes a receiver, configured to receive the driving confirmation message sent by the third roadside navigation device according to the second driving notification message, where the driving confirmation message is used to indicate the The terminal navigation device has entered the coverage of the third roadside navigation device.
  • a roadside navigation device determines a localized path of a lane level corresponding to at least a portion of the global path by determining a global path from a road level that initially arrives at a destination. And transmitting second indication information for indicating the local path to the terminal navigation device, improving navigation accuracy, being applicable to a large-scale automatic driving scene, and the global navigation device sharing a large number of lane-level path navigation services To multiple roadside navigation devices, failure of a single roadside navigation device does not cause the entire system to collapse, improving system reliability.
  • the navigation system of the embodiment of the present invention implements planning and navigation of the full lane level path without increasing the burden of the global navigation device. If the planning and navigation of the lane-level path is implemented only by the two-layer navigation system architecture of the global navigation device and the terminal navigation device, the burden of the global navigation device is too heavy, and the three-layer navigation of the embodiment of the present invention is compared with the two-layer navigation system architecture.
  • the system architecture distributes the planning of the lane-level path to the roadside navigation device, while the global navigation device is only responsible for the planning of the road-level path, reducing the burden on the global navigation device.
  • FIG. 13 is a schematic block diagram of a terminal navigation apparatus including a processor 1301, a memory 1302, a bus system 1303, a transmitter 1304, and a receiver 1305, wherein the processor 1301 and the memory are included in the embodiment of the present invention. 1302.
  • the transmitter 1304 and the receiver 1305 are connected by a bus system 1303 for storing instructions for executing instructions stored by the memory 1302.
  • the transmitter 1304 is configured to send a global path request to the global navigation device, where the global path request is used to request to determine a global path that is initially arrived at the destination;
  • the receiver 1305 is configured to receive first indication information that is sent by the global navigation device according to the global path request sent by the transmitter 1304, where the first indication information is used to indicate a global level of the road level that is initially arrived at the destination. And receiving, by the first roadside navigation device, second indication information, where the second indication information is used to indicate a localized path of a lane level corresponding to at least a part of the global path;
  • the processor 1301 is configured to be instructed according to the first indication information received by the receiver 1305.
  • the first path is determined by at least one of the global path and the local path indicated by the second indication information.
  • a terminal navigation apparatus receives a global path request from a global navigation apparatus, and receives a road-level global path sent by the global navigation apparatus according to the global path request to indicate that the destination is initially arrived.
  • the first indication information and the second indication information sent by the first roadside navigation device to indicate a lane-level local path corresponding to at least a part of the global path, and according to the first indication information and the second indication information At least one of the determinations of the travel path enables planning and navigation of the lane-level path, improves the accuracy of the navigation, and does not increase the burden on the global navigation device.
  • the processor 1301 may be a central processing unit (“CPU"), and the processor 1301 may also be other general-purpose processors, digital signal processors (DSPs). , an application specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, and the like.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the memory 1302 can include read only memory and random access memory and provides instructions and data to the processor 1301.
  • the bus system 1303 may include a power bus, a control bus, a status signal bus, and the like in addition to the data bus. However, for clarity of description, various buses are labeled as the bus system 1303 in the figure.
  • each step of the foregoing method may be completed by an integrated logic circuit of hardware in the processor 1301 or an instruction in a form of software.
  • the steps of the method disclosed in the embodiments of the present invention may be directly implemented as a hardware processor, or may be performed by a combination of hardware and software modules in the processor.
  • the software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like.
  • the storage medium is located in the memory 1302, and the processor 1301 reads the information in the memory 1302 and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.
  • the transmitter 1304 is specifically configured to: send the global path request to the first roadside navigation device, so that the first roadside navigation device forwards the global path request to the global navigation device.
  • the receiver 1305 is specifically configured to: receive the first indication information that is forwarded by the first roadside navigation device, where the first indication information is that the global navigation device requests the first roadside navigation device according to the global path Sent.
  • the global path request carries additional information, where the additional information includes at least one of the following information: current road condition information, information of the global path policy, vehicle type information of the vehicle corresponding to the terminal navigation device, and driving type of the vehicle.
  • Information the driving type information is used to indicate that the driving type of the vehicle is manned or unmanned, wherein the driving type information is used to indicate that the driving type of the vehicle is manned or unmanned, and the vehicle type is used for indicating
  • the vehicle is an ordinary social vehicle, a bus, a school bus, a vehicle that performs an emergency task such as 120/110/119, and the like, and the terminal navigation device corresponding to the vehicle may be a vehicle in which the terminal navigation device is located.
  • the transmitter 1304 is further configured to send a local path request to the first roadside navigation device before the second receiving module receives the second indication information sent by the first roadside navigation device, where the local area is The path request is used to request to determine the local path corresponding to the global path; the receiver 1305 is further configured to receive the second indication information that is sent by the first roadside navigation device according to the local area planning request.
  • the transmitter 1304 is further configured to send a local path request to the first roadside navigation device before the second receiving module receives the second indication information sent by the first roadside navigation device, where the local area is The path request is used to request to determine the local path corresponding to the global path; the receiver 1305 is further configured to receive the second indication information that is sent by the first roadside navigation device according to the local area planning request.
  • a terminal navigation apparatus receives a global path request from a global navigation apparatus, and receives a road-level global path sent by the global navigation apparatus according to the global path request to indicate that the destination is initially arrived.
  • the first indication information and the second indication information sent by the first roadside navigation device to indicate a lane-level local path corresponding to at least a part of the global path, and according to the first indication information and the second indication information At least one of the determinations of the driving path improves the accuracy of the navigation, and can be applied to a large-scale automatic driving scene.
  • the global navigation device shares a large number of lane-level path navigation services to a plurality of roadside navigation devices, and a single roadside navigation The failure of the device does not cause the entire system to falter, which improves the reliability of the system.
  • the navigation system of the embodiment of the present invention implements planning and navigation of the full lane level path without increasing the burden of the global navigation device. If the planning and navigation of the lane-level path is implemented only by the two-layer navigation system architecture of the global navigation device and the terminal navigation device, the burden of the global navigation device is too heavy, and the three-layer navigation of the embodiment of the present invention is compared with the two-layer navigation system architecture.
  • the system architecture distributes the planning of the lane-level path to the roadside navigation device, while the global navigation device is only responsible for the planning of the road-level path, reducing the burden on the global navigation device.
  • FIG. 14 shows a schematic block diagram of a global navigation device 1400 including a processor 1401, a memory 1402, a bus system 1403, a receiver 1404, and a transmitter 1405, wherein the processor 1401 and the memory are shown in FIG. 1402.
  • the receiver 1404 and the transmitter 1405 are connected by a bus system 1403 for storing instructions for executing instructions stored by the memory 1402.
  • the receiver 1404 is configured to receive a global path request sent by the terminal navigation apparatus, where the global path request is used to request to determine a global path that is initially arrived at the destination;
