WO2021168845A1 - 导航方法及装置 - Google Patents

导航方法及装置 Download PDF

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Publication number
WO2021168845A1
WO2021168845A1 PCT/CN2020/077305 CN2020077305W WO2021168845A1 WO 2021168845 A1 WO2021168845 A1 WO 2021168845A1 CN 2020077305 W CN2020077305 W CN 2020077305W WO 2021168845 A1 WO2021168845 A1 WO 2021168845A1
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WO
WIPO (PCT)
Prior art keywords
information
lane
navigation
target vehicle
location
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PCT/CN2020/077305
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English (en)
French (fr)
Inventor
伍勇
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 PCT/CN2020/077305 priority Critical patent/WO2021168845A1/zh
Priority to JP2022551571A priority patent/JP7459276B2/ja
Priority to EP20921343.8A priority patent/EP4098976A4/en
Priority to CN202080002473.9A priority patent/CN113631885A/zh
Publication of WO2021168845A1 publication Critical patent/WO2021168845A1/zh
Priority to US17/896,163 priority patent/US20220412764A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—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
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3885—Transmission of map data to client devices; Reception of map data by client devices
    • G01C21/3889—Transmission of selected map data, e.g. depending on route

Definitions

  • This application relates to the field of driving technology, and in particular to a navigation method and device.
  • Navigation maps in the prior art provide road navigation functions for vehicles, usually using Global Navigation Satellite System (GNSS)/Global Positioning System (GPS) positioning information to provide path planning information for vehicle driving.
  • GNSS Global Navigation Satellite System
  • GPS Global Positioning System
  • the navigation map cannot distinguish the lane where the vehicle is located (such as the main road, auxiliary road, etc.), or the vehicle may deviate from the navigation path without being detected in time, resulting in navigation An error occurred in the path planning.
  • the embodiments of the present application provide a navigation method and device to improve the accuracy of navigation planning.
  • an embodiment of the present application provides a navigation method, which is used to provide a navigation path for a target vehicle.
  • the method can be implemented on a navigation map module or on a navigation device that includes a navigation map module.
  • the high-precision map module can provide the navigation map module with lane information of the current location of the target vehicle, and more accurately determine the starting point of the navigation path suitable for the lane where the target vehicle is currently located, for example, If it is determined that the lane where the target vehicle is located is the main road, the main road can be used as the starting point of the navigation route to avoid errors in path planning due to the inability to distinguish the target vehicle's location on the main road or the auxiliary road in the prior art. Further, the navigation map module can also determine the actual road conditions of the target vehicle more accurately through the lane-level road information of the first location where the target vehicle is currently located, thereby planning a more appropriate navigation path and improving the navigation effect.
  • the first location information further includes: lane-level road information within the first preset surrounding area of the first location where the target vehicle is currently located.
  • the navigation map module can also use the lane level road information within the first preset surrounding area where the target vehicle is currently located to better determine the actual road conditions of the starting point of the target vehicle, and then plan a more suitable navigation Path to improve the navigation effect.
  • the initial navigation route is generated according to the first location information of the target vehicle and the destination; the initial navigation route is sent to the high-precision map module; the lane-level road information of the initial navigation route returned by the high-precision map module is received
  • the lane level road information of the initial navigation path includes the lane level road information of the road section of the initial navigation path; the navigation path is determined according to the lane level road information of the initial navigation path.
  • the navigation map module can generate the initial navigation route according to the starting point and destination of the target vehicle to obtain the lane level road information of the high-precision map module based on the initial navigation route. Furthermore, the navigation map module can pass the initial navigation route Lane level road information, update the road information in the navigation map module. Failure to update the road information in a timely manner leads to an inappropriate navigation path planned, so as to better provide users with a better navigation experience and meet their navigation needs.
  • the lane-level road information of the initial navigation path further includes: lane-level road information of road sections within the second preset surrounding area corresponding to the initial navigation path.
  • the navigation map module can also use the lane-level road information of the road sections within the second preset surrounding area to update the road information in the navigation map module.
  • the untimely update of the road information in the navigation map module leads to inappropriate navigation paths planned. Optimize the navigation path to better provide users with a better navigation experience and meet their navigation needs.
  • a possible design according to the lane level road information of the initial navigation path, if it is determined that there is an impassable or recommended detour road or lane in the initial navigation path, then based on the determined impassable or recommended detour road or lane, The first location information of the target vehicle and the destination, the initial navigation path is updated, and the navigation path is determined to be the updated initial navigation path.
  • the navigation map module can select a passable or recommended road or lane in the lane-level road information of the initial navigation path after determining that there are impassable or recommended detour roads or lanes in the initial navigation path.
  • To update the initial navigation path avoid impassable or recommended detour roads or lanes in the navigation path, so as to better provide users with a better navigation experience and meet their navigation needs.
  • the initial navigation path includes K candidate paths; the navigation path is filtered from the K candidate paths according to the lane level road information of the initial navigation path; the lane level road information of the initial navigation path includes the following At least one item: the lane information of the initial navigation path within the second preset surrounding area, the available information about the lanes of the initial navigation path within the second preset surrounding area, or the initial navigation path within the second preset surrounding area Supported driving mode information.
  • the navigation map module can select one or more of the K candidate routes according to one or more of the lane information, the available lane information, and the supported driving mode information of the initial navigation route within the second preset surrounding area.
  • the driving experience is more in line with the current needs of the road or lane to update the initial navigation path, so as to better provide users with a better navigation experience, to meet the user's navigation needs.
  • a possible design is to receive the second location information of the target vehicle sent by the high-precision map module.
  • the second location information includes: lane information of the second location where the target vehicle is currently located; the navigation map module receives yaw probability information, yaw
  • the probability information is used to indicate the probability that the target vehicle will continue to deviate from the navigation path at the second position; determine and update the navigation path according to the yaw probability information; according to the second position information and The destination updates the navigation path.
  • the navigation map module can not determine that the target vehicle has yaw (for example, when the high-precision map module determines that the target vehicle is driving in a lane deviating from the navigation direction, or is expected to travel to a lane deviating from the navigation direction, At this time, the navigation map module cannot determine whether the target vehicle is yaw), and receives the yaw probability information sent by the high-precision map module (the high-precision map module can determine that the target vehicle may be yaw based on the lane information of the target vehicle's lane), Furthermore, according to the probability of deviation from the navigation path provided in the yaw probability information, it is determined whether the navigation path needs to be updated.
  • the navigation path can be updated according to the second position information of the target vehicle.
  • the problem of re-planning can only be carried out when the positioning of the target vehicle deviates from the navigation path by a large distance.
  • the possible yaw of the target vehicle can be found earlier, and the navigation path can be updated for the possible yaw earlier, so as to better serve the user Provide a better navigation experience.
  • a possible design is to receive second location information of the target vehicle sent by the high-precision map module, where the second location information includes lane information of the second location where the target vehicle is currently located; receiving a yaw warning Information, the yaw warning information is used to indicate that the second position is not on the navigation path; the navigation path is updated according to the second position information and the destination.
  • the navigation map module can not determine whether the target vehicle has yaw (for example, when the high-precision map module determines that the target vehicle is driving to a lane deviating from the navigation direction, at this time, the navigation map module cannot determine whether the target vehicle is Yaw), receiving the yaw warning information sent by the high-precision map module (the high-precision map module can determine that the target vehicle has yaw based on the lane information of the target vehicle's lane), and then according to the second provided in the yaw probability information Position information and update the navigation path.
  • the re-planning can be carried out. Navigation updates the navigation path to better provide users with a better navigation experience.
  • the second location information further includes: lane-level road information within the first preset surrounding area of the second location where the target vehicle is currently located. Furthermore, the navigation map module can update the navigation path according to the lane level road information within the first preset surrounding area of the second location where the target vehicle is currently located, and improve the accuracy of navigation.
  • a possible design is to receive third location information sent by the high-precision map module, where the third location information includes lane information at a third location, and the third location is the high-precision map module according to the first 2.
  • the position predicted by the position information that the target vehicle may drive to after a certain period of time, and the third position is not on the navigation path; according to the second position information, the third position information, and the purpose To update the navigation path.
  • the navigation map module can receive the high-precision map module to predict the third location information of the target vehicle based on the lane information of the target vehicle's lane. If the target vehicle travels to the auxiliary road, the navigation map module can plan the navigation path for the target vehicle to continue driving from the auxiliary road based on the second location information of the main road where the target vehicle is currently located and the third location information about to travel from the main road to the auxiliary road. So as to better provide users with a better navigation experience.
  • the navigation map module receives the update information of the first location information of the target vehicle sent by the high-precision map module; the update information of the first location information includes: the first preset surrounding area range of the current location of the target vehicle Update information of the inner lane level road information; the navigation map module determines the updated navigation path according to the update information of the first location information and the destination.
  • the navigation map module can receive the updated information of the first location information of the target vehicle as the lane of the target vehicle changes during the driving process of the vehicle, and then update the navigation path, so as to better provide users with better Navigation experience.
  • the update information of the first location information is received by the navigation map module at the first moment after sending the initial navigation route; the first moment is determined according to the moving speed of the target vehicle, and/or preset .
  • the navigation map module can periodically receive the update information of the first location information, and can also determine to receive the update information of the first location information according to the moving speed of the target vehicle, so as to ensure that the navigation map module can obtain the necessary lane-level road information. In order to achieve a better navigation path planning program.
  • an embodiment of the present application provides a navigation method, which is used to provide a navigation path for a target vehicle.
  • the method can be implemented on a high-precision map module or on a navigation device that includes a high-precision map module.
  • the method includes: generating first position information of the target vehicle according to the positioning information of the target vehicle, where the first position information includes lane information of the first position where the target vehicle is currently located; and sending the first position information to the navigation map module.
  • Location information where the first location information is used by the navigation map module to determine a navigation path.
  • the positioning information of the target vehicle determined by the high-precision map module combined with the high-precision map, determines the lane level road information within the first preset surrounding area of the current location of the target vehicle, and the current location of the target vehicle
  • the location of the lane information can more accurately determine the current lane of the target vehicle, which can effectively avoid the inability to distinguish the location of the target vehicle from uncertainty, for example, the path planning caused by the uncertainty of whether the target vehicle is located on the main road or the auxiliary road Wrong question.
  • the first location information further includes: lane-level road information within the first preset surrounding area of the first location where the target vehicle is currently located. Furthermore, it is possible to provide the navigation map module with more lane-level road information at the first position of the target vehicle, so as to improve the accuracy of navigation planning.
  • a possible design is to receive an initial navigation path from the navigation map module, where the initial navigation path is generated by the navigation map module according to the first location information and the destination; determine according to the initial navigation path Lane level road information of the initial navigation path, the lane level road information of the initial navigation path includes lane level road information of road sections of the initial navigation path; sending the lane of the initial navigation path to the navigation map module Level road information.
  • the lane level road information of the initial navigation path can be determined according to the received initial navigation path, and the lane level road information of the initial navigation path can be sent to the navigation map module to avoid the road information in the navigation map module from being updated in time Lead to inappropriate navigation paths planned, so as to better provide users with a better navigation experience and meet their navigation needs.
  • the lane-level road information of the initial navigation path includes at least one of the following: roads or lanes that are impassable or recommended to detour in the initial navigation path, and the initial navigation path is in the second forecast It is assumed that the lane information in the surrounding area, the lane available information of the initial navigation path in the second preset surrounding area, or the driving supported by the initial navigation path in the second preset surrounding area Mode information.
  • the high-precision map module can provide richer lane-level road information for the navigation map module, so as to improve the accuracy of the navigation route planning by the navigation map module.
  • a possible design is to determine the second location information of the target vehicle, where the second location information includes lane information of the second location where the target vehicle is currently located; send the second location information to the target vehicle;
  • the navigation path and the second position information determine the yaw probability information of the target vehicle, and the yaw probability information is used to instruct the target vehicle to continue driving at the second position until it deviates from the navigation Probability of the path; sending the yaw probability information to the navigation map module.
  • the navigation map module when the navigation map module does not determine that the target vehicle has yaw (for example, when the high-precision map module determines that the target vehicle is driving to a lane deviating from the navigation direction, or is expected to travel to a lane deviating from the navigation direction, At this time, the navigation map module cannot determine whether the target vehicle is yaw), the high-precision map module can determine that the target vehicle may be yaw based on the lane information of the target vehicle's lane, and then determine the probability of deviating from the navigation path to provide it to the navigation map module , To detect the possible yaw of the target vehicle earlier, and then update the navigation path for the possible yaw earlier, so as to better provide users with a better navigation experience.
  • a possible design is to determine the second location information of the target vehicle, where the second location information includes lane information of the second location where the target vehicle is currently located; send the second location information to the target vehicle;
  • the navigation path and the second position information generate yaw warning information of the target vehicle, and the yaw warning information is used to indicate that the second position is not on the navigation path; to the navigation map module Send the yaw warning information.
  • the high-precision map module can determine that the target vehicle has yaw according to the lane information of the target vehicle's lane, and then send yaw warning information to the navigation map module, so that the navigation map module can find that the target vehicle has yaw earlier , And then update the navigation path for the yaw earlier, so as to better provide users with a better navigation experience.
  • the second location information further includes: lane-level road information within the first preset surrounding area of the second location where the target vehicle is currently located. Furthermore, the navigation map module can update the navigation path according to the lane level road information within the first preset surrounding area of the second location where the target vehicle is currently located, and improve the accuracy of navigation.
  • a possible design is to generate third location information based on the navigation path and the second location information, where the third location information includes lane information of a third location, and the third location is the high-precision map
  • the module predicts the location that the target vehicle may drive to after a certain period of time based on the second location information, and the third location is not on the navigation path; sends the third location information to the navigation map module .
  • the high-precision map module can predict the third location information of the target vehicle based on the lane information of the lane where the target vehicle is located, for example, the current lane is an intersection, and the high-precision map module predicts that the target vehicle is about to drive from the main road to the auxiliary road , So that the navigation map module can plan the navigation path for the target vehicle to continue driving from the auxiliary road based on the second location information of the main road where the target vehicle is currently located, and the third location information about to drive from the main road to the auxiliary road, so as to better Provide users with a better navigation experience.
  • the high-precision map module determines the update information of the first location information of the target vehicle according to the current location of the target vehicle; the high-precision map module sends the update information of the first location information of the target vehicle to the navigation map module;
  • the update information of the first location information includes: update information of the lane-level road information within the first preset surrounding area of the current location of the target vehicle.
  • the high-precision map module can determine the updated information of the first location information of the target vehicle as the lane of the target vehicle changes during the driving of the target vehicle, and then send the updated information of the first location information to the navigation map module. , So that the navigation map module updates the navigation path, so as to better provide users with a better navigation experience.
  • the update information of the first location information is sent by the navigation map module at the first moment after receiving the initial navigation route; the first moment is determined or preset according to the moving speed of the target vehicle.
  • the high-precision map module can periodically determine the update information of the first location information, and can also determine the update information of the first location information according to the moving speed of the target vehicle, ensuring that the navigation map module can obtain the necessary lane-level road information , In order to achieve a better navigation path planning program.
  • the first location information and the second location information include one or more of the following: the heading of the target vehicle, the lane information within the first preset surrounding area of the current location of the target vehicle, or the target vehicle Available information of lanes within the first preset surrounding area of the current location;
  • the third location information includes one or more of the following: the predicted heading of the target vehicle, the lane information within the first preset surrounding area of the predicted location of the target vehicle, or the first preset surrounding area of the predicted location of the target vehicle Information available on the lanes within the range.
  • the lane information includes one or more of the following: number of lanes, lane number, lane direction information, lane start and end points, lane change points, lane curvature information, lane slope information, or lane type; lane types may include main road lanes , Auxiliary road lanes, merging lanes, fork lanes, one-way lanes, two-way lanes or tidal lanes;
  • the lane available information includes at least one of the following: whether it is passable information, recommended detour information, road condition information, or traffic rule information.
  • the embodiments of the present application also provide a navigation device, which includes a unit for performing each step in the above first aspect, or a unit for performing each step in the above second aspect, specifically, it may include sending and receiving.
  • Unit and processing unit The navigation device may be the navigation map module in the above-mentioned first aspect, or a device including the above-mentioned navigation map module; or, the navigation device may be the high-precision map module in the above-mentioned second aspect, or a device including the above-mentioned high-precision map module.
  • the navigation device includes a module, unit, or means corresponding to the foregoing method, and the module, unit, or means can be realized by hardware, software, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules or units corresponding to the above-mentioned functions.
  • an embodiment of the present application also provides a navigation device, including at least one processing element and at least one storage element, wherein the at least one storage element is used to store programs and data, and the at least one processing element is used to call and execute Programs and data stored in at least one storage unit to execute various possible implementation solutions in the first aspect or the first aspect of the embodiments of the present application, or to execute each of the second aspect or the second aspect of the embodiments of the present application.
  • the processing unit may be implemented based on a processor
  • the storage unit may be implemented based on a memory.
  • the embodiments of the present application also provide a computer program product, which when the computer program product runs on a processor, causes the navigation device to perform various possible functions provided in the first or second aspect. method.
  • the embodiments of the present application also provide a computer storage medium in which a computer program is stored, and when the computer program is executed by a processor, the navigation device is caused to execute the first aspect or The various possible methods provided by the second aspect.
  • an embodiment of the present application also provides a chip, which is used to read a computer program stored in a memory to execute various possible methods provided in the first aspect or the second aspect.
  • the chip can be coupled with the memory.
  • an embodiment of the present application also provides a chip system, which includes a processor, and is configured to support a computer device to implement various possible methods provided in the first or second aspect.
  • the chip system also includes a memory, and the memory is used to store the necessary programs and data of the computer device.
  • the chip system can be composed of chips, or it can include chips and other discrete devices.
  • an embodiment of the present application also provides a navigation system, including a navigation device corresponding to the navigation map module in the third aspect, a navigation device corresponding to the high-precision map module in the fourth aspect, or the fifth aspect In the navigation device.
  • FIG. 1A is a schematic diagram of the architecture of a possible communication system to which an embodiment of this application is applicable;
  • FIG. 1B is a schematic diagram of an area of a high-precision map provided by an embodiment of this application.
  • Figure 2 is a schematic structural diagram of a possible navigation system to which an embodiment of this application is applicable;
  • FIG. 3 is a flowchart of a navigation method provided by an embodiment of this application.
  • FIG. 4 is a schematic diagram of a path to which a navigation method provided by an embodiment of the application is applicable;
  • 5A-5C are schematic diagrams of paths applicable to a navigation method provided by an embodiment of this application.
  • FIG. 6 is a schematic diagram of a path to which a navigation method provided by an embodiment of the application is applicable
  • FIGS. 7A-7C are schematic diagrams of paths applicable to a navigation method provided by an embodiment of this application.
  • FIGS. 8A-8C are schematic diagrams of paths applicable to a navigation method provided by an embodiment of this application.
  • 9A-9C are schematic diagrams of paths applicable to a navigation method provided by an embodiment of this application.
  • FIG. 10 is a structural block diagram of a navigation device provided by an embodiment of this application.
  • FIG. 11 is a structural block diagram of a navigation device provided by an embodiment of the application.
  • a and/or B describes the association relationship of the associated objects, indicating that there can be three types of relationships, for example, A and/or B, which can mean: A alone exists, A and B exist at the same time, and B exists alone.
  • the character “/” generally indicates that the associated objects before and after are in an "or” relationship.
  • At least one means one or more. At least two refers to two or more.
  • At least one refers to two or more.
  • any one or similar expressions refer to any combination of these items, including any combination of a single item (a) or a plurality of items (a).
  • the navigation method provided by the embodiment of the present application can be used in an intelligent transportation system.
  • the vehicles in the intelligent transportation system can apply high-precision maps to realize transportation services.
  • the traffic services in the embodiments of the present application may be various automatic driving and assisted driving services, such as route planning and providing driving risk warning for manual driving.
  • the above traffic service is just an example.
  • the navigation method provided in the embodiment of this application provides technical preparation for the rapid launch and continuous update of the communication (vehicle to x, V2X) service between vehicles and other devices.
  • V2X is like vehicle to vehicle communication. , V2V), vehicle to infrastructure (V2I).
  • FIG. 1A is a schematic structural diagram of a possible communication system to which an embodiment of this application is applicable.
  • the communication system shown in FIG. 1A includes a terminal device 101, a network device 102, a map server 103, a positioning server 104, and an access device 105.
  • FIG. 1A is only a schematic diagram of the architecture of the communication system.
  • the number of network devices 102, the number of access devices 105, and the number of terminal devices 101 in the communication system are not limited.
  • the applicable communication system may also include other devices, such as core network devices, wireless relay devices, and wireless backhaul devices.
  • the network device 102 can also be considered as a special core network device. Whether the network device 102 belongs to the core network does not affect the implementation of the embodiment of the present application, which is not limited in the embodiment of the present application.
  • the terminal device 101 can be connected to the access device 105 in a wireless manner, and the communication link with the network device 102 can be established through the access device 105.
  • the terminal device 101 may also be connected to the access device 105 in a wireless manner, and the communication connection between the terminal devices 101 can be established through the access device 105.
  • the terminal device 101 may also establish a communication connection between the terminal devices 101 in a wired manner, which is not limited here.
  • the quantitative relationship between various devices is not limited. For example, there may be multiple terminal devices communicating with the same access device, or there may be multiple access devices communicating with the same network device.
  • the communication systems applicable to the above system architecture include but are not limited to: Time Division Duplexing-Long Term Evolution (TDD LTE), Frequency Division Duplexing-Long Term Evolution (Frequency Division Duplexing-Long Term Evolution, FDD LTE) , Long Term Evolution-Advanced (LTE-A), and various other evolved wireless communication systems, such as the 5th generation (5G) New Radio (NR) communication system, or for Evolving various wireless communication systems.
  • TDD LTE Time Division Duplexing-Long Term Evolution
  • FDD LTE Frequency Division Duplexing-Long Term Evolution
  • LTE-A Long Term Evolution-Advanced
  • various other evolved wireless communication systems such as the 5th generation (5G) New Radio (NR) communication system, or for Evolving various wireless communication systems.
  • the access device 105 may be a device that can communicate with a terminal device.
  • the access device may be any device with a wireless transceiver function. Including but not limited to: base stations (for example, base stations, evolved base stations, base stations in 5G communication systems, base stations or network equipment in future communication systems, access nodes in wireless-fidelity (WiFi) systems, wireless Relay node, wireless backhaul node), etc.
  • the access device may also be a wireless controller in a cloud radio access network (cloud radio access network, CRAN) scenario.
  • the access device can also be a small station, a transmission reference point (TRP), and so on.
  • TRP transmission reference point
  • any information transmission between the terminal device 101 and the network device 102 includes the meaning of the terminal device 101 and the network device 102 using the access device 105 to implement information transmission. I won't repeat it here.
  • the terminal device 101 is a device with a wireless transceiving function, and the terminal device 101 can send a request to the network device 102 and obtain data from the network device 102.
  • the terminal device 101 implements navigation functions through a map navigation map module, such as intelligent terminals such as unmanned vehicles and robots, or vehicle-mounted terminals used to implement unmanned driving functions, and may also be mobile phones, tablet computers, vehicle-mounted navigation terminals, and the like.
  • the network device 102 may integrate all functions in one independent physical device, or may distribute the functions on multiple independent physical devices, which is not limited in the embodiment of the present application.
  • the network device 102 is a device with a wireless transceiver function, and can implement certain business functions according to the business information of the terminal device obtained by other devices in the core network.
  • the network device may be an edge computing (mobile edge computing, MEC) network element.
  • MEC network elements can deploy applications, content, and mobile broadband (mobile broadband, MBB) core network service processing and resource scheduling functions together to the edge of the network close to the access side (access equipment), and the services are processed close to the user through services.
  • MBB mobile broadband
  • the embodiments of the present application have an impact on the network.
  • the specific implementation of the device is not limited specifically.
  • the application program can be loaded in the MEC network element to make the MEC network element execute the steps performed by the network device 102 in the data transmission method provided in the embodiment of the application , So as to provide services for user terminals at the edge of the core network close to the access side to reduce the interaction delay.
  • the map server 103 is a server in the Internet (Internet), which can be a single server with a large storage space, or a server cluster composed of multiple servers, or even a large storage space. Cloud server.
  • the map server 103 is usually deployed in one or more fixed locations. As shown in FIG. 1A, there is a dashed connection between the map server 103 and the network device 102, which indicates that the map server 103 and the network device 102 can exchange data through the core network.
  • the map server 103 may store map data of a high-precision map. Since the storage space of the map server 103 is large enough, the map data of a high-precision map within a larger coverage area can be stored.
  • the high-precision map in the map server 103 may include multiple regions, and each region has an identifier corresponding to it.
  • the high-precision map can be divided into multiple regions according to the division of administrative regions (such as districts and counties). In this case, the name of each district and county can be used as the identification of the region.
  • the high-precision map can be divided into multiple regular areas based on the unit of the preset area area.
  • the high-precision map can be rasterized into multiple regular areas based on the unit of 1000 square meters. , And set the corresponding logo for each area. It can be understood that the divided regions may also have other shapes, which are not limited in the embodiment of the present application.
  • the map data corresponding to any area in this application is included in the map data of the high-precision map, and part of the map data corresponding to the area.
  • the map data of the high-precision map shown in FIG. 1B includes map data corresponding to 63 regions, for example, the map data corresponding to the region 33 includes part of the map data corresponding to the region 33 in the high-precision map data.
  • the data corresponding to the identifier of any area is equivalent to the data corresponding to the area, and vice versa, which will not be repeated in this embodiment of the application.
  • the navigation system includes: a user interface, a high-precision map module, a navigation map module, a positioning system, and a sensor system.
  • a terminal device which includes but is not limited to a vehicle, a mobile phone, a portable navigator or a vehicle-mounted device.
  • the navigation system shown in Figure 2 is composed of non-vehicle devices such as mobile phones and vehicle-mounted devices.
  • the high-precision map module and the navigation map module can be set on different devices, for example, high-precision
  • the map module may be installed on non-vehicle devices such as mobile phones, and the navigation map module may be installed on the vehicle device; or, the high-precision map module may be installed on the vehicle device, and the navigation map module may be installed on the off-vehicle device.
  • the high-precision map module is set on a network side device, such as a server or a roadside device, and the navigation map module is set on a vehicle-mounted device, a mobile phone, or other terminal devices.
  • a communication link can be established between the high-precision map module and the navigation map module to realize data transmission between the high-precision map module and the navigation map module.
  • each module the specific functions implemented by each module are as follows:
  • the user interface can realize the information interaction between the navigation system and the user. For example, when the user needs to travel, the navigation system will pop up instructions on the user interface to instruct the user to enter the driving destination on the user interface; for another example, when the user sets the driving destination, and the driving planning module in the navigation system determines the most After the optimal driving route, the final driving route determined by the navigation system can be displayed on the user interface. For another example, the navigation system can update the current location of the vehicle and the road conditions on the driving path in real time on the user interface during the driving of the vehicle, such as congestion, impassability, and road repairs.
  • the positioning system may be a GPS system, a Beidou system or other positioning systems, which may be used to estimate the geographic location of the terminal device, and may also be used to receive the location information of the terminal device sent by the positioning server 104.
  • the positioning module can be installed in a car, or the positioning module is a kind of in-vehicle device. When the positioning module is set on a car, specifically, the positioning terminal can be set on the roof of the car, or set at other locations where positioning is required.
  • the positioning module can be installed on the non-vehicle device such as a mobile phone.
  • the positioning module on the terminal device 101 may send a positioning request to the positioning server, and receive the position information of the positioning module returned by the positioning server.
  • the location information of the terminal device acquired by the navigation map module may be determined by the terminal device according to the positioning system.
  • the positioning system can use the GNSS positioning method to determine the location of the terminal device.
  • the positioning system can also include the positioning network element in the core network.
  • the positioning network element can be the service capability exposure function in the core network. , SCEF) network element, and/or, positioning server.
  • SCEF positioning server
  • the SCEF network element may obtain the location information of the terminal device 101 from the positioning server.
  • the positioning server may use one of a positioning method based on cell ID (Cell ID), a positioning method based on time difference of arrival (TDOA), or a positioning method based on angle of arrival (AOA), etc.
  • the positioning server may be an enhanced serving mobile location center (E-SMLC) network element, and/or a gateway mobile location center (Gateway Mobile Location Center), or one or more of similar functions.
  • E-SMLC enhanced serving mobile location center
  • Gateway Mobile Location Center Gateway Mobile Location Center
  • Each network element is not limited in the embodiment of this application. It should be understood that the positioning server 104 and the network device 102 in the embodiment of the present application may belong to the same physical device, or may belong to different physical devices.
  • the navigation map module stores navigation map data. Compared with high-precision maps, the navigation map only provides road-level navigation information.
  • the terminal device 101 may be installed with a navigation application or a map application, and the terminal device 101 may communicate with the back-end map server 103 through the Internet through the navigation application or the map application.
  • the terminal device 101 may generate a navigation track based on the navigation map, and then realize the navigation function.
  • the navigation map can provide users with navigation information to meet the navigation needs of driving routes. For example, a navigation map can provide navigation information such as the number of lanes on the current road, speed limit information, turning information, and route planning.
  • the sensor system may include several sensors that sense information about the environment around the vehicle.
  • the sensor system may include a positioning system, an inertial measurement unit (IMU), a radar, a laser rangefinder, and a camera.
  • the IMU is used to sense the position and orientation changes of the vehicle based on inertial acceleration.
  • the IMU may be a combination of accelerometer and gyroscope.
  • Radar can use radio signals to sense objects in the surrounding environment of the vehicle.
  • the radar in addition to sensing the object, the radar can also be used to sense the speed and/or direction of the object.
  • Laser rangefinders can use lasers to sense objects in the environment where the vehicle is located.
  • the laser rangefinder may include one or more laser sources, laser scanners, and one or more detectors, as well as other system components.
  • the camera can be used to capture multiple images of the surrounding environment of the vehicle.
  • the camera can be a still camera or a video camera.
  • the vehicle may also include a computer vision system that can be operated to process and analyze the images captured by the camera to identify objects and/or features in the surrounding environment of the vehicle.
  • Objects and/or features may include traffic signals, road boundaries, and obstacles.
  • Computer vision systems can use object recognition algorithms, Structure from Motion (SFM) algorithms, video tracking, and other computer vision technologies.
  • SFM Structure from Motion
  • a computer vision system can be used to map the environment, track objects, estimate the speed of objects, and so on.
  • the high-precision map module is used to store the lane-level road information of the high-precision map.
  • High-precision maps can be stored in the form of map files (such as Shapefile, Navigation Data Standard (NDS), OpenDRIVE, etc.).
  • Shapefile is an open format for spatial data, which describes the geometry and attributes of spatial data.
  • the Shapefile of the high-precision map mainly includes geometric information and attribute information. Among them, the geometric information is the space coordinates of the lane information, that is, the position of the lane information.
  • the attribute information refers to the attribute information of the lane information, such as whether the lane is a main road or a side road; whether the lane is a straight lane, a right-turn lane, a left-turn lane, or other lanes, etc.
  • the high-precision map module can also be used to receive map data of the high-precision map sent by the map server 103. Of course, it can also periodically update the high-precision map data in the high-precision map module, which is not limited here.
  • the high-precision map data in the high-precision map module can be a high-precision map pre-stored on the terminal device, or a high-precision map sent by the map server 103 to the terminal device.
  • the map server 103 executes.
  • the lane information collected by the vehicle may be sent to the map server 103, and the map server 103 will determine the latest lane information.
  • the map server 103 may actively send the updated high-precision map to the terminal device, or may return the updated lane information corresponding to the high-precision map according to the query request sent by the terminal device.
  • the map data of the high-precision map of the corresponding area can be sent during the navigation process, so as to save the high-precision map data that the terminal device 101 needs to store, or the high-precision map data of multiple areas can be pre-issued to the map server 103.
  • the map data of the precision map updates the high-precision map data in the high-precision map module according to the update requirements of the high-precision map data.
  • the high-precision map module can determine the estimated location of the high-precision map where the terminal device is located through the geographic location of the terminal device determined by the positioning system, and its positioning accuracy is lane-level positioning accuracy.
  • the vehicle can perform feature matching with high-precision map data based on the information of the surrounding environment of the vehicle determined by the sensor system and the computer vision system to determine the location of the vehicle under the high-precision map, and its accuracy can reach lane-level positioning accuracy.
  • a high-precision map module is added to the navigation system, and the navigation map module is improved, so that the improved navigation map module can receive the driving destination entered by the user on the user interface, and then obtain the navigation map
  • the road-level data and the lane information of the vehicle in the high-precision map module are combined with the destination input by the user to determine at least one driving path that the user can reach the destination; after at least one driving path is determined, it is displayed on the user interface
  • At least one driving path allows the user to select the actual driving path, so as to combine the lane-level positioning information of the vehicle to plan a higher-precision and more accurate driving path for the user, so as to meet the increasingly high demand of users.
  • the vehicle may also include: a driving planning module, a trajectory tracker, an actuator, and so on.
  • the driving planning module is used to determine the driving path that best meets the user's requirements and corresponding driving configuration information from at least one driving path determined by the navigation map module in the automatic driving system according to the travel requirements set by the user.
  • the determined driving planning result is sent to the trajectory tracker and the actuator, and the trajectory tracker and the actuator complete the entire automatic driving journey.
  • the trajectory tracker is used to generate torque commands for driving the automatic driving system and braking commands for the braking system according to the driving path sent by the driving planning module and the driving configuration information on the corresponding driving path, and issue them to the corresponding actuators Execute, and collect the feedback information of the corresponding actuator in the process of executing the instruction.
  • the actuator including the drive system and the brake system, is used to control the driving of the vehicle according to the torque command and the brake command issued by the trajectory tracker.
  • these driving paths can be submitted to the driving planning module of the automatic driving system, so that the driving planning module can select the driving path that best meets the user's requirements based on user needs. path.
  • the navigation method proposed in the embodiment of the present application may include: the user can enter the destination to go to in the user interface in FIG. 2 above, and the navigation map module combines the user's current location and the destination entered by the user Location, query the road topology data of the navigation map, and combine the current lane information provided by the high-precision map module to determine at least one driving route that the user can reach the destination from the current location (hereinafter referred to as the departure point), that is, this application
  • the at least one driving route mentioned in the navigation map module may be given by the navigation map module in combination with the lane information in the high-precision map module, the map road topology data in the navigation map module, and the departure place and destination of the user.
  • the driving planning module or the processing chip in the driving planning module can present lane-level driving mode icons and road-level driving mode icons on the user interface.
  • the implementation of a navigation method provided by the embodiment of the present application may include the following processes.
  • FIG. 3 Please refer to FIG. 3:
  • Step 301 The high-precision map module determines the first location information of the target vehicle according to the location information of the target vehicle.
  • the location information of the target vehicle may be the location information of the target vehicle under the high-precision map determined by the high-precision map module according to the location information of the positioning system received by the positioning module and the environmental information of the vehicle obtained by the sensor system, which may include the following: Item or multiple items: the lane where the vehicle is located, the attribute information of the lane where the vehicle is located, or the driving posture of the vehicle.
  • the first location information determined by the high-precision map module may include: lane information of the first location where the target vehicle is currently located.
  • the first location information may also include lane-level road information within the first preset surrounding area of the current location of the target vehicle.
  • the first preset peripheral area range may correspond to the area of the high-precision map. For example, if it is determined that the target vehicle is located in area 1, the lane-level road information in area 1 can be used as the lane-level road information within the first preset surrounding area. Of course, the area where the target vehicle is located and adjacent areas can also be used. As the first preset peripheral area range, for another example, the area where the target vehicle is located and at least one area in front of the area where the target vehicle is located may also be used as the first preset peripheral area range.
  • the first preset surrounding area range can also be determined according to the vehicle speed and the complexity of the environment in which the vehicle is located. For example, to improve the accuracy of navigation, if it is determined that the road condition information of the vehicle is complex, the first The preset surrounding area range, if it is easy to determine the road condition information where the vehicle is located, the first preset surrounding area range can be reduced.
  • the lane-level road information may include lane information required for navigation and positioning.
  • the lane information in the navigation and positioning scenes such as intersections, lane changes, or main roads and auxiliary roads of viaducts can include, but is not limited to, any one or more of the following: start and end points of lanes, lane change points, start and end of right-turn dedicated lanes Point, lane attribute information or lane available information.
  • the start and end points of the lane include the start point and the end point of the lane.
  • the start and end points of a lane include the start and end points of several lane lines on a road.
  • the starting point of the lane is the point on the starting line of the lane
  • the ending point of the lane is the point on the stop line of the lane.
  • the lane change point can be the bifurcation point caused by the turning lanes added when some roads are approaching the intersection, or the confluence point caused by reducing one lane when entering a new road through the intersection, or the exit of a highway/viaduct. The bifurcation of the lane, or the intersection of the highway/viaduct into the lane.
  • lane change points can include, but are not limited to, any one or more of the following: bifurcation points caused by lane changes from less to more, confluence points caused by lanes from more to less, highway (and/or viaduct) driving The junction of exiting lanes, highways (and/or viaducts) and entering lanes.
  • the start and end points of the right-turn dedicated lane include the start and end intersections of the lane line (or the extension of the lane line) of the right-turn dedicated lane and the two connected lane lines.
  • the position of the lane may be expressed by the coordinate value of the lane in the global positioning system (global positioning system, GPS) coordinate system, that is, the lane information may include the geographic coordinates of the lane.
  • the position of a lane can be collected by manual labeling.
  • the start and end points of the right-turn dedicated lane and the start and end points of the lane can be determined in this way.
  • a method of automatically collecting the position of the lane with binocular vision combined with GPS may also be used. It should be noted that the various examples of the method for determining the position of the lane are only exemplary, and are not limited in this application.