  • the processor 1401 is configured to determine, according to the global path request received by the receiver 1404, a global path from the road level that initially arrives at the destination;
  • the transmitter 1405 is configured to send first indication information to the first roadside navigation device corresponding to the terminal navigation device, where the first indication information is used to indicate the global path determined by the processor 1401, so as to facilitate the first road side.
  • the navigation device determines a local area of the lane level corresponding to at least a portion of the global path based on the first indication information.
  • a global navigation device receives a global path request sent by a terminal navigation device, and determines a global path of the road level from the initial destination to the destination according to the global path request, and The first roadside navigation device corresponding to the terminal navigation device sends first indication information for indicating the global path, so that the first roadside navigation device determines, according to the global path, that the indication corresponds to at least a part of the global path.
  • the lane-level local path realizes the planning and navigation of the entire lane-level path, improving the accuracy of navigation.
  • the processor 1401 may be a central processing unit (“CPU"), and the processor 1401 may also be other general-purpose processors, digital signal processors (DSPs). , an application specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, and the like.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the memory 1402 can include read only memory and random access memory and provides instructions and data to the processor 1401.
  • the bus system 1403 may include a power bus, a control bus, a status signal bus, and the like in addition to the data bus. However, for clarity of description, various buses are labeled as bus system 1403 in the figure.
  • each step of the foregoing method may be completed by an integrated logic circuit of hardware in the processor 1401 or an instruction in a form of software.
  • Steps in conjunction with the method disclosed in the embodiments of the present invention The steps can be directly implemented as hardware processor execution or by a combination of hardware and software modules in the processor.
  • the software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like.
  • the storage medium is located in the memory 1402, and the processor 1401 reads the information in the memory 1402 and performs the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.
  • the receiver 1404 is specifically configured to: receive a global path request forwarded by the first roadside navigation device, where the global path request forwarded by the first roadside navigation device is the terminal navigation The device sent.
  • the processor 1401 is specifically configured to: determine, according to the origin, the destination, and the additional information, a global path of the road level that is initially from the destination, where The additional information includes at least one of the following information: current road condition information, information of the global path policy, vehicle type information of the vehicle corresponding to the terminal navigation device, and driving type information of the vehicle.
  • the driving type information is used to indicate that the driving type of the vehicle is manned or unmanned
  • the vehicle type is used to indicate that the vehicle is an ordinary social vehicle, a bus, a school bus, 120/110/119, etc.
  • the terminal navigation device corresponding vehicle may be a vehicle in which the terminal navigation device is located.
  • the receiver 1404 is further configured to receive the terminal navigation device to send a terminal registration request, where the terminal registration request is used to request the global navigation device to authenticate the terminal navigation device; the transmitter 1405 is further configured to register according to the terminal. The request sends a terminal registration confirmation to the terminal navigation device.
  • a global navigation device receives a global path request sent by a terminal navigation device, and determines a global path of the road level from the initial destination to the destination according to the global path request, and The first roadside navigation device corresponding to the terminal navigation device sends first indication information for indicating the global path, so that the first roadside navigation device determines, according to the global path, that the indication corresponds to at least a part of the global path.
  • the lane-level local path improves navigation accuracy and can be applied to large-scale autopilot scenarios.
  • the global navigation device distributes a large number of lane-level path navigation services to multiple roadside navigation devices, and a single roadside navigation device. The failure will not cause the entire system to collapse, which improves the reliability of the system.
  • the navigation system of the embodiment of the present invention implements planning and navigation of the full lane level path without increasing the burden of the global navigation device. If the planning and navigation of the lane-level path is implemented only by the two-layer navigation system architecture of the global navigation device and the terminal navigation device, the burden of the global navigation device is too heavy, and the three-layer navigation of the embodiment of the present invention is compared with the two-layer navigation system architecture. System architecture The planning is shared with the roadside navigation device, and the global navigation device is only responsible for the planning of the road level path, reducing the burden on the global navigation device.
  • the disclosed systems, devices, and methods may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the device is only a logical function division.
  • there may be another division manner for example, multiple devices or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or device, and may be in an electrical, mechanical or other form.
  • the means described as separate components may or may not be physically separate, and the components displayed as devices may or may not be physical devices, ie may be located in one place or may be distributed over multiple network devices. Some or all of the devices may be selected according to actual needs to achieve the objectives of the solution of the embodiment.
  • each functional device in various embodiments of the present invention may be integrated into one processing device, or each device may exist physically separately, or two or more devices may be integrated into one device.
  • the functions may be stored in a computer readable storage medium if implemented in the form of a software functional device and sold or used as a standalone product.
  • the technical solution of the present invention which is essential or contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product, which is stored in a storage medium, including
  • the instructions are used to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), A variety of media that can store program code, such as random access memory (RAM), disk, or optical disk.

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Abstract

本发明提供一种导航系统、装置和方法，该导航系统包括：全局导航装置、第一路侧导航装置和终端导航装置，该终端导航装置用于向该全局导航装置发送用于请求道路级全局路径的全局路径请求；该全局导航装置用于根据该全局路径请求确定该全局路径，向该终端导航装置发送用于指示该全局路径的第一指示信息；该第一路侧导航装置用于根据该全局路径，确定车道级的局域路径，并且向该终端导航装置发送用于指示该局域路径的第二指示信息；该终端导航装置还用于根据该第一指示信息和该第二指示信息确定第一行驶路径，实现了导航系统全程车道级路径的规划，提高了导航的精确度，能够适用于大规模的自动驾驶场景。

Description

导航系统、装置和方法 技术领域
本发明涉及通信领域，并且更具体地，涉及无线通信领域中的导航系统、装置和方法。
背景技术
目前终端导航的应用已经广泛普及，但目前主要是面向人的导航应用，其定位及导航大多是基于全球定位系统(Global Positioning System，GPS)发展起来的，基本原理是：根据起始位置和目的地，结合本地存数的电子地图，进行路径规划，并在行驶过程中根据GPS定位，通过视觉、语音给驾驶员实时的路径提示和引导。这样的导航方式，需要终端导航具备路径规划计算的能力，导致终端的成本较高，并且地图更新不便，也无法将动态的路况信息与路径规划关联起来。
随着汽车智能化水平的提升，近年来自动驾驶技术快速发展，以前面向人的完全基于车载终端的导航已经无法满足需求，面向车辆的中心导航系统是智能交通的必然发展趋势。中心导航系统包括导航中心服务器和多个车载终端，其优势在于车载终端可以通过网络实时地获得导航中心所提供的相关信息服务和地图装置数据。现有的基于中心导航的路径引导方法，是在导航中心服务器下发规划好的路径给车载终端之后，根据车载终端上传的当前位置信息，判断终端尚未到达的道路中是否存在路况变化，若存在变化，则根据车载终端的当前位置信息、路况信息和终点信息重新规划路径，并将该重新规划的路径下发至车载终端，该车载终端可以按照该重新规划的路径为车辆进行导航，使得车载终端可以及时更新规划路径，缓解交通的拥堵情况。
然而，现有的导航架构不适用于规模化的自动驾驶场景。
发明内容
本发明实施例提供一种导航系统、装置和方法，能够提高导航系统规划路径的精确度，适用于规模化的自动驾驶场景。
第一方面，提供了一种导航系统，该导航系统包括：全局导航装置、第一路侧导航装置和终端导航装置；该终端导航装置用于向该全局导航装置发 送全局路径请求，该全局路径请求用于请求确定由起始地到达目的地的全局路径；该全局导航装置用于接收该终端导航装置发送的该全局路径请求，根据该全局路径请求确定由该起始地到达该目的地的道路级的全局路径，并且向该终端导航装置发送第一指示信息，该第一指示信息用于指示该全局路径；该第一路侧导航装置用于根据该全局路径，确定与该全局路径的至少一部分对应的车道级的局域路径，并且向该终端导航装置发送用于指示该局域路径的第二指示信息；该终端导航装置还用于接收该全局导航装置发送的该第一指示信息和该第一路侧导航装置发送的该第二指示信息，并根据该第一指示信息指示的该全局路径和该第二指示信息指示的该局域路径中的至少一项，确定第一行驶路径。
本发明实施例的导航系统，包括全局导航装置、第一路侧导航装置和终端导航装置，全局导航装置根据终端导航装置发送的全局路径请求确定道路级的全局路径，第一路侧导航装置根据该全局路径确定该全局路径的至少一部分对应的车道级的局域路径，该终端导航装置根据该全局路径和该局域路径中的至少一项确定行驶路径，实现了车道级路径的规划和导航，提高了导航的精确度，并且不会增加全局导航装置的负担。
结合第一方面，在第一方面的第一种可能的实现方式中，该全局导航装置具体用于：接收该终端导航装置发送的该全局路径请求；根据该起始地、该目的地和附加信息，确定该全局路径，其中，该附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、该终端导航装置对应车辆的车辆类型信息和该车辆的驾驶类型信息，该驾驶类型信息用于指示该车辆的驾驶类型为有人驾驶或无人驾驶；向该终端导航装置发送该第一指示信息，该第一指示信息用于指示该全局路径。
结合第一方面或第一方面的第一种可能的实现方式，在第一方面的第二种可能的实现方式中，该第一路侧导航装置还用于：接收该终端导航装置发送的该全局路径请求，并向该全局导航装置转发该全局路径请求；该全局导航装置具体用于：接收该第一路侧导航装置转发的该全局路径请求，并根据该全局路径请求向该第一路侧导航装置发送该第一指示信息；该第一路侧导航装置还用于：接收该全局导航装置发送的该第一指示信息，并向该终端导航装置转发该第一指示信息；该终端导航装置具体用于接收该第一路侧导航装置转发的该第一指示信息。
结合第一方面、第一方面的第一种或者第二种可能的实现方式，在第一方面的第三种可能的实现方式中，该第一路侧导航装置还用于：在该根据该全局路径，确定与该全局路径的至少一部分对应的车道级的局域路径之前，接收该终端导航装置发送的局域路径请求，该局域路径请求携带该全局路径的信息；该第一路侧导航装置具体用于根据该局域路径请求，确定该局域路径。
结合第一方面、第一方面的第一种或者第二种可能的实现方式，在第一方面的第四种可能的实现方式中，该导航系统还包括第二路侧导航装置；该第一路侧导航装置还用于：在该根据该全局路径，确定与该全局路径的至少一部分对应的车道级的局域路径之前，接收该第二路侧导航装置发送的第一驶入通知消息，该第一驶入通知消息用于指示该终端导航装置即将进入该第一路侧导航装置的覆盖范围，并且该第一驶入通知消息携带该全局路径的信息；该第一路侧导航装置具体用于根据该第一驶入通知消息，确定该局域路径。
结合第一方面、第一方面的第一种至第四种可能的实现方式中的任一种可能的实现方式，在第一方面的第五种可能的实现方式中，该第一路侧导航装置具体用于：根据该全局路径和局域路径策略，确定该局域路径，该局域路径策略包括车道负载均衡、避免频繁变道、吞吐量优先和速度优先中的至少一种。
结合第一方面、第一方面的第一种至第五种可能的实现方式中的任一种可能的实现方式，在第一方面的第六种可能的实现方式中，该系统还包括第三路侧导航装置；该第一路侧导航装置还用于：向该第三路侧导航装置发送第二驶入通知消息，该第二驶入通知消息用于指示该终端导航装置即将驶入该第三路侧导航装置的覆盖范围；接收该第三路侧导航装置发送的驶入确认消息，该驶入确认消息用于指示该终端导航装置已驶入该第三路侧导航装置的覆盖范围。
结合第一方面、第一方面的第一种至第六种可能的实现方式中的任一种可能的实现方式，在第一方面的第七种可能的实现方式中，其特征在于，该终端导航装置还用于：向该全局导航装置发送终端注册请求，该终端注册请求用于请求该全局导航装置鉴权该终端导航装置；接收该全局导航装置根据该终端注册请求发送的终端注册确认。