  • the lane information may include one or more of the following: the identification ID of the lane, the ID of the grid mesh where the lane is mapped to the navigation map, the ID of the road where the lane is mapped to the navigation map, the serial number of the lane corresponding to the lane or the type of the lane.
  • Lane information is used to describe the connection between the high-precision map and the navigation map.
  • the lane information can be represented by Table 1.
  • the road ID (road_ID) is used to indicate the ID of the road on which the lane information is mapped to the navigation map, is used to distinguish different roads, and is used to establish a mapping relationship between the lane information and the road on the navigation map.
  • road_ID comes from the attributes of road lines in traditional navigation maps.
  • the lane identifier may be a lane serial number or a lane line serial number (lane_num), which is used to indicate the serial number of the lane where the lane information is located, and is used to distinguish different lane lines or lane directions. For example, for two-way roads, including forward lanes, reverse lanes, tidal lanes, and so on.
  • serial number [-n...-1] to indicate the nth lane in the reverse direction-the first lane in the reverse direction
  • [0] to indicate the center lane line
  • serial number [1...n] to indicate the first lane in the forward direction-forward To the nth lane.
  • sequence number [0...n] can be used to represent the 0th lane in the forward direction-the nth lane in the forward direction.
  • lane information can be divided into multiple types of lane information according to different types. For example, it can include type 1 (type_1) of lane information, type 2 (type_2) of lane information, type 3 (type_3) of lane information, and Type 4 (type_4) of lane information.
  • Type 1 of lane information may include lane change points, lane start and end points, and right-turn dedicated lane start and end points. Different types are indicated by different serial numbers, index numbers or IDs. For example, you can use 0 to indicate the lane change point, 1 to indicate the start and end points of the lane, and 2 to indicate the start and end points of the right-turn dedicated lane.
  • Type 2 of lane information is a further refinement of type 1 of lane information.
  • index numbers or IDs can be used to further indicate the type 1 of the lane information.
  • use -1 to indicate that the sub-type of lane change points is from more to less lanes.
  • Use 1 to indicate that the sub-type of lane change points is from less to more lanes.
  • Use -1 to indicate that the sub-type of the lane start and end points is the lane start.
  • Use 1 to indicate that the sub-type of the lane start and end points is the lane end point.
  • Use -1 to indicate that the subtype of the right-turn dedicated lane start and end points is the starting point of the right-turn dedicated lane, and use 1 to indicate that the right-turn dedicated lane start and end points are the end point of the right-turn dedicated lane subtype.
  • Lane information type 3 can indicate that the lane is a left-turn lane, a straight lane, a right-turn lane, a main road, a side road, and other attributes. It can also include lane direction information, road/lane curvature, slope and other attribute information. Of course, the attribute information of the lane may also include information such as the merging lane, the fork lane, the one-way lane, the two-way lane, and the tidal lane.
  • the type 4 (type_4) of the lane information can indicate the available information of the lane, and the related information indicating whether the lane is currently available, for example, traffic control, road maintenance, traffic rules (such as bus lane information, speed limit information, large lanes, small lanes). Vehicle lanes, traffic restriction information, etc.), road conditions, congestion and other information.
  • lane_num, type, type_2, type_3, and type_4 may be obtained when drawing a high-precision map or updating a high-precision map.
  • Step 302 The high-precision map module sends the first location information of the target vehicle to the navigation map module.
  • Step 303 The navigation map module receives the first location information of the target vehicle sent by the high-precision map module.
  • Step 304 The navigation map module determines the navigation path according to the first location information of the target vehicle and the destination.
  • the navigation map module can also estimate the heading of the target vehicle based on the lane information corresponding to the first location where the target vehicle is currently located. For example, the navigation map module can determine that the lane of the target vehicle is a south-to-north lane based on the lane information of the location of the target vehicle, for example, according to the lane information, it can infer that the heading of the target vehicle is from south to north.
  • the first location information may also include one or more of the following: the heading of the target vehicle.
  • the first position information can also include the heading of the target vehicle.
  • the navigation map module can determine whether the target vehicle is retrograde based on the heading of the target vehicle and the lane information where the target vehicle is located. . If it is determined that there is no retrograde, the target vehicle's heading can be used to determine the direction that the target vehicle needs to travel when the navigation starts, and route planning can be carried out based on this direction as the starting point of the navigation departure point.
  • the navigation map module can also determine the departure place of the target vehicle when it starts navigation based on the attribute information of the lane where the target vehicle is currently located in the first location information, such as the main road or the auxiliary road, and based on the lane
  • the attribute information of is used as the starting point of the navigation starting point for navigation route planning.
  • the navigation map module can determine the direction in which the target vehicle needs to travel when the target vehicle is navigated based on the direction of the lane where the target vehicle is located. For example, if it is determined that the lane direction of the lane where the target vehicle is located is a left-turn lane, or the distance from the starting point of the left-turn lane is less than a preset threshold, it can be determined that the target vehicle needs to drive in the direction of a left turn when the navigation starts.
  • the lane direction of the lane where the target vehicle is located is a right-turn lane, or the distance from the starting point of the right-turn lane is less than a preset threshold, it can be determined that the direction that the target vehicle needs to drive during navigation is a right-turn direction.
  • the navigation map module may also determine the direction in which the target vehicle needs to travel when the target vehicle is navigated to start based on the lane attribute information in the lane information within the first preset surrounding area.
  • the navigation map module determines that the lane direction of the target vehicle's lane is a tidal lane, or the starting point of the tidal lane is less than a preset threshold, it can determine when the navigation of the target vehicle starts based on the permitted direction of the lane corresponding to the tidal lane. The direction to be driven. Further, if it is determined according to the heading of the target vehicle that the heading of the target vehicle is opposite to the permitted direction of the lane currently corresponding to the tidal lane, the tidal lane is cancelled as the direction or lane to be driven when the target vehicle is navigated.
  • the lane that is the same as the head of the target vehicle can be used as the direction that the target vehicle needs to drive when navigating, and in the user interface or navigation, the current tidal lane is not available, and the heading of the target vehicle is consistent.
  • the lane is provided to the user as a suggested lane.
  • the navigation map module determines that the lane direction of the lane where the target vehicle is located is a variable lane, or the starting point of the variable lane is less than a preset threshold, taking the variable lane can be straight and turn right as an example, the navigation map The module can take both straight and right turns as the direction to be driven when the target vehicle is navigated to start navigation route planning, so as to provide more route choices.
  • the navigation map module can also determine the lane that matches the heading of the target vehicle based on the curvature information of the lane in the lane information within the first preset surrounding area. For example, if it is determined that there are 4 roads in front of the target vehicle Lanes (lane 1, lane 2, lane 3, and lane 4), and lane 1, lane 2, lane 3 are straight lanes, and lane 4 is the merging lane. Due to the impact of merging lanes, lane 1, lane 2, and lane 3 The curvature of the lane is different.
  • the lane adjacent to the fourth converging lane (lane 3) has the largest curvature, and the lane that is farther away from the fourth converging lane (lane 1 and lane 2) has a smaller curvature.
  • the target vehicle choose the lane with the smallest change direction to move forward. For example, if it is determined that the target vehicle is the closest to lane 1, then lane 1 can be used as the recommended lane for the target vehicle to navigate. If it is determined that the target vehicle is relatively close to lane 3, but considering the curvature of the lane, at this time, it is recommended to select lane 2 as the lane to be driven when the target vehicle navigates.
  • the navigation map module may also use lane available information in the lane information within the first preset surrounding area, for example, road condition information, and use lanes with less congestion or passable lanes as the target vehicle The recommended lane for navigation when starting.
  • the embodiment of the present application also provides a navigation method, including:
  • Step 401 The navigation map module generates an initial navigation route according to the first location information of the target vehicle and the destination.
  • the navigation map module can also receive the positioning information of the target vehicle determined by the positioning system, where the positioning information is road-level positioning information. Furthermore, the navigation map module can generate an initial navigation route based on the road-level accuracy positioning information and destination of the target vehicle from the positioning server.
  • the user needs to depart from point X to reach the destination point Y.
  • the user interface will display a destination input window and prompt the user to enter the destination of this trip; among them, the user can be prompted to enter the destination of the trip through the speaker broadcast, etc.; when the user successfully enters the trip on the user interface
  • the navigation map module obtains the destination entered by the user, and according to the user’s current location and the location of the obtained destination, combined with road topology information or the first location information sent by the high-precision map module, the user’s current location is planned At least one driving route from the location to the destination is used as the initial navigation route.
  • the navigation map module combines the road topology information, the lane information, and With the available information of the lanes, three driving paths that can reach the destination Y can be planned, assuming that they are path 1, path 2, and path 3.
  • path 1 is taken as an example for description.
  • the processing procedures of path 2 and path 3 are similar, and will not be repeated.
  • Step 402 The navigation map module sends the initial navigation path to the high-precision map module.
  • Step 403 The high-precision map module receives the initial navigation path from the navigation map module, and further, the high-precision map module determines the lane-level road information of the initial navigation path according to the initial navigation path.
  • the lane level road information of the initial navigation route may include the lane information of the initial navigation route.
  • the lane information involved in the road corresponding to the initial navigation path may be used as the lane information within the second preset surrounding area to reduce data transmission.
  • the navigation map module based on the lane level road information of the initial navigation path, if it is determined that there are impassable or congested roads in the initial navigation path, the lane information of the impassable or congested roads can be used as the lane level road information of the initial navigation path Send to the navigation map module, and then, the navigation map module can bypass impassable or congested roads and re-plan the navigation path.
  • the lane-level road information of the initial navigation path further includes: lane-level road information of road sections within the second preset surrounding area corresponding to the initial navigation path.
  • the second preset surrounding area range may include the area on the high-precision map where the initial navigation path is located.
  • the path is divided into at least one section of sub-paths, and the lane information and lane-available information of each sub-path are determined.
  • the lane information and lane-availability information can be determined according to the road type speed limit, weather type speed limit, and congestion conditions on the corresponding sub-path. of. According to the lane information of each sub-path and the available information of the lane, the vehicle's navigation planning path is determined.
  • the navigation map module may use the available lanes or roads near the initial navigation path as the re-planned path according to the lane information within the second preset surrounding area.
  • the high-precision map module divides path 1 into N sub-paths, such as three sub-paths in total, AB, BC, and CD. Specifically, referring to FIG.
  • the navigation map module can query the road topology information according to the destination input by the user to segment the path 1 with traffic lights as nodes to obtain multiple sub-paths.
  • path 1 contains two red street lights, so the two traffic lights can be used as the dividing point to divide path 1 into three sections, namely section AB (may be called sub-path A1) and section BC (may be called sub-path A1). It is the sub-path A2) and the CD segment (which can be referred to as the sub-path A3).
  • the initial navigation path can also be segmented according to other information of the road, for example, segmentation is performed according to attribute information such as elevated roads, tunnels, and bridges.
  • segmentation is performed according to attribute information such as elevated roads, tunnels, and bridges.
  • path 1 if it is determined that the path 1 includes the cross-river bridge 1, the starting point (node K) and the end point (node M) of the cross-river bridge 1 can be used as the dividing point to divide the path 1 into 3 segments.
  • path 2 if it is determined that path 2 includes tunnel 1, the starting point (node I) and the end point (node J) of tunnel 1 can be used as dividing points to divide path 2 into three sections.
  • path 3 if it is determined that path 3 includes tunnel 2, the starting point (node G) and end point (node H) of tunnel 2 can be used as dividing points to divide path 3 into 3 segments.
  • the information of other cross-river roads that are passable near the cross-river bridge 1 can be used as the second preset surrounding area
  • tunnel 1 is currently impassable or a detour road is recommended. Assuming that the available information of tunnel 1 includes: rainstorm warning, impassable information such as past the water cordon, it can be determined that tunnel 1 is currently an impassable road, and the high-precision map module can check other tunnels near tunnel 1 or across the river. The bridge is screened to determine whether other tunnels or river-crossing bridges near Tunnel 1 are passable.
  • Tunnel 1 is impassable and nearby tunnels or bridges across the river are impassable.
  • the navigation map module can re-plan the sub-sections corresponding to the tunnel 1 in the initial navigation path based on this information, so as to bypass the impassable tunnel 1 and other impassable tunnels or bridges near the river.
  • the lane where the target vehicle is located in sub-path 1 can be determined, or the expected lane to arrive is impassable or a detour is recommended Lane.
  • the available information of sub-path 1 includes: lane 1 is heavily congested, lane 2 is more congested, and lane 3 is not congested, it can be determined that lane 1 is currently the recommended detour lane, and the high-precision map module can check other lanes near tunnel 1. Filter to determine the congestion of other lanes near lane 1.
  • the information may include: Lane 1 is heavily congested, Lane 2 is relatively congested, and Lane 3 is not congested.
  • the navigation map module may suggest the user to change lanes based on the information, for example, may suggest the user to change lanes to lane 2 or lane 3.
  • Step 404 The navigation map module receives the lane level road information of the initial navigation path returned by the high-precision map module; the navigation map device determines the navigation path according to the lane level road information of the initial navigation path.
  • the candidate driving route can be determined first.
  • the time required for each candidate driving route is determined according to the first position information. According to the needs of users, determine the target driving route.
  • the navigation map module determines that there are impassable or congested roads in the initial navigation path based on the lane-level road information of the initial navigation path, and then according to the determined impassable or congested road and the target vehicle first Position information and destination, update the initial navigation path, and determine the updated initial navigation path as the navigation path.
  • Cross-river Bridge 1 is unavailable, and Cross-river Bridge 2 near Cross-River Bridge 1 is available, then Cross-River Bridge 2 can be used as the updated version of Cross-River Bridge 1.
  • the sub-path For example, as shown in Fig. 5C, the cross-river bridge 2 is taken as the updated sub-path A2' of the sub-path A2 corresponding to the cross-river bridge 1. Further, other sub-paths involved in the initial navigation path can also be adaptively adjusted according to the cross-river bridge 2.
  • the sub-path A1 is adaptively modified to A1', according to the cross-river bridge 2
  • the modified initial navigation route (including the modified sub-route A1 'And the modified sub-path A3'), return to the high-precision map module, so that the high-precision map module will re-send the lane-level road information of the modified initial navigation path to the navigation map module (including the modified sub-path A1' Lane level road information and the lane level road information of the modified sub-route A3'), and then the navigation map module can confirm whether the modified sub-route A1' and the modified sub-route A3' are passable roads or recommended path of.
  • the navigation map module can confirm whether the modified sub-route A1' and the modified sub-route A3' are passable roads or recommended path of.
  • the navigation map module confirms that the modified sub-path A1' and the modified sub-path A3' are passable roads or recommended roads, then the modified sub-path A1' and the modified sub-path A3' can be combined, As the updated initial navigation path, that is, the navigation path.
  • the initial navigation path includes K paths; the navigation map module selects the navigation path from the K candidate paths according to the lane-level road information of the initial navigation path.
  • the lane-level road information of the initial navigation path may include at least one of the following: lane information of the initial navigation path within the second preset surrounding area, and the initial navigation path within the second preset Suppose the available lane information in the surrounding area or the driving mode information supported by the initial navigation route in the second preset surrounding area.
  • the navigation map module can sort the congestion levels of the K paths according to the corresponding lane-level road information on the K paths, and then filter the K paths according to the congestion levels of the K paths. Further, the navigation map module can also determine the highest value of each sub-path on the K paths according to the road type of each sub-path on the K paths, the curvature and slope of the lane, and the current weather and traffic flow data of each sub-path. Vehicle speed, average vehicle speed, frequency of acceleration and deceleration, etc. Furthermore, based on the above information, K paths are filtered. For another example, the navigation map module can also match K routes according to the driving mode selected by the vehicle. For example, most vehicles currently have three control modes, namely Sport, Normol, and Eco.
  • the development of the system may also develop more other possible control modes, which are not limited in this application.
  • the vehicle has different acceleration/deceleration/braking levels in the above three control modes.
  • the vehicle in the Sport mode, the vehicle has the fastest acceleration and deceleration, that is, the acceleration and deceleration time is shorter, and it can accelerate or decelerate faster, and can adapt to complex road conditions, many curves, and frequent road types.
  • the vehicle In Normol mode, the vehicle has the second acceleration and deceleration of Sport mode.
  • the Eco mode the vehicle has lower acceleration and deceleration, which is the lowest acceleration and deceleration mode among the three modes. In this mode, the vehicle takes more time to accelerate or decelerate. If there is frequent navigation path Switching lanes, going up and down viaducts, or having multiple bends are not conducive to improving the driving experience. Therefore, the navigation map module can filter the navigation path according to different driving modes.
  • the driving mode may also be divided according to different modes of automatic driving.
  • it may include modes such as human driving, automatic driving, and long-distance continuous automatic driving.
  • the navigation map module can filter according to the driving mode suitable for the route. For example, assuming that route 1 supports automatic driving, when the navigation map module determines that the target vehicle selects the automatic driving mode, route 1 can be used as the navigation route. Assuming that only 20% of the route in route 1 supports automatic driving, when the navigation map module determines that the target vehicle selects the automatic driving mode, route 1 is taken as a route that is not recommended.
  • the sub-route 1 can be shown to the user within the range of the target vehicle driving to the sub-route 1, which is used to remind the user that there is a sub-route 1 Select the autopilot mode.
  • Different driving modes can correspondingly set different navigation path selection conditions to adapt to different driving modes and further improve the performance of navigation path planning.
  • the update source of map data in the navigation map is relatively single, which mainly relies on the unified update of the map, and the update is relatively lagging, and it may not be possible to confirm whether the road is passable in time.
  • the various ways mentioned in the above embodiments for example, surrounding environment information collected by vehicles on the road, roadside units, etc.
  • the high-precision map can obtain the actual traffic situation of the road in time, and then provide the lane-level road information of the initial navigation path through the high-precision map module, which can make the navigation path planned by the navigation map module more accurate and improve the performance of navigation planning.
  • the navigation map module can also send the lane level road information within the first preset surrounding area of the current location to the navigation map module according to the change in the positioning position of the target vehicle, so that the navigation map module can be based on the target vehicle
  • the lane level road information within the first preset surrounding area of the current location is updated, and the planned navigation route is updated. Specifically, it can include the following steps:
  • Step 501 The high-precision map module determines the updated information of the first location information of the target vehicle according to the current location of the target vehicle.
  • the update information of the first location information includes: update information of the lane-level road information within the first preset surrounding area of the current location of the target vehicle.
  • the high-precision map module can determine the first position information of the target vehicle according to the current location of the target vehicle again, and then re-determine the first position information of the target vehicle.
  • the location information as the update information of the first location information, is sent to the navigation map module.
  • the update information of the first location information may be sent by the navigation map module at the first moment after receiving the initial navigation route; the first moment is determined according to the moving speed of the target vehicle.
  • the high-precision map module can determine the first location information of the target vehicle according to the current location of the target vehicle when it is predicted that the location of the target vehicle is about to exceed the first preset surrounding area according to the vehicle's driving speed to ensure navigation
  • the map module receives the update information of the first location information, it has enough time to update the navigation.
  • the update information of the first location information is sent to the navigation map module when the high-precision map module determines that there is update information in the first location information corresponding to the current location of the target vehicle.
  • the location of the target vehicle at the starting point is A
  • the first preset surrounding area corresponding to location A is area A
  • the navigation path includes sub-route A2.
  • the location B does not exceed the range of area A.
  • the high-precision map module confirms that the lane information of the sub-route A2 in front of the current location B of the target vehicle has changed.
  • the high-precision map module can The positioning position B of the vehicle determines that the first preset surrounding area corresponding to the positioning position B is the area B, and the lane information of the area B may be used as the updated information of the first position information of the target vehicle.
  • the high-precision map module may send the information that the lane information of the sub-route A2 has changed as update information of the first location information to the navigation map module.
  • Step 502 The high-precision map module sends updated information of the first location information of the target vehicle to the navigation map module.
  • Step 503 The navigation map module receives the updated information of the first location information of the target vehicle sent by the high-precision map module; the navigation map module determines the updated navigation path according to the updated information of the first location information and the destination.
  • the navigation map module can update the planned navigation route according to the update information of the first location information. For example, according to the lane in which the target vehicle is located, the recommended lane for the target vehicle, the estimated time to travel to the next sub-path, the length of the travel distance, etc., are provided to improve the accuracy of the navigation broadcast content and the effect of the navigation broadcast.
  • Step 504 The navigation map module shows the updated navigation path to the user.
  • the navigation map module cannot find that the target vehicle may be yaw or has yaw when the target vehicle enters the wrong lane.
  • the navigation map module needs to locate the target vehicle on other roads, that is, the target vehicle has been completely positioned. After deviating a certain distance from the navigation path, the yaw of the target vehicle can be determined, and then the route can be re-planned, causing the target vehicle to be unable to correct the yaw route in time.
  • the high-precision map module can also determine the lane where the target vehicle is located according to the location of the target vehicle, and then compare it with the initial navigation path sent by the navigation map module to the high-precision map module to estimate the target vehicle Whether it is possible to yaw or has yaw, and then, the information corresponding to the yaw can be sent to the navigation map module, so that the navigation map module can renew the information based on the information of the possible yaw or the yaw and the second position information of the target vehicle. Carry out the planning of the navigation path, and then, after the target vehicle receives the information about the possible yaw, the driving path can be updated in time to reduce the impact of the yaw.
  • the navigation map module may include the following steps after determining the navigation route according to the current location information and destination of the target vehicle:
  • Step 601 The high-precision map module determines the yaw probability information of the target vehicle according to the navigation path and the second position information of the target vehicle.
  • the yaw probability information is used to indicate the probability that the target vehicle continues to drive at the second position until it deviates from the navigation path.
  • the second location information may include: lane information of the second location where the target vehicle is currently located. Further, the second location information may further include: lane-level road information within the first preset surrounding area of the second location where the target vehicle is currently located.
  • the high-precision map module determines that the lane where the target vehicle is located is lane 1, and the lane direction of lane 1 is left turn. According to the navigation route, the high-precision map module can determine that the target vehicle should drive straight on the current road. Therefore, the high-precision map module can determine that if the target vehicle continues to drive in the current lane, it will have a higher probability of entering when passing the intersection Turn left in the lane, causing the target vehicle to yaw. In the scenario where the target vehicle yaws due to entering the wrong lane, the target vehicle is determined whether the position of the possible yaw position is allowed to change lanes and other factors.
  • the yaw probability information can be determined according to the current second position of the target vehicle. For example, as shown in FIG. 7A, the location of the target vehicle allows lane change, that is, the target vehicle can switch from the left turn to the straight lane, and the yaw probability at this time is low. As shown in Fig. 7B, the target vehicle is not allowed to change lanes, and the target vehicle has a higher yaw probability at this time. Of course, it may also be related to the congestion degree of the current lane, that is, the yaw probability information may also be determined based on the historical data of the vehicle yaw at the current intersection, which is not limited here.
  • the yaw probability information may further include third position information, the third position information includes lane information of a third position, and the third position is predicted by the high-precision map module according to the second position information The position that the target vehicle may drive to after a certain period of time, and the third position is not on the navigation path.
  • the high-precision map module predicts that when the target vehicle passes a preset distance range (the road the target vehicle is about to drive on, such as an intersection), the target vehicle has a greater probability of reaching the corresponding left turn direction. the way.
  • the high-precision map module can predict that the target vehicle will arrive at the position C indicated by the third position information at the next moment, and the lane information corresponding to the position C is lane 2.
  • the next moment may be the response time required for the navigation map module to re-plan the route after obtaining the yaw probability information, so that the navigation map module can update the navigation route in time.
  • the probability of the high-precision map module driving to the position C within the preset distance range (area C) can be determined according to the historical record of the target vehicle, or according to the historical record of violation of traffic laws at the current intersection, or it can be determined according to other methods. There is no limitation here.
  • Step 602 the high-precision map module sends the yaw probability information to the navigation map module.
  • Step 603 The navigation map module receives the second position information and yaw probability information of the target vehicle sent by the high-precision map module.
  • the navigation map module can generate corresponding prompt information according to the yaw probability information.
  • the prompt information can be used to prompt that the target vehicle may have yaw.
  • the navigation map module can prompt the user that the lane is driving wrong, that it is about to yaw, and prompt the user.
  • the location of the target vehicle is allowed to change lanes, that is, the target vehicle can switch from a left turn to a straight lane.
  • the navigation map module can prompt the user to correct the possible skew behavior in time, thereby improving navigation The effect is to avoid unnecessary detours caused by the wrong lane of the vehicle, and improve the navigation effect.
  • the prompt information can also be used to prompt the user whether the navigation path needs to be switched according to the yaw position, etc.
  • the user can choose to switch the navigation path according to the yaw position to avoid the user not noticing that the current lane is a left-turn lane and based on the original Some navigation routes continue to drive, leading to violations of traffic laws and improving navigation effects.
  • Step 604 The navigation map module updates the navigation route according to the second location information, the yaw probability information, and the destination.
  • the navigation map module can re-plan the navigation path according to the lane information of the target vehicle in the second location information, the lane level road information within the first preset interval corresponding to the current location of the target vehicle, and the destination, and specific implementation methods Reference may be made to the method for planning a navigation path in the foregoing embodiment, which will not be repeated here.
  • the lane where the target vehicle's current location A is located is lane 1
  • the navigation map module can use the current location A, the current location A corresponding to the lane level road information and destination within the first preset interval range a Y, planning path 1a.
  • the navigation map module can store the planned route as an alternative route to the navigation map module, or directly display it on the user interface to notify the user whether the navigation route needs to be switched. After the navigation map module receives the user's instruction to switch the navigation path, it uses the alternative path as the updated navigation path and shows the updated navigation path to the user.
  • the navigation map module can also plan the route according to the location where the target vehicle is expected to arrive, the lane level road information and the destination within the first preset interval corresponding to the predicted location, and the planning The following route is stored as an alternative route to the navigation map module.
  • the lane of the target vehicle's current location A is lane 1
  • the lane of the target vehicle's expected location C is lane 2.
  • the navigation map module can use the predicted location C and the first preset corresponding to the predicted location C
  • the lane level road information and the destination Y in the section range c, and the planned route 1b When the navigation map module receives the user's instruction to switch the navigation path, or the navigation map module determines that the target vehicle is at the position indicated by the third location information, it uses path 1b as the updated navigation path to show the user the update Back navigation path.
  • the embodiment of the present application may also be based on the information in the second location information.
  • the navigation route is planned, and the planned route is stored as an alternative route to the navigation map module.
  • the lane of the target vehicle's current location A is lane 1
  • the lane of the target vehicle's expected location C is lane 2.
  • the navigation map module uses the current location A, and the first preset interval corresponding to the current location A Lane level road information in range a, predicted location C, lane level road information in the first preset interval range c corresponding to the predicted location, and destination Y, planned route 1c.
  • the navigation map module receives the user's instruction to switch the navigation path, or when the navigation map module determines that the target vehicle is at the position indicated by the third location information, it uses path 1c as the updated navigation path to show the user the update Back navigation path.
  • the navigation map module may include the following steps after determining the navigation route according to the current location information and destination of the target vehicle:
  • Step 701 The high-precision map module determines the yaw warning information of the target vehicle according to the navigation path and the second location information of the target vehicle.
  • the yaw warning information includes second position information, and the yaw warning information is used to indicate that the target vehicle is not on the navigation path at the second position where the target vehicle is currently located.
  • Step 702 The high-precision map module sends yaw warning information to the navigation map module.
  • Step 703 The navigation map module receives the yaw warning information, and then updates the navigation path according to the second position information, the yaw warning information, and the destination.
  • Step 704 The navigation map module can display the updated navigation path to the user.
  • the second location information may include: the current location B of the target vehicle and the lane information within the first preset surrounding range b corresponding to the current location B, for example, including lane 1.
  • navigation The map module can plan the navigation route according to the current location B, lane 1, destination, and display the planned route 2a as a candidate route on the user interface. After the navigation map module receives the user's instruction to switch the navigation path, it uses the candidate path 2a as the navigation path.
  • the yaw warning information may also include third location information, and the third location information may include lane information of the predicted location B'where the target vehicle is predicted to travel determined by the high-precision map module according to the second location information, and Lane information within the first preset interval range b'at the predicted position B'.
  • the third location information may include: the target vehicle's predicted location B', and the lane information within the first preset peripheral range b'corresponding to the predicted location B', for example, including lane 2, combined with the above
  • the navigation map module can plan the navigation route according to the estimated location B', lane 2 and destination, and display the planned route as a candidate route on the user interface.
  • the candidate path is used as the updated navigation path to show the user the update Back navigation path.
  • the navigation map module can re-plan the navigation path based on the above-mentioned third location information, second location information, and destination.
  • the navigation map module can be based on the current location B of the target vehicle, and the lane information within the first preset surrounding range b corresponding to the current location B, the predicted location of the target vehicle B', and The lane information within the first preset peripheral range b'corresponding to the predicted position B', for example, includes lane 1, predicted position B', lane 2, and destination.
  • the navigation path planning is performed, and the planned path is used as the candidate path in User interface display.
  • the candidate path is used as the updated navigation path to show the user the update After the navigation path.
  • the embodiments of the present application also provide a navigation device, which is used to implement the function of the navigation map module in FIG. 2 above.
  • the navigation device 1000 includes: a transceiver unit 1001 ⁇ unit 1002. The following describes the functions and connections of each unit of the navigation device 1000 when planning a vehicle driving route.
  • the transceiver unit 1001 receives first location information of the target vehicle sent by the high-precision map module, where the first location information includes: lane information of the first location where the target vehicle is currently located;
  • the processing unit 1002 is configured to determine the navigation route according to the first location information of the target vehicle and the destination.
  • the first location information further includes: lane-level road information within the first preset surrounding area of the first location where the target vehicle is currently located.
  • the processing unit 1002 is used to generate an initial navigation path according to the first location information of the target vehicle and the destination; determine the navigation path according to the lane level road information of the initial navigation path;
  • the transceiver unit 1001 is configured to send the initial navigation route to the high-precision map module; receive the lane-level road information of the initial navigation route returned by the high-precision map module; the lane-level road information of the initial navigation route includes the lane-level road information of the initial navigation route.
  • the lane-level road information of the initial navigation path further includes: lane-level road information of road sections within the second preset surrounding area corresponding to the initial navigation path.
  • the processing unit 1002 is specifically used to: According to the lane level road information of the initial navigation path, if it is determined that there is an impassable or recommended detour road or lane in the initial navigation path, then according to the determined impassable or The recommended detour road or lane, the first location information of the target vehicle, and the destination, and the navigation path is determined to be the updated initial navigation path.
  • the initial navigation path includes K candidate paths; the processing unit 1002 is specifically configured to: filter out the navigation path from the K candidate paths according to the lane level road information of the initial navigation path; initial navigation
  • the lane-level road information of the route includes at least one of the following: lane information of the initial navigation route in the second preset surrounding area, available information of the lane of the initial navigation route in the second preset surrounding area, or the initial navigation route in the second preset surrounding area. 2.
  • the transceiver unit 1001 is specifically used to: receive the second location information of the target vehicle sent by the high-precision map module, the second location information includes: lane information of the second location where the target vehicle is currently located; navigation map module Receiving yaw probability information, where the yaw probability information is used to indicate the probability that the target vehicle continues to drive at the second position to deviate from the navigation path;
  • the processing unit 1002 is specifically configured to: determine to update the navigation path according to the yaw probability information; and update the navigation path according to the second position information and the destination.
  • the second location information further includes: lane-level road information within the first preset surrounding area of the second location where the target vehicle is currently located.
  • the transceiver unit 1001 is further configured to: receive second position information of the target vehicle sent by the high-precision map module, where the second position information includes the second position of the target vehicle currently Lane information; receiving yaw warning information, where the yaw warning information is used to indicate that the second position is not on the navigation path;
  • the processing unit 1002 is further configured to: update the navigation path according to the second location information and the destination.
  • the transceiver unit 1001 is further configured to: receive third location information sent by the high-precision map module, where the third location information includes lane information at a third location, and the third location is the The high-precision map module predicts the location that the target vehicle may drive to after a certain period of time based on the second location information, and the third location is not on the navigation path;
  • the processing unit 1002 is further configured to: update the navigation path according to the second location information, the third location information, and the destination.
  • the embodiments of the present application also provide a navigation device, which is used to implement the function of the high-precision map module in FIG. 2 above.
  • the navigation device 1000 includes: a transceiver unit 1001 and processing unit 1002. The following describes the functions and connections of each unit of the navigation device 1000 when planning a vehicle driving route.
  • the processing unit 1002 is configured to generate first position information of the target vehicle according to the positioning information of the target vehicle, where the first position information includes lane information of the first position where the target vehicle is currently located;
  • the transceiver unit 1001 is used for sending the first location information of the target vehicle to the navigation map module; the first location information is used for the navigation map module to determine the navigation path.
  • the first location information further includes: lane-level road information within the first preset surrounding area of the first location where the target vehicle is currently located.
  • the transceiver unit 1001 is further configured to: receive an initial navigation path from the navigation map module, where the initial navigation path is generated by the navigation map module according to the first location information and the destination; Send the lane level road information of the initial navigation route to the navigation map module;
  • the processing unit 1002 is further configured to: determine the lane level road information of the initial navigation path according to the initial navigation path, where the lane level road information of the initial navigation path includes the lane level roads of the road sections of the initial navigation path information.
  • the lane level road information of the initial navigation path includes at least one of the following: roads or lanes that are impassable or recommended to detour in the initial navigation path, and the initial navigation path is in the second Lane information within a preset surrounding area, lane available information within the second preset surrounding area of the initial navigation path, or supported by the initial navigation path within the second preset surrounding area Driving mode information.
  • the processing unit 1002 is further configured to: determine second location information of the target vehicle, where the second location information includes lane information of the second location where the target vehicle is currently located; according to the navigation path and The second position information determines the yaw probability information of the target vehicle, where the yaw probability information is used to indicate the probability that the target vehicle continues to drive at the second position to deviate from the navigation path;
  • the transceiver unit 1001 is further configured to send the second position information to the target vehicle; and send yaw probability information to the navigation map module.
  • the processing unit 1002 is further configured to: determine second location information of the target vehicle, where the second location information includes lane information of the second location where the target vehicle is currently located; according to the navigation path and The second position information generates yaw warning information of the target vehicle, and the yaw warning information is used to indicate that the second position is not on the navigation path;
  • the transceiver unit 1001 is further configured to send the second position information to the target vehicle; send yaw warning information to the navigation map module.
  • the processing unit 1002 is further configured to: generate third location information according to the navigation path and the second location information, where the third location information includes lane information at the third location, and the first location information
  • the third position is the position predicted by the high-precision map module according to the second position information that the target vehicle may drive to after a certain period of time, and the third position is not on the navigation path;
  • the transceiver unit 1001 is also used to send third location information to the navigation map module.
  • the first location information and the second location information include one or more of the following: the heading of the target vehicle, the lane information within the first preset surrounding area of the current location of the target vehicle, or The available information of the lanes within the first preset surrounding area of the current location of the target vehicle; the third location information includes one or more of the following: the predicted heading of the target vehicle, the first predicted location of the target vehicle Set the lane information in the surrounding area or the available lane information in the first preset surrounding area of the predicted position of the target vehicle.
  • lane information includes one or more of the following: number of lanes, lane number, lane direction information, lane start and end points, lane change points, lane curvature information, lane slope information or lane type; lane type can include main Road lanes, side road lanes, merging lanes, fork lanes, one-way lanes, two-way lanes, or tidal lanes; the available information of the lane includes at least one of the following: whether it is passable information, recommended detour information, road condition information, or traffic rule information.
  • each function in each embodiment of the present application can be integrated into one processing unit, or it can exist alone physically, or two or more units can be integrated into one unit. Only one or more of the above-mentioned units can be implemented by software, hardware, firmware or a combination thereof.
  • the software or firmware includes but is not limited to computer program instructions or codes, and can be executed by a hardware processor.
  • the hardware includes, but is not limited to, various integrated circuits, such as a central processing unit (CPU), a digital signal processor (DSP), a field programmable gate array (FPGA), or an application specific integrated circuit (ASIC).
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of this application essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product can be stored in a storage medium. It includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) execute all or part of the steps of the methods of the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .
  • the embodiments of the present application also provide a navigation device, which can complete the work of the navigation map module in Figure 2 above, or complete the work of the high-precision map module in Figure 2 above, or the navigation The device can complete the work of the navigation map module and the high-precision map module.
  • the device 1100 includes: a communication interface 1101, a processor 1102, and a memory 1103.
  • the communication interface 1101, the memory 1103, and the processor 1102 are connected to each other.
  • the communication interface 1101, the memory 1103, and the processor 1102 may be connected to each other through a bus;
  • the bus may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture, EISA) bus, etc.
  • PCI peripheral component interconnect
  • EISA extended industry standard architecture
  • the bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is used to represent in FIG. 11, but it does not mean that there is only one bus or one type of bus.
  • the communication interface 1101 is used to implement communication between the navigation device and other components in the navigation system. For example, if the navigation device includes a navigation map module, the communication interface 1101 may be used to receive the first location information of the target vehicle sent by the high-precision map module, the first location information includes: lane information of the first location where the target vehicle is currently located. If the navigation device includes a high-precision map module, the communication interface 1101 can be used to receive the location position of the target vehicle sent by the positioning system, and send the first location information of the target vehicle to the navigation map module; the first location information is used for the navigation map module to determine Navigation path.
  • the processor 1102 is configured to implement the above-mentioned navigation solution shown in FIG. 3.
  • the processor 1102 may be a central processing unit (CPU) or other hardware chips.
  • the above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • the above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.
  • CPLD complex programmable logic device
  • FPGA field-programmable gate array
  • GAL generic array logic
  • the memory 1103 is used to store program instructions and data.