本发明实施例的导航系统，包括全局导航装置、第一路侧导航装置和终端导航装置，全局导航装置根据终端导航装置发送的全局路径请求确定道路级的全局路径，第一路侧导航装置根据该全局路径确定该全局路径的至少一部分对应的车道级的局域路径，该终端导航装置根据该全局路径和该局域路径中的至少一项确定行驶路径，实现了全程车道级路径的规划和导航，提高了导航的精确度，能够适用于大规模的自动驾驶场景，并且不会增加全局导航装置的负担，全局导航装置将海量的车道级路径导航服务分担到多个路侧导航装置，单个路侧导航装置的故障不会导致整个系统瘫痪，提高了系统的可靠性。
第二方面，提供了一种路侧导航装置，该路侧导航装置包括：第一确定模块，用于确定由起始地到目的地的道路级的全局路径；第二确定模块，用于根据该第一确定模块确定的该全局路径，确定与该全局路径的至少一部分所对应的车道级的局域路径；第一发送模块，用于向终端导航装置发送第二指示信息，该第二指示信息用于指示该第二确定模块确定的该局域路径。
结合第二方面，在第二方面的第一种可能的实现方式中，该第一确定模块具体用于：接收全局导航装置发送的第一指示信息，该第一指示信息用于指示该全局路径；根据该第一指示信息，确定该全局路径。
结合第二方面，在第二方面的第二种可能的实现方式中，该第一确定模块具体用于：接收第二路侧导航装置发送的第一驶入通知消息，该第一驶入通知消息用于指示该终端导航装置即将进入该第一路侧导航装置的覆盖范围，并且该第一驶入通知消息携带该全局路径的信息；根据该第一驶入通知消息，确定该全局路径。
结合第二方面，在第二方面的第三种可能的实现方式中，该第一确定模块具体用于：接收该终端导航装置发送的局域路径请求，该局域路径请求携带该全局路径的信息；根据该局域路径请求，确定该局域路径。
结合第二方面的第三种可能的实现方式，在第二方面的第四种可能的实现方式中，该第二确定模块具体用于：根据该全局路径和局域路径策略，确定该局域路径，该局域路径策略包括车道负载均衡、避免频繁变道、吞吐量优先和速度优先中的至少一种。
结合第二方面、第二方面的第一种至第四种可能的实现方式中的任一种可能的实现方式，在第二方面的第五种可能的实现方式中，该路侧导航装置 还包括：第二发送模块，用于向第三路侧导航装置发送第二驶入通知消息，该第二驶入通知消息用于指示该终端导航装置即将驶入该第三路侧导航装置的覆盖范围；第一接收模块，用于接收该第三路侧导航装置根据该第二驶入通知消息发送的驶入确认消息，该驶入确认消息用于指示该终端导航装置已驶入该第三路侧导航装置的覆盖范围。
本发明实施例的一种路侧导航装置，通过确定由起始地到达目的地的道路级的全局路径，根据该全局路径确定与该全局路径的至少一部分对应的车道级的局域路径，并向该终端导航装置发送用于指示该局域路径的第二指示信息，实现了全程车道级路径的规划和导航，提高了导航的精确度，能够适用于大规模的自动驾驶场景，并且不会增加全局导航装置的负担，全局导航装置将海量的车道级路径导航服务分担到多个路侧导航装置，单个路侧导航装置的故障不会导致整个系统瘫痪，提高了系统的可靠性。
第三方面，提供了一种终端导航装置，该终端导航装置包括：第一发送模块，用于向全局导航装置发送全局路径请求，该全局路径请求用于请求确定由起始地到达目的地的全局路径；第一接收模块，用于接收该全局导航装置根据该第一发送模块发送的全局路径请求发送的第一指示信息，该第一指示信息用于指示由该起始地到达该目的地的道路级的全局路径；第二接收模块，用于接收第一路侧导航装置发送的第二指示信息，该第二指示信息用于指示与该全局路径的至少一部分对应的车道级的局域路径；确定模块，用于根据该第一接收模块接收的该第一指示信息所指示的该全局路径和该第二接收模块接收的该第二指示信息所指示的该局域路径中的至少一项，确定第一行驶路径。
结合第三方面，在第三方面的第一种可能的实现方式中，该第一发送模块具体用于：向该第一路侧导航装置发送该全局路径请求，以便于该第一路侧导航装置向该全局导航装置转发该全局路径请求；该第一接收模块具体用于：接收该第一路侧导航装置转发的该第一指示信息，其中，该第一指示信息是该全局导航装置根据该全局路径请求向该第一路侧导航装置发送的。
结合第三方面或第三方面的第一种可能的实现方式，在第三方面的第二种可能的实现方式中，该全局路径请求携带附加信息，该附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、该终端导航装置对应车辆的车辆类型信息和该车辆的驾驶类型信息，该驾驶类型信息用于指 示该车辆的驾驶类型为有人驾驶或无人驾驶。
结合第三方面、第三方面的第一种或者第二种可能的实现方式，在第三方面的第三种可能的实现方式中，该装置还包括：第二发送模块，该第二发送模块，用于在该第二接收模块接收该第一路侧导航装置发送的第二指示信息之前，向该第一路侧导航装置发送局域路径请求，该局域路径请求用于请求确定该全局路径对应的局域路径；该第二接收模块具体用于：接收该第一路侧导航装置根据该局域规划请求发送的该第二指示信息。
结合第三方面、第三方面的第一种至第三种可能的实现方式中的任一种可能的实现方式，在第三方面的第四种可能的实现方式中，该终端导航装置还包括：第三发送模块：用于在该第一发送模块向该全局导航装置发送全局路径请求之前，向该全局导航装置发送终端注册请求，该终端注册请求用于请求该全局导航装置鉴权该终端导航装置；第三接收模块：用于接收该全局导航装置根据该终端注册请求发送的终端注册确认。
本发明实施例的一种终端导航装置，通过向全局导航装置发送全局路径请求，接收该全局导航装置根据该全局路径请求发送的用于指示由起始地到达目的地的道路级全局路径的第一指示信息和第一路侧导航装置发送的用于指示与该全局路径的至少一部分对应的车道级局域路径的第二指示信息，并根据该第一指示信息和该第二指示信息中的至少一项确定行驶路径，实现了车道级路径的规划和导航，提高了导航的精确度，能够适用于大规模的自动驾驶场景，并且不会增加全局导航装置的负担，全局导航装置将海量的车道级路径导航服务分担到多个路侧导航装置，单个路侧导航装置的故障不会导致整个系统瘫痪，提高了系统的可靠性。
第四方面，提供了一种全局导航装置，该全局导航装置包括：第一接收模块，用于接收终端导航装置发送的全局路径请求，该全局路径请求用于请求确定由起始地到达目的地的全局路径；确定模块，用于根据该第一接收模块接收的该全局路径请求，确定由该起始地到达该目的地的道路级的全局路径；第一发送模块，用于向与该终端导航装置对应的第一路侧导航装置发送第一指示信息，该第一指示信息用于指示该确定模块确定的该全局路径，以便于该第一路侧导航装置根据该第一指示信息确定与该全局路径的至少一部分对应的车道级的局域路径。
结合第四方面，在第四方面的第一种可能的实现方式中，该第一接收模 块具体用于：接收该第一路侧导航装置转发的全局路径请求，其中，该第一路侧导航装置转发的该全局路径请求是该终端导航装置发送的。
结合第四方面或第四方面的第一种可能的实现方式，在第四方面的第二种可能的实现方式中，该确定模块具体用于：根据该起始地、该目的地和附加信息，确定该由该起始地到达该目的地的道路级的全局路径，其中，该附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、该终端导航装置对应车辆的车辆类型信息和该车辆的驾驶类型信息，该驾驶类型信息用于指示该车辆的驾驶类型为有人驾驶或无人驾驶。
结合第四方面、第四方面的第一种或者第二种可能的实现方式，在第四方面的第三种可能的实现方式中，该全局导航装置还包括：第二接收模块，用于接收该终端导航装置发送终端注册请求，该终端注册请求用于请求该全局导航装置鉴权该终端导航装置；第二发送模块，用于根据该终端注册请求，向该终端导航装置发送终端注册确认。
本发明实施例的一种全局导航装置，通过接收终端导航装置发送的全局路径请求，并根据该全局路径请求确定由该起始地到达该目的地的道路级的全局路径，向与该终端导航装置对应的第一路侧导航装置发送用于指示该全局路径的第一指示信息，以便于该第一路侧导航装置将根据该全局路径确定用于指示与该全局路径的至少一部分对应的车道级的局域路径，实现了全程车道级路径的规划和导航，提高了导航的精确度，能够适用于大规模的自动驾驶场景，并且不会增加全局导航装置的负担，全局导航装置将海量的车道级路径导航服务分担到多个路侧导航装置，单个路侧导航装置的故障不会导致整个系统瘫痪，提高了系统的可靠性。
第五方面，提供了一种导航方法，该导航方法包括：第一路侧导航装置确定由起始地到目的地的道路级的全局路径；该第一路侧导航装置根据该全局路径，确定与该全局路径的至少一部分所对应的车道级的局域路径；该第一路侧导航向终端导航装置发送第二指示信息，该第二指示信息用于指示该局域路径。
结合第五方面，在第五方面的第一种可能的实现方式中，该第一路侧导航装置确定由起始地到目的地的道路级的全局路径，包括：接收全局导航装置发送的第一指示信息，该第一指示信息用于指示该全局路径；根据该第一指示信息，确定该全局路径。
结合第五方面，在第五方面的第二种可能的实现方式中，该第一路侧导航装置确定由起始地到目的地的道路级的全局路径，包括：接收第二路侧导航装置发送的第一驶入通知消息，该第一驶入通知消息用于指示该终端导航装置即将进入该第一路侧导航装置的覆盖范围，并且该第一驶入通知消息携带该全局路径的信息；根据该第一驶入通知消息，确定该全局路径。
结合第五方面，在第五方面的第三种可能的实现方式中，该第一路侧导航装置确定由起始地到目的地的道路级的全局路径，包括：接收该终端导航装置发送的局域路径请求，该局域路径请求携带该全局路径的信息；根据该局域路径请求，确定该全局路径。
结合第五方面的第三种可能的实现方式，在第五方面的第四种可能的实现方式中，该第一路侧导航装置根据该全局路径，确定与该全局路径的至少一部分所对应的车道级的局域路径，包括：根据该全局路径和局域路径策略，确定该局域路径，该局域路径策略包括车道负载均衡、避免频繁变道、吞吐量优先和速度优先中的至少一种。
结合第五方面、第五方面的第一种至第四种可能的实现方式中的任一种可能的实现方式，该导航方法还包括：向第三路侧导航装置发送第二驶入通知消息，该第二驶入通知消息用于指示该终端导航装置即将驶入该第三路侧导航装置的覆盖范围；接收该第三路侧导航装置根据该第二驶入通知消息发送的驶入确认消息，该驶入确认消息用于指示该终端导航装置已驶入该第三路侧导航装置的覆盖范围。
第六方面，提供了一种导航方法，该导航方法包括：向全局导航装置发送全局路径请求，该全局路径请求用于请求确定由起始地到达目的地的全局路径；接收该全局导航装置根据该全局路径请求发送的第一指示信息，该第一指示信息用于指示由该起始地到达该目的地的道路级的全局路径；接收第一路侧导航装置发送的第二指示信息，该第二指示信息用于指示与该全局路径的至少一部分对应的车道级的局域路径；根据该第一指示信息指示的该全局路径和该第二指示信息指示的该局域路径中的至少一项，确定第一行驶路径。
结合第六方面，在第六方面的第一种可能的实现方式中，该向全局导航装置发送全局路径请求，包括：向该第一路侧导航装置发送该全局路径请求，以便于该第一路侧导航装置向该全局导航装置转发该全局路径请求；该接收 该全局导航装置根据该全局路径请求发送的第一指示信息，包括：接收该第一路侧导航装置转发的该第一指示信息，其中，该第一指示信息是该全局导航装置根据该全局路径请求向该第一路侧导航装置发送的。
结合第六方面或第六方面的第一种可能的实现方式，在第六方面的第二种可能的实现方式中，该全局路径请求携带附加信息，该附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、该终端导航装置对应车辆的车辆类型信息和该车辆的驾驶类型信息，该驾驶类型信息用于指示该车辆的驾驶类型为有人驾驶或无人驾驶。
结合第六方面、第六方面的第一种或者第二种可能的实现方式，在第六方面的第三种可能的实现方式中，在该接收第一路侧导航装置发送的第二指示信息之前，该导航方法还包括：向该第一路侧导航装置发送局域路径请求，该局域路径请求携带该全局路径的信息；该接收第一路侧导航装置发送的第二指示信息包括：接收该第一路侧导航装置根据该局域规划请求发送的该第二指示信息。
结合第六方面、第六方面的第一种至第三种可能的实现方式中的任一种可能的实现方式，在第六方面的第四种可能的实现方式中，在该向该全局导航装置发送全局路径请求之前，该导航方法还包括：向该全局导航装置发送终端注册请求，该终端注册请求用于向该全局导航装置鉴权该终端导航装置；接收该全局导航装置根据该终端注册请求发送的终端注册确认。
第七方面，提供了一种导航方法，该导航方法包括：接收终端导航装置发送的全局路径请求，该全局路径请求用于请求确定由起始地到达目的地的全局路径；根据该全局路径请求，确定由该起始地到达该目的地的道路级的全局路径；向与该终端导航装置对应的第一路侧导航装置发送第一指示信息，该第一指示信息用于指示该全局路径，以便于该第一路侧导航装置根据该第一指示信息确定与该全局路径的至少一部分对应的车道级的局域路径。
结合第七方面，在第七方面的第一种可能的实现方式中，该接收终端导航装置发送的全局路径请求，包括：接收该第一路侧导航装置转发的全局路径请求，其中，该第一路侧导航装置转发的该全局路径请求是该终端导航装置发送的。
结合第七方面或第七方面的第一种可能的实现方式，在第七方面的第二种可能的实现方式中，该根据该全局路径请求，确定由该起始地到达该目的 地的道路级的全局路径，包括：根据该起始地、该目的地和附加信息，确定该由该起始地到达该目的地的道路级的全局路径，其中，该附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、该终端导航装置对应车辆的车辆类型信息和该车辆的驾驶类型信息，该驾驶类型信息用于指示该车辆的驾驶类型为有人驾驶或无人驾驶。
结合第七方面、第七方面的第一种或者第二种可能的实现方式，在第七方面的第三种可能的实现方式中，在该接收终端导航装置发送的全局路径请求之前，该导航方法还包括：接收该终端导航装置发送的终端注册请求，该终端注册请求用于请求该全局导航装置鉴权该终端导航装置；根据该终端注册请求，向该终端导航装置发送终端注册确认。
本发明实施例的导航系统，包括全局导航装置、第一路侧导航装置和终端导航装置，全局导航装置根据终端导航装置发送的全局路径请求确定道路级的全局路径，第一路侧导航装置根据该全局路径确定该全局路径的至少一部分对应的车道级的局域路径，该终端导航装置根据该全局路径和该局域路径中的至少一项确定行驶路径，实现了车道级路径的规划和导航，提高了导航的精确度，并且不会增加全局导航装置的负担。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对本发明实施例中所需要使用的附图作简单地介绍，显而易见地，下面所描述的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明导航系统的架构示例。
图2是本发明导航系统的另一架构示例。
图3是本发明实施例的导航系统的示意性框图。
图4是本发明实施例的导航方法的示意性流程图。
图5是本发明实施例的导航方法的示意性流程图。
图6是本发明实施例的导航方法的示意性流程图。
图7是本发明实施例的导航方法的示意性流程图。
图8是本发明实施例的导航方法的示意性流程图。
图9是本发明实施例的路侧导航装置的示意性框图。
图10是本发明实施例的终端导航装置的示意性框图。
图11是本发明实施例的全局导航装置的示意性框图。
图12是本发明实施例的路侧导航装置的示意性框图。
图13是本发明实施例的终端导航装置的示意性框图。
图14是本发明实施例的全局导航装置的示意性框图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明的一部分实施例，而不是全部实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都应属于本发明保护的范围。
移动终端，也可称之为用户设备、移动用户设备等，可以经无线接入网与一个或多个核心网进行通信，用户设备可以是移动终端，如移动电话(或称为“蜂窝”电话)和具有移动终端的计算机，例如，可以是便携式、袖珍式、手持式、计算机内置的或者车载的移动装置，它们与无线接入网交换语言和/或数据。
本发明实施例提供了一种导航系统，该导航系统包括全局导航单元(Global Navigation Unit，GNU)、N个车载导航单元(Onboard Navigation Unit，ONU)以及M个路侧导航单元(Roadside Navigation Unit，RNU)，其中，M≥1，N≥1。
该全局导航单元负责为车载导航单元规划由起始地到达目的地的道路级的全局路径，其中，全局路径的精度为道路级。全局路径可以为一段由起点到终点的单向行车路线，起点一般可以是车辆的当前位置，终点可以由用户根据需求指定。该全局导航单元确定该全局路径的目标可以为找到一条最短路径，这里所说的“最短路径”可以指距离上的最短，还有可能是时间最快、费用最少等等，根据不同的需求而定。此外，该全局导航单元在确定全局路径时，需要考虑整个路网的动态路况信息，进行智能分析与综合调度，本发明不限于此。
该路侧导航单元负责为车载导航单元规划与该全局路径的至少一部分对应的车道级的局域路径。局域路径的精度可以为车道级。该局域路径可以指在车辆沿全局路径行驶的过程中，在其所在位置到前方相对较短的路线上 的详细行车路线，其范围是在该路侧导航单元的覆盖区域内。可选地，该路侧导航单元确定该局域路径规划的目标是选择一条合适的车道。具体地，该路侧导航单元在确定局域路径时，可以考虑覆盖区域内的车道属性、每条车道的负载情况、车辆的目的地方向等，进行局域的车辆调度与控制，以实现车道负载均衡，并提高车辆通行效率与质量(例如控制车速、少停车等)。
该车载导航单元可以为车载导航，具体可以集成在车辆中，或者可以为独立的单元，例如，在自动驾驶场景中，该车载导航单元就要求集成于车辆中。本发明对此不作限定。
该车载导航单元可以仅根据该全局路径确定行驶路径，仅根据该局域路径确定行驶路径，或者根据该全局路径和该局域路径确定行驶路径。可选地，该车载导航单元还可以具有进行自主路径规划的能力，其中，自主路径规划是该车载导航单元对周围紧急情况或简单决策场景做出的应急路径调整，如紧急避障等。车载导航单元在进行自主路径规划时，可以综合车辆所感知到的周边信息，进行快速的决策判断，在保证安全的情况下，选择一条应急路径。自主规划路径是指车辆不依赖全局导航单元和路侧导航单元的规划，而是由自身规划的临时路径，自主规划路径的精度可以为道路级或车道级，但本发明不限于此。
在本发明实施例中，该全局导航单元可以与该M个路侧导航单元中的每个路侧导航单元进行通信。该M个路侧导航单元中的每个路侧导航单元可以具有一定的覆盖范围，并且可以为处于其覆盖范围内的一个或多个车载导航单元提供局域路径的服务。其中，可选地，该M个路侧导航单元中的任意两个路侧导航单元的覆盖范围可以完全不重合或者部分重合，本发明对此不作限定。
图1示出了本发明导航系统的架构示例，其中，该导航系统包括全局导航单元110，与该全局导航单元通过T2接口通信的路侧导航单元121和路侧导航单元122，与路侧导航单元121通过T1接口通信的车载导航单元131，以及与路侧导航单元122通过T1接口通信的车载导航单元132和车载导航单元133，其中，该路侧导航单元121和该路侧导航单元122的覆盖范围相邻或者部分重叠，且该路侧导航单元121和该路侧导航单元122通过T3接口通信。
可选地，该导航系统架构中的车载导航单元131、车载导航单元132和 车载导航单元133可以为车载导航，具体可以集成在车辆中，或者可以为独立的单元，例如，在自动驾驶场景中，该车载导航单元就要求集成于车辆中。本发明对此不作限定。
应理解，本发明实施例的导航系统架构中全局导航单元负责为车载导航单元规划由起始地到达目的地的道路级的全局路径，每个路侧导航单元负责为车载导航单元规划与该全局路径的至少一部分对应的车道级的局域路径。
可选地，本发明实施例的导航系统架构中可以有一个路侧导航单元，此时，该路侧导航单元的覆盖范围与全局导航单元的覆盖范围相同，负责规划该全局路径的所有路径对应的车道级的局域路径。
可选地，本发明实施例的导航系统架构中还可以有其他的路侧导航单元和其他的车载导航单元，该图1示例性地示出了路侧导航单元121和路侧导航单元122，以及车载导航单元131、车载导航单元132和车载导航单元133，但本发明实施例不限于此，其中，该路侧导航单元121和该路侧导航单元122的覆盖范围相邻或者部分重叠，且每个路侧导航单元负责规划该全局路径中的一部分对应的局域路径。
可选地，车载导航单元与路侧导航单元通过T1接口通信的主要接口消息可以如表一所示：
表一
Figure PCTCN2015091997-appb-000001
Figure PCTCN2015091997-appb-000002
可选地，路侧导航单元与全局导航单元通过T2接口通信的主要接口消息可以如表二所示：
表二
Figure PCTCN2015091997-appb-000003
Figure PCTCN2015091997-appb-000004
Figure PCTCN2015091997-appb-000005
可选地，覆盖范围相邻或者部分重叠的两个路侧导航单元之间通过T3接口通信的主要接口消息可以如表三所示：
表三
Figure PCTCN2015091997-appb-000006
Figure PCTCN2015091997-appb-000007
应理解，表一至表三中所述的接口消息是导航系统中各单元之间的主要的接口消息，本发明不限于此，实际应用中还会可能结合具体需求扩展出更多的接口消息，都应在本发明的保护范围内。
图2示出了本发明导航系统的另一架构示例，其中，该导航系统包括全局导航单元210，与该全局导航单元通过T2接口通信的路侧导航单元221和路侧导航单元222，与路侧导航单元221通过T1接口通信的车载导航单元231，以及与路侧导航单元222通过T1接口通信的车载导航单元232和车载导航单元233，其中，该路侧导航单元221和该路侧导航单元222的覆盖范围相邻或者部分重叠或部分重叠，且该路侧导航单元221和该路侧导航单元222通过T3接口通信。
可选地，全局导航单元210还可以通过T4接口与车载导航单元231、车载导航单元232和车载导航单元233直接通信。
该车载导航单元可以为车载导航，具体可以集成在车辆中，或者可以为独立的单元，例如，在自动驾驶场景中，该车载导航单元就要求集成于车辆中。本发明对此不作限定。
应理解，本发明实施例的导航系统架构中全局导航单元负责为车载导航单元规划由起始地到达目的地的道路级的全局路径，每个路侧导航单元负责为车载导航单元规划与该全局路径的至少一部分对应的车道级的局域路径。
可选地，本发明实施例的导航系统架构中可以有一个路侧导航单元，此时，该路侧导航单元的覆盖范围与全局导航单元的覆盖范围相同，负责规划该全局路径的所有路径对应的车道级的局域路径。
可选地，本发明实施例的导航系统架构中还可以有其他的路侧导航单元和其他的车载导航单元，该图2示例性地示出了路侧导航单元221和路侧导航单元222，以及车载导航单元231、车载导航单元232和车载导航单元233，其中，该路侧导航单元221和该路侧导航单元222的覆盖范围相邻或者部分重叠，且每个路侧导航单元负责规划该全局路径中的一部分对应的局域路径，但本发明不限于此。
可选地，车载导航单元与路侧导航单元通过T1接口通信的主要接口消息可以如表四所示：
表四
Figure PCTCN2015091997-appb-000008
可选地，路侧导航单元与全局导航单元通过T2接口通信的主要接口消息可以如表五所示：
表五
Figure PCTCN2015091997-appb-000009
Figure PCTCN2015091997-appb-000010
可选地，覆盖范围相邻或者部分重叠的两个路侧导航单元之间通过T3接口通信的主要接口消息可以如表六所示：
表六
Figure PCTCN2015091997-appb-000011
Figure PCTCN2015091997-appb-000012
可选地，车载导航单元与全局导航单元通过T4接口通信的主要接口消息可以如表七所示：
表七
Figure PCTCN2015091997-appb-000013
应理解，表四至表七中所述的接口消息是导航系统中各单元之间的主要的接口消息，本发明不限于此，实际应用中还会可能结合具体需求扩展出更多的接口消息，都应在本发明的保护范围内。
应理解，图1和图2中所示的本发明的导航系统架构只是导航系统的可能的实现架构，但本发明不限于此。
图3示出了本发明实施例的导航系统300的示意性框图。如图3所示，该系统300包括：全局导航装置310、第一路侧导航装置320和终端导航装置330。
可选地，该系统中的全局导航装置可以为导航系统架构中的全局导航单元，路侧导航装置可以为导航系统架构中的路侧导航单元，终端导航装置可以为导航系统架构中的车载导航单元。
终端导航装置330，用于向该全局导航装置310发送全局路径请求，该全局路径请求用于请求确定由起始地到达目的地的全局路径。
全局导航装置310，用于接收该终端导航装置330发送的全局路径请求，根据该全局路径请求确定由该起始地到达该目的地的道路级的全局路径，并且向该终端导航装置330发送用于指示该全局路径的第一指示信息。
第一路侧导航装置320，用于根据该全局路径，确定与该全局路径的至少一部分对应的车道级的局域路径，并且向该终端导航装置330发送用于指示该局域路径的第二指示信息。
应理解，该局域路径位于该第一路侧导航装置的导航覆盖范围内，并且该第一路侧导航装置确定的局域路径可以是该全局路径确定的全局路径的一部分或者全部。
终端导航装置330还用于，接收该全局导航装置310发送的该第一指示信息和该第一路侧导航装置320发送的该第二指示信息，并可以根据该第一指示信息指示的该全局路径和该第二指示信息指示的该局域路径中的至少一项，确定第一行驶路径。
可选地，该终端导航装置可以根据该第一指示信息指示的该全局路径确定行驶路径，或者可以根据该第二指示信息指示的该局域路径确定行驶路径，或者可以根据该第一指示信息和该第二指示信息确定行驶路径，本发明对此不作限定。
例如，当该全局路径的行驶路线不涉及车道变化时，该终端导航装置可以根据该第一指示信息指示的该全局路径直接确定行驶路径；当该终端导航装置在沿着该全局路径行驶需要变道时，可以根据该第二指示信息指示的该局域路径确定行驶路径。
本发明实施例的导航系统，包括全局导航装置、第一路侧导航装置和终端导航装置，全局导航装置根据终端导航装置发送的全局路径请求确定道路 级的全局路径，第一路侧导航装置根据该全局路径确定该全局路径的至少一部分对应的车道级的局域路径，该终端导航装置根据该全局路径和该局域路径中的至少一项确定行驶路径，实现了车道级路径的规划和导航，提高了导航的精确度，并且不会增加全局导航装置的负担。
可选地，该全局导航装置可以根据起始地、目的地和附加信息共同确定由该起始地到达该目的地的道路级的全局路径，该附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、该终端导航装置对应车辆的车辆类型信息和该车辆的驾驶类型信息。其中，该驾驶类型信息用于指示该车辆的驾驶类型为有人驾驶或无人驾驶，该车辆类型用于指示该车辆为普通社会车辆、公交车、校车、120/110/119等执行紧急任务的车辆等，该终端导航装置对应车辆可以为该终端导航装置所在的车辆。
可选地，该附加信息可以为该全局路径请求中携带的，例如，该全局路径请求携带全局路径策略的信息、车辆类型信息和驾驶类型信息中的至少一种，或者该全局路径策略的信息也可以预先设置。可选地，该全局导航装置也可以预先存储或者从其他服务器获取该终端信息和驾驶类型信息中的至少一种，本发明不限于此。
可选地，该全局路径策略可以为：最短距离优先、最短时间优先、最少费用优先、最少红绿灯优先等，本发明不限于此。
可选地，该全局路径请求用于请求确定由起始地到达目的地的道路级的全局路径，其中，该起始地可以为该终端导航装置的当前位置，或者用户在用户界面的历史起始地信息列表中选择的历史起始地，或者用户在用户界面中输入的指定位置；该目的地可以为用户通过语音输入，或者在历史目的地信息列表中选择的历史目的地，或者用户在用户界面中输入的制定目的地，本发明不限于此。
可选地，作为一个实施例，当该全局导航装置接收到的全局路径请求中的目的地在地图中存在多个匹配地点时，该全局导航装置可以向该终端导航装置发送该多个匹配地点的信息，以使得用户从该多个匹配地点中确定目标匹配地点。并且该全局导航装置在接收到该终端导航装置发送的目标匹配地点的信息之后，根据该目标匹配地点的信息确定唯一的目的地，并进一步确定由该起始地到达该唯一的目的地的全局路径。
可选地，作为另一个实施例，当该全局导航装置接收到的全局路径请求 中的目的地在地图中存在多个匹配地点时，该全局导航装置可以通过该第一路侧导航装置向该终端导航装置转发该多个匹配地点的信息，以使得用户从该多个匹配地点中确定目标匹配地点。并且该全局导航装置在接收到该终端导航装置通过该路侧导航装置转发的目标匹配地点的信息之后，根据该目标匹配地点的信息确定唯一的目的地，并进一步确定由该起始地到达该唯一的目的地的全局路径。
例如，用户设定目的地为A大学，地图上可能有A大学南门、A大学北门、A大学教学楼等多个匹配地址，全局导航装置需要知道在这些匹配地址中哪一个地址是目标目的地，然后才能根据起始地和目标的目的地确定全局路径，该第一路侧导航装置负责将这些匹配的地址信息发送给终端导航装置，并向该全局导航装置发送该终端导航装置确定的目标目的地，以便于该全局导航装置可以确定由该起始地到达该目标目的地的全局路径，但本发明实施例不限于此。
在本发明实施例中，该第一路侧导航装置可以通过多种方式获取该全局路径。作为一个可选实施例，该第一路侧导航装置可以接收该全局导航装置发送的用于指示该全局路径的指示信息，并且根据该指示信息确定该全局路径，其中，该全局导航装置可以主动向该第一路侧导航装置发送该指示信息，或者在接收到该第一路侧导航装置的请求时向该第一路侧导航装置发送该指示信息。可选地，如果该导航系统具有如图1所示的架构，该全局导航装置与该终端导航装置之间不存在接口，则该终端导航装置可以通过该第一路侧导航装置向该全局导航装置发送该全局路径请求，相应地，该全局导航装置在根据该全局路径请求确定该全局路径之后，可以通过该第一路侧导航装置发送该第一指示信息，此时，该第一路侧导航装置可以根据该第一指示信息确定该全局路径。可选地，作为另一个实施例，如果该导航系统具体如图2所示的架构，则该终端导航装置可以直接向该全局导航装置发送该全局路径请求，并且该全局导航装置可以直接向该终端导航装置发送该第一指示信息，此时，该全局导航装置还可以向该第一路侧导航装置发送第三指示信息，该第三指示信息用于指示全局路径，相应地，该第一路侧导航装置可以根据该第三指示信息确定该全局路径，但本发明实施例不限于此。
可选地，该第一路侧导航装置还可以从其他路侧导航装置获取该全局路径的信息。作为一个可选实施例，本发明实施例的导航系统还可以包括第二 路侧导航装置，该第二路侧导航装置的覆盖范围可以与该第一路侧导航装置的覆盖范围相邻或者部分重叠，并且该终端导航装置可以由该第二路侧导航装置的覆盖范围进入该第一路侧导航装置的覆盖范围。此时，当该终端导航装置即将从第二路侧导航装置的覆盖范围驶入该第一路侧导航装置的覆盖范围时，该第二路侧导航装置可以向该第一路侧导航装置发送第一驶入通知消息，该第一驶入通知消息携带该全局路径的信息，该第一路侧导航装置可以根据该第二路侧导航装置发送的该第一驶入通知消息确定该全局路径，并可以根据该第一驶入通知消息确定该局域路径。
可选地，该第一路侧导航装置还可以从终端导航装置获取该全局路径的信息。具体地，在该第一路侧导航装置根据该全局路径确定与该全局路径的至少一部分对应的车道级的局域路径之前，该终端导航装置可以向该第一路侧导航装置发送局域路径请求，该局域路径请求可以携带该全局路径的信息，该第一路侧导航装置根据该终端导航装置发送的局域路径请求确定该全局路径，并可以根据该局域路径请求确定该局域路径，本发明不限于此。
可选地，该第一路侧导航装置还可以根据该全局路径和局域路径策略共同确定与该全局路径的至少一部分对应的车道级的局域路径，其中，该局域路径策略可以为下列信息中的至少一种：车道负载均衡、避免频繁变道、吞吐量优先和速度优先，或者可以为在实际应用中需要增加的其他局域路径策略，还可以为除车道负载和避免频繁变道之外的局域路径策略，本发明不限于此。
应理解，吞吐量优先为该第一路侧导航装置可以规划更多的车辆在车道上行驶，速度优先为该第一路侧导航装置可以规划车辆以可能的最大速度行驶，在实际应用中，如果考虑了吞吐量优先，规划了更多的车上路，则车辆的可能的最大速度会受到一定的限制。因此在使用局域路径策略时，可以同时考虑吞吐量优先和速度优先，也可以分别考虑吞吐量优先或者速度优先，本发明对此不作限定。
可选地，该局域路径策略可以为该局域路径请求中携带的，例如，该局域路径请求携带该全局路径和该局域路径策略，或者该局域路径策略也可以预先设置，本发明不限于此。
可选地，本发明实施例的导航系统还可以包括第三路侧导航装置，该第三路侧导航装置的覆盖范围与该第一路侧导航装置的覆盖范围相邻或者部 分重叠，当该终端导航装置即将从该第一路侧导航装置的覆盖范围驶入该第三路侧导航装置的覆盖范围时，该第一路侧导航装置可以向该第三路侧导航装置发送第二驶入通知消息，该第二驶入通知消息携带该全局路径的信息，以便于该第三路侧导航装置根据该全局路径确定局域路径。
当该终端导航装置已驶入该第三路侧导航装置的覆盖范围时，该第三路侧导航装置可以向该第一路侧导航装置发送第二驶入确认消息，该第二驶入确认消息用于确认该终端导航装置已进入该第三路侧导航装置的覆盖范围；该第一路侧导航装置在接收到该第三路侧导航装置发送的第二驶入确认消息后，可以清除储存在该第一路侧导航装置中的该终端导航装置的相关信息，例如可以为本发明实施例中的该终端导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
可选地，该第二驶入通知消息可以在该终端导航装置即将驶出该第一路侧导航装置的覆盖范围时，向该第三路侧导航装置发送；或者可以在该终端导航装置刚驶入该第一路侧导航装置时，就向该第三路侧导航装置发送，以便于该第三路侧导航装置有足够的时间为该终端导航装置确定该第三路侧导航装置的覆盖范围内的局域路径，本发明不限于此。
可选地，本发明实施例的导航系统还可以包括第四路侧导航装置，该第四路侧导航装置的覆盖范围与该第一路侧导航装置的覆盖范围相邻或者部分重叠，当该第一路侧导航装置在向该第三路侧导航装置发送了该第二驶入通知消息之后，由于行程改变或者实际路况等原因，该终端导航装置确定不再驶入该第三路侧导航装置的覆盖范围，而改为驶入第四路侧导航装置的覆盖范围时，该第一路侧导航装置可以向该第三路侧导航装置发送第二驶入取消消息，该第三路侧导航装置在接收到该第二驶入取消消息后，可以清除储存在该第三路侧导航装置中的该终端导航装置的相关信息，例如可以为本发明实施例中的该终端导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
应理解，该终端导航装置可以周期性的将该终端导航装置对应车辆的车辆信息发送给该全局导航装置，或者通过该第一路侧导航装置发送给该全局导航装置，以便于该全局导航装置获取并实时监测该车辆，该车辆信息可以包括：当前位置信息、速度信息、运行状态信息等，本发明不限于此。
可选地，该终端导航装置可以向该全局导航装置发送心跳消息，在该心 跳消息中携带该终端导航装置对应车辆的车辆信息；该终端导航装置还可以通过该第一路侧导航装置向该全局导航装置发送心跳消息，在该心跳消息中携带该车辆信息，以便于该第一路侧导航装置可以将覆盖范围内的所有车辆的车辆信息汇总以后统一发送至该全局导航装置。
可选地，作为一个实施例，当该终端导航装置由于行程改变或者实际路况等原因确定需要改变行驶路径或者目的地时，该终端导航装置可以向该全局导航装置发送全局路径变更请求，该全局路径变更请求用于请求规划由第一起始地到达第一目的地的第一全局路径；该全局导航装置根据该第一起始地和该第一目的地，确定该第一全局路径，并向该终端导航装置发送该第一全局路径。其中，该第一起始地通常可以是该终端导航装置的当前位置，该第一目的地可以为该终端导航装置重新确定的目标目的地。
可选地，作为另一个实施例，当该终端导航装置由于行程改变或者实际路况等原因确定需要改变行驶路径或者目的地时，该终端导航装置还可以通过该第一路侧导航装置向该全局导航装置转发该全局路径变更请求，该全局路径变更请求用于请求规划由第一起始地到达第一目的地的第一全局路径；该全局导航装置根据该第一起始地和该第一目的地，确定该第一全局路径，并通过该第一路侧导航装置向该终端导航装置转发该第一全局路径，以便于该第一路侧导航装置根据该第一全局路径确定第一局域路径。其中，该第一起始地通常可以是该终端导航装置的当前位置，该第一目的地可以为该终端导航装置重新确定的目标目的地。
可选地，作为一个实施例，当该全局导航装置确定该终端导航装置的行驶路径偏离该全局路径，或者在行驶路径的前方临时施工或者封路，需要该终端导航装置绕道避行时，该全局导航装置可以根据该终端导航装置的当前位置信息确定第二全局路径，并向该终端导航装置发送该第二全局路径。
可选地，作为另一个实施例，当该全局导航装置确定该终端导航装置的行驶路径偏离该全局路径，或者在行驶路径的前方临时施工或者封路，需要该终端导航装置绕道避行时，该全局导航装置还可以通过该第一路侧导航装置向该终端导航装置转发该第二全局路径，以便于该第一路侧导航装置根据该第二全局路径确定第二局域路径。
可选地，作为另一个实施例，当该终端导航装置需要在沿该全局路径行 驶的情况下主动改变行驶的车道，例如终端导航装置确定需要主动超车时，该终端导航装置还可以向该第一路侧导航装置发送局域路径变更请求，该全局路径变更请求用于请求重新确定局域路径；该第一路侧导航装置根据该终端导航装置的当前位置信息和该全局路径重新确定第三局域路径，并向该终端导航装置发送该第三局域路径，以便于该终端导航装置根据该第三局域路径和该全局路径重新确定行驶路径，但本发明不限于此。
可选地，作为另一个实施例，当该第一路侧导航装置确定在该终端导航装置行驶路径的前方车道负载不均衡需要变道，或者该第一路侧导航装置确定该终端导航装置的行驶路径偏离该局域路径时，该第一路侧导航装置可以根据该终端导航装置的当前位置信息、该全局路径和该局域路径策略确定第四局域路径，并向该终端导航装置发送该第四局域路径。
可选地，该终端导航装置还可以进行自主路径规划，当该终端导航装置检测到周围发生紧急情况，例如检测到前方有障碍物或者前方车辆紧急刹车，需要紧急换道或者紧急刹车时，该终端导航装置可以对该紧急情况做出应急路径调整，确定自主规划路径，并将该紧急情况和该自主规划路经上报给该第一路侧导航装置，同时可以通过终端—终端通信或者终端与基础设施通信通知周边终端紧急避让，自主规划路径的精度可以为道路级或车道级，本发明不限于此。
可选地，作为一个实施例，该终端导航装置可以向该全局导航装置发送终端注册请求，该终端注册请求用于请求该全局导航装置鉴权该终端导航装置；该全局导航装置根据该终端注册请求向该终端导航装置发送终端注册确认。
可选地，作为另一个实施例，该终端导航装置还可以通过该第一路侧导航装置向该全局导航装置转发终端注册请求，该终端注册请求用于向该全局导航装置请求鉴权该终端导航装置；该全局导航装置通过该第一路侧导航装置向该终端导航装置发送根据该终端注册请求确定的终端注册确认。
例如，当该终端导航装置对应车辆通电时，可以直接向该全局导航装置发送终端注册请求，或者通过该第一路侧导航装置向该全局导航装置转发终端注册请求，该终端注册请求携带该终端导航装置的标识信息；全局导航装置在接收到该终端注册请求后，会根据该终端导航装置的标识信息对该终端导航装置进行鉴权处理，鉴权成功之后会向该终端导航装置发送终端注册确 认，或者通过该第一路侧导航装置转发终端注册确认。
可选地，该终端导航装置可以接收该全局导航装置发送的用于指示第一路侧导航装置标识的信息，根据该第一路侧导航装置标识确定该终端导航装置处于该第一路侧导航装置的覆盖范围内，从而与该第一路侧导航装置进行通信。
可选地，该全局导航装置可以根据该终端导航装置的位置信息和标识信息确定该终端导航装置处于该第一路侧导航装置的覆盖范围，并向该终端导航装置发送用于指示该第一路侧导航装置标识的信息。
可选地，该终端导航装置的当前位置信息和标识信息例如可以承载在终端注册请求中发送给该全局导航装置，或者通过该第一路侧导航装置转发给该全局导航装置，本发明对此不作限定。
可选地，该终端导航装置的当前位置信息和标识信息例如还可以承载在心跳消息中发送给该全局导航装置，或者通过该第一路侧导航装置转发给该全局导航装置，本发明对此不作限定。
可选地，该终端导航装置可以自己检测对应车辆的当前位置信息，或者通过其他检测装置获取对应车辆的当前位置信息，本发明对此不作限定。
可选地，该终端导航装置对应车辆的标识信息可以是预先储存在该终端导航装置中的，也可以是通过其他方式获取的，其中，该标识信息例如可以为车辆的身份标识号(Identity，ID)或者客户识别模块(Subscriber Identity Module，SIM)等，本发明对此不作限定。
可选地，作为一个实施例，在该第一路侧导航装置在构建本发明实施例的导航系统时，可以向该全局导航装置发送第一路侧导航注册请求，该第一路侧导航装置注册请求用于请求激活该第一路侧导航装置，该第一路侧导航注册请求可以携带该第一路侧导航装置的标识信息，以便于该全局导航装置根据该第一路侧导航装置的标识信息监测该第一路侧导航装置的运行状态，本发明不限于此。
可选地，当该第一路侧导航装置确定需要停止局域路径规划服务时，该第一路侧导航装置可以向该全局导航装置发送该第一路侧导航注销请求，该第一路侧导航注销请求用于请求去激活该第一路侧导航装置，该第一路侧导航注册请求可以携带该第一路侧导航装置的标识信息，该全局导航装置可以根据该第一路侧导航装置的标识信息去激活该第一路侧导航装置，并向该第 一路侧导航装置发送路侧导航注销确认消息，该第一路侧导航装置退出该局域路径规划服务，并且除在日志中保留必须的车辆信息之外，清除该第一路侧导航装置中储存的该终端导航装置的相关信息，例如可以为本发明实施例中的该终端导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
可选地，作为一个实施例，该终端导航装置可以向该全局导航装置发送终端注销请求；该终端注销请求用于请求注销该终端导航装置，该全局导航装置在接收到该终端注销请求后，可以清除该终端导航装置的相关信息；清除完成之后，该全局导航装置向该终端导航装置发送终端注销确认消息，其中，该终端导航装置的相关信息例如可以为本发明实施例中的该终端导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
可选地，作为另一个实施例，该终端导航装置还可以通过该第一路侧导航装置向该全局导航装置转发该终端注销请求；该全局导航装置在接收到该终端注销请求后，可以清除该终端导航装置的相关信息；清除完成之后，该全局导航装置还可以通过该第一路侧导航装置向该终端导航装置转发该终端注销确认消息，其中，该终端导航装置的相关信息例如可以为本发明实施例中的该终端导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
例如，当该终端导航装置对应车辆到达行驶目的地，并停车熄火，该终端导航装置可以向该全局导航装置发送终端注销请求，或者通过该第一路侧导航装置向该全局导航装置转发终端注销请求；该全局导航装置在接收到该终端注销请求后，会清除储存的终端导航装置的相关信息；清除完成之后，该全局导航装置向该终端导航装置发送终端注销确认消息，或者通过该第一路侧导航装置向该终端导航装置转发该终端注销确认消息。
应理解，在一个终端导航装置注册到注销期间可以有一次或者多次行车导航路径规划的过程，直至最终停车熄火，本发明对此不做限定。
本发明实施例的导航系统，包括全局导航装置、第一路侧导航装置和终端导航装置，全局导航装置根据终端导航装置发送的全局路径请求确定道路级的全局路径，第一路侧导航装置根据该全局路径确定该全局路径的至少一部分对应的车道级的局域路径，该终端导航装置根据该全局路径和该局域路 径中的至少一项确定行驶路径，，提高了导航的精确度，能够适用于大规模的自动驾驶场景，全局导航装置将海量的车道级路径导航服务分担到多个路侧导航装置，单个路侧导航装置的故障不会导致整个系统瘫痪，提高了系统的可靠性。
本发明实施例的导航系统实现了全程车道级路径的规划和导航，并且没有增加全局导航装置的负担。如果只由全局导航装置和终端导航装置的两层导航系统架构实现车道级路径的规划和导航，则全局导航装置的负担过重，相比较两层导航系统架构，本发明实施例的三层导航系统架构将车道级路径的规划分担给路侧导航装置，而全局导航装置只负责道路级路径的规划，降低了全局导航装置的负担。
上面结合图3对本发明实施例的导航系统的示意性框图进行了描述，下面将结合图4至图6对本发明实施例的导航方法进行详细描述。
图4示出了本发明实施例的导航方法400的示意性流程图。该方法400例如可以由导航系统中的第一路侧导航装置执行，如图4所示：
S410，第一路侧导航装置确定由起始地到目的地的道路级的全局路径。
S420，该第一路侧导航装置根据该全局路径，确定与该全局路径的至少一部分所对应的车道级的局域路径。
应理解，该局域路径位于该第一路侧导航装置的导航覆盖范围内，并且该第一路侧导航装置确定的局域路径可以是全局路径的一部分或者全部。
S430，该第一路侧导航向终端导航装置发送第二指示信息，该第二指示信息用于指示该局域路径。
因此，本发明实施例的一种导航方法，第一路侧导航装置通过确定由起始地到达目的地的道路级的全局路径，根据该全局路径确定与该全局路径的至少一部分对应的车道级的局域路径，并向该终端导航装置发送用于指示该局域路径的第二指示信息，实现了车道级路径的规划和导航，提高了导航的精确度，并且不会增加全局导航装置的负担。
在本发明实施例中，该第一路侧导航装置可以通过多种方式获取该全局路径。作为一个可选实施例，该第一路侧导航装置可以接收该全局导航装置发送的用于指示该全局路径的指示信息，并且根据该指示信息确定该全局路径，其中，该全局导航装置可以主动向该第一路侧导航装置发送该指示信息，或者在接收到该第一路侧导航装置的请求时向该第一路侧导航装置发送该 指示信息。可选地，如果该导航系统具有如图1所示的架构，该全局导航装置与该终端导航装置之间不存在接口，则该终端导航装置可以通过该第一路侧导航装置向该全局导航装置发送该全局路径请求，相应地，该全局导航装置在根据该全局路径请求确定该全局路径之后，可以通过该第一路侧导航装置发送该第一指示信息，此时，该第一路侧导航装置可以根据该第一指示信息确定该全局路径。可选地，作为另一个实施例，如果该导航系统具体如图2所示的架构，则该终端导航装置可以直接向该全局导航装置发送该全局路径请求，并且该全局导航装置可以直接向该终端导航装置发送该第一指示信息，此时，该全局导航装置还可以向该第一路侧导航装置发送第三指示信息，该第三指示信息用于指示全局路径，相应地，该第一路侧导航装置可以根据该第三指示信息确定该全局路径，但本发明实施例不限于此。
可选地，在S410之前，如果该第一路侧导航装置接收到该终端导航装置发送的全局路径请求，该第一路侧导航装置可以向全局导航装置转发该终端导航装置发送的全局路径请求，该全局路径请求用于请求确定由起始地到达目的地的道路级的全局路径，其中，该起始地可以为该终端导航装置的当前位置，或者用户在用户界面的历史起始地信息列表中选择的历史起始地，或者用户在用户界面中输入的指定位置；该目的地可以为用户通过语音输入，或者在历史目的地信息列表中选择的历史目的地，或者用户在用户界面中输入的制定目的地，本发明不限于此。
可选地，作为一个实施例，当该全局导航装置接收到的全局路径请求中的目的地在地图中存在多个匹配地点时，该全局导航装置还可以向该第一路侧导航装置发送多个匹配地点的信息，以使得用户从该多个匹配地点中确定目标匹配地点。此时，该第一路侧导航装置可以向该终端导航装置转发该多个匹配地点的信息，并且在接收到该终端导航装置发送的目标匹配地点的信息之后，向该全局导航装置转发该目标匹配地点的信息，以便于该全局导航装置根据该目标匹配地点的信息确定唯一的目的地，并进一步确定由该起始地到达该唯一的目的地的全局路径。
例如，用户设定目的地为A大学，地图上可能有A大学南门、A大学北门、A大学教学楼等多个匹配地址，全局导航装置需要知道在这些匹配地址中哪一个地址是目标目的地，然后才能根据起始地和目标的目的地确定全局路径，该第一路侧导航装置负责将这些匹配的地址信息发送给终端导航装 置，并向该全局导航装置发送该终端导航装置确定的目标目的地，以便于该全局导航装置可以确定由该起始地到达该目标目的地的全局路径，但本发明实施例不限于此。