  • the program instructions may include program code, and the program code includes instructions for computer operations.
  • the memory 1103 may include random access memory (RAM), and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
  • the processor 1102 executes the program stored in the memory 1103, and implements the above-mentioned functions through the above-mentioned various components, thereby finally realizing the method provided in the above-mentioned embodiment.
  • the embodiments of the present application also provide a navigation system, which may include the above-mentioned navigation device for realizing the function of the high-precision map module and the above-mentioned navigation device for realizing the function of the navigation map module.
  • the navigation device for realizing the function of the high-precision map module and the navigation device for realizing the function of the navigation map module may be a general-purpose device or a special-purpose device, which is not specifically limited in the embodiment of the present application.
  • the related functions of the high-precision map module and the navigation map module can be implemented by one device, or by multiple devices, or by one or more functional modules in one device, which is not done in the embodiment of this application. Specific restrictions. It is understandable that the above-mentioned functions can be components in hardware devices, software functions running on dedicated hardware, or a combination of hardware and software, or virtualized instances instantiated on a platform (for example, a cloud platform). ⁇ function.
  • the embodiments of the present application also provide a computer program product, which when the computer program product runs on a processor, causes the navigation device to execute various possible methods provided in the above embodiments.
  • the embodiments of the present application also provide a computer storage medium in which a computer program is stored.
  • the navigation device is caused to execute the above-mentioned embodiments.
  • an embodiment of the present application also provides a chip, which is used to read a computer program stored in a memory to implement the method provided in the above embodiment.
  • the embodiments of the present application provide a chip system, which includes a processor, and is configured to support a computer device to implement the functions related to the terminal device in the method provided in the above embodiment.
  • the chip system also includes a memory, and the memory is used to store the necessary programs and data of the computer device.
  • the chip system can be composed of chips, or include chips and other discrete devices.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, computer, server, or data center.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center integrated with one or more available media.
  • the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, and a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)).
  • the disclosed device and method can be implemented in other ways within the scope of this application.
  • the above-described embodiments are only illustrative.
  • the division of the modules or units is only a logical function division.
  • there may be other division methods for example, multiple units or components may be combined. Or it can be integrated into another system, or some features can be ignored or not implemented.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. .
  • Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement it without creative work.
  • the described devices and methods and schematic diagrams of different embodiments can be combined or integrated with other systems, modules, technologies, or methods without departing from the scope of the present application.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electronic, mechanical or other forms.

Abstract

一种导航方法及装置，用于为目标车辆提供导航路径，方法包括：接收高精度地图模块发送的目标车辆的第一位置信息，第一位置信息包括：目标车辆当前所处第一位置的车道信息；根据目标车辆第一位置信息以及目的地，确定导航路径。通过高精度地图模块为导航地图模块提供目标车辆当前所处位置的车道信息，更为准确的确定出目标车辆当前所处的车道所适合的导航路径，提高导航规划的准确性。

Description

导航方法及装置 技术领域
本申请涉及驾驶技术领域，尤其涉及一种导航方法及装置。
背景技术
随着城市车辆的越来越多，交通也变得越来越拥挤，为了容纳日益增涨的车流量，城市道路的设计越来越复杂。现有技术中的导航地图为车辆提供道路导航功能，通常使用全球导航卫星系统(Global Navigation Satellite System，GNSS)/全球定位系统(Global Positioning System，GPS)定位信息，为车辆行驶提供路径规划信息，但是，由于导航地图的GNSS/GPS定位精度较低，在路况复杂的情况下，导航地图无法分辨车辆所在车道(比如主路、辅路等)，或者车辆可能偏离导航路径而没有及时发现，导致导航路径规划出现错误。
发明内容
本申请实施例提供一种导航方法及装置，用以提高导航规划的准确性。
第一方面，本申请实施例提供一种导航方法，所述方法用于为目标车辆提供导航路径，该方法可以在导航地图模块上实现，或者在包括有导航地图模块的导航装置上实现。包括接收高精度地图模块发送的所述目标车辆的第一位置信息，所述第一位置信息包括所述目标车辆当前所处第一位置的车道信息；根据所述第一位置信息以及目的地，确定导航路径。
基于上述方案，就可以通过高精度地图模块为导航地图模块提供目标车辆当前所处位置的车道信息，更为准确的确定出目标车辆当前所处的车道所适合的导航路径的起始点，例如，若确定目标车辆所在的车道为主路，则可以将主路作为导航路径的起始点，避免由于现有技术中无法区分目标车辆的位置位于主路还是辅路，导致路径规划的错误。进一步的，导航地图模块还可以通过目标车辆当前所处的第一位置的车道级别道路信息，可以更加准确的确定出目标车辆的实际路况，进而规划出更为合适的导航路径，提高导航效果。
在一种可能的实现方式中，所述第一位置信息还包括：所述目标车辆当前所处第一位置的第一预设周边区域范围内车道级别道路信息。
通过上述方法，导航地图模块还可以通过目标车辆当前所处第一预设周边区域范围内车道级别道路信息，以更好的确定目标车辆的起始点的实际路况，进而规划出更为合适的导航路径，提高导航效果。
在一种可能的实现方式中，根据目标车辆第一位置信息以及目的地，生成初始导航路径；向高精度地图模块发送初始导航路径；接收高精度地图模块返回的初始导航路径的车道级别道路信息；初始导航路径的车道级别道路信息包括所述初始导航路径的道路路段的车道级别道路信息；根据初始导航路径的车道级别道路信息，确定出导航路径。
通过上述方案，可以在导航地图模块根据目标车辆的起始点和目的地，生成初始导航路径，以获取高精度地图模块基于初始导航路径的车道级别道路信息，进而，导航地图模块可以通过初始导航路径的车道级别道路信息，更新导航地图模块中的道路信息更新不及时导致规划的不合适的导航路径，从而更好为用户提供更好的导航体验，满足用户的导航 需求。
一种可能的设计，所述初始导航路径的车道级别道路信息还包括：所述初始导航路径所对应第二预设周边区域范围内的道路路段的车道级别道路信息。
通过上述方法，导航地图模块还可以通过第二预设周边区域范围内的道路路段的车道级别道路信息，用于更新导航地图模块中的道路信息更新不及时导致规划的不合适的导航路径，进而优化导航路径，从而更好为用户提供更好的导航体验，满足用户的导航需求。
一种可能的设计，根据初始导航路径的车道级别道路信息，若确定初始导航路径中存在不可通行或建议绕行的道路或车道，则根据确定出的不可通行或建议绕行的道路或车道、目标车辆第一位置信息以及目的地，更新初始导航路径，确定导航路径为更新后的初始导航路径。
通过上述方法，导航地图模块可以在确定出初始导航路径中存在不可通行或建议绕行的道路或车道后，在初始导航路径的车道级别道路信息中，选择可通行或建议行驶的道路或车道，以更新初始导航路径，避免导航路径中存在不可通行或建议绕行的道路或车道，从而更好为用户提供更好的导航体验，满足用户的导航需求。
一种可能的设计，初始导航路径包括K条候选路径；根据初始导航路径的车道级别道路信息，从所述K条候选路径中筛选出所述导航路径；初始导航路径的车道级别道路信息包括以下至少一项：初始导航路径在第二预设周边区域范围内的车道信息、初始导航路径在第二预设周边区域范围内的车道可用信息或者初始导航路径在第二预设周边区域范围内所支持的驾驶模式信息。
通过上述方法，导航地图模块可以在K条候选路径中，根据初始导航路径在第二预设周边区域范围内的车道信息、车道可用信息、所支持的驾驶模式信息等一项或多项，选择驾驶体验更符合当前需求的道路或车道，以更新初始导航路径，从而更好为用户提供更好的导航体验，满足用户的导航需求。
一种可能的设计，接收高精度地图模块发送的目标车辆的第二位置信息，第二位置信息包括：目标车辆当前所处第二位置的车道信息；导航地图模块接收偏航概率信息，偏航概率信息用于指示所述目标车辆在所述第二位置上继续行驶至偏离所述导航路径的概率；根据所述偏航概率信息，确定更新所述导航路径；根据所述第二位置信息及所述目的地更新所述导航路径。
通过上述方法，导航地图模块可以在未确定目标车辆已偏航的情况下(例如，高精度地图模块在确定目标车辆行驶到偏离导航方向的车道，或者，预计行驶到偏离导航方向的车道时，此时，导航地图模块无法确定目标车辆是否偏航)，接收到高精度地图模块发送的偏航概率信息(高精度地图模块可以根据目标车辆所在车道的车道信息，确定目标车辆可能偏航)，进而根据偏航概率信息中提供的偏离导航路径的概率，确定是否需要更新导航路径，若确定需要更新导航路径，则可以根据目标车辆的第二位置信息，更新导航路径，相比现有技术中，目标车辆的定位偏离导航路径很大距离时，才能进行重新规划的问题，可以更早的发现目标车辆可能出现偏航，进而更早的针对可能的偏航更新导航路径，从而更好为用户提供更好的导航体验。
一种可能的设计，接收所述高精度地图模块发送的所述目标车辆的第二位置信息，所述第二位置信息包括所述目标车辆当前所处第二位置的车道信息；接收偏航告警信息，所述偏航告警信息用于指示所述第二位置不在所述导航路径上；根据所述第二位置信息及 所述目的地更新所述导航路径。
通过上述方法，导航地图模块可以在未确定目标车辆已偏航的情况下(例如，高精度地图模块在确定目标车辆行驶到偏离导航方向的车道时，此时，导航地图模块无法确定目标车辆是否偏航)，接收到高精度地图模块发送的偏航告警信息(高精度地图模块可以根据目标车辆所在车道的车道信息，确定目标车辆已偏航)，进而根据偏航概率信息中提供的第二位置信息，更新导航路径，相比现有技术中，目标车辆的定位偏离导航路径很大距离时，才能进行重新规划的问题，可以更早的发现目标车辆出现偏航，进而更早的针对偏航更新导航路径，从而更好为用户提供更好的导航体验。
一种可能的设计，第二位置信息还包括：目标车辆当前所处第二位置的第一预设周边区域范围内车道级别道路信息。进而，导航地图模块可以根据目标车辆当前所处第二位置的第一预设周边区域范围内车道级别道路信息，更新导航路径，提高导航的准确度。
一种可能的设计，接收所述高精度地图模块发送的第三位置信息，所述第三位置信息包括第三位置的车道信息，所述第三位置为所述高精度地图模块根据所述第二位置信息预测的所述目标车辆在一定时间后可能行驶到的位置，并且所述第三位置不在所述导航路径上；根据所述第二位置信息、所述第三位置信息及所述目的地，更新所述导航路径。
通过上述方法，导航地图模块可以接收高精度地图模块根据目标车辆所在车道的车道信息等预测出目标车辆的第三位置信息，例如，当前车道为交叉口，高精度地图模块预计目标车辆即将从主路行驶至辅路，则导航地图模块可以根据目标车辆当前所在的主路的第二位置信息，及即将从主路行驶至辅路的第三位置信息，规划出目标车辆从辅路继续行驶的导航路径，从而更好为用户提供更好的导航体验。
一种可能的设计，导航地图模块接收高精度地图模块发送的目标车辆的第一位置信息的更新信息；第一位置信息的更新信息包括：目标车辆当前所处位置的第一预设周边区域范围内车道级别道路信息的更新信息；导航地图模块根据第一位置信息的更新信息及目的地，确定出更新后导航路径。
通过上述方法，导航地图模块可以在车辆行驶过程中，随着目标车辆所在车道的变化，接收目标车辆第一位置信息的更新信息，进而，对导航路径进行更新，从而更好为用户提供更好的导航体验。
一种可能的设计，第一位置信息的更新信息为导航地图模块在发送初始导航路径之后的第一时刻接收的；第一时刻为根据目标车辆的移动速度确定的，和/或预先设定的。
通过上述方法，导航地图模块可以周期性接收第一位置信息的更新信息，也可以根据目标车辆的移动速度确定接收第一位置信息的更新信息，保证导航地图模块可以获得必需的车道级别道路信息，以实现更好的导航路径的规划方案。
第二方面，本申请实施例提供一种导航方法，所述方法用于为目标车辆提供导航路径，该方法可以在高精度地图模块上实现，或者在包括有高精度地图模块的导航装置上实现。包括：根据目标车辆的定位信息，生成所述目标车辆的第一位置信息，所述第一位置信息包括所述目标车辆当前所处第一位置的车道信息；向导航地图模块发送所述第一位置信息，所述第一位置信息用于所述导航地图模块确定导航路径。
基于上述方案，通过高精度地图模块确定的目标车辆的定位信息，并结合高精度地图，确定目标车辆当前所处位置的第一预设周边区域范围内车道级别道路信息，以及目标车辆当前所处位置的车道信息，就可以更为准确的确定出目标车辆当前所处的车道，可以有效 避免无法区分目标车辆的位置不确定，例如，不确定目标车辆位于主路还是辅路所导致的路径规划的错误的问题。
一种可能的设计，所述第一位置信息还包括：目标车辆当前所处第一位置的第一预设周边区域范围内车道级别道路信息。进而，可以为导航地图模块提供目标车辆所处第一位置更多的车道级别的道路信息，以提高导航规划的准确度。
一种可能的设计，接收来自所述导航地图模块的初始导航路径，所述初始导航路径为所述导航地图模块根据所述第一位置信息以及目的地生成的；根据所述初始导航路径，确定所述初始导航路径的车道级别道路信息，所述初始导航路径的车道级别道路信息包括所述初始导航路径的道路路段的车道级别道路信息；向所述导航地图模块发送所述初始导航路径的车道级别道路信息。