可选地，在S410中，该第一路侧导航装置还可以从其他路侧导航装置获取该全局路径的信息。作为一个可选实施例，本发明实施例的导航系统还可以包括第二路侧导航装置，该第二路侧导航装置的覆盖范围可以与该第一路侧导航装置的覆盖范围相邻或者部分重叠，并且该终端导航装置可以由该第二路侧导航装置的覆盖范围进入该第一路侧导航装置的覆盖范围。此时，当该终端导航装置即将从第二路侧导航装置的覆盖范围驶入该第一路侧导航装置的覆盖范围时，该第二路侧导航装置可以向该第一路侧导航装置发送第一驶入通知消息，该第一驶入通知消息携带该全局路径的信息。该第一路侧导航装置可以根据该第二路侧导航装置发送的该第一驶入通知消息确定该全局路径，并可以根据该第一驶入通知消息确定该局域路径。
可选地，在S410中，该第一路侧导航装置还可以从终端导航装置获取该全局路径的信息。具体地，在该第一路侧导航装置根据该全局路径确定与该全局路径的至少一部分对应的车道级的局域路径之前，该终端导航装置可以向该第一路侧导航装置发送局域路径请求，该局域路径请求可以携带该全局路径的信息。此时，该第一路侧导航装置可以根据该终端导航装置发送的局域路径请求确定该全局路径，并可以根据该局域路径请求确定该局域路径，本发明不限于此。
在S420中，该第一路侧导航装置可以根据该全局路径，确定该局域路径。可选地，该第一路侧导航装置还可以根据该全局路径和局域路径策略共同确定与该全局路径的至少一部分对应的车道级的局域路径，其中，该局域路径策略可以为下列信息中的至少一种：车道负载均衡、避免频繁变道、吞吐量优先和速度优先，或者可以为在实际应用中需要增加的其他局域路径策略，还可以为除车道负载和避免频繁变道之外的局域路径策略，本发明不限于此。
应理解，吞吐量优先为该第一路侧导航装置可以规划更多的车辆在车道上行驶，速度优先为该第一路侧导航装置可以规划车辆以可能的最大速度行驶，在实际应用中，如果考虑了吞吐量优先，规划了更多的车上路，则车辆的可能的最大速度会受到一定的限制。因此在使用局域路径策略时，可以同 时考虑吞吐量优先和速度优先，也可以分别考虑吞吐量优先或者速度优先，本发明对此不作限定。
可选地，该局域路径策略可以为该局域路径请求中携带的，例如，该局域路径请求携带该全局路径和该局域路径策略，或者该局域路径策略也可以预先设置，本发明不限于此。
可选地，本发明实施例的导航系统还可以包括第三路侧导航装置，该第三路侧导航装置的覆盖范围与该第一路侧导航装置的覆盖范围相邻或者部分重叠，当该终端导航装置即将从该第一路侧导航装置的覆盖范围驶入该第三路侧导航装置的覆盖范围时，该第一路侧导航装置可以向该第三路侧导航装置发送第二驶入通知消息，该第二驶入通知消息携带该全局路径的信息，以便于该第三路侧导航装置根据该全局路径确定局域路径。
当该终端导航装置已驶入该第三路侧导航装置的覆盖范围时，该第三路侧导航装置可以向该第一路侧导航装置发送第二驶入确认消息，该第二驶入确认消息用于确认该终端导航装置已进入该第三路侧导航装置的覆盖范围；该第一路侧导航装置在接收到该第三路侧导航装置发送的第二驶入确认消息后，可以清除储存在该第一路侧导航装置中的该终端导航装置的相关信息，例如可以为本发明实施例中的该终端导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
可选地，该第二驶入通知消息可以在该终端导航装置即将驶出该第一路侧导航装置的覆盖范围时，向该第三路侧导航装置发送；或者可以在该终端导航装置刚驶入该第一路侧导航装置时，就向该第三路侧导航装置发送，以便于该第三路侧导航装置有足够的时间为该终端导航装置确定该第三路侧导航装置的覆盖范围内的局域路径，本发明不限于此。
可选地，本发明实施例的导航系统还可以包括第四路侧导航装置，该第四路侧导航装置的覆盖范围与该第一路侧导航装置的覆盖范围相邻或者部分重叠，当该第一路侧导航装置在向该第三路侧导航装置发送了该第二驶入通知消息之后，由于行程改变或者实际路况等原因，该终端导航装置确定不再驶入该第三路侧导航装置的覆盖范围，而改为驶入第四路侧导航装置的覆盖范围时，该第一路侧导航装置可以向该第三路侧导航装置发送第二驶入取消消息，该第三路侧导航装置在接收到该第二驶入取消消息后，可以清除储存在该第三路侧导航装置中的该终端导航装置的相关信息，例如可以为本发 明实施例中的该终端导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
应理解，该终端导航装置可以通过该第一路侧导航装置发送给该全局导航装置，以便于该全局导航装置获取并实时监测该车辆，该车辆信息可以包括：当前位置信息、速度信息、运行状态信息等，本发明不限于此。
可选地，该终端导航装置可以通过该第一路侧导航装置向该全局导航装置发送心跳消息，在该心跳消息中携带该车辆信息，以便于该第一路侧导航装置可以将覆盖范围内的所有车辆的车辆信息汇总以后统一发送至该全局导航装置。
可选地，作为一个实施例，当该终端导航装置由于行程改变或者实际路况等原因确定需要改变行驶路径或者目的地时，该终端导航装置可以通过该第一路侧导航装置向该全局导航装置转发该全局路径变更请求，该全局路径变更请求用于请求规划由第一起始地到达第一目的地的第一全局路径；该全局导航装置根据该第一起始地和该第一目的地，确定该第一全局路径，并通过该第一路侧导航装置向该终端导航装置转发该第一全局路径，以便于该第一路侧导航装置根据该第一全局路径确定第一局域路径。其中，该第一起始地通常可以是该终端导航装置的当前位置，该第一目的地可以为该终端导航装置重新确定的目标目的地。
可选地，作为另一个实施例，当该全局导航装置确定该终端导航装置的行驶路径偏离该全局路径，或者在行驶路径的前方临时施工或者封路，需要该终端导航装置绕道避行时，该全局导航装置还可以通过该第一路侧导航装置向该终端导航装置转发该第二全局路径，以便于该第一路侧导航装置根据该第二全局路径确定第二局域路径。
可选地，作为另一个实施例，当该终端导航装置需要在沿该全局路径行驶的情况下主动改变行驶的车道，例如终端导航装置确定需要主动超车时，该终端导航装置还可以向该第一路侧导航装置发送局域路径变更请求，该全局路径变更请求用于请求重新确定局域路径；该第一路侧导航装置根据该终端导航装置的当前位置信息和该全局路径重新确定第三局域路径，并向该终端导航装置发送该第三局域路径，以便于该终端导航装置根据该第三局域路径和该全局路径重新确定行驶路径，但本发明不限于此。
可选地，作为另一个实施例，当该第一路侧导航装置确定在该终端导航 装置行驶路径的前方车道负载不均衡需要变道，或者该第一路侧导航装置确定该终端导航装置的行驶路径偏离该局域路径时，该第一路侧导航装置可以根据该终端导航装置的当前位置信息、该全局路径和该局域路径策略确定第四局域路径，并向该终端导航装置发送该第四局域路径。
可选地，该终端导航装置还可以进行自主路径规划，当该终端导航装置检测到周围发生紧急情况，例如检测到前方有障碍物或者前方车辆紧急刹车，需要紧急换道或者紧急刹车时，该终端导航装置可以对该紧急情况做出应急路径调整，确定自主规划路径，并将该紧急情况和该自主规划路经上报给该第一路侧导航装置，同时可以通过终端—终端通信或者终端与基础设施通信通知周边终端紧急避让，自主规划路径的精度可以为道路级或车道级，本发明不限于此。
可选地，作为一个实施例，该第一路侧导航装置还可以根据该终端导航装置上报的自主规划路径信息和心跳消息重新规划该终端导航装置的局域路径，本发明不限于此。
可选地，作为另一个实施例，该终端导航装置还可以通过该第一路侧导航装置向该全局导航装置转发终端注册请求，该终端注册请求用于请求该全局导航装置鉴权该终端导航装置；该全局导航装置通过该第一路侧导航装置向该终端导航装置发送根据该终端注册请求确定的终端注册确认。
例如，当该终端导航装置对应车辆通电时，可以直接向该全局导航装置发送终端注册请求，或者通过该第一路侧导航装置向该全局导航装置转发终端注册请求，该终端注册请求携带该终端导航装置的标识信息；全局导航装置在接收到该终端注册请求后，会根据该终端导航装置的标识信息对该终端导航装置进行鉴权处理，鉴权成功之后会向该终端导航装置发送终端注册确认，或者通过该第一路侧导航装置转发终端注册确认。
可选地，该终端导航装置可以接收该全局导航装置发送的用于指示第一路侧导航装置标识的信息，根据该第一路侧导航装置标识确定该终端导航装置处于该第一路侧导航装置的覆盖范围内，从而与该第一路侧导航装置进行通信。
可选地，该全局导航装置可以根据该终端导航装置的位置信息和标识信息确定该终端导航装置处于该第一路侧导航装置的覆盖范围，并向该终端导航装置发送用于指示该第一路侧导航装置标识的信息。
可选地，该终端导航装置的当前位置信息和标识信息例如可以通过该第一路侧导航装置转发给该全局导航装置，本发明对此不作限定。
可选地，该终端导航装置的当前位置信息和标识信息例如还可以通过该第一路侧导航装置转发给该全局导航装置，本发明对此不作限定。
可选地，该终端导航装置可以自己检测对应车辆的当前位置信息，或者通过其他检测装置获取对应车辆的当前位置信息，本发明对此不作限定。
可选地，该终端导航装置对应车辆的标识信息可以是预先储存在该终端导航装置中的，也可以是通过其他方式获取的，其中，该标识信息例如可以为车辆的身份标识号(Identity，ID)或者客户识别模块(Subscriber Identity Module，SIM)等，本发明对此不作限定。
可选地，作为一个实施例，在该第一路侧导航装置在构建本发明实施例的导航系统时，可以向该全局导航装置发送第一路侧导航注册请求，该第一路侧导航装置注册请求用于请求激活该第一路侧导航装置，该第一路侧导航注册请求可以携带该第一路侧导航装置的标识信息，以便于该全局导航装置根据该第一路侧导航装置的标识信息监测该第一路侧导航装置的运行状态，本发明不限于此。
可选地，当该第一路侧导航装置确定需要停止局域路径规划服务时，该第一路侧导航装置可以向该全局导航装置发送该第一路侧导航注销请求，该第一路侧导航注销请求用于请求去激活该第一路侧导航装置，该第一路侧导航注册请求可以携带该第一路侧导航装置的标识信息，该全局导航装置可以根据该第一路侧导航装置的标识信息去激活该第一路侧导航装置，并向该第一路侧导航装置发送路侧导航注销确认消息，该第一路侧导航装置退出该局域路径规划服务，并且除在日志中保留必须的车辆信息之外，清除该第一路侧导航装置中储存的该终端导航装置的相关信息，例如可以为本发明实施例中的该终端导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
可选地，作为另一个实施例，该终端导航装置还可以通过该第一路侧导航装置向该全局导航装置转发该终端注销请求；该全局导航装置在接收到该终端注销请求后，可以清除该终端导航装置的相关信息；清除完成之后，该全局导航装置还可以通过该第一路侧导航装置向该终端导航装置转发该终端注销确认消息，其中，该终端导航装置的相关信息例如可以为本发明实施 例中的该终端导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
例如，当该终端导航装置对应车辆到达行驶目的地，并停车熄火，该终端导航装置可以通过该第一路侧导航装置向该全局导航装置转发终端注销请求；该全局导航装置在接收到该终端注销请求后，会清除储存的终端导航装置的相关信息；清除完成之后，该全局导航装置可以通过该第一路侧导航装置向该终端导航装置转发该终端注销确认消息。
因此，本发明实施例的一种导航方法，第一路侧导航装置通过确定由起始地到达目的地的道路级的全局路径，根据该全局路径确定与该全局路径的至少一部分对应的车道级的局域路径，并向该终端导航装置发送用于指示该局域路径的第二指示信息，提高了导航的精确度，能够适用于大规模的自动驾驶场景，全局导航装置将海量的车道级路径导航服务分担到多个路侧导航装置，单个路侧导航装置的故障不会导致整个系统瘫痪，提高了系统的可靠性。
本发明实施例的导航系统实现了全程车道级路径的规划和导航，并且没有增加全局导航装置的负担。如果只由全局导航装置和终端导航装置的两层导航系统架构实现车道级路径的规划和导航，则全局导航装置的负担过重，相比较两层导航系统架构，本发明实施例的三层导航系统架构将车道级路径的规划分担给路侧导航装置，而全局导航装置只负责道路级路径的规划，降低了全局导航装置的负担。
图5是本发明实施例的导航方法的示意性流程图。该方法500例如可以由导航系统中的终端导航装置执行，如图5所示：
S510，向全局导航装置发送全局路径请求，该全局路径请求用于请求确定由起始地到达目的地的全局路径。
可选地，该终端导航装置可以直接向该全局导航装置发送该全局路径请求；或者可以通过第一路侧导航装置向该全局导航装置发送该全局路径请求。
S520，接收该全局导航装置根据该全局路径请求发送的第一指示信息，该第一指示信息用于指示由该起始地到达该目的地的道路级的全局路径。
可选地，该终端导航装置可以直接接收该全局导航装置根据该全局路径请求发送的该第一指示信息；或者可以接收该全局导航装置根据该全局路径 请求通过该第一路侧导航装置发送的该第一指示信息。
S530，接收第一路侧导航装置发送的第二指示信息，该第二指示信息用于指示与该全局路径的至少一部分对应的车道级的局域路径。
应理解，该局域路径位于该第一路侧导航装置的导航覆盖范围内，并且该第一路侧导航装置确定的局域路径可以是全局路径的一部分或者全部。
S540，根据该第一指示信息指示的该全局路径和该第二指示信息指示的该局域路径中的至少一项，确定第一行驶路径。
可选地，该第一指示信息可以为该全局导航装置直接发送的；或者可以为该全局导航装置通过该第一路侧导航装置发送的。
可选地，该终端导航装置可以根据该第一指示信息指示的该全局路径确定行驶路径，或者可以根据该第二指示信息指示的该局域路径确定行驶路径，或者可以根据该第一指示信息和该第二指示信息确定行驶路径，本发明对此不作限定。
应理解，该终端导航装置可以仅根据该局域路径确定行驶路径，也可以根据该全局路径和该局域路径确定行驶路径，例如，当该第二指示信息指示的该局域路径仅表示该终端导航装置行驶的车道时，该终端导航装置可以根据该全局路径和该局域路径确定具体在哪条道路的哪个车道行驶，本发明对此不作限定。
例如，当该全局路径的行驶路线不涉及车道变化时，该终端导航装置可以根据该第一指示信息指示的该全局路径直接确定行驶路径；当该终端导航装置在沿着该全局路径行驶需要变道时，可以根据该第二指示信息指示的该局域路径确定行驶路径。
因此，本发明实施例的一种导航方法，通过向全局导航装置发送全局路径请求，接收该全局导航装置根据该全局路径请求发送的用于指示由起始地到达目的地的道路级全局路径的第一指示信息和第一路侧导航装置发送的用于指示与该全局路径的至少一部分对应的车道级局域路径的第二指示信息，并根据该第一指示信息和该第二指示信息中的至少一项确定行驶路径，实现了车道级路径的规划和导航，提高了导航的精确度，并且不会增加全局导航装置的负担。
可选地，在S510中，该全局路径请求用于请求确定由起始地到达目的地的道路级的全局路径，其中，该起始地可以为该终端导航装置的当前位置， 或者用户在用户界面的历史起始地信息列表中选择的历史起始地，或者用户在用户界面中输入的指定位置；该目的地可以为用户通过语音输入，或者在历史目的地信息列表中选择的历史目的地，或者用户在用户界面中输入的制定目的地，本发明不限于此。
可选地，作为一个实施例，当该全局导航装置接收到的全局路径请求中的目的地在地图中存在多个匹配地点时，该全局导航装置可以向该终端导航装置发送该多个匹配地点的信息，以使得用户从该多个匹配地点中确定目标匹配地点。并且该全局导航装置在接收到该终端导航装置发送的目标匹配地点的信息之后，根据该目标匹配地点的信息确定唯一的目的地，并进一步确定由该起始地到达该唯一的目的地的全局路径。
可选地，作为另一个实施例，当该全局导航装置接收到的全局路径请求中的目的地在地图中存在多个匹配地点时，该全局导航装置可以通过该第一路侧导航装置向该终端导航装置转发该多个匹配地点的信息，以使得用户从该多个匹配地点中确定目标匹配地点。并且该全局导航装置在接收到该终端导航装置通过该路侧导航装置转发的目标匹配地点的信息之后，根据该目标匹配地点的信息确定唯一的目的地，并进一步确定由该起始地到达该唯一的目的地的全局路径。
例如，用户设定目的地为A大学，地图上可能有A大学南门、A大学北门、A大学教学楼等多个匹配地址，全局导航装置需要知道在这些匹配地址中哪一个地址是目标目的地，然后才能根据起始地和目标的目的地确定全局路径，该第一路侧导航装置负责将这些匹配的地址信息发送给终端导航装置，并向该全局导航装置发送该终端导航装置确定的目标目的地，以便于该全局导航装置可以确定由该起始地到达该目标目的地的全局路径，但本发明实施例不限于此。
可选地，S530之前，该终端导航装置可以向该第一路侧导航装置发送局域路径请求，该局域路径请求可以携带该全局路径的信息，该第一路侧导航装置可以根据该终端导航装置发送的局域路径请求确定该全局路径，并可以根据该局域路径请求确定该局域路径。本发明不限于此。
可选地，该第一路侧导航装置还可以根据该全局路径和局域路径策略共同确定与该全局路径的至少一部分对应的车道级的局域路径，其中，该局域路径策略可以为下列信息中的至少一种：车道负载均衡、避免频繁变道、吞 吐量优先和速度优先，或者可以为在实际应用中需要增加的其他局域路径策略，还可以为除车道负载和避免频繁变道之外的局域路径策略，本发明不限于此。
应理解，吞吐量优先为该第一路侧导航装置可以规划更多的车辆在车道上行驶，速度优先为该第一路侧导航装置可以规划车辆以可能的最大速度行驶，在实际应用中，如果考虑了吞吐量优先，规划了更多的车上路，则车辆的可能的最大速度会受到一定的限制。因此在使用局域路径策略时，可以同时考虑吞吐量优先和速度优先，也可以分别考虑吞吐量优先或者速度优先，本发明对此不作限定。
可选地，该局域路径策略可以为该局域路径请求中携带的，例如，该局域路径请求携带该全局路径和该局域路径策略，或者该局域路径策略也可以预先设置，本发明不限于此。
应理解，该终端导航装置可以周期性的将该终端导航装置对应车辆的车辆信息发送给该全局导航装置，或者通过该第一路侧导航装置发送给该全局导航装置，以便于该全局导航装置获取并实时监测该车辆，该车辆信息可以包括：当前位置信息、速度信息、运行状态信息等，本发明不限于此。
可选地，该终端导航装置可以向该全局导航装置发送心跳消息，在该心跳消息中携带该终端导航装置对应车辆的车辆信息；该终端导航装置还可以通过该第一路侧导航装置向该全局导航装置发送心跳消息，在该心跳消息中携带该车辆信息，以便于该第一路侧导航装置可以将覆盖范围内的所有车辆的车辆信息汇总以后统一发送至该全局导航装置。
可选地，作为一个实施例，当该终端导航装置由于行程改变或者实际路况等原因确定需要改变行驶路径或者目的地时，该终端导航装置可以向该全局导航装置发送全局路径变更请求，该全局路径变更请求用于请求规划由第一起始地到达第一目的地的第一全局路径；该全局导航装置根据该第一起始地和该第一目的地，确定该第一全局路径，并向该终端导航装置发送该第一全局路径。其中，该第一起始地通常可以是该终端导航装置的当前位置，该第一目的地可以为该终端导航装置重新确定的目标目的地。
可选地，作为另一个实施例，当该终端导航装置由于行程改变或者实际路况等原因确定需要改变行驶路径或者目的地时，该终端导航装置还可以通过该第一路侧导航装置向该全局导航装置转发该全局路径变更请求，该全局 路径变更请求用于请求规划由第一起始地到达第一目的地的第一全局路径；该全局导航装置根据该第一起始地和该第一目的地，确定该第一全局路径，并通过该第一路侧导航装置向该终端导航装置转发该第一全局路径，以便于该第一路侧导航装置根据该第一全局路径确定第一局域路径。其中，该第一起始地通常可以是该终端导航装置的当前位置，该第一目的地可以为该终端导航装置重新确定的目标目的地。
可选地，作为一个实施例，当该全局导航装置确定该终端导航装置的行驶路径偏离该全局路径，或者在行驶路径的前方临时施工或者封路，需要该终端导航装置绕道避行时，该全局导航装置可以根据该终端导航装置的当前位置信息确定第二全局路径，并向该终端导航装置发送该第二全局路径。
可选地，作为另一个实施例，当该全局导航装置确定该终端导航装置的行驶路径偏离该全局路径，或者在行驶路径的前方临时施工或者封路，需要该终端导航装置绕道避行时，该全局导航装置还可以通过该第一路侧导航装置向该终端导航装置转发该第二全局路径，以便于该第一路侧导航装置根据该第二全局路径确定第二局域路径。
可选地，作为另一个实施例，当该终端导航装置需要在沿该全局路径行驶的情况下主动改变行驶的车道，例如终端导航装置确定需要主动超车时，该终端导航装置还可以向该第一路侧导航装置发送局域路径变更请求，该全局路径变更请求用于请求重新确定局域路径；该第一路侧导航装置根据该终端导航装置的当前位置信息和该全局路径重新确定第三局域路径，并向该终端导航装置发送该第三局域路径，以便于该终端导航装置根据该第三局域路径和该全局路径重新确定行驶路径，但本发明不限于此。
可选地，作为另一个实施例，当该第一路侧导航装置确定在该终端导航装置行驶路径的前方车道负载不均衡需要变道，或者该第一路侧导航装置确定该终端导航装置的行驶路径偏离该局域路径时，该第一路侧导航装置可以根据该终端导航装置的当前位置信息、该全局路径和该局域路径策略确定第四局域路径，并向该终端导航装置发送该第四局域路径。
可选地，该终端导航装置还可以进行自主路径规划，当该终端导航装置检测到周围发生紧急情况，例如检测到前方有障碍物或者前方车辆紧急刹车，需要紧急换道或者紧急刹车时，该终端导航装置可以对该紧急情况做出 应急路径调整，确定自主规划路径，并将该紧急情况和该自主规划路经上报给该第一路侧导航装置，同时可以通过终端—终端通信或者终端与基础设施通信通知周边终端紧急避让，自主规划路径的精度可以为道路级或车道级，本发明不限于此。
可选地，作为一个实施例，该终端导航装置可以向该全局导航装置发送终端注册请求，该终端注册请求用于请求该全局导航装置鉴权该终端导航装置；该全局导航装置根据该终端注册请求向该终端导航装置发送终端注册确认。
可选地，作为另一个实施例，该终端导航装置还可以通过该第一路侧导航装置向该全局导航装置转发终端注册请求，该终端注册请求用于请求该全局导航装置鉴权该终端导航装置；该全局导航装置通过该第一路侧导航装置向该终端导航装置发送根据该终端注册请求确定的终端注册确认。
例如，当该终端导航装置对应车辆通电时，可以直接向该全局导航装置发送终端注册请求，或者通过该第一路侧导航装置向该全局导航装置转发终端注册请求，该终端注册请求携带该终端导航装置的标识信息；全局导航装置在接收到该终端注册请求后，会根据该终端导航装置的标识信息对该终端导航装置进行鉴权处理，鉴权成功之后会向该终端导航装置发送终端注册确认，或者通过该第一路侧导航装置转发终端注册确认。
可选地，该终端导航装置可以接收该全局导航装置发送的用于指示第一路侧导航装置标识的信息，根据该第一路侧导航装置标识确定该终端导航装置处于该第一路侧导航装置的覆盖范围内，从而与该第一路侧导航装置进行通信。
可选地，该全局导航装置可以根据该终端导航装置的位置信息和标识信息确定该终端导航装置处于该第一路侧导航装置的覆盖范围，并向该终端导航装置发送用于指示该第一路侧导航装置标识的信息。
可选地，该终端导航装置的当前位置信息和标识信息例如可以承载在终端注册请求中发送给该全局导航装置，或者通过该第一路侧导航装置转发给该全局导航装置，本发明对此不作限定。
可选地，该终端导航装置的当前位置信息和标识信息例如还可以承载在心跳消息中发送给该全局导航装置，或者通过该第一路侧导航装置转发给该全局导航装置，本发明对此不作限定。
可选地，该终端导航装置可以自己检测对应车辆的当前位置信息，或者通过其他检测装置获取对应车辆的当前位置信息，本发明对此不作限定。
可选地，该终端导航装置对应车辆的标识信息可以是预先储存在该终端导航装置中的，也可以是通过其他方式获取的，其中，该标识信息例如可以为车辆的身份标识号(Identity，ID)或者客户识别模块(Subscriber Identity Module，SIM)等，本发明对此不作限定。
可选地，作为一个实施例，该终端导航装置可以向该全局导航装置发送终端注销请求；该终端注销请求用于请求注销该终端导航装置，该全局导航装置在接收到该终端注销请求后，可以清除该终端导航装置的相关信息；清除完成之后，该全局导航装置向该终端导航装置发送终端注销确认消息，其中，该终端导航装置的相关信息例如可以为本发明实施例中的该终端导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
可选地，作为另一个实施例，该终端导航装置还可以通过该第一路侧导航装置向该全局导航装置转发该终端注销请求；该全局导航装置在接收到该终端注销请求后，可以清除该终端导航装置的相关信息；清除完成之后，该全局导航装置还可以通过该第一路侧导航装置向该终端导航装置转发该终端注销确认消息，其中，该终端导航装置的相关信息例如可以为本发明实施例中的该终端导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