通过上述方案，可以根据接收到的初始导航路径，确定初始导航路径的车道级别道路信息，并将初始导航路径的车道级别道路信息发送给导航地图模块，避免导航地图模块中的道路信息更新不及时导致规划的不合适的导航路径，从而更好为用户提供更好的导航体验，满足用户的导航需求。
一种可能的设计，所述初始导航路径的车道级别道路信息包括以下至少一项：所述初始导航路径中不可通行或建议绕行的道路或车道、所述初始导航路径在所述第二预设周边区域范围内的车道信息、所述初始导航路径在所述第二预设周边区域范围内的车道可用信息或者所述初始导航路径在所述第二预设周边区域范围内所支持的驾驶模式信息。
通过上述方案，高精度地图模块可以为导航地图模块提供更丰富的车道级别道路信息，以提高导航地图模块规划导航路径的准确度。
一种可能的设计，确定目标车辆的第二位置信息，所述第二位置信息包括所述目标车辆当前所处第二位置的车道信息；向所述目标车辆发送所述第二位置信息；根据所述导航路径和所述第二位置信息，确定所述目标车辆的偏航概率信息，所述偏航概率信息用于指示所述目标车辆在所述第二位置上继续行驶至偏离所述导航路径的概率；向所述导航地图模块发送所述偏航概率信息。
通过上述方法，可以在导航地图模块未确定目标车辆已偏航的情况下(例如，高精度地图模块在确定目标车辆行驶到偏离导航方向的车道，或者，预计行驶到偏离导航方向的车道时，此时，导航地图模块无法确定目标车辆是否偏航)，高精度地图模块可以根据目标车辆所在车道的车道信息，确定目标车辆可能偏航，进而确定偏离导航路径的概率，以提供给导航地图模块，用以更早的发现目标车辆可能出现偏航，进而更早的针对可能的偏航更新导航路径，从而更好为用户提供更好的导航体验。
一种可能的设计，确定目标车辆的第二位置信息，所述第二位置信息包括所述目标车辆当前所处第二位置的车道信息；向所述目标车辆发送所述第二位置信息；根据所述导航路径和所述第二位置信息，生成所述目标车辆的偏航告警信息，所述偏航告警信息用于指示所述第二位置不在所述导航路径上；向所述导航地图模块发送所述偏航告警信息。
通过上述方法，可以在未导航地图模块确定目标车辆已偏航的情况下(例如，高精度地图模块在确定目标车辆行驶到偏离导航方向的车道时，此时，导航地图模块无法确定目标车辆是否偏航)，高精度地图模块可以根据目标车辆所在车道的车道信息，确定目标车辆已偏航，进而向导航地图模块发送偏航告警信息，以使导航地图模块更早的发现目标车辆出现偏航，进而更早的针对偏航更新导航路径，从而更好为用户提供更好的导航体验。
一种可能的设计，第二位置信息还包括：目标车辆当前所处第二位置的第一预设周边区域范围内车道级别道路信息。进而，导航地图模块可以根据目标车辆当前所处第二位置的第一预设周边区域范围内车道级别道路信息，更新导航路径，提高导航的准确度。
一种可能的设计，根据所述导航路径和所述第二位置信息，生成第三位置信息，所述第三位置信息包括第三位置的车道信息，所述第三位置为所述高精度地图模块根据所述第二位置信息预测的所述目标车辆在一定时间后可能行驶到的位置，并且所述第三位置不在所述导航路径上；向所述导航地图模块发送所述第三位置信息。
通过上述方法，高精度地图模块可以根据目标车辆所在车道的车道信息等预测出目标车辆的第三位置信息，例如，当前车道为交叉口，高精度地图模块预计目标车辆即将从主路行驶至辅路，以使导航地图模块可以根据目标车辆当前所在的主路的第二位置信息，及即将从主路行驶至辅路的第三位置信息，规划出目标车辆从辅路继续行驶的导航路径，从而更好为用户提供更好的导航体验。
一种可能的设计，高精度地图模块根据目标车辆的当前定位位置，确定目标车辆的第一位置信息的更新信息；高精度地图模块向导航地图模块发送目标车辆的第一位置信息的更新信息；第一位置信息的更新信息包括：目标车辆当前所处位置的第一预设周边区域范围内车道级别道路信息的更新信息。
通过上述方法，高精度地图模块可以在目标车辆行驶过程中，随着目标车辆所在车道的变化，确定目标车辆第一位置信息的更新信息，进而，向导航地图模块发送第一位置信息的更新新，以使导航地图模块对导航路径进行更新，从而更好为用户提供更好的导航体验。
一种可能的设计，第一位置信息的更新信息为导航地图模块在接收初始导航路径之后的第一时刻发送的；第一时刻为根据目标车辆的移动速度确定的或预先设定的。
通过上述方法，高精度地图模块可以周期性的确定第一位置信息的更新信息，也可以根据目标车辆的移动速度确定第一位置信息的更新信息，保证导航地图模块可以获得必需的车道级别道路信息，以实现更好的导航路径的规划方案。
示例性的，第一位置信息、第二位置信息包括以下内容中的一项或多项：目标车辆车头朝向、目标车辆当前所处位置的第一预设周边区域范围内的车道信息或目标车辆当前所处位置的第一预设周边区域范围内的车道可用信息；
第三位置信息包括以下内容中的一项或多项：目标车辆的预计车头朝向、目标车辆预计位置的第一预设周边区域范围内的车道信息或目标车辆预计位置的第一预设周边区域范围内的车道可用信息。
示例性的，车道信息包括以下一项或多项：车道数量、车道编号、车道方向信息、车道起止点、车道变换点、车道曲率信息、车道坡度信息或车道类型；车道类型可包括主路车道、辅路车道、汇入车道、岔路车道、单向车道、双向车道或潮汐车道；
车道可用信息包括以下至少一项：是否可通行信息、建议绕行信息、路况信息或交通规则信息。
第三方面，本申请实施例还提供了一种导航装置，包括用于执行以上第一方面中各个步骤的单元，或用于执行以上第二方面中各个步骤的单元，具体地，可以包括收发单元和处理单元。该导航装置可以为上述第一方面中的导航地图模块，或者包含上述导航地图模块的装置；或者，该导航装置可以为上述第二方面中的高精度地图模块，或者包含上述高 精度地图模块的装置。该导航装置包括实现上述方法相应的模块、单元、或手段(means)，该模块、单元、或means可以通过硬件实现，软件实现，或者通过硬件执行相应的软件实现。该硬件或软件包括一个或多个与上述功能相对应的模块或单元。
第四方面，本申请实施例还提供了一种导航装置，包括至少一个处理元件和至少一个存储元件，其中该至少一个存储元件用于存储程序和数据，该至少一个处理元件用于调用并执行至少一个存储单元中存储的程序和数据，以执行本申请实施例上述第一方面或第一方面中各种可能的实现方案，或者，执行本申请实施例上述第二方面或第二方面中各种可能的实现方案，或者，执行本申请实施例上述第一方面或第一方面中各种可能的实现方案和上述第二方面或第二方面中各种可能的实现方案。其中，处理单元可以基于处理器实现，存储单元可以基于存储器实现。
第五方面，本申请实施例还提供了一种计算机程序产品，当所述计算机程序产品在处理器上运行时，使得所述导航装置执行上述第一方面或第二方面提供的各种可能的方法。
第六方面，本申请实施例还提供了一种计算机存储介质，所述计算机存储介质中存储有计算机程序，当所述计算机程序被处理器执行时，使得所述导航装置执行上述第一方面或第二方面提供的各种可能的方法。
第七方面，本申请实施例还提供了一种芯片，芯片用于读取存储器中存储的计算机程序，以执行上述第一方面或第二方面提供的各种可能的方法。芯片可以与存储器耦合。
第八方面，本申请实施例还提供了一种芯片系统，该芯片系统包括处理器，用于支持计算机装置实现上述第一方面或第二方面提供的各种可能的方法。在一种可能的设计中，芯片系统还包括存储器，存储器用于保存该计算机装置必要的程序和数据。该芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。
第九方面，本申请实施例还提供了一种导航系统，包括上述第三方面中的导航地图模块对应的导航装置、上述第四方面中的高精度地图模块对应的导航装置或上述第五方面中的导航装置。
上述第三方面至第九方面中的各个方案可以达到的技术效果，可以参照上述第一方面中相应方案的技术效果描述，这里不再重复赘述。
附图说明
图1A为本申请实施例适用的一种可能的通信系统的架构示意图；
图1B为本申请实施例提供的一种高精度地图的区域示意图；
图2为本申请实施例适用的一种可能的导航系统的结构示意图；
图3为本申请实施例提供的一种导航方法的流程图；
图4为本申请实施例提供的一种导航方法适用的路径示意图；
图5A-图5C为本申请实施例提供的一种导航方法适用的路径示意图；
图6为本申请实施例提供的一种导航方法适用的路径示意图；
图7A-图7C为本申请实施例提供的一种导航方法适用的路径示意图；
图8A-图8C为本申请实施例提供的一种导航方法适用的路径示意图；
图9A-图9C为本申请实施例提供的一种导航方法适用的路径示意图；
图10为本申请实施例提供的一种导航装置的结构框图；
图11为本申请实施例提供的一种导航装置的结构框图。
具体实施方式
下面将结合附图，对本申请实施例进行详细描述。
下面将结合附图对本发明作进一步地详细描述。显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。方法实施例中的具体操作方法也可以应用于装置实施例中。其中，在本申请实施例的描述中，本领域普通技术人员可以理解：本申请中涉及的第一、第二等各种数字编号仅为描述方便进行的区分，并不用来限制本申请实施例的范围，也不用来表示先后顺序。“多个”的含义是两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。“至少一个”是指一个或者多个。至少两个是指两个或者多个。“至少一个”、“任意一个”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。
本申请实施例提供的导航方法，可以用于智能交通系统中。智能交通系统中的车辆可以应用高精度地图实现交通业务。本申请实施例的交通业务可以是各种自动驾驶、辅助驾驶的业务，例如：路径规划、为人工驾驶提供行驶风险预警。以上交通业务仅是举例，本申请实施例提供的导航方法，为车辆与其他装置的通讯(vehicle to x，V2X)业务快速上线及持续更新提供了技术准备，V2X如车车通讯(vehicle to vehicle，V2V)、车路通讯(vehicle to infrastructure，V2I)。
图1A为本申请实施例适用的一种可能的通信系统的架构示意图。如图1A所示的通信系统包括终端设备101、网络设备102、地图服务器103、定位服务器104和接入设备105。应理解，图1A仅为通信系统的一个架构示意图，本申请实施例中对通信系统中网络设备102的数量、接入设备105的数量、终端设备101的数量不作限定，而且本申请实施例所适用的通信系统中除了包括网络设备102、接入设备105、地图服务器103和终端设备101以外，还可以包括其它设备，如核心网设备、无线中继设备和无线回传设备等，在一些场景下，也可以认为网络设备102为一种特殊的核心网设备，网络设备102是否属于核心网并不影响本申请实施例的实现，本申请实施例对此并不作限定。图1A中，终端设备101可以通过无线方式与接入设备105连接，通过接入设备105建立与网络设备102之间的通信链接。终端设备101可以不止一个，终端设备101也可以通过无线方式与接入设备105连接，通过接入设备105建立终端设备101间的通信连接。终端设备101也可以通过有线方式，建立终端设备101间的通信连接，在此不做限定。在本申请实施例中，对各种设备之间的数量关系并不作限定，例如，可以有多个终端设备与同一个接入设备进行通信，也可以有多个接入设备与同一个网络设备进行通信等等。上述系统架构适用的通信系统包括但不限于：时分双工-长期演进(Time Division Duplexing-Long Term Evolution，TDD LTE)、频分双工-长期演进(Frequency Division Duplexing-Long Term Evolution，FDD LTE)、长期演进-增强(Long Term Evolution-Advanced，LTE-A)，以及其他演进的各种无线通信系统，例如第五代(5th generation，5G)新无线(New Radio，NR)通信系统，或为了演进的各种无线通信系统。本申请实施例中，接入设备105可以是能和终端设备通信的设备，如接入设备可以是任意一种具有无线收发功能的设备。包括但不限于：基站(例如，基站、演进型基站、5G通信系统中的基站、未来通信系统中的基站或网络设备、无线互连(wireless-fidelity,WiFi)系统中的接入节点、无线中继节点、无线回传节点)等。接入设备还可以是云无线接入网络(cloud radio access network，CRAN)场景下的无线控制器。接入 设备还可以是小站，传输节点(transmission reference point，TRP)等。当然本申请不限于此。在本申请实施例的后续表述中，终端设备101与网络设备102之间的任一信息传输，皆包括了终端设备101与网络设备102借助接入设备105实现信息传输的含义，本申请实施例对此不再赘述。在本申请实施例中，终端设备101是一种具有无线收发功能的设备，终端设备101可以向网络设备102发送请求，以及从网络设备102获取数据。终端设备101通过地图导航地图模块实现导航功能，如无人车、机器人等智能终端，或用于实现无人驾驶功能的车载终端，也可以为手机、平板电脑、车载导航终端等。
在本申请实施例中，网络设备102可以将所有的功能集成在一个独立的物理设备，也可以将功能分布在多个独立的物理设备上，对此本申请实施例也不作限定。网络设备102是具有无线收发功能的设备，可以根据核心网中其它设备获取的终端设备的业务信息，实现一定的业务功能。例如，在5G NR中，该网络设备可以是边缘计算(mobile edge computing，MEC)网元。MEC网元可以将应用、内容和移动宽带(mobile broad band，MBB)核心网部分业务处理和资源调度的功能一同部署到靠近接入侧(接入设备)的网络边缘，通过业务靠近用户处理，以及应用、内容与网络的协同，来提供可靠、极致的业务体验。可以理解，在第4代无线通信(4th generation，4G)以及第3代无线通信(3th generation，3G)网络或其它网络中，也可以设置具有类似功能的网元，因此本申请实施例对网络设备的具体实现并不多作具体限定。在本申请实施例中，当网络设备102为MEC网元时，可以在MEC网元中加载应用程序，使MEC网元执行本申请实施例所提供的数据传输方法中由网络设备102执行的步骤，从而在靠近接入侧的核心网边缘为用户终端提供服务，以降低交互时延。
在本申请实施例中，地图服务器103为因特网(Internet)中的服务器，可以是具有较大存储空间的单台服务器，也可以是由多个服务器构成的服务器集群，更可以是具有超大存储空间的云服务器。地图服务器103通常部署在一个或多个固定位置。如图1A所示，地图服务器103与网络设备102之间存在虚线连接，表示地图服务器103与网络设备102可以通过核心网进行数据交互。
在一种可能的实现方式中，地图服务器103中可以存储有高精度地图的地图数据，由于地图服务器103的存储空间足够大，因此可以存储较大覆盖范围内高精度地图的地图数据。在本申请实施例中，地图服务器103中的高精度地图可以包括多个区域，每个区域对应有标识。在一种可能的实现方式中，可以按照行政区域(如区、县)划分将高精度地图划分为多个区域，在此情况下，每个区、县的名称可以作为该区域的标识。在另一种可能的实现方式中，可以以预设区域面积为单位将高精度地图划分为多个规则的区域，例如，可以以1000平米为单位将高精度地图栅格化划分为多个规则的区域，并为每个区域设置对应的标识。可以理解，所划分的区域也可以为其它形状，本申请实施例对此并不多作限定。应理解，本申请中任一区域对应的地图数据包括在高精度地图的地图数据中，与该区域对应的部分地图数据。例如，图1B所示高精度地图的地图数据中包括了63个区域分别对应的地图数据，例如，区域33对应的地图数据包括高精度的地图数据中与区域33对应的部分地图数据。此外，任一区域的标识对应的数据相当于该区域对应的数据，反之亦然，本申请实施例对此不再赘述。
如图2所示，导航系统包括：用户界面、高精度地图模块、导航地图模块、定位系统和传感器系统。一种可能的方式，图2所示的导航系统的全部组成结构均位于一个终端设 备内，所述终端设备包括但不限于车辆、手机、便携式导航仪或车载设备。另一种可能的实现方式，图2所示的导航系统由手机等非车载设备和车载设备共同组成，此时，高精度地图模块和导航地图模块可以设置于不同的设备上，例如，高精度地图模块可以设置于手机等非车载设备上，导航地图模块可以设置于车载设备上；或者，高精度地图模块可以设置于车载设备上，导航地图模块可以设置于非车载设备上。再一种可能的实现方式，高精度地图模块设置于网络侧设备上，例如服务器或路侧设备，导航地图模块设置于车载设备、手机或者其他终端设备上。高精度地图模块和导航地图模块之间可以建立通信链接，以实现高精度地图模块和导航地图模块间的数据的传输。
其中，各个模块实现的具体功能具体如下：
用户界面，可以实现导航系统与用户之间的信息交互。例如，当用户需要出行时，导航系统会在用户界面弹出指示，指示用户在用户界面输入行驶目的地；再例如，当用户设定好行驶目的地，且导航系统中的行驶规划模块确定出最优的行驶路径后，可在用户界面展示出导航系统最终确定的行驶路径。再例如，导航系统可以在车辆行驶过程中，在用户界面实时更新车辆当前所在的位置，以及行驶路径上的道路情况，比如拥堵情况，不通行情况、道路抢修情况等。
定位系统，可以是GPS系统，也可以是北斗系统或者其他定位系统，可用于估计终端设备的地理位置，也可以用于接收定位服务器104发送的终端设备的位置信息。举例来说，若终端设备101为车载设备，则该定位模块可以设置在汽车上，或者说该定位模块为一种车载设备。在该定位模块被设置在汽车上时，具体的，该定位终端可以设置在车顶，也可以设置在其他需要定位的位置。若终端设备101为手机等非车载设备，定位模块可以设置于手机等非车载设备上。终端设备101上的定位模块可以向定位服务器发送定位请求，并接收定位服务器返回的定位模块的位置信息。
导航地图模块获取的终端设备的位置信息可以是终端设备根据定位系统确定的。定位系统可以通过GNSS定位方法，确定终端设备的位置，定位系统还可以包括核心网中的定位网元，在5G通信系统中，定位网元可以是核心网中的业务能力开放(service capibility exposure function，SCEF)网元，和/或，定位服务器。在一种可能的实现方式中，SCEF网元可以从定位服务器获取终端设备101的位置信息。定位服务器可以采用基于小区标识(Cell ID)的定位方法、基于到达时间差(time difference of arrival，TDOA)的定位方法、基于到达角度(angle of arrival，AOA)的定位方法等方法中的一种或几种对终端设备进行定位，从而获取终端设备的位置信息。具体的，定位服务器可以是增强服务移动定位中心(enhanced serving mobile location centre，E-SMLC)网元，和/或，网关移动位置中心(Gateway Mobile Location Center)，或者，具有类似功能的一个或多个网元，本申请实施例对此并不多做限定。应理解，本申请实施例中定位服务器104与网络设备102既可以属于同一台物理设备，也可以分别属于不同的物理设备。
导航地图模块，存储有导航地图数据，相对于高精度地图来说，导航地图只提供道路级的导航信息。该终端设备101中可以安装有导航应用或地图应用，终端设备101可以通过导航应用或地图应用与后端的地图服务器103采用互联网进行通讯。终端设备101可以基于导航地图，生成导航轨迹，进而实现导航功能。导航地图可以为用户提供导航信息，满足开车路线的导航需求。例如，导航地图可以提供当前道路有几条车道、限速信息、转弯信息、路线规划等导航信息。
传感器系统，可包括感测关于车辆周边的环境的信息的若干个传感器。例如，传感器系统可包括定位系统、惯性测量单元(inertial measurement unit，IMU)、雷达、激光测距仪以及相机。IMU用于基于惯性加速度来感测车辆的位置和朝向变化。在一个实施例中，IMU可以是加速度计和陀螺仪的组合。雷达可利用无线电信号来感测车辆的周边环境内的物体。在一些实施例中，除了感测物体以外，雷达还可用于感测物体的速度和/或前进方向。激光测距仪可利用激光来感测车辆所位于的环境中的物体。在一些实施例中，激光测距仪可包括一个或多个激光源、激光扫描器以及一个或多个检测器，以及其他系统组件。相机可用于捕捉车辆的周边环境的多个图像。相机可以是静态相机或视频相机。进一步的，车辆还可以包括计算机视觉系统，可以操作来处理和分析由相机捕捉的图像以便识别车辆周边环境中的物体和/或特征。物体和/或特征可包括交通信号、道路边界和障碍物。计算机视觉系统可使用物体识别算法、运动中恢复结构(Structure from Motion，SFM)算法、视频跟踪和其他计算机视觉技术。在一些实施例中，计算机视觉系统可以用于为环境绘制地图、跟踪物体、估计物体的速度等等。
高精度地图模块，用于存储高精度地图的车道级别道路信息。高精度地图可以以地图文件(如Shapefile、导航数据标准(Navigation Data Standard，NDS)，OpenDRIVE等格式)的形式进行存储，其中，Shapefile是一种空间数据开放格式，是描述空间数据的几何和属性特征，用于存储地理要素的文件。高精度地图的Shapefile主要包括几何信息和属性信息。其中，几何信息即车道信息的空间坐标，即车道信息的位置。属性信息即车道信息属性的信息，如本车道是主路车道还是辅路车道；本车道是直行车道、右转车道、左转车道还是其他车道等。高精度地图模块，还可以用于接收地图服务器103发送的高精度地图的地图数据。当然，也可以为周期性更新高精度地图模块中的高精度地图数据，在此不做限定。高精度地图模块中的高精度地图数据可以为预先存储在终端设备上的高精度地图，也可以为地图服务器103向终端设备发送的高精度地图，对高精度地图的更新方式也可以由车辆或地图服务器103来执行。例如，通过地图服务器103更新的方式，可以为车辆采集的车道信息，并发送到地图服务器103，由地图服务器103来确定最新的车道信息。地图服务器103可以主动向终端设备发送更新的高精度地图，也可以根据终端设备发送的查询请求，返回高精度地图对应更新的车道信息。在具体实施过程中，可以在导航过程中，发送对应区域的高精度地图的地图数据，以节省终端设备101需存储的高精度地图数据，也可以为地图服务器103预先下发多个区域的高精度地图的地图数据，根据高精度地图数据的更新的需要，对高精度地图模块中的高精度地图数据进行更新。
高精度地图模块可以通过定位系统确定的终端设备的地理位置，确定终端设备所在的高精度地图的估计位置，其定位精度为车道级的定位精度。车辆可以根据传感器系统和计算机视觉系统确定的车辆的周边环境的信息与高精度地图数据进行特征匹配，确定车辆的高精度地图下的定位位置，其精度可以达到车道级的定位精度。
在本申请实施例中，在导航系统中增加了高精度地图模块，并对导航地图模块进行改进，使得改进后的导航地图模块可以接收用户在用户界面输入的行驶目的地后，通过获取导航地图的道路级数据及高精度地图模块中的车辆所在的车道信息，结合用户输入的目的地确定出用户能够到达目的地的至少一条行驶路径；在确定出至少一条行驶路径后，在用户界面上显示至少一条行驶路径，以使得用户选择实际的行驶路径，从而达到结合车辆的车道级的定位信息，为用户规划更高精度更准确的行驶路径的目的，满足用户日益增高的 使用需求。
进一步的，在自动驾驶的系统中，车辆还可以包括：行驶规划模块，轨迹跟踪器和执行器等。其中，行驶规划模块，用于根据用户设定的行程需求，从自动驾驶系统中的导航地图模块确定出的至少一条行驶路径中，确定出最符合用户要求的行驶路径以及对应的行驶配置信息，并将确定出的行驶规划结果发送给轨迹跟踪器和执行器，由轨迹跟踪器和执行器完成整个自动驾驶行程。轨迹跟踪器，用于根据行驶规划模块发来的行驶路径以及对应的行驶路径上的行驶配置信息，生成作用于驱动自动驾驶系统的扭矩指令和制动系统的制动指令，下达给相应执行器执行，并收集相应执行器在执行指令过程中的反馈信息。执行器，包括驱动系统和制动系统，用于根据轨迹跟踪器下发的扭矩指令和制动指令控制车辆行驶。在导航地图模块确定出至少一条行驶路径后，可以将这些行驶路径提交给自动驾驶系统的行驶规划模块，以使得行驶规划模块可以基于用户需求从这些行驶路径中选定出最符合用户要求的行驶路径。
下面基于图2所示导航系统的结构图，说明本申请实施例提出的导航方法。
本申请实施例提出的导航方法可以包括：用户可以在上述图2中的用户界面中输入要去往的目的地，导航地图模块结合用户当前所在的位置和用户输入的要去往的目的地的位置，查询导航地图的道路拓扑数据，并结合高精度地图模块提供的当前所在车道信息，确定出用户从当前所在的位置(下文简称出发地)能够到达目的地的至少一条行驶路径，即本申请中提及的至少一条行驶路径可以是导航地图模块结合高精度地图模块中的车道信息、导航地图模块中的地图道路拓扑数据、用户的出发地和目的地所给出的。行驶规划模块或行驶规划模块中的处理芯片在用户界面上可以呈现车道级行驶模式图标和道路级行驶模式图标等。
基于上述图2所示的导航系统，本申请实施例提供一种导航方法的实现可以包括如下过程，具体请参照图3所示：
步骤301：高精度地图模块根据目标车辆的定位信息，确定目标车辆的第一位置信息。
其中，目标车辆的定位信息可以为高精度地图模块根据定位模块接收的定位系统的位置信息及传感器系统获取的车辆的环境信息，确定的高精度地图下的目标车辆的定位信息，可以包括以下一项或多项：车辆所在的车道、车辆所在的车道的属性信息或车辆行驶姿态。
高精度地图模块确定的第一位置信息，可以包括：目标车辆当前所处第一位置的车道信息。
进一步的，第一位置信息还可以包括目标车辆当前所处位置的第一预设周边区域范围内车道级别道路信息。其中，第一预设周边区域范围可以与高精度地图的区域相对应。例如，若确定目标车辆位于区域1，则可以将区域1内的车道级别道路信息作为第一预设周边区域范围内车道级别道路信息，当然，也可以将目标车辆所在的区域及相邻区域，作为第一预设周边区域范围，再比如，也可以将目标车辆所在区域及目标车辆所在区域的前方的至少1个区域，作为第一预设周边区域范围。进一步的，第一预设周边区域范围还可以根据车辆的车速及车辆所处的环境的复杂度确定，例如，为提高导航的精度，若确定车辆所处的路况信息复杂，则可以扩大第一预设周边区域范围，若确定车辆所处的路况信息简单，可以缩小第一预设周边区域范围。
车道级别道路信息可以包括对于导航定位所需的车道信息。例如，在路口、变道或者高架桥的主路辅路等导航定位的场景中的车道信息，可以但不限于包括以下任意一种或多 种：车道的起止点、车道变换点、右转专用道起止点、车道的属性信息或车道可用信息。其中，车道的起止点包括车道的起始点和车道的终止点。车道起止点包括一条道路上的若干条车道线的起始点与终止点。车道的起始点是车道的起始线上的点，车道的终止点是车道的停止线上的点。一般来说，实际应用中车道的起始线与逆向车道的停止线在一条直线上。车道变换点可以是有些道路快到路口时增设的转弯车道而产生的分叉点，也可以是通过路口进入一条新路车道减少一个而产生的汇合点，还可以是高速路/高架桥的驶出车道的分叉口，或高速路/高架桥的驶入车道的汇合点。综上，车道变换点可以但不限于包括以下任意一种或多种：车道由少变多产生的分叉点、车道由多变少产生的汇合点、高速路(和/或高架桥)的驶出车道的分叉口、高速路(和/或高架桥)驶入车道的汇合点。右转专用车道起止点包括右转专用道的车道线(或车道线的延长线)与连接的两条车道线的起始交点和终止交点。其中，车道所在的位置可以通过车道在全球定位系统(global positioning system，GPS)坐标系中的坐标值表示车道的位置，即车道信息可以包括车道的地理坐标。确定车道的位置的方法有很多种，例如，可以用人工标注的方法对每个车道的位置进行采集。可选的，对于右转专用道起止点和车道起止点可以用这种方式确定位置。本申请实施例中还可以采用一种双目视觉结合GPS的自动化采集车道的位置的方法。需要说明的是，车道的位置的确定方法的各个举例仅为示例性的，本申请不作限定。
车道信息可以包括以下一种或多种：车道的标识ID、车道映射到导航地图的网格mesh的ID、车道映射到导航地图中的道路的ID、车道对应车道的序号或车道的类型。车道信息用于描述高精度地图与导航地图之间的联系。车道信息可以用表1来表示。
表1
Figure PCTCN2020077305-appb-000001
Figure PCTCN2020077305-appb-000002
其中，道路标识(road_ID)用于指示车道信息映射到导航地图的道路的ID，用于区分不同的道路，以及用于将车道信息与导航地图的道路建立映射关系。road_ID来源于传统的导航地图中道路线的属性。车道标识可以为车道序号或车道线序号(lane_num)用于指示车道信息所在的车道的序号，用于区分不同的车道线或车道方向。例如，对于双向道路，包括正向车道，逆向车道，潮汐车道等。可以用序号[-n...-1]表示逆向第n个车道-逆向第1个车道，[0]表示中心车道线，序号[1...n]表示正向第1个车道-正向第n个车道。对于单向道路，可以用序号[0...n]表示正向第0个车道-正向第n个车道。
进一步的，车道信息可以根据类型的不同划分为多种车道信息的类型，例如，可以包括车道息的类型1(type_1)，车道信息的类型2(type_2)，车道信息的类型3(type_3)和车道信息的类型4(type_4)。车道信息的类型1可以包括车道变换点、车道起止点和右转专用道起止点。不同的类型用不同的序号、索引号或ID来指示。例如，可以用0来表示车道变换点，用1来表示车道起止点，用2来指示右转专用道起止点。车道信息的类型2是对车道信息的类型1的进一步细化。可以用不同的序号、索引号或ID来进一步指示车道信息的类型1。例如，用-1来表示车道变换点子类型为车道由多变少。用1来表示车道变换点子类型为车道由少变多。用-1来表示车道起止点子类型为车道起点。用1来表示车道起止点子类型为车道终止点。用-1来表示右转专用道起止点子类型为右转专用道起点，用1来表示右转专用道起止点子类型为右转专用道终止点。
车道信息的类型3(type_3)可以表示车道为左转道、直行道、右转道、主路、辅路等属性特征，还可以包括车道的方向信息，道路/车道的曲率、坡度等属性信息。当然，车道的属性信息还可以包括：汇入车道，岔路车道，单向车道，双向车道，潮汐车道等信息。
车道信息的类型4(type_4)可以表示车道可用信息，指示车道当前是否可用的相关信息，例如，交通管制，道路维护，交通规则(如公交车专用道信息，限速信息，大型车车道，小型车车道，限行信息等)，路况，拥堵情况等信息。lane_num、type、type_2、type_3和type_4可以是在绘制高精度地图或更新高精度地图时获得的。
步骤302：高精度地图模块向导航地图模块发送目标车辆的第一位置信息。
步骤303：导航地图模块接收高精度地图模块发送的目标车辆的第一位置信息。
步骤304：导航地图模块根据目标车辆第一位置信息以及目的地，确定导航路径。
在获取第一位置信息后，导航地图模块还可以根据目标车辆当前所处第一位置对应的车道信息，估计目标车辆的车头朝向。例如，导航地图模块可以根据目标车辆所在位置的车道信息，例如根据车道信息中确定出目标车辆所在车道为由南向北的车道，则可以推测出目标车辆的车头朝向为由南向北。
进一步的，第一位置信息还可以包括以下内容中的一项或多项：目标车辆车头朝向。
考虑到目标车辆可能存在逆行情况，第一位置信息中还可以包括目标车辆的车头朝向，进而，导航地图模块可以根据目标车辆的车头朝向及目标车辆所处位置的车道信息，确定目标车辆是否逆行。若确定不存在逆行，则可以根据目标车辆的车头朝向，确定目标车辆 导航出发时需行驶的方向，并根据该方向作为导航出发地的起始点进行路径规划。
再比如，导航地图模块还可以根据第一位置信息中目标车辆当前所处第一位置的车道的属性信息，例如为主路还是辅路，确定目标车辆导航出发时行驶的出发地，并根据该车道的属性信息，作为导航出发地的起始点，进行导航路径规划。
另一种可能的方式，导航地图模块可以根据目标车辆所在位置的车道方向，确定目标车辆导航出发时需行驶的方向。例如，若确定目标车辆所在车道的车道方向为左转车道，或距离左转车道的起始点小于预设阈值，则可以确定目标车辆导航出发时需行驶的方向为左转方向。再比如，若确定目标车辆所在车道的车道方向为右转车道，或距离右转车道的起始点小于预设阈值，则可以确定目标车辆导航出发时需行驶的方向为右转方向。
再一种可能的实现方式，导航地图模块还可以根据第一预设周边区域范围内的车道信息中车道的属性信息，确定目标车辆导航出发时需行驶的方向。
例如，导航地图模块若确定目标车辆所在车道的车道方向为潮汐车道，或距离潮汐车道的起始点小于预设阈值，则可以根据潮汐车道当前对应的车道允许通行的方向，确定目标车辆导航出发时需行驶的方向。进一步的，若根据目标车辆的车头朝向确定目标车辆的车头朝向与潮汐车道当前对应的车道允许通行的方向相反，则取消将潮汐车道作为目标车辆导航出发时需行驶的方向或车道。此时，可以将与目标车辆的车头朝向一致的车道，作为目标车辆导航出发时需行驶的方向，并在用户界面或导航中，提示当前潮汐车道不可用，并根据与目标车辆的车头朝向一致的车道，作为建议车道提供给用户。
再比如，导航地图模块若确定目标车辆所在车道的车道方向为可变车道，或距离可变车道的起始点小于预设阈值，以该可变车道可以为直行和右转为例，则导航地图模块可以将直行和右转都作为目标车辆导航出发时需行驶的方向进行导航路径规划，以提供更多的路径选择。
再比如，导航地图模块还可以根据第一预设周边区域范围内的车道信息中的车道的曲率信息，确定与目标车辆的车头朝向相匹配的车道，例如，若确定目标车辆前方道路有4条车道(车道1，车道2，车道3和车道4)，且车道1，车道2，车道3为直行车道，车道4为汇入车道，由于汇入车道的影响，车道1，车道2，车道3的曲率不同，与第4条汇入车道相邻的车道(车道3)的曲率最大，与第4条汇入车道距离较远的车道(车道1和车道2)的曲率较小。此时，可以根据目标车辆与4条车道的位置，及4条车道的曲率，建议目标车辆选择前行需要转换方向最小的车道。例如，若确定目标车辆与车道1距离最近，则可以将车道1作为目标车辆导航出发时建议行驶的车道。若确定目标车辆与车道3距离较近，但考虑到车道的曲率，此时，可以建议选择车道2作为目标车辆导航出发时需行驶的车道。
另一种可能的实现方式，导航地图模块还可以根据第一预设周边区域范围内的车道信息中的车道可用信息，例如，路况信息，将拥堵情况较小或可通行的车道，作为目标车辆导航出发时行驶的建议车道。
示例二
进一步的，为提高导航路径的可用性，避免车辆行驶过程中，由于导航地图路况更新不及时等原因，导致导航地图模块规划的导航路径不可用。本申请实施例还提供一种导航方法，包括：
步骤401：导航地图模块根据目标车辆第一位置信息以及目的地，生成初始导航路径。
具体生成初始导航路径的方法，可以参考上述实施例，在此不再赘述。当然，导航地图模块还可以接收定位系统确定的目标车辆的定位信息，该定位信息为道路级的定位信息。进而，导航地图模块可以根据目标车辆来自定位服务器的道路级精度的定位信息及目的地，生成初始导航路径。
比如，如图4所示，用户需要由X点出发到达目的地Y点。在具体实施时，首先用户界面会显示目的地输入窗口，并提示用户输入本次行程的目的地；其中，可以通过扬声器广播等提示用户输入行程的目的地；在用户在用户界面成功输入行程的目的地后，导航地图模块获取用户输入的目的地，并根据用户当前的位置和获取的目的地的位置，结合道路拓扑信息或高精度地图模块发送的第一位置信息，规划出从用户当前所在的位置到达目的地的至少一条行驶路径，作为初始导航路径。例如，参见图4，在用户输入行程的目的地后，导航地图模块根据用户当前的位置(即出发点X)和获取的目的地的位置(即目的地Y)，结合道路拓扑信息、车道信息和车道可用信息，可以规划出能够到达目的地Y的3条行驶路径，假设分别为路径1、路径2以及路径3。这里以路径1为例进行说明，路径2和路径3的处理过程类似，不再重复赘述。
步骤402：导航地图模块向高精度地图模块发送初始导航路径。
步骤403：高精度地图模块接收来自导航地图模块的初始导航路径，进而，高精度地图模块根据初始导航路径，确定初始导航路径的车道级别道路信息。
其中，初始导航路径的车道级别道路信息，可以包括初始导航路径的车道信息。
一种可能的实现方式中，可以将初始导航路径对应的道路涉及的车道信息，作为第二预设周边区域范围内的车道信息，以减少数据的发送。例如，导航地图模块根据初始导航路径的车道级别道路信息，若确定初始导航路径中存在不可通行或拥堵的道路，则可以将不可通行或拥堵的道路的车道信息作为初始导航路径的车道级别道路信息发送给导航地图模块，进而，导航地图模块可以绕开不可通行或拥堵的道路，重新规划导航路径。
进一步的，所述初始导航路径的车道级别道路信息还包括：所述初始导航路径所对应第二预设周边区域范围内的道路路段的车道级别道路信息。
为保证重新规划的导航路径中没有不可通行或拥堵的道路，另一种可能的实现方式中，第二预设周边区域范围可以包括初始导航路径所在高精度地图的区域，具体的，可以将行驶路径分割成至少一段子路径，确定每段子路径的车道信息和车道可用信息，其中，车道信息和车道可用信息可以为根据对应子路径上的道路类型限速、天气类型限速和拥堵情况等确定的。根据每段子路径的车道信息和车道可用信息，确定车辆的导航规划路径。
例如，若确定初始导航路径包括N个子路径，每个子路径属于一个高精度地图的区域，则可以将N个子路径对应的N个高精度地图的区域，作为第二预设周边区域范围。进而，导航地图模块可以根据第二预设周边区域范围内的车道信息，将初始导航路径附近的可用车道或道路作为重新规划的路径。例如，高精度地图模块将路径1分成N段子路径，比如分为AB段、BC段和CD段总共3段子路径。具体地，参见图5A所示，导航地图模块根据用户输入的目的地查询道路拓扑信息可以以红绿灯为节点将路径1进行分段，得到多个子路径。其中，参见图5A，路径1包含两个红路灯，故而以两个红绿灯为分割点可以将路径1分成三段，分别为AB段(可以称之为子路径A1)、BC段(可以称之为子路径A2)和CD段(可以称之为子路径A3)。
作为替换方案，如图5B所示，也可以根据道路的其他信息对初始导航路径进行分段， 例如，根据道路是否为高架，隧道，桥等属性信息进行分段。以路径1为例，若确定路径1中包括跨江桥1，则可以以跨江桥1的起始点(节点K)和终点(节点M)作为分割点将路径1划分为3段。以路径2为例，若确定路径2中包括隧道1，则可以以隧道1的起始点(节点I)和终点(节点J)作为分割点将路径2划分为3段。以路径3为例，若确定路径3中包括隧道2，则可以以隧道2的起始点(节点G)和终点(节点H)作为分割点将路径3划分为3段。
此时，若根据高精度地图中的地图数据，确定当前跨江桥1不可通行或建议绕行，则可以将跨江桥1附近可通行的其他跨江的道路信息作为第二预设周边区域范围内的车道信息，以使导航地图模块可以根据其他跨江的道路信息，重新规划初始导航路径中的跨江桥1对应的子路段。当然，还可以根据其他方式，选择跨江的道路作为重新规划的路径，在此不做限定。
再比如，若根据高精度地图中针对隧道1的可用信息，例如，天气情况、交通拥堵情况、道路类型等，可以确定隧道1当前为不可通行或建议绕行的道路。假设隧道1的可用信息包括：暴雨预警，已过积水警戒线等不可通行的信息，则可以确定隧道1当前为不可通行的道路，高精度地图模块可以对隧道1附近的其他隧道或跨江桥进行筛选，确定隧道1附近的其他隧道或跨江桥是否可通行，若确定隧道1附近的其他隧道或跨江桥也是不可通行，则可以向导航地图模块返回的初始导航路径的车道级别道路信息可以包括：隧道1不可通行及其附近的隧道或跨江桥不可通行。进而，导航地图模块可以根据该信息，重新规划初始导航路径中的隧道1对应的子路段，以绕开不可通行的隧道1及其附近的不可通行的其他隧道或跨江桥。