例如，当该终端导航装置对应车辆到达行驶目的地，并停车熄火，该终端导航装置可以向该全局导航装置发送终端注销请求，或者通过该第一路侧导航装置向该全局导航装置转发终端注销请求；该全局导航装置在接收到该终端注销请求后，会清除储存的终端导航装置的相关信息；清除完成之后，该全局导航装置向该终端导航装置发送终端注销确认消息，或者通过该第一路侧导航装置向该终端导航装置转发该终端注销确认消息。
应理解，在一个终端导航装置注册到注销期间可以有一次或者多次行车导航路径规划的过程，直至最终停车熄火，本发明对此不做限定。
因此，本发明实施例的一种导航方法，通过向全局导航装置发送全局路径请求，接收该全局导航装置根据该全局路径请求发送的用于指示由起始地到达目的地的道路级全局路径的第一指示信息和第一路侧导航装置发送的 用于指示与该全局路径的至少一部分对应的车道级局域路径的第二指示信息，并根据该第一指示信息和该第二指示信息中的至少一项确定行驶路径，提高了导航的精确度，能够适用于大规模的自动驾驶场景，全局导航装置将海量的车道级路径导航服务分担到多个路侧导航装置，单个路侧导航装置的故障不会导致整个系统瘫痪，提高了系统的可靠性。
本发明实施例的导航系统实现了全程车道级路径的规划和导航，并且没有增加全局导航装置的负担。如果只由全局导航装置和终端导航装置的两层导航系统架构实现车道级路径的规划和导航，则全局导航装置的负担过重，相比较两层导航系统架构，本发明实施例的三层导航系统架构将车道级路径的规划分担给路侧导航装置，而全局导航装置只负责道路级路径的规划，降低了全局导航装置的负担。
图6是本发明实施例的导航方法的示意性流程图。该方法600例如可以由导航系统中的全局导航装置执行，如图6所示：
S610，接收终端导航装置发送的全局路径请求，该全局路径请求用于请求确定由起始地到达目的地的全局路径。
可选地，该全局导航装置可以接收该终端导航装置直接发送的该全局路径请求；或者该全局导航装置可以接收该终端导航装置通过第一路侧导航装置发送的该全局路径请求。
S620，根据该全局路径请求确定由该起始地到达该目的地的道路级的全局路径。
S630，向与该终端导航装置对应的第一路侧导航装置发送第一指示信息，该第一指示信息用于指示该全局路径，以便于该第一路侧导航装置根据该第一指示信息确定与该全局路径的至少一部分对应的车道级的局域路径。
可选地，该全局导航装置可以向与该终端导航装置对应的第一路侧导航装置发送用于指示该全局路径的第一指示信息，以便于该第一路侧导航装置向该终端导航装置发送该第一指示信息；或者该全局导航装置可以直接向与该终端导航装置对应的第一路侧导航装置发送用于指示该全局路径的第三指示信息。
应理解，该全局导航装置发送的该第一指示信息和该第三指示信息可以同一个信息，也可以为不同信息。
因此，本发明实施例的导航方法，通过接收终端导航装置发送的全局路 径请求，并根据该全局路径请求确定由该起始地到达该目的地的道路级的全局路径，向与该终端导航装置对应的第一路侧导航装置发送用于指示该全局路径的第一指示信息，以便于该第一路侧导航装置将根据该全局路径确定用于指示与该全局路径的至少一部分对应的车道级的局域路径，实现了车道级路径的规划和导航，提高了导航的精确度，并且没有增加全局导航装置的负担。
可选地，该全局导航装置可以根据起始地、目的地和附加信息共同确定由该起始地到达该目的地的道路级的全局路径，该附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、该终端导航装置对应车辆的车辆类型信息和该车辆的驾驶类型信息。其中，该驾驶类型信息用于指示该车辆的驾驶类型为有人驾驶或无人驾驶，该车辆类型用于指示该车辆为普通社会车辆、公交车、校车、120/110/119等执行紧急任务的车辆等，该终端导航装置对应车辆可以为该终端导航装置所在的车辆。
可选地，该附加信息可以为该全局路径请求中携带的，例如，该全局路径请求携带全局路径策略的信息、车辆类型信息和驾驶类型信息中的至少一种，或者该全局路径策略的信息也可以预先设置。可选地，该全局导航装置也可以预先存储或者从其他服务器获取该终端信息和驾驶类型信息中的至少一种，本发明不限于此。
可选地，该全局路径策略可以为：最短距离优先、最短时间优先、最少费用优先、最少红绿灯优先等，本发明不限于此。
可选地，该全局路径请求用于请求确定由起始地到达目的地的道路级的全局路径，其中，该起始地可以为该终端导航装置的当前位置，或者用户在用户界面的历史起始地信息列表中选择的历史起始地，或者用户在用户界面中输入的指定位置；该目的地可以为用户通过语音输入，或者在历史目的地信息列表中选择的历史目的地，或者用户在用户界面中输入的制定目的地，本发明不限于此。
可选地，作为一个实施例，当该全局导航装置接收到的全局路径请求中的目的地在地图中存在多个匹配地点时，该全局导航装置可以向终端导航装置发送该多个匹配地点的信息，在该终端导航装置确定目标目的地之后，向该全局导航装置发送该目标目的地的信息，以便于该全局导航装置确定由该起始地到达该目标目的地的全局路径。
可选地，作为另一个实施例，当该全局导航装置接收到的全局路径请求中的目的地在地图中存在多个匹配地点时，该全局导航装置还可以通过该第一路侧导航装置向终端导航装置转发该多个匹配地点的信息，在该终端导航装置确定目标目的地之后通过该第一路侧导航装置向该全局导航装置转发该目标目的地，以便于该全局导航装置确定由该起始地到达该目标目的地的全局路径。
例如，用户设定目的地为A大学，地图上可能有A大学南门、A大学北门、A大学教学楼等多个匹配地址，全局导航装置需要知道在这些匹配地址中哪一个地址是目标目的地，然后才能根据起始地和目标的目的地确定全局路径。
应理解，该终端导航装置可以周期性的将该终端导航装置对应车辆的车辆信息发送给该全局导航装置，或者通过该第一路侧导航装置发送给该全局导航装置，以便于该全局导航装置获取并实时监测该车辆，该车辆信息可以包括：当前位置信息、速度信息、运行状态信息等，本发明不限于此。
可选地，该终端导航装置可以向该全局导航装置发送心跳消息，在该心跳消息中携带该终端导航装置对应车辆的车辆信息；该终端导航装置还可以通过该第一路侧导航装置向该全局导航装置发送心跳消息，在该心跳消息中携带该车辆信息，以便于该第一路侧导航装置可以将覆盖范围内的所有车辆的车辆信息汇总以后统一发送至该全局导航装置。
可选地，作为一个实施例，当该终端导航装置由于行程改变或者实际路况等原因确定需要改变行驶路径或者目的地时，该终端导航装置可以向该全局导航装置发送全局路径变更请求，该全局路径变更请求用于请求规划由第一起始地到达第一目的地的第一全局路径；该全局导航装置根据该第一起始地和该第一目的地，确定该第一全局路径，并向该终端导航装置发送该第一全局路径。其中，该第一起始地通常可以是该终端导航装置的当前位置，该第一目的地可以为该终端导航装置重新确定的目标目的地。
可选地，作为另一个实施例，当该终端导航装置由于行程改变或者实际路况等原因确定需要改变行驶路径或者目的地时，该终端导航装置还可以通过该第一路侧导航装置向该全局导航装置转发该全局路径变更请求，该全局路径变更请求用于请求规划由第一起始地到达第一目的地的第一全局路径；该全局导航装置根据该第一起始地和该第一目的地，确定该第一全局路径， 并通过该第一路侧导航装置向该终端导航装置转发该第一全局路径，以便于该第一路侧导航装置根据该第一全局路径确定第一局域路径。其中，该第一起始地通常可以是该终端导航装置的当前位置，该第一目的地可以为该终端导航装置重新确定的目标目的地。
可选地，作为一个实施例，当该全局导航装置确定该终端导航装置的行驶路径偏离该全局路径，或者在行驶路径的前方临时施工或者封路，需要该终端导航装置绕道避行时，该全局导航装置可以根据该终端导航装置的当前位置信息确定第二全局路径，并向该终端导航装置发送该第二全局路径。
可选地，作为另一个实施例，当该全局导航装置确定该终端导航装置的行驶路径偏离该全局路径，或者在行驶路径的前方临时施工或者封路，需要该终端导航装置绕道避行时，该全局导航装置还可以通过该第一路侧导航装置向该终端导航装置转发该第二全局路径，以便于该第一路侧导航装置根据该第二全局路径确定第二局域路径。
可选地，作为另一个实施例，当该终端导航装置需要在沿该全局路径行驶的情况下主动改变行驶的车道，例如终端导航装置确定需要主动超车时，该终端导航装置还可以向该第一路侧导航装置发送局域路径变更请求，该全局路径变更请求用于请求重新确定局域路径；该第一路侧导航装置根据该终端导航装置的当前位置信息和该全局路径重新确定第三局域路径，并向该终端导航装置发送该第三局域路径，以便于该终端导航装置根据该第三局域路径和该全局路径重新确定行驶路径，但本发明不限于此。
可选地，作为一个实施例，该终端导航装置可以向该全局导航装置发送终端注册请求，该终端注册请求用请求该全局导航装置鉴权该终端导航装置；该全局导航装置根据该终端注册请求向该终端导航装置发送终端注册确认。
可选地，作为另一个实施例，该终端导航装置还可以通过该第一路侧导航装置向该全局导航装置转发终端注册请求，该终端注册请求用于请求该全局导航装置鉴权该终端导航装置；该全局导航装置通过该第一路侧导航装置向该终端导航装置发送根据该终端注册请求确定的终端注册确认。
例如，当该终端导航装置对应车辆通电时，可以直接向该全局导航装置发送终端注册请求，或者通过该第一路侧导航装置向该全局导航装置转发终 端注册请求，该终端注册请求携带该终端导航装置的标识信息；全局导航装置在接收到该终端注册请求后，会根据该终端导航装置的标识信息对该终端导航装置进行鉴权处理，鉴权成功之后会向该终端导航装置发送终端注册确认，或者通过该第一路侧导航装置转发终端注册确认。
可选地，该终端导航装置可以接收该全局导航装置发送的用于指示第一路侧导航装置标识的信息，根据该第一路侧导航装置标识确定该终端导航装置处于该第一路侧导航装置的覆盖范围内，从而与该第一路侧导航装置进行通信。
可选地，该全局导航装置可以根据该终端导航装置的位置信息和标识信息确定该终端导航装置处于该第一路侧导航装置的覆盖范围，并向该终端导航装置发送用于指示该第一路侧导航装置标识的信息。
可选地，该终端导航装置的当前位置信息和标识信息例如可以承载在终端注册请求中发送给该全局导航装置，或者通过该第一路侧导航装置转发给该全局导航装置，本发明对此不作限定。
可选地，该终端导航装置的当前位置信息和标识信息例如还可以承载在心跳消息中发送给该全局导航装置，或者通过该第一路侧导航装置转发给该全局导航装置，本发明对此不作限定。
可选地，该终端导航装置可以自己检测对应车辆的当前位置信息，或者通过其他检测装置获取对应车辆的当前位置信息，本发明对此不作限定。
可选地，该终端导航装置对应车辆的标识信息可以是预先储存在该终端导航装置中的，也可以是通过其他方式获取的，其中，该标识信息例如可以为车辆的身份标识号(Identity，ID)或者客户识别模块(Subscriber Identity Module，SIM)等，本发明对此不作限定。
可选地，作为一个实施例，在该第一路侧导航装置在构建本发明实施例的导航系统时，可以向该全局导航装置发送第一路侧导航注册请求，该第一路侧导航装置注册请求用于请求激活该第一路侧导航装置，该第一路侧导航注册请求可以携带该第一路侧导航装置的标识信息，以便于该全局导航装置根据该第一路侧导航装置的标识信息监测该第一路侧导航装置的运行状态，本发明不限于此。
可选地，当该第一路侧导航装置确定需要停止局域路径规划服务时，该第一路侧导航装置可以向该全局导航装置发送该第一路侧导航注销请求，该 第一路侧导航注销请求用于请求去激活该第一路侧导航装置，该第一路侧导航注册请求可以携带该第一路侧导航装置的标识信息，该全局导航装置可以根据该第一路侧导航装置的标识信息去激活该第一路侧导航装置，并向该第一路侧导航装置发送路侧导航注销确认消息，该第一路侧导航装置退出该局域路径规划服务，并且除在日志中保留必须的车辆信息之外，清除该第一路侧导航装置中储存的该终端导航装置的相关信息，例如可以为本发明实施例中的该终端导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
可选地，作为一个实施例，该终端导航装置可以向该全局导航装置发送终端注销请求；该终端注销请求用于请求注销该终端导航装置，该全局导航装置在接收到该终端注销请求后，可以清除该终端导航装置的相关信息；清除完成之后，该全局导航装置向该终端导航装置发送终端注销确认消息，其中，该终端导航装置的相关信息例如可以为本发明实施例中的该终端导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
可选地，作为另一个实施例，该终端导航装置还可以通过该第一路侧导航装置向该全局导航装置转发该终端注销请求；该全局导航装置在接收到该终端注销请求后，可以清除该终端导航装置的相关信息；清除完成之后，该全局导航装置还可以通过该第一路侧导航装置向该终端导航装置转发该终端注销确认消息，其中，该终端导航装置的相关信息例如可以为本发明实施例中的该终端导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
例如，当该终端导航装置对应车辆到达行驶目的地，并停车熄火，该终端导航装置可以向该全局导航装置发送终端注销请求，或者通过该第一路侧导航装置向该全局导航装置转发终端注销请求；该全局导航装置在接收到该终端注销请求后，会清除储存的终端导航装置的相关信息；清除完成之后，该全局导航装置向该终端导航装置发送终端注销确认消息，或者通过该第一路侧导航装置向该终端导航装置转发该终端注销确认消息。
应理解，在一个终端导航装置注册到注销期间可以有一次或者多次行车导航路径规划的过程，直至最终停车熄火，本发明对此不做限定。
因此，本发明实施例的导航方法，通过接收终端导航装置发送的全局路 径请求，并根据该全局路径请求确定由该起始地到达该目的地的道路级的全局路径，向与该终端导航装置对应的第一路侧导航装置发送用于指示该全局路径的第一指示信息，以便于该第一路侧导航装置将根据该全局路径确定用于指示与该全局路径的至少一部分对应的车道级的局域路径，提高了导航的精确度，能够适用于大规模的自动驾驶场景，全局导航装置将海量的车道级路径导航服务分担到多个路侧导航装置，单个路侧导航装置的故障不会导致整个系统瘫痪，提高了系统的可靠性。
本发明实施例的导航系统实现了全程车道级路径的规划和导航，并且没有增加全局导航装置的负担。如果只由全局导航装置和终端导航装置的两层导航系统架构实现车道级路径的规划和导航，则全局导航装置的负担过重，相比较两层导航系统架构，本发明实施例的三层导航系统架构将车道级路径的规划分担给路侧导航装置，而全局导航装置只负责道路级路径的规划，降低了全局导航装置的负担。
上面结合了图4至图6对本发明实施例的导航方法进行了描述，下面将结合图7和图8中的具体例子描述本发明实施例的导航方法，应注意，这些例子仅仅是为了帮助本领域技术人员理解和实现本发明的实施例，而非限制本发明实施例的范围。本领域技术人员可以根据这里给出的例子进行等价变换或修改，这样的变换或修改仍应落入本发明实施例的范围内。
图7示出了本发明实施例的导航方法的示意性流程图，该导航方法可以由包括全局导航装置、第一路侧导航装置、第二路侧导航装置和车载导航装置的系统执行，其中，该车载导航装置例如可以为车载导航装置，该车载导航装置集成在车辆中。
S701，该车载导航装置可以向该第一路侧导航装置发送车辆注册请求，该车辆注册请求用于请求该全局导航装置鉴权该车载导航装置。
S702，该第一路侧导航装置向该全局导航装置转发该车辆注册请求。
S703，该全局导航装置可根据该车载导航装置对应车辆的标识信息对该车辆做鉴权处理。
可选地，该车载导航装置的标识信息例如可以承载在终端注册请求中，或者承载在心跳消息中，本发明对此不作限定。
S704，该车载导航装置确定导航的起始地和目的地。
S705，该车载导航装置向该第一路侧导航装置发送全局路径请求，该全 局路径请求用于请求确定由起始地到达目的地的全局路径。
S706，该第一路侧导航装置向该全局导航装置转发该全局路径请求。
S707，该全局导航装置确定接收到的全局路径请求中的目的地在地图中存在多个匹配地点。
例如，用户在车载导航装置设定目的地为A大学，地图上可能有A大学南门、A大学北门、A大学教学楼等多个匹配地址，全局导航装置需要知道在这些匹配地址中哪一个地址是目标目的地，然后才能根据起始地和目标的目的地确定全局路径。
S708，该全局导航装置可以向该第一路侧导航装置发送该多个匹配地点的信息。
S709，该第一路侧导航装置向该车载导航装置转发该多个匹配的地址信息。
S710，该车载导航装置确定唯一的目标目的地。
S711，该车载导航装置向该第一路侧导航装置发送该目标目的地的信息。
S712，该第一路侧导航装置向该全局导航装转发该目标目的地的信息。
S713，该全局导航装置根据该起始地和该目标目的地确定全局路径。
可选地，该全局导航装置可以根据起始地、目的地和附加信息共同确定由该起始地到达该目的地的道路级的全局路径，该附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、该车载导航装置对应车辆的车辆类型信息和该车辆的驾驶类型信息。其中，该驾驶类型信息用于指示该车辆的驾驶类型为有人驾驶或无人驾驶，该车辆类型用于指示该车辆为普通社会车辆、公交车、校车、120/110/119等执行紧急任务的车辆等，该车载导航装置对应车辆可以为该车载导航装置所在的车辆。
可选地，该附加信息可以为该全局路径请求中携带的，例如，该全局路径请求携带全局路径策略的信息、车载信息和驾驶类型信息中的至少一种，或者该全局路径策略的信息也可以预先设置。可选地，该全局导航装置也可以预先存储或者从其他服务器获取该车载信息和驾驶类型信息中的至少一种，本发明不限于此。
可选地，该全局路径策略可以为：最短距离优先、最短时间优先、最少费用优先、最少红绿灯优先等，本发明不限于此。
S714，该全局导航装置向该第一路侧导航装置发送用于指示该全局路径的第一指示信息。
S715，该第一路侧导航装置保存该全局路径。
S716，该第一路侧导航装置向该车载导航装置转发该第一指示信息。
S717，该车载导航装置保存该全局路径，以便于该车载导航装置根据该全局路径确定行驶路径。
S718，该车载导航装置向该第一路侧导航装置发送局域路径请求，该局域路径请求用于请求确定与该全局路径的至少一部分对应的车道级的局域路径。
S719，该第一路侧导航装置根据该全局路径确定局域路径。
可选地，该全局路径的信息可以为在S713中该第一路侧导航装置保存的，还可以为该局域路径请求中携带的，还可以为该全局导航装置发送的第一指示信息中携带的。
可选地，该第一路侧导航装置还可以根据该全局路径和局域路径策略共同确定与该全局路径的至少一部分对应的车道级的局域路径，其中，该局域路径策略可以为下列信息中的至少一种：车道负载均衡、避免频繁变道、吞吐量优先和速度优先，或者可以为在实际应用中需要增加的其他局域路径策略，还可以为除车道负载和避免频繁变道之外的局域路径策略，本发明不限于此。
应理解，吞吐量优先为该第一路侧导航装置可以规划更多的车辆在车道上行驶，速度优先为该第一路侧导航装置可以规划车辆以可能的最大速度行驶，在实际应用中，如果考虑了吞吐量优先，规划了更多的车上路，则车辆的可能的最大速度会受到一定的限制。因此在使用局域路径策略时，可以同时考虑吞吐量优先和速度优先，也可以分别考虑吞吐量优先或者速度优先，本发明对此不作限定。
可选地，该局域路径策略可以为该局域路径请求中携带的，例如，该局域路径请求携带该全局路径和该局域路径策略，或者该局域路径策略也可以预先设置，本发明不限于此。
S720，该第一路侧导航装置向该车载导航装置发送用于指示该局域路径的第二指示信息。
S721，该车载导航装置保存该局域路径，并根据该全局路径和该局域路 径中的至少一项确定行驶路径。
S722，当该车载导航装置即将从该第一路侧导航装置的覆盖范围驶入该第二路侧导航装置的覆盖范围时，该第一路侧导航装置可以向该第二路侧导航装置发送驶入通知消息，该驶入通知消息携带该全局路径的信息，以便于该第二路侧导航装置根据该全局路径确定局域路径。
S723，当该车载导航装置已驶入该第二路侧导航装置的覆盖范围时，该第二路侧导航装置可以向该第一路侧导航装置发送驶入确认消息，该驶入确认消息用于确认该车载导航装置已进入该第二路侧导航装置的覆盖范围
可选地，该驶入通知消息可以在该车载导航装置即将驶出该第一路侧导航装置的覆盖范围时，向该第二路侧导航装置发送；或者可以在该车载导航装置刚驶入该第一路侧导航装置时，就向该第二路侧导航装置发送，以便于该第二路侧导航装置有足够的时间为该车载导航装置确定该第二路侧导航装置的覆盖范围内的局域路径，本发明不限于此。
S724，当该车载导航装置由于行程改变或者实际路况等原因确定需要改变行驶路径或者目的地时，该车载导航装置可以向该第一路侧导航装置发送全局路径变更请求，该全局路径变更请求用于请求重新规划变更全局路径，其中，该第一起始地通常可以是该车载导航装置的当前位置，该第一目的地可以为该车载导航装置重新确定的目标目的地。
S725，该第一路侧导航装置向该全局导航装置转发该全局路径变更请求。
S726，该全局导航装置根据该起始地和该变更目的地，确定该变更全局路径。
S727，该全局导航装置向该第一路侧导航装置发送用于指示该变更全局路径的第三指示信息。
S728，该第一路侧导航装置根据该变更全局路径确定变更局域路径。
S729，该第一路侧导航装置向该车载导航装置发送该变更局域路径。
S730，该车载导航装置保存并执行该变更局域路径。
S731，该车载导航装置还可以进行自主路径规划。
可选地，当该车载导航装置检测到周围发生紧急情况，例如检测到前方有障碍物或者前方车辆紧急刹车，需要紧急换道或者紧急刹车时，该车载导航装置可以对该紧急情况做出应急路径调整，确定自主规划路径，并将该紧 急情况和该自主规划路经上报给该第一路侧导航装置，同时可以通过终端—终端通信或者终端与基础设施通信通知周边终端紧急避让，自主规划路径的精度可以为道路级或车道级，本发明不限于此。
S732，该车载导航装置可以向该第一路侧导航装置发送车辆注销请求。
S733，该第一路侧导航装置将该车辆注销请求转发给全局导航装置。
S734，该全局导航装置清除该车载导航装置的相关信息。
可选地，该车载导航装置的相关信息例如可以为本发明实施例中的该车载导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
例如，当该车载导航装置对应车辆到达行驶目的地，并停车熄火，该车载导航装置可以向该第一路侧导航装置发送车载注册请求；该全局导航装置在接收到该终端注销请求后，会清除储存的车载导航装置的相关信息；清除完成之后，该全局导航装置向该车载导航装置发送终端注销确认消息，或者通过该第一路侧导航装置向该车载导航装置转发该终端注销确认消息，，其中，该车载导航装置的相关信息例如可以为本发明实施例中的该车载导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
应理解，在一个车载导航装置注册到注销期间可以有一次或者多次行车导航路径规划的过程，直至最终停车熄火，本发明对此不做限定。
因此，本发明实施例的导航系统，包括全局导航装置、第一路侧导航装置和终端导航装置，全局导航装置根据终端导航装置发送的全局路径请求确定道路级的全局路径，第一路侧导航装置根据该全局路径确定该全局路径的至少一部分对应的车道级的局域路径，该终端导航装置根据该全局路径和该局域路径中的至少一项确定行驶路径，提高了导航的精确度，能够适用于大规模的自动驾驶场景，全局导航装置将海量的车道级路径导航服务分担到多个路侧导航装置，单个路侧导航装置的故障不会导致整个系统瘫痪，提高了系统的可靠性。
本发明实施例的导航系统实现了全程车道级路径的规划和导航，并且没有增加全局导航装置的负担。如果只由全局导航装置和终端导航装置的两层导航系统架构实现车道级路径的规划和导航，则全局导航装置的负担过重，相比较两层导航系统架构，本发明实施例的三层导航系统架构将车道级路径 的规划分担给路侧导航装置，而全局导航装置只负责道路级路径的规划，降低了全局导航装置的负担。
图8示出了本发明实施例的导航方法的示意性流程图，该导航方法可以由包括全局导航装置、第一路侧导航装置、第二路侧导航装置和终端导航装置的系统执行，其中，该终端导航装置例如可以为车载导航装置，该车载导航装置集成在车辆中。
为描述的方便和简洁，本实施例中的导航流程中具体步骤的实现，可以参考图4至图8中所述的导航方法实施例中的对应过程，在此不再赘述。如图8所示：
S801，该车载导航装置可以通过该第一路侧导航装置向该全局导航装置发送车辆注册请求，该车辆注册请求用于请求该全局导航装置鉴权该车载导航装置。
S802，该全局导航装置可根据该车载导航装置对应车辆的标识信息对该车辆做鉴权处理。
可选地，该车载导航装置的标识信息例如可以承载在终端注册请求中，或者承载在心跳消息中，本发明对此不作限定。
S803，该车载导航装置确定导航的起始地和目的地。
S804，该车载导航装置通过该第一路侧导航装置向该全局导航装置发送全局路径请求，该全局路径请求用于请求确定由起始地到达目的地的全局路径。
S805，该全局导航装置确定接收到的全局路径请求中的目的地在地图中存在多个匹配地点。
例如，用户在车载导航装置设定目的地为A大学，地图上可能有A大学南门、A大学北门、A大学教学楼等多个匹配地址，全局导航装置需要知道在这些匹配地址中哪一个地址是目标目的地，然后才能根据起始地和目标的目的地确定全局路径。
S806，该全局导航装置可以通过该第一路侧导航装置向该车载导航装置发送该多个匹配地点的信息。
S807，该车载导航装置确定唯一的目标目的地。
S808，该车载导航装置通过该第一路侧导航装置向该全局导航装转发该目标目的地的信息。
S809，该全局导航装置根据该起始地和该目标目的地确定全局路径。
可选地，该全局导航装置可以根据起始地、目的地和附加信息共同确定由该起始地到达该目的地的道路级的全局路径，该附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、该车载导航装置对应车辆的车辆类型信息和该车辆的驾驶类型信息。其中，该驾驶类型信息用于指示该车辆的驾驶类型为有人驾驶或无人驾驶，该车辆类型用于指示该车辆为普通社会车辆、公交车、校车、120/110/119等执行紧急任务的车辆等，该车载导航装置对应车辆可以为该车载导航装置所在的车辆。
可选地，该附加信息可以为该全局路径请求中携带的，例如，该全局路径请求携带全局路径策略的信息、车载信息和驾驶类型信息中的至少一种，或者该全局路径策略的信息也可以预先设置。可选地，该全局导航装置也可以预先存储或者从其他服务器获取该车载信息和驾驶类型信息中的至少一种，本发明不限于此。
可选地，该全局路径策略可以为：最短距离优先、最短时间优先、最少费用优先、最少红绿灯优先等，本发明不限于此。
S810，该全局导航装置向该第一路侧导航装置发送用于指示该全局路径的第一指示信息。
S811，该第一路侧导航装置保存该全局路径。
S812，该全局导航装置向该全局导航装置发送用于指示该全局路径的第一指示信息。
S813，该车载导航装置保存该全局路径，以便于该车载导航装置根据该全局路径确定行驶路径。
S814，该车载导航装置向该第一路侧导航装置发送局域路径请求，该局域路径请求用于请求确定与该全局路径的至少一部分对应的车道级的局域路径。
S815，该第一路侧导航装置根据该全局路径确定局域路径。
可选地，该全局路径的信息可以为在S813中该第一路侧导航装置保存的，还可以为该局域路径请求中携带的，还可以为该全局导航装置发送的第一指示信息中携带的。
可选地，该第一路侧导航装置还可以根据该全局路径和局域路径策略共同确定与该全局路径的至少一部分对应的车道级的局域路径，其中，该局域 路径策略可以为下列信息中的至少一种：车道负载均衡、避免频繁变道、吞吐量优先和速度优先，或者可以为在实际应用中需要增加的其他局域路径策略，还可以为除车道负载和避免频繁变道之外的局域路径策略，本发明不限于此。
应理解，吞吐量优先为该第一路侧导航装置可以规划更多的车辆在车道上行驶，速度优先为该第一路侧导航装置可以规划车辆以可能的最大速度行驶，在实际应用中，如果考虑了吞吐量优先，规划了更多的车上路，则车辆的可能的最大速度会受到一定的限制。因此在使用局域路径策略时，可以同时考虑吞吐量优先和速度优先，也可以分别考虑吞吐量优先或者速度优先，本发明对此不作限定。
可选地，该局域路径策略可以为该局域路径请求中携带的，例如，该局域路径请求携带该全局路径和该局域路径策略，或者该局域路径策略也可以预先设置，本发明不限于此。
S816，该第一路侧导航装置向该车载导航装置发送用于指示该局域路径的第二指示信息。
S817，该车载导航装置保存该局域路径，并根据该全局路径和该局域路径中的至少一项确定行驶路径。
S818，当该车载导航装置即将从该第一路侧导航装置的覆盖范围驶入该第二路侧导航装置的覆盖范围时，该第一路侧导航装置可以向该第二路侧导航装置发送驶入通知消息，该驶入通知消息携带该全局路径的信息，以便于该第二路侧导航装置根据该全局路径确定局域路径。
S819，当该车载导航装置已驶入该第二路侧导航装置的覆盖范围时，该第二路侧导航装置可以向该第一路侧导航装置发送驶入确认消息，该驶入确认消息用于确认该车载导航装置已进入该第二路侧导航装置的覆盖范围
可选地，该驶入通知消息可以在该车载导航装置即将驶出该第一路侧导航装置的覆盖范围时，向该第二路侧导航装置发送；或者可以在该车载导航装置刚驶入该第一路侧导航装置时，就向该第二路侧导航装置发送，以便于该第二路侧导航装置有足够的时间为该车载导航装置确定该第二路侧导航装置的覆盖范围内的局域路径，本发明不限于此。
S820，当该车载导航装置需要在沿该全局路径行驶的情况下主动改变行驶的车道，例如车载导航装置确定需要主动超车时，该车载导航装置还可以 向该第一路侧导航装置发送局域路径变更请求，该全局路径变更请求用于请求重新确定局域路径。
S821，该第一路侧导航装置根据该车载导航装置的当前位置信息和该全局路径重新确定变更局域路径。
可选地，该车载导航装置的当前位置信息和标识信息例如可以承载在局域路径变更请求中发送给该第一路侧导航装置，本发明对此不作限定。
可选地，该车载导航装置的当前位置信息和标识信息例如还可以承载在心跳消息中发送给该第一路侧导航装置，本发明对此不作限定。
S822，该第一路侧导航装置向该车载导航装置发送用于指示该变更局域路径的第三指示信息。
S823，该车载导航装置保存并执行该变更局域路径。
S824，该车载导航装置还可以进行自主路径规划。
可选地，当该车载导航装置检测到周围发生紧急情况，例如检测到前方有障碍物或者前方车辆紧急刹车，需要紧急换道或者紧急刹车时，该车载导航装置可以对该紧急情况做出应急路径调整，确定自主规划路径，并将该紧急情况和该自主规划路经上报给该第一路侧导航装置，同时可以通过终端—终端通信或者终端与基础设施通信通知周边终端紧急避让，自主规划路径的精度可以为道路级或车道级，本发明不限于此。
S825，该车载导航装置可以向该全局导航装置发送车辆注销请求。
S826，该全局导航装置清除该车载导航装置的相关信息。
可选地，该车载导航装置的相关信息例如可以为本发明实施例中的该车载导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
例如，当该车载导航装置对应车辆到达行驶目的地，并停车熄火，该车载导航装置可以向该第一路侧导航装置发送车载注册请求；该全局导航装置在接收到该终端注销请求后，会清除储存的车载导航装置的相关信息；清除完成之后，该全局导航装置向该车载导航装置发送终端注销确认消息，或者通过该第一路侧导航装置向该车载导航装置转发该终端注销确认消息，，其中，该车载导航装置的相关信息例如可以为本发明实施例中的该车载导航装置对应车辆的车辆信息和该全局导航装置确定的全局路径等，本发明对此不作限定。
应理解，在一个车载导航装置注册到注销期间可以有一次或者多次行车导航路径规划的过程，直至最终停车熄火，本发明对此不做限定。
本发明实施例的导航系统，包括全局导航装置、第一路侧导航装置和终端导航装置，全局导航装置根据终端导航装置发送的全局路径请求确定道路级的全局路径，第一路侧导航装置根据该全局路径确定该全局路径的至少一部分对应的车道级的局域路径，该终端导航装置根据该全局路径和该局域路径中的至少一项确定行驶路径，提高了导航的精确度，能够适用于大规模的自动驾驶场景，全局导航装置将海量的车道级路径导航服务分担到多个路侧导航装置，单个路侧导航装置的故障不会导致整个系统瘫痪，提高了系统的可靠性。
本发明实施例的导航系统实现了全程车道级路径的规划和导航，并且没有增加全局导航装置的负担。如果只由全局导航装置和车载导航装置的两层导航系统架构实现车道级路径的规划和导航，则全局导航装置的负担过重，相比较两层导航系统架构，本发明实施例的三层导航系统架构将车道级路径的规划分担给路侧导航装置，而全局导航装置只负责道路级路径的规划，降低了全局导航装置的负担。
上面结合了图7至图8对本发明实施例的导航方法进行了描述，下面将结合图9和图14中的具体例子描述本发明实施例的路侧导航装置、终端导航装置和全局导航装置，应注意，这些例子仅仅是为了帮助本领域技术人员理解和实现本发明的实施例，而非限制本发明实施例的范围。本领域技术人员可以根据这里给出的例子进行等价变换或修改，这样的变换或修改仍应落入本发明实施例的范围内。
应理解，图9至图14中描述的本发明实施例的路侧导航装置、终端导航装置和全局导航装置能够实现图4至图6中的方法的各个步骤，为避免重复，此处不再详述。
图9示出了本发明实施例的路侧导航装置的示意性框图，如图9所示，该路侧导航装置900包括：
第一确定模块901，用于确定由起始地到目的地的道路级的全局路径；
第二确定模块902，用于根据该第一确定模块901确定的该全局路径，确定与该全局路径的至少一部分所对应的车道级的局域路径；
第一发送模块903，用于向终端导航装置发送第二指示信息，该第二指 示信息用于指示该第二确定模块902确定的该局域路径。
因此，本发明实施例的一种路侧导航装置，通过确定由起始地到达目的地的道路级的全局路径，根据该全局路径确定与该全局路径的至少一部分对应的车道级的局域路径，并向该终端导航装置发送用于指示该局域路径的第二指示信息，实现了车道级路径的规划和导航，提高了导航的精确度，并且不会增加全局导航装置的负担。
可选地，作为一个实施例，该第一确定模块901具体用于：接收该全局导航装置发送的第一指示信息，该第一指示信息用于指示该全局路径；根据该第一指示信息，确定该由起始地到目的地的道路级的全局路径。
可选地，作为另一个实施例，该第一确定模块901具体用于：接收第二路侧导航装置发送的第一驶入通知消息，该第一驶入通知消息用于指示该终端导航装置即将进入该第一路侧导航装置的覆盖范围，并且该第一驶入通知消息携带该全局路径的信息；根据该第一驶入通知消息，确定该由起始地到目的地的道路级的全局路径。
可选地，作为另一个实施例，该第一确定模块901具体用于：接收该终端导航装置发送的局域路径请求，所述局域路径请求携带所述全局路径的信息；根据该局域路径请求，确定该由起始地到目的地的道路级的全局路径。
可选地，作为一个实施例，该第二确定模块902具体用于：根据该全局路径和局域路径策略，确定该局域路径，该局域路径策略包括车道负载均衡、避免频繁变道、吞吐量优先和速度优先中的至少一种。
可选地，该路侧导航装置还包括：第二发送模块，该第二发送模块用于向第三路侧导航装置发送第二驶入通知消息，该第二驶入通知消息用于指示该终端导航装置即将驶入该第三路侧导航装置的覆盖范围；第一接收模块，该第一接收模块用于接收该第三路侧导航装置根据该第二驶入通知消息发送的驶入确认消息，该驶入确认消息用于指示该终端导航装置已驶入该第三路侧导航装置的覆盖范围。
因此，本发明实施例的一种路侧导航装置，本发明实施例的一种路侧导航装置，通过确定由起始地到达目的地的道路级的全局路径，根据该全局路径确定与该全局路径的至少一部分对应的车道级的局域路径，并向该终端导航装置发送用于指示该局域路径的第二指示信息，提高了导航的精确度，能够适用于大规模的自动驾驶场景，全局导航装置将海量的车道级路径导航服 务分担到多个路侧导航装置，单个路侧导航装置的故障不会导致整个系统瘫痪，提高了系统的可靠性。
本发明实施例的导航系统实现了全程车道级路径的规划和导航，并且没有增加全局导航装置的负担。如果只由全局导航装置和终端导航装置的两层导航系统架构实现车道级路径的规划和导航，则全局导航装置的负担过重，相比较两层导航系统架构，本发明实施例的三层导航系统架构将车道级路径的规划分担给路侧导航装置，而全局导航装置只负责道路级路径的规划，降低了全局导航装置的负担。
图10示出了本发明实施例的终端导航装置的示意性框图，如图10所示，该终端导航装置1000包括：
第一发送模块1001，用于向全局导航装置发送全局路径请求，该全局路径请求用于请求确定由起始地到达目的地的全局路径；
第一接收模块1002，用于接收该全局导航装置根据该第一发送模块1001发送的该全局路径请求发送的第一指示信息，该第一指示信息用于指示由该起始地到达该目的地的道路级的全局路径；
第二接收模块1003，用于接收第一路侧导航装置发送的第二指示信息，该第二指示信息用于指示与该全局路径的至少一部分对应的车道级的局域路径；
确定模块1004，用于根据该第一接收模块1001接收的该第一指示信息所指示的该全局路径和该第二接收模块1003接收的该第二指示信息所指示的该局域路径中的至少一项，确定第一行驶路径。
因此，本发明实施例的一种终端导航装置，通过向全局导航装置发送全局路径请求，接收该全局导航装置根据该全局路径请求发送的用于指示由起始地到达目的地的道路级全局路径的第一指示信息和第一路侧导航装置发送的用于指示与该全局路径的至少一部分对应的车道级局域路径的第二指示信息，并根据该第一指示信息和该第二指示信息中的至少一项确定行驶路径，实现了车道级路径的规划和导航，提高了导航的精确度，并且不会增加全局导航装置的负担。
可选地，作为一个实施例，该第一发送模块1001具体用于：向该第一路侧导航装置发送该全局路径请求，以便于该第一路侧导航装置向该全局导航装置转发该全局路径请求；该第一接收模块1002具体用于：接收该第一 路侧导航装置转发的该第一指示信息，其中，该第一指示信息是该全局导航装置根据该全局路径请求向该第一路侧导航装置发送的。
可选地，该全局路径请求携带附加信息，该附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、该终端导航装置对应车辆的车辆类型信息和该车辆的驾驶类型信息，该驾驶类型信息用于指示该车辆的驾驶类型为有人驾驶或无人驾驶，其中，该驾驶类型信息用于指示该车辆的驾驶类型为有人驾驶或无人驾驶，该车辆类型用于指示该车辆为普通社会车辆、公交车、校车、120/110/119等执行紧急任务的车辆等，该终端导航装置对应车辆可以为该终端导航装置所在的车辆。
可选地，该终端导航装置还包括：第二发送模块，该第二发送模块用于在该第二接收模块接收该第一路侧导航装置发送的第二指示信息之前，向该第一路侧导航装置发送局域路径请求，该局域路径请求用于请求确定该全局路径对应的局域路径；该第二接收模块1003具体用于：接收该第一路侧导航装置根据该局域规划请求发送的该第二指示信息。
可选地，该终端导航装置还包括：第三发送模块，该第三发送模块用于在该第一发送模块向该全局导航装置发送全局路径请求之前，向该全局导航装置发送终端注册请求，该终端注册请求用于请求该全局导航装置鉴权该终端导航装置；第三接收模块，该第三接收模块用于接收该全局导航装置根据该终端注册请求发送的终端注册确认。
因此，本发明实施例的一种终端导航装置，通过向全局导航装置发送全局路径请求，接收该全局导航装置根据该全局路径请求发送的用于指示由起始地到达目的地的道路级全局路径的第一指示信息和第一路侧导航装置发送的用于指示与该全局路径的至少一部分对应的车道级局域路径的第二指示信息，并根据该第一指示信息和该第二指示信息中的至少一项确定行驶路径，提高了导航的精确度，能够适用于大规模的自动驾驶场景，全局导航装置将海量的车道级路径导航服务分担到多个路侧导航装置，单个路侧导航装置的故障不会导致整个系统瘫痪，提高了系统的可靠性。
本发明实施例的导航系统实现了全程车道级路径的规划和导航，并且没有增加全局导航装置的负担。如果只由全局导航装置和终端导航装置的两层导航系统架构实现车道级路径的规划和导航，则全局导航装置的负担过重，相比较两层导航系统架构，本发明实施例的三层导航系统架构将车道级路径 的规划分担给路侧导航装置，而全局导航装置只负责道路级路径的规划，降低了全局导航装置的负担。
图11示出了本发明实施例的全局导航装置的示意性框图，如图11所示，该全局导航装置1100包括：
第一接收模块1101，用于接收终端导航装置发送的全局路径请求，该全局路径请求用于请求确定由起始地到达目的地的全局路径；
确定模块1102，用于根据该第一接收模块1101接收的该全局路径请求，确定由该起始地到达该目的地的道路级的全局路径；
第一发送模块1103，用于向与该终端导航装置对应的第一路侧导航装置发送第一指示信息，该第一指示信息用于指示该确定模块1102确定的该全局路径，以便于该第一路侧导航装置根据该第一指示信息确定与该全局路径的至少一部分对应的车道级的局域路径。
因此，本发明实施例的一种全局导航装置，通过接收终端导航装置发送的全局路径请求，并根据该全局路径请求确定由该起始地到达该目的地的道路级的全局路径，向与该终端导航装置对应的第一路侧导航装置发送用于指示该全局路径的第一指示信息，以便于该第一路侧导航装置将根据该全局路径确定用于指示与该全局路径的至少一部分对应的车道级的局域路径，实现了车道级路径的规划和导航，提高了导航的精确度，并且不会增加全局导航装置的负担。
可选地，作为一个实施例，该第一接收模块1101具体用于：接收该第一路侧导航装置转发的全局路径请求，其中，该第一路侧导航装置转发的该全局路径请求是该终端导航装置发送的。
可选地，作为一个实施例，该确定模块1102具体用于：根据该起始地、该目的地和附加信息，确定该由该起始地到达该目的地的道路级的全局路径，其中，该附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、该终端导航装置对应车辆的车辆类型信息和该车辆的驾驶类型信息。其中，该驾驶类型信息用于指示该车辆的驾驶类型为有人驾驶或无人驾驶，该车辆类型用于指示该车辆为普通社会车辆、公交车、校车、120/110/119等执行紧急任务的车辆等，该终端导航装置对应车辆可以为该终端导航装置所在的车辆。
可选地，该全局导航装置还包括：第二接收模块，该第二接收模块用于 接收该终端导航装置发送终端注册请求，该终端注册请求用于请求该全局导航装置鉴权该终端导航装置；第二发送模块，该第二发送模块用于根据该终端注册请求，向该终端导航装置发送终端注册确认。
因此，本发明实施例的一种全局导航装置，通过接收终端导航装置发送的全局路径请求，并根据该全局路径请求确定由该起始地到达该目的地的道路级的全局路径，向与该终端导航装置对应的第一路侧导航装置发送用于指示该全局路径的第一指示信息，以便于该第一路侧导航装置将根据该全局路径确定用于指示与该全局路径的至少一部分对应的车道级的局域路径，提高了导航的精确度，能够适用于大规模的自动驾驶场景，全局导航装置将海量的车道级路径导航服务分担到多个路侧导航装置，单个路侧导航装置的故障不会导致整个系统瘫痪，提高了系统的可靠性。
本发明实施例的导航系统实现了全程车道级路径的规划和导航，并且没有增加全局导航装置的负担。如果只由全局导航装置和终端导航装置的两层导航系统架构实现车道级路径的规划和导航，则全局导航装置的负担过重，相比较两层导航系统架构，本发明实施例的三层导航系统架构将车道级路径的规划分担给路侧导航装置，而全局导航装置只负责道路级路径的规划，降低了全局导航装置的负担。
图12示出了本发明实施例的路侧导航装置的示意性框图，如图12所示，该路侧导航装置1200包括处理器1201、存储器1202、总线系统1203和发送器1204，其中，处理器1201、存储器1202和发送器1204通过总线系统1203相连，该存储器1202用于存储指令，该处理器1201用于执行该存储器1202存储的指令。
处理器1201用于确定由起始地到目的地的道路级的全局路径；根据该全局路径，确定与该全局路径的至少一部分所对应的车道级的局域路径；
发送器1204用于向终端导航装置发送第二指示信息，该第二指示信息用于指示该处理器1201确定的该局域路径。
因此，本发明实施例的一种路侧导航装置，通过确定由起始地到达目的地的道路级的全局路径，根据该全局路径确定与该全局路径的至少一部分对应的车道级的局域路径，并向该终端导航装置发送用于指示该局域路径的第二指示信息，实现了车道级路径的规划和导航，提高了导航的精确度，并且不会增加全局导航装置的负担。
应理解，在本发明实施例中，该处理器1201可以是中央处理单元(Central Processing Unit，简称为“CPU”)，该处理器1201还可以是其他通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)、现成可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
该存储器1202可以包括只读存储器和随机存取存储器，并向处理器1201提供指令和数据。
该总线系统1203除包括数据总线之外，还可以包括电源总线、控制总线和状态信号总线等。但是为了清楚说明起见，在图中将各种总线都标为总线系统1203。
在实现过程中，上述方法的各步骤可以通过处理器1201中的硬件的集成逻辑电路或者软件形式的指令完成。结合本发明实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器1202，处理器1201读取存储器1202中的信息，结合其硬件完成上述方法的步骤。为避免重复，这里不再详细描述。
可选地，作为一个实施例，该处理器1201具体用于：接收该全局导航装置发送的第一指示信息，该第一指示信息用于指示该全局路径；根据该第一指示信息，确定该由起始地到目的地的道路级的全局路径。
可选地，作为另一个实施例，该处理器1201具体用于：接收第二路侧导航装置发送的第一驶入通知消息，该第一驶入通知消息用于指示该终端导航装置即将进入该第一路侧导航装置的覆盖范围，并且该第一驶入通知消息携带该全局路径的信息；根据该第一驶入通知消息，确定该由起始地到目的地的道路级的全局路径。
可选地，作为另一个实施例，该处理器1201具体用于：接收该终端导航装置发送的局域路径请求，所述局域路径请求携带所述全局路径的信息；根据该局域路径请求，确定该由起始地到目的地的道路级的全局路径。
可选地，作为另一个实施例，该处理器1201具体用于：根据该全局路径和局域路径策略，确定该局域路径，该局域路径策略包括车道负载均衡、避免频繁变道、吞吐量优先和速度优先中的至少一种。
可选地，作为一个实施例，该发送器1204还用于向第三路侧导航装置发送第二驶入通知消息，该第二驶入通知消息用于指示该终端导航装置即将驶入该第三路侧导航装置的覆盖范围；
可选地，该路侧导航装置还包括接收器，该接收器用于接收该第三路侧导航装置根据该第二驶入通知消息发送的驶入确认消息，该驶入确认消息用于指示该终端导航装置已驶入该第三路侧导航装置的覆盖范围。
因此，本发明实施例的一种路侧导航装置，通过确定由起始地到达目的地的道路级的全局路径，根据该全局路径确定与该全局路径的至少一部分对应的车道级的局域路径，并向该终端导航装置发送用于指示该局域路径的第二指示信息，提高了导航的精确度，能够适用于大规模的自动驾驶场景，全局导航装置将海量的车道级路径导航服务分担到多个路侧导航装置，单个路侧导航装置的故障不会导致整个系统瘫痪，提高了系统的可靠性。
本发明实施例的导航系统实现了全程车道级路径的规划和导航，并且没有增加全局导航装置的负担。如果只由全局导航装置和终端导航装置的两层导航系统架构实现车道级路径的规划和导航，则全局导航装置的负担过重，相比较两层导航系统架构，本发明实施例的三层导航系统架构将车道级路径的规划分担给路侧导航装置，而全局导航装置只负责道路级路径的规划，降低了全局导航装置的负担。
图13示出了本发明实施例的终端导航装置的示意性框图，该终端导航装置1300包括处理器1301、存储器1302、总线系统1303、发送器1304和接收器1305，其中，处理器1301、存储器1302、发送器1304和接收器1305通过总线系统1303相连，该存储器1302用于存储指令，该处理器1301用于执行该存储器1302存储的指令。
发送器1304用于向全局导航装置发送全局路径请求，该全局路径请求用于请求确定由起始地到达目的地的全局路径；
接收器1305用于接收该全局导航装置根据该发送器1304发送的该全局路径请求发送的第一指示信息，该第一指示信息用于指示由该起始地到达该目的地的道路级的全局路径；接收第一路侧导航装置发送的第二指示信息，该第二指示信息用于指示与该全局路径的至少一部分对应的车道级的局域路径；
处理器1301，用于根据该接收器1305接收的该第一指示信息所指示的 该全局路径和该第二指示信息所指示的该局域路径中的至少一项，确定第一行驶路径。
因此，本发明实施例的一种终端导航装置，通过向全局导航装置发送全局路径请求，接收该全局导航装置根据该全局路径请求发送的用于指示由起始地到达目的地的道路级全局路径的第一指示信息和第一路侧导航装置发送的用于指示与该全局路径的至少一部分对应的车道级局域路径的第二指示信息，并根据该第一指示信息和该第二指示信息中的至少一项确定行驶路径，实现了车道级路径的规划和导航，提高了导航的精确度，并且不会增加全局导航装置的负担。
应理解，在本发明实施例中，该处理器1301可以是中央处理单元(Central Processing Unit，简称为“CPU”)，该处理器1301还可以是其他通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)、现成可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
该存储器1302可以包括只读存储器和随机存取存储器，并向处理器1301提供指令和数据。
该总线系统1303除包括数据总线之外，还可以包括电源总线、控制总线和状态信号总线等。但是为了清楚说明起见，在图中将各种总线都标为总线系统1303。
在实现过程中，上述方法的各步骤可以通过处理器1301中的硬件的集成逻辑电路或者软件形式的指令完成。结合本发明实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器1302，处理器1301读取存储器1302中的信息，结合其硬件完成上述方法的步骤。为避免重复，这里不再详细描述。
可选地，作为一个实施例，该发送器1304具体用于：向该第一路侧导航装置发送该全局路径请求，以便于该第一路侧导航装置向该全局导航装置转发该全局路径请求；该接收器1305具体用于：接收该第一路侧导航装置转发的该第一指示信息，其中，该第一指示信息是该全局导航装置根据该全局路径请求向该第一路侧导航装置发送的。
可选地，该全局路径请求携带附加信息，该附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、该终端导航装置对应车辆的车辆类型信息和该车辆的驾驶类型信息，该驾驶类型信息用于指示该车辆的驾驶类型为有人驾驶或无人驾驶，其中，该驾驶类型信息用于指示该车辆的驾驶类型为有人驾驶或无人驾驶，该车辆类型用于指示该车辆为普通社会车辆、公交车、校车、120/110/119等执行紧急任务的车辆等，该终端导航装置对应车辆可以为该终端导航装置所在的车辆。
可选地，该发送器1304还用于在该第二接收模块接收该第一路侧导航装置发送的第二指示信息之前，向该第一路侧导航装置发送局域路径请求，该局域路径请求用于请求确定该全局路径对应的局域路径；该接收器1305还用于接收该第一路侧导航装置根据该局域规划请求发送的该第二指示信息。
可选地，该发送器1304还用于在该第二接收模块接收该第一路侧导航装置发送的第二指示信息之前，向该第一路侧导航装置发送局域路径请求，该局域路径请求用于请求确定该全局路径对应的局域路径；该接收器1305还用于接收该第一路侧导航装置根据该局域规划请求发送的该第二指示信息。
因此，本发明实施例的一种终端导航装置，通过向全局导航装置发送全局路径请求，接收该全局导航装置根据该全局路径请求发送的用于指示由起始地到达目的地的道路级全局路径的第一指示信息和第一路侧导航装置发送的用于指示与该全局路径的至少一部分对应的车道级局域路径的第二指示信息，并根据该第一指示信息和该第二指示信息中的至少一项确定行驶路径，提高了导航的精确度，能够适用于大规模的自动驾驶场景，全局导航装置将海量的车道级路径导航服务分担到多个路侧导航装置，单个路侧导航装置的故障不会导致整个系统瘫痪，提高了系统的可靠性。
本发明实施例的导航系统实现了全程车道级路径的规划和导航，并且没有增加全局导航装置的负担。如果只由全局导航装置和终端导航装置的两层导航系统架构实现车道级路径的规划和导航，则全局导航装置的负担过重，相比较两层导航系统架构，本发明实施例的三层导航系统架构将车道级路径的规划分担给路侧导航装置，而全局导航装置只负责道路级路径的规划，降低了全局导航装置的负担。
图14示出了本发明实施例的全局导航装置的示意性框图，该全局导航装置1400包括处理器1401、存储器1402、总线系统1403、接收器1404和发送器1405，其中，处理器1401、存储器1402、接收器1404和发送器1405通过总线系统1403相连，该存储器1402用于存储指令，该处理器1401用于执行该存储器1402存储的指令。
接收器1404用于接收终端导航装置发送的全局路径请求，该全局路径请求用于请求确定由起始地到达目的地的全局路径；
处理器1401用于根据该接收器1404接收的该全局路径请求，确定由该起始地到达该目的地的道路级的全局路径；
发送器1405用于向与该终端导航装置对应的第一路侧导航装置发送第一指示信息，该第一指示信息用于指示该处理器1401确定的该全局路径，以便于该第一路侧导航装置根据该第一指示信息确定与该全局路径的至少一部分对应的车道级的局域路径。
因此，本发明实施例的一种全局导航装置，通过接收终端导航装置发送的全局路径请求，并根据该全局路径请求确定由该起始地到达该目的地的道路级的全局路径，向与该终端导航装置对应的第一路侧导航装置发送用于指示该全局路径的第一指示信息，以便于该第一路侧导航装置将根据该全局路径确定用于指示与该全局路径的至少一部分对应的车道级的局域路径，实现了全程车道级路径的规划和导航，提高了导航的精确度。
应理解，在本发明实施例中，该处理器1401可以是中央处理单元(Central Processing Unit，简称为“CPU”)，该处理器1401还可以是其他通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)、现成可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
该存储器1402可以包括只读存储器和随机存取存储器，并向处理器1401提供指令和数据。
该总线系统1403除包括数据总线之外，还可以包括电源总线、控制总线和状态信号总线等。但是为了清楚说明起见，在图中将各种总线都标为总线系统1403。
在实现过程中，上述方法的各步骤可以通过处理器1401中的硬件的集成逻辑电路或者软件形式的指令完成。结合本发明实施例所公开的方法的步 骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器1402，处理器1401读取存储器1402中的信息，结合其硬件完成上述方法的步骤。为避免重复，这里不再详细描述。
可选地，作为一个实施例，该接收器1404具体用于：接收该第一路侧导航装置转发的全局路径请求，其中，该第一路侧导航装置转发的该全局路径请求是该终端导航装置发送的。
可选地，作为一个实施例，该处理器1401具体用于：根据该起始地、该目的地和附加信息，确定该由该起始地到达该目的地的道路级的全局路径，其中，该附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、该终端导航装置对应车辆的车辆类型信息和该车辆的驾驶类型信息。其中，该驾驶类型信息用于指示该车辆的驾驶类型为有人驾驶或无人驾驶，该车辆类型用于指示该车辆为普通社会车辆、公交车、校车、120/110/119等执行紧急任务的车辆等，该终端导航装置对应车辆可以为该终端导航装置所在的车辆。
可选地，该接收器1404还用于接收该终端导航装置发送终端注册请求，该终端注册请求用于请求该全局导航装置鉴权该终端导航装置；该发送器1405还用于根据该终端注册请求，向该终端导航装置发送终端注册确认。
因此，本发明实施例的一种全局导航装置，通过接收终端导航装置发送的全局路径请求，并根据该全局路径请求确定由该起始地到达该目的地的道路级的全局路径，向与该终端导航装置对应的第一路侧导航装置发送用于指示该全局路径的第一指示信息，以便于该第一路侧导航装置将根据该全局路径确定用于指示与该全局路径的至少一部分对应的车道级的局域路径，提高了导航的精确度，能够适用于大规模的自动驾驶场景，全局导航装置将海量的车道级路径导航服务分担到多个路侧导航装置，单个路侧导航装置的故障不会导致整个系统瘫痪，提高了系统的可靠性。
本发明实施例的导航系统实现了全程车道级路径的规划和导航，并且没有增加全局导航装置的负担。如果只由全局导航装置和终端导航装置的两层导航系统架构实现车道级路径的规划和导航，则全局导航装置的负担过重，相比较两层导航系统架构，本发明实施例的三层导航系统架构将车道级路径 的规划分担给路侧导航装置，而全局导航装置只负责道路级路径的规划，降低了全局导航装置的负担。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的装置及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述装置的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个装置或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或装置的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的装置可以是或者也可以不是物理上分开的，作为装置显示的部件可以是或者也可以不是物理装置，即可以位于一个地方，或者也可以分布到多个网络装置上。可以根据实际的需要选择其中的部分或者全部装置来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能装置可以集成在一个处理装置中，也可以是各个装置单独物理存在，也可以两个或两个以上装置集成在一个装置中。
所述功能如果以软件功能装置的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、 随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应所述以权利要求的保护范围为准。

Claims (29)

  1. 一种导航系统，其特征在于，包括：全局导航装置、第一路侧导航装置和终端导航装置；
    所述终端导航装置用于向所述全局导航装置发送全局路径请求，所述全局路径请求用于请求确定由起始地到达目的地的全局路径；
    所述全局导航装置用于接收所述终端导航装置发送的所述全局路径请求，根据所述全局路径请求确定由所述起始地到达所述目的地的道路级的全局路径，并且向所述终端导航装置发送第一指示信息，所述第一指示信息用于指示所述全局路径；
    所述第一路侧导航装置用于根据所述全局路径，确定与所述全局路径的至少一部分对应的车道级的局域路径，并且向所述终端导航装置发送用于指示所述局域路径的第二指示信息；
    所述终端导航装置还用于接收所述全局导航装置发送的所述第一指示信息和所述第一路侧导航装置发送的所述第二指示信息，并根据所述第一指示信息指示的所述全局路径和所述第二指示信息指示的所述局域路径中的至少一项，确定第一行驶路径。
  2. 根据权利要求1所述的系统，其特征在于，所述全局导航装置具体用于：
    接收所述终端导航装置发送的所述全局路径请求；
    根据所述起始地、所述目的地和附加信息，确定所述全局路径，其中，所述附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、所述终端导航装置对应车辆的车辆类型信息和所述车辆的驾驶类型信息，所述驾驶类型信息用于指示所述车辆的驾驶类型为有人驾驶或无人驾驶；
    向所述终端导航装置发送第一指示信息，所述第一指示信息用于指示所述全局路径。
  3. 根据权利要求1或2所述的系统，其特征在于，
    所述第一路侧导航装置还用于接收所述终端导航装置发送的所述全局路径请求，并向所述全局导航装置转发所述全局路径请求；
    所述全局导航装置具体用于接收所述第一路侧导航装置转发的所述全局路径请求，并根据所述全局路径请求向所述第一路侧导航装置发送所述第 一指示信息；所述第一路侧导航装置还用于接收所述全局导航装置发送的所述第一指示信息，并向所述终端导航装置转发所述第一指示信息；所述终端导航装置具体用于接收所述第一路侧导航装置转发的所述第一指示信息。
  4. 根据权利要求1至3中任一项所述的系统，其特征在于，
    所述第一路侧导航装置还用于在所述根据所述全局路径确定与所述全局路径的至少一部分对应的车道级的局域路径之前，接收所述终端导航装置发送的局域路径请求，所述局域路径请求携带所述全局路径的信息；
    所述第一路侧导航装置具体用于根据所述局域路径请求，确定所述全局路径。
  5. 根据权利要求1至3中任一项所述的系统，其特征在于，所述导航系统还包括第二路侧导航装置，
    所述第一路侧导航装置还用于在所述根据所述全局路径，确定与所述全局路径的至少一部分对应的车道级的局域路径之前，接收所述第二路侧导航装置发送的第一驶入通知消息，所述第一驶入通知消息用于指示所述终端导航装置将进入所述第一路侧导航装置的覆盖范围，并且所述第一驶入通知消息携带所述全局路径的信息；
    所述第一路侧导航装置具体用于根据所述第一驶入通知消息，确定所述全局路径。
  6. 根据权利要求1至5中任一项所述的系统，其特征在于，所述第一路侧导航装置具体用于根据所述全局路径和局域路径策略，确定所述局域路径，所述局域路径策略包括车道负载均衡、避免频繁变道、吞吐量优先和速度优先中的至少一种。
  7. 根据权利要求1至6中任一项所述的系统，其特征在于，所述系统还包括第三路侧导航装置；
    所述第一路侧导航装置还用于：
    向所述第三路侧导航装置发送第二驶入通知消息，所述第二驶入通知消息用于指示所述终端导航装置即将驶入所述第三路侧导航装置的覆盖范围；
    接收所述第三路侧导航装置发送的驶入确认消息，所述驶入确认消息用于指示所述终端导航装置已驶入所述第三路侧导航装置的覆盖范围。
  8. 一种路侧导航装置，其特征在于，包括：
    第一确定模块，用于确定由起始地到目的地的道路级的全局路径；
    第二确定模块，用于根据所述第一确定模块确定的所述全局路径，确定与所述全局路径的至少一部分所对应的车道级的局域路径；
    第一发送模块，用于向终端导航装置发送第二指示信息，所述第二指示信息用于指示所述第二确定模块确定的所述局域路径。
  9. 根据权利要求8所述的路侧导航装置，其特征在于，所述第一确定模块具体用于：
    接收全局导航装置发送的第一指示信息，所述第一指示信息用于指示所述全局路径；
    根据所述第一指示信息，确定所述由起始地到目的地的道路级的全局路径。
  10. 根据权利要求8所述的路侧导航装置，其特征在于，所述第一确定模块具体用于：
    接收第二路侧导航装置发送的第一驶入通知消息，所述第一驶入通知消息用于指示所述终端导航装置将进入该路侧导航装置的覆盖范围，并且所述第一驶入通知消息携带所述全局路径的信息；
    根据所述第一驶入通知消息，确定所述由起始地到目的地的道路级的全局路径。
  11. 根据权利要求8所述的路侧导航装置，其特征在于，所述第一确定模块具体用于：
    接收所述终端导航装置发送的局域路径请求，所述局域路径请求携带所述全局路径的信息；
    根据所述局域路径请求，确定所述由起始地到目的地的道路级的全局路径。
  12. 根据权利要求8至11中任一项所述的路侧导航装置，其特征在于，所述路侧导航装置还包括：
    第二发送模块，用于向第三路侧导航装置发送第二驶入通知消息，所述第二驶入通知消息用于指示所述终端导航装置将驶入所述第三路侧导航装置的覆盖范围；
    第一接收模块，用于接收所述第三路侧导航装置根据所述第二驶入通知消息发送的驶入确认消息，所述驶入确认消息用于指示所述终端导航装置已驶入所述第三路侧导航装置的覆盖范围。
  13. 一种终端导航装置，其特征在于，包括：
    第一发送模块，用于向全局导航装置发送全局路径请求，所述全局路径请求用于请求确定由起始地到达目的地的全局路径；
    第一接收模块，用于接收所述全局导航装置发送的第一指示信息，所述第一指示信息用于指示由所述起始地到达所述目的地的道路级的全局路径；
    第二接收模块，用于接收第一路侧导航装置发送的第二指示信息，所述第二指示信息用于指示与所述全局路径的至少一部分对应的车道级的局域路径；
    确定模块，用于根据所述第一接收模块接收的所述第一指示信息所指示的所述全局路径和所述第二接收模块接收的所述第二指示信息所指示的所述局域路径中的至少一项，确定第一行驶路径。
  14. 根据权利要求13所述的终端导航装置，其特征在于，所述第一发送模块具体用于：
    向所述第一路侧导航装置发送所述全局路径请求，以便于所述第一路侧导航装置向所述全局导航装置转发所述全局路径请求；
    所述第一接收模块具体用于：
    接收所述第一路侧导航装置转发的所述第一指示信息，其中，所述第一指示信息是所述全局导航装置根据所述全局路径请求向所述第一路侧导航装置发送的。
  15. 根据权利要求13或14所述的终端导航装置，其特征在于，所述全局路径请求携带附加信息，所述附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、所述终端导航装置对应车辆的车辆类型信息和所述车辆的驾驶类型信息，所述驾驶类型信息用于指示所述车辆的驾驶类型为有人驾驶或无人驾驶。
  16. 根据权利要求13至15中任一项所述的终端导航装置，其特征在于，所述装置还包括：第二发送模块，
    所述第二发送模块，用于在所述第二接收模块接收所述第一路侧导航装置发送的第二指示信息之前，向所述第一路侧导航装置发送局域路径请求，所述局域路径请求用于请求确定所述全局路径对应的局域路径；
    所述第二接收模块具体用于：
    接收所述第一路侧导航装置根据所述局域规划请求发送的所述第二指 示信息。
  17. 一种全局导航装置，其特征在于，包括：
    第一接收模块，用于接收终端导航装置发送的全局路径请求，所述全局路径请求用于请求确定由起始地到达目的地的全局路径；
    确定模块，用于根据所述第一接收模块接收的所述全局路径请求，确定由所述起始地到达所述目的地的道路级的全局路径；
    第一发送模块，用于向与所述终端导航装置对应的第一路侧导航装置发送第一指示信息，所述第一指示信息用于指示所述确定模块确定的所述全局路径，以便于所述第一路侧导航装置根据所述第一指示信息确定与所述全局路径的至少一部分对应的车道级的局域路径。
  18. 根据权利要求17所述的全局导航装置，其特征在于，所述确定模块具体用于：
    根据所述起始地、所述目的地和附加信息，确定所述由所述起始地到达所述目的地的道路级的全局路径，其中，所述附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、所述终端导航装置对应车辆的车辆类型信息和所述车辆的驾驶类型信息，所述驾驶类型信息用于指示所述车辆的驾驶类型为有人驾驶或无人驾驶。
  19. 一种导航方法，其特征在于，包括：
    第一路侧导航装置确定由起始地到目的地的道路级的全局路径；
    所述第一路侧导航装置根据所述全局路径，确定与所述全局路径的至少一部分所对应的车道级的局域路径；
    所述第一路侧导航向终端导航装置发送第二指示信息，所述第二指示信息用于指示所述局域路径。
  20. 根据权利要求19所述的导航方法，其特征在于，所述第一路侧导航装置确定由起始地到目的地的道路级的全局路径，包括：
    接收全局导航装置发送的第一指示信息，所述第一指示信息用于指示所述全局路径；
    根据所述第一指示信息，确定所述全局路径。
  21. 根据权利要求19所述的导航方法，其特征在于，所述第一路侧导航装置确定由起始地到目的地的道路级的全局路径，包括：
    接收第二路侧导航装置发送的第一驶入通知消息，所述第一驶入通知消 息用于指示所述终端导航装置即将进入所述第一路侧导航装置的覆盖范围，并且所述第一驶入通知消息携带所述全局路径的信息；
    根据所述第一驶入通知消息，确定所述全局路径。
  22. 根据权利要求19至21中任一项所述的导航方法，其特征在于，所述第一路侧导航装置根据所述全局路径，确定与所述全局路径的至少一部分所对应的车道级的局域路径，包括：
    根据所述全局路径和局域路径策略，确定所述局域路径，所述局域路径策略包括车道负载均衡、避免频繁变道、吞吐量优先和速度优先中的至少一种。
  23. 根据权利要求19至22中任一项所述的导航方法，其特征在于，所述导航方法还包括：
    向第三路侧导航装置发送第二驶入通知消息，所述第二驶入通知消息用于指示所述终端导航装置即将驶入所述第三路侧导航装置的覆盖范围；
    接收所述第三路侧导航装置根据所述第二驶入通知消息发送的驶入确认消息，所述驶入确认消息用于指示所述终端导航装置已驶入所述第三路侧导航装置的覆盖范围。
  24. 一种导航方法，其特征在于，包括：
    向全局导航装置发送全局路径请求，所述全局路径请求用于请求确定由起始地到达目的地的全局路径；
    接收所述全局导航装置根据所述全局路径请求发送的第一指示信息，所述第一指示信息用于指示由所述起始地到达所述目的地的道路级的全局路径；
    接收第一路侧导航装置发送的第二指示信息，所述第二指示信息用于指示与所述全局路径的至少一部分对应的车道级的局域路径；
    根据所述第一指示信息指示的所述全局路径和所述第二指示信息指示的所述局域路径中的至少一项，确定第一行驶路径。
  25. 根据权利要求24所述的导航方法，其特征在于，所述向全局导航装置发送全局路径请求，包括：
    向所述第一路侧导航装置发送所述全局路径请求，以便于所述第一路侧导航装置向所述全局导航装置转发所述全局路径请求；
    所述接收所述全局导航装置根据所述全局路径请求发送的第一指示信 息，包括：
    接收所述第一路侧导航装置转发的所述第一指示信息，其中，所述第一指示信息是所述全局导航装置根据所述全局路径请求向所述第一路侧导航装置发送的。
  26. 根据权利要求24或25所述的导航方法，其特征在于，所述全局路径请求携带附加信息，所述附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、所述终端导航装置对应车辆的车辆类型信息和所述车辆的驾驶类型信息，所述驾驶类型信息用于指示所述车辆的驾驶类型为有人驾驶或无人驾驶。
  27. 根据权利要求24至26中任一项所述的导航方法，其特征在于，在所述接收第一路侧导航装置发送的第二指示信息之前，所述导航方法还包括：
    向所述第一路侧导航装置发送局域路径请求，所述局域路径请求携带所述全局路径的信息；
    所述接收第一路侧导航装置发送的第二指示信息包括：
    接收所述第一路侧导航装置根据所述局域规划请求发送的所述第二指示信息。
  28. 一种导航方法，其特征在于，包括：
    接收终端导航装置发送的全局路径请求，所述全局路径请求用于请求确定由起始地到达目的地的全局路径；
    根据所述全局路径请求，确定由所述起始地到达所述目的地的道路级的全局路径；
    向与所述终端导航装置对应的第一路侧导航装置发送第一指示信息，所述第一指示信息用于指示所述全局路径，以便于所述第一路侧导航装置根据所述第一指示信息确定与所述全局路径的至少一部分对应的车道级的局域路径。
  29. 根据权利要求28所述的导航方法，其特征在于，所述根据所述全局路径请求，确定由所述起始地到达所述目的地的道路级的全局路径，包括：
    根据所述起始地、所述目的地和附加信息，确定所述由所述起始地到达所述目的地的道路级的全局路径，其中，所述附加信息包括下列信息中的至少一种：当前路况信息、全局路径策略的信息、所述终端导航装置对应车辆 的车辆类型信息和所述车辆的驾驶类型信息，所述驾驶类型信息用于指示所述车辆的驾驶类型为有人驾驶或无人驾驶。
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