再比如，若根据高精度地图中针对子路径1的可用信息，例如，交通拥堵情况、道路类型等，可以确定子路径1目标车辆所在的车道，或预计到达的车道为不可通行或建议绕行的车道。假设子路径1的可用信息包括：车道1严重拥堵，车道2较拥堵，车道3不拥堵，则可以确定车道1当前为建议绕行的车道，高精度地图模块可以对隧道1附近的其他车道进行筛选，确定车道1附近的其他车道的拥堵情况，若确定车道1附近的其他车道的拥堵情况为车道2较拥堵，车道3不拥堵，则可以向导航地图模块返回的初始导航路径的车道级别道路信息可以包括：车道1严重拥堵，车道2较拥堵，车道3不拥堵。进而，导航地图模块可以根据该信息，建议用户进行变道，例如，可以建议用户变道至车道2或车道3。
步骤404：导航地图模块接收高精度地图模块返回的初始导航路径的车道级别道路信息；导航地图装置根据初始导航路径的车道级别道路信息，确定导航路径。
在导航地图模块给出的目标车辆从出发地到达目的地的至少一条行驶路径中，可以先确定候选行驶路径，在候选行驶路径中，根据第一位置信息，确定各候选行驶路径所需的时间及路程长度等，根据用户的需求，确定目标行驶路径。
一种可能的实现方式，导航地图模块根据初始导航路径的车道级别道路信息，若确定初始导航路径中存在不可通行或拥堵的道路，则根据确定出的不可通行或拥堵的道路、目标车辆第一位置信息以及目的地，更新初始导航路径，并将更新后的初始导航路径确定为导航路径。
结合上述例子，若初始导航路径的车道级别道路信息中包括：跨江桥1不可用，跨江桥1附近的跨江桥2可用，则可以将跨江桥2作为跨江桥1的更新后的子路径。例如，如 图5C所示，将跨江桥2作为跨江桥1对应的子路径A2的更新后的子路径A2’。进一步的，也可以将涉及初始导航路径中的其他子路径，根据跨江桥2进行适应性调整，根据跨江桥2的起始点，适应性修改子路径A1为A1’，根据跨江桥2的终点，适应性修改子路径A3为A3’。在适应性修改子路径A1和子路径A3后，还可以进一步根据初始导航路径的车道级别道路信息，确认修改子路径A1’和子路径A3’是否可以通行。若初始导航路径的车道级别道路信息中不包括修改后的子路径A1’和修改后的子路径A3’对应的车道级别道路信息，还可以将修改的初始导航路径(包括修改后的子路径A1’和修改后的子路径A3’)，返回给高精度地图模块，以使高精度地图模块重新向导航地图模块发送修改后的初始导航路径的车道级别道路信息(包括修改后的子路径A1’车道级别道路信息和修改后的子路径A3’的车道级别道路信息)，进而，导航地图模块可以确认修改后的子路径A1’和修改后的子路径A3’是否为可以通行的道路或建议通行的道路。具体的过程可以参考上述实施例，在此不再赘述。
导航地图模块若确认修改后的子路径A1’和修改后的子路径A3’为可以通行的道路或建议通行的道路，则可以将修改后的子路径A1’和修改后的子路径A3’，作为更新后的初始导航路径，即导航路径。
一种可能的实现方式，初始导航路径包括K条路径；导航地图模块根据初始导航路径的车道级别道路信息，从所述K条候选路径中筛选出所述导航路径。其中，所述初始导航路径的车道级别道路信息可以包括以下至少一项：所述初始导航路径在所述第二预设周边区域范围内的车道信息、所述初始导航路径在所述第二预设周边区域范围内的车道可用信息或者所述初始导航路径在所述第二预设周边区域范围内所支持的驾驶模式信息。
举例来说，导航地图模块可以根据K条路径上对应的车道级别道路信息，对K条路径的拥堵程度进行排序，进而根据K条路径的拥堵程度筛选K条路径。进一步的，导航地图模块还可以根据K条路径上的各个子路径的道路类型，车道的曲率、坡度，以及各个子路径的当前天气和交通流量数据，确定K条路径上的各个子路径的最高车速、平均车速、加速减速的频率等。进而根据上述信息，对K条路径进行筛选。再比如，导航地图模块还可以根据车辆选择的行驶模式，与K条路径进行匹配，例如，目前大部分车辆具备的三种操控模式，分别为Sport、Normol、Eco三种，当然随着车辆技术的发展，还可能发展出更多其他可能的操控模式，本申请这里不做限定。车辆在上述三种操控模式下所具备的加减速/制动水平是不同的。比如，车辆在Sport模式下，具备最快速的加减速度，即加减速度所用时间较短，能够较快加速或较快减速，可以适应路况复杂，弯道较多，道路类型切换频繁的路径。车辆在Normol模式下，具有次之Sport模式的加减速度。而车辆在Eco模式下，具有较低的加减速度，是三种模式中加减速度最低的一种模式，在该种模式下，车辆加速或减速都用时较多，若导航路径中存在频繁切换车道，上下高架桥或存在多条弯道等情况，不利于提高驾驶体验，因此，导航地图模块可以根据不同的行驶模式，对应筛选导航路径。
再比如，行驶模式还可以根据自动驾驶的不同模式进行划分，例如，可以包括人员驾驶、自动驾驶、长距离连续自动驾驶等模式。此时，导航地图模块可以根据路径适合的行驶模式，进行筛选。例如，假设路径1支持自动驾驶，则在导航地图模块确定目标车辆选择自动驾驶模式时，可以将路径1作为导航路径。假设路径1中仅存在20％的路程支持自动驾驶，则在导航地图模块确定目标车辆选择自动驾驶模式时，将路径1作为不建议选择的路线。再比如，若确定路径1中存在连续路程超过预设阈值的子路径时，可以在目标车 辆行驶至子路径1的范围内，向用户展示该子路径1，用于提示用户存在子路径1可以选择自动驾驶模式。不同的行驶模式可以对应设置不同的导航路径的选择条件，以适应不同的行驶模式，进一步提高导航路径规划的性能。
相比现有技术中的导航地图中的地图数据更新来源较为单一，主要依靠地图的统一更新，更新比较滞后，可能出现无法及时确认道路是否可通行。本申请实施例中，由于高精度地图中采集车道信息的方式较为多样，可以通过上述实施例中提到的多种途径(例如，道路上车辆、路边单元等设备采集的周边环境信息)，因此，高精度地图中可以及时获取道路的实际通行情况，进而通过高精度地图模块提供初始导航路径的车道级道路信息，可以使得导航地图模块规划出的导航路径更加准确，提高导航规划的性能。
示例三
在行驶过程中的场景中，还可以根据目标车辆定位位置的变化，向导航地图模块发送当前所处位置的第一预设周边区域范围内车道级别道路信息，以使导航地图模块可以根据目标车辆当前所处位置的第一预设周边区域范围内车道级别道路信息，更新导航规划路径。具体可以包括以下步骤：
步骤501：高精度地图模块根据目标车辆的当前定位位置，确定目标车辆的第一位置信息的更新信息。
其中，第一位置信息的更新信息包括：目标车辆当前所处位置的第一预设周边区域范围内车道级别道路信息的更新信息。
举例来说，当目标车辆行驶的位置超出第一预设周边区域范围时，高精度地图模块可以重新根据目标车辆的当前定位位置，确定目标车辆的第一位置信息，并将重新确定的第一位置信息，作为第一位置信息的更新信息，发送给导航地图模块。
一种可能的实现方式，第一位置信息的更新信息可以为导航地图模块在接收初始导航路径的之后的第一时刻发送的；第一时刻为根据目标车辆的移动速度确定的。
例如，高精度地图模块可以根据车辆的行驶速度，预计目标车辆行驶的位置即将超出第一预设周边区域范围时，根据目标车辆的当前定位位置，确定目标车辆的第一位置信息，以保证导航地图模块在接收到第一位置信息的更新信息时，有足够的时间更新导航。
另一种可能的实现方式，第一位置信息的更新信息为高精度地图模块确定目标车辆的当前定位位置对应的第一位置信息存在更新信息时，向导航地图模块发送的。
例如，如图6所示，目标车辆在起始点的定位位置为A，定位位置A对应的第一预设周边区域范围为区域A，当目标车辆在行驶至定位位置B，且目标车辆前方的导航路径包括子路径A2，定位位置B未超出区域A的范围，高精度地图模块确认目标车辆的当前定位位置B前方的子路径A2的车道信息发生变化，此时，高精度地图模块可以根据目标车辆的定位位置B，确定定位位置B对应的第一预设周边区域范围为区域B，可以将区域B的车道信息作为目标车辆的第一位置信息的更新信息。或者，高精度地图模块可以将子路径A2的车道信息发生变化的信息作为第一位置信息的更新信息发送给导航地图模块。
步骤502：高精度地图模块向导航地图模块发送目标车辆的第一位置信息的更新信息。
步骤503：导航地图模块接收高精度地图模块发送的目标车辆的第一位置信息的更新信息；导航地图模块根据第一位置信息的更新信息及目的地，确定出更新后导航路径。
导航地图模块可以根据第一位置信息的更新信息，更新导航规划路径。例如，根据目标车辆所在的车道，为目标车辆提供建议行驶的车道，及预计行驶至下一子路径的时间， 行驶路程长度等，以提高导航播报内容的准确性和导航播报的效果。
步骤504：导航地图模块向用户展示更新后导航路径。
示例四
在车辆行驶过程中，可能存在车辆并未根据导航规划的路径行驶的场景。例如，由于道路拥堵，导致车辆没有及时变道，或者，由于车道的标识更新等问题，导致车辆没有进入指定方向的车道，进而可能出现偏航或已偏航的问题。而现有技术中，导航地图模块无法在目标车辆进入错误车道时就发现目标车辆可能偏航或已偏航，导航地图模块需通过目标车辆的定位已定位到其他道路上，即目标车辆已经完全偏离导航路径一定距离后，才能确定目标车辆偏航，再重新规划路线，导致目标车辆无法及时更正偏航路线。
基于上述问题，本申请实施例中，高精度地图模块还可以根据目标车辆的定位位置，确定目标车辆所在的车道，进而与导航地图模块发送给高精度地图模块的初始导航路径比较，估计目标车辆是否可能偏航或已偏航，进而，可以将偏航对应的信息发送给导航地图模块，以使导航地图模块根据可能偏航或已偏航的信息，及目标车辆的第二位置信息，重新进行导航路径的规划，进而，目标车辆在接收到可能偏航的信息后，可以及时更新行驶路径，以降低偏航的影响。
一种可能的场景，导航地图模块根据目标车辆当前位置信息以及目的地，确定导航路径之后，可以包括以下步骤：
步骤601：高精度地图模块根据导航路径，及目标车辆的第二位置信息，确定目标车辆的偏航概率信息。所述偏航概率信息用于指示所述目标车辆在所述第二位置上继续行驶至偏离所述导航路径的概率。其中，第二位置信息可以包括：目标车辆当前所处第二位置的车道信息。进一步的，所述第二位置信息还可以包括：所述目标车辆当前所处第二位置的第一预设周边区域范围内车道级别道路信息。
举例来说，如图7A所示，高精度地图模块确定目标车辆所在的车道为车道1，且车道1的车道方向为左转。高精度地图模块根据导航路径，可以确定目标车辆在当前道路上应行驶方向为直行，因此，高精度地图模块可以确定目标车辆若继续按照当前车道行驶，则在经过路口时，有较大概率进入左转车道，进而导致目标车辆偏航。目标车辆由于进入错误车道导致偏航的场景中，目标车辆在确定可能偏航所处的位置是否允许变道等因素有关，因此，偏航概率信息可以根据目标车辆当前所处第二位置确定，例如，如图7A所示，目标车辆所处位置允许变道，即目标车辆可以从左转道切换至直行车道，则此时的偏航概率较低。如图7B所示，目标车辆所处位置不允许变道，则此时目标车辆的偏航概率较高。当然，还可能与当前车道的拥堵程度有关，即，偏航概率信息也可以根据车辆在经过当前路口发生偏航的历史数据确定，在此不做限定。
进一步的，偏航概率信息还可以包括第三位置信息，所述第三位置信息包括第三位置的车道信息，所述第三位置为所述高精度地图模块根据所述第二位置信息预测的所述目标车辆在一定时间后可能行驶到的位置，并且所述第三位置不在所述导航路径上。
举例来说，如图7C所示，高精度地图模块预测目标车辆在经过预设距离范围(目标车辆即将行驶到的道路，例如路口)时，目标车辆有较大概率会到达左转方向对应的道路。此时，高精度地图模块可以预测目标车辆在下一时刻到达第三位置信息所指示的位置C，位置C对应的车道信息为车道2。其中，下一时刻可以为导航地图模块在获取到偏航概率信息后，重新规划路径所需的响应时间，以便导航地图模块及时更新导航路径。高精度地 图模块在预设距离范围(区域C)内行驶至位置C的概率可以根据目标车辆的历史记录确定，也可以根据当前路口出现违反交通法规的历史记录确定，还可以根据其他方式确定，在此不做限定。
步骤602：高精度地图模块向导航地图模块发送偏航概率信息。
步骤603：导航地图模块接收高精度地图模块发送的目标车辆的第二位置信息和偏航概率信息。
导航地图模块在接收到导航概率信息后，导航地图模块可以根据偏航概率信息，生成对应的提示信息，一种可能的方式，提示信息可以用于提示目标车辆可能已偏航。结合上述例子，导航地图模块可以向用户提示车道行驶错误，即将偏航，以及时提醒用户。例如，如图7A所示，目标车辆所处位置允许变道，即目标车辆可以从左转道切换至直行车道，此时，导航地图模块可以提示用户及时更正可能的偏航行为，进而提高导航的效果，避免车辆由于行驶的车道错误导致的不必要的绕路，提高导航效果。另一种可能的方式，提示信息还可以用于提示用户是否需要根据偏航位置切换导航路径等。仍以上述例子为例，如图7B所示，目标车辆所处位置不允许变道，则用户可以选择根据偏航位置切换导航路径，以避免用户未注意到当前车道为左转车道而根据原有的导航路线继续行驶导致出现违反交通法规的行为，提高导航效果。
步骤604：导航地图模块根据第二位置信息、偏航概率信息及目的地，更新导航路径。
导航地图模块可以根据第二位置信息中目标车辆所在的车道信息，及目标车辆在当前位置对应的第一预设区间范围内的车道级别道路信息，及目的地，重新规划导航路径，具体实施方式可以参考上述实施例中规划导航路径的方法，在此不再赘述。例如，如图8A所示，目标车辆当前位置A所在的车道为车道1，导航地图模块可以根据当前位置A，当前位置A对应的第一预设区间范围a内的车道级别道路信息和目的地Y，规划路径1a。导航地图模块可以将规划后的路径作为备选路径存储至导航地图模块，也可以直接显示至用户界面，用于通知用户是否需要切换导航路径。在导航地图模块接收到用户的切换导航路径的指令后，将备选路径作为更新后的导航路径，向用户展示更新后导航路径。
进一步的，导航地图模块还可以根据第三位置信息指示的目标车辆预计到达的位置、在预计位置对应的第一预设区间范围内的车道级别道路信息及目的地，进行路径规划，并将规划后的路径作为备选路径存储至导航地图模块。例如，如图8B所示，目标车辆当前位置A所在的车道为车道1，目标车辆预计位置C所在的车道为车道2，导航地图模块可以根据预计位置C、预计位置C对应的第一预设区间范围c内的车道级别道路信息和目的地Y，规划路径1b。在导航地图模块接收到用户的切换导航路径的指令，或者，导航地图模块在确定目标车辆处于第三位置信息所指示的位置的情况下，将路径1b作为更新后的导航路径，向用户展示更新后导航路径。
另一种可能的方式，为提高导航路径规划的鲁棒性，避免预计位置与目标车辆的实际位置出现较大偏差，影响导航路径的规划，本申请实施例还可以根据第二位置信息中的目标车辆的当前位置A、目标车辆在当前位置A对应的第一预设区间范围a内的车道级别道路信息、第三位置信息中的目标车辆预计到达的位置C，目标车辆在预计位置C对应的第一预设区间范围c内的车道级别道路信息及目的地，规划导航路径，并将规划后的路径作为备选路径存储至导航地图模块。例如，如图8C所示，目标车辆当前位置A所在的车道为车道1，目标车辆预计位置C所在的车道为车道2，导航地图模块根据当前位置A，当 前位置A对应的第一预设区间范围a内的车道级别道路信息，预计位置C，预计位置对应的第一预设区间范围c内的车道级别道路信息和目的地Y，规划路径1c。在导航地图模块接收到用户的切换导航路径的指令，或者，导航地图模块在确定目标车辆处于第三位置信息所指示的位置的情况下，将路径1c作为更新后的导航路径，向用户展示更新后导航路径。
另一种可能的场景，导航地图模块根据目标车辆当前位置信息以及目的地，确定导航路径之后，可以包括以下步骤：
步骤701：高精度地图模块根据导航路径，及目标车辆的第二位置信息，确定目标车辆的偏航告警信息。
其中，偏航告警信息中包括第二位置信息，偏航告警信息用于指示目标车辆在当前所处第二位置不在导航路径上。
步骤702：高精度地图模块向导航地图模块发送偏航告警信息。
步骤703：导航地图模块接收偏航告警信息，进而根据第二位置信息、偏航告警信息及目的地，更新导航路径。
步骤704：导航地图模块可以向用户展示更新后的导航路径。
举例来说，如图9A所示，第二位置信息可以包括：目标车辆当前位置B及当前位置B对应的第一预设周边范围b内的车道信息，例如包括车道1，结合上述例子，导航地图模块可以根据当前位置B及车道1，目的地，进行导航路径规划，并将规划后的路径2a作为候选路径在用户界面展示。在导航地图模块接收到用户的切换导航路径的指令后，将候选路径2a作为导航路径。
进一步的，偏航告警信息中还可以包括第三位置信息，第三位置信息可以包括高精度地图模块根据所述第二位置信息，确定的目标车辆预测行驶的预测位置B’的车道信息，及在所述预测位置B’第一预设区间范围b’内的车道信息。
再比如，如图9B所示，第三位置信息可以包括：目标车辆预计位置B’，及预计位置B’对应的第一预设周边范围b’内的车道信息，例如包括车道2，结合上述例子，导航地图模块可以根据预计位置B’、车道2及目的地，进行导航路径规划，并将规划后的路径作为候选路径在用户界面展示。在导航地图模块接收到用户的切换导航路径的指令，或者，导航地图模块在确定目标车辆处于第三位置信息所指示的位置的情况下，将候选路径作为更新后的导航路径，向用户展示更新后导航路径。
进一步的，导航地图模块可以根据上述第三位置信息、第二位置信息及目的地，重新规划导航路径。
另一种可替换方案，如图9C所示，导航地图模块可以根据目标车辆当前位置B，及当前位置B对应的第一预设周边范围b内的车道信息，目标车辆预计位置B’，及预计位置B’对应的第一预设周边范围b’内的车道信息，例如包括车道1、预计位置B’、车道2及目的地，进行导航路径规划，并将规划后的路径作为候选路径在用户界面展示。在导航地图模块接收到用户的切换导航路径的指令，或者，导航地图模块在确定目标车辆处于第三位置信息所指示的位置的情况下，将候选路径作为更新后的导航路径，向用户展示更新后的导航路径。
基于以上方法实施例，本申请实施例还提供了一种导航装置，该导航装置用于实现上述图2中的导航地图模块的功能，参阅图10所示，该导航装置1000包括：收发单元1001 和处理单元1002。下面介绍导航装置1000在进行车辆行驶路线规划时，各个单元的功能和联系。
收发单元1001，接收高精度地图模块发送的目标车辆的第一位置信息，第一位置信息包括：目标车辆当前所处第一位置的车道信息；
处理单元1002，用于根据目标车辆第一位置信息以及目的地，确定导航路径。
一种可能的设计，所述第一位置信息还包括：所述目标车辆当前所处第一位置的第一预设周边区域范围内车道级别道路信息。
一种可能的设计，处理单元1002，用于根据目标车辆第一位置信息以及目的地，生成初始导航路径；根据初始导航路径的车道级别道路信息，确定出导航路径；
收发单元1001，用于向高精度地图模块发送初始导航路径；接收高精度地图模块返回的初始导航路径的车道级别道路信息；初始导航路径的车道级别道路信息包括初始导航路径的车道级别道路信息。
一种可能的设计，所述初始导航路径的车道级别道路信息还包括：所述初始导航路径所对应第二预设周边区域范围内的道路路段的车道级别道路信息。
一种可能的设计，处理单元1002，具体用于：根据初始导航路径的车道级别道路信息，若确定初始导航路径中存在不可通行或建议绕行的道路或车道，则根据确定出的不可通行或建议绕行的道路或车道、目标车辆第一位置信息以及目的地，确定导航路径为更新后的初始导航路径。
一种可能的设计，初始导航路径包括K条候选路径；处理单元1002，具体用于：根据初始导航路径的车道级别道路信息，从所述K条候选路径中筛选出所述导航路径；初始导航路径的车道级别道路信息包括以下至少一项：初始导航路径在第二预设周边区域范围内的车道信息、初始导航路径在第二预设周边区域范围内的车道可用信息或初始导航路径在第二预设周边区域范围内所支持的驾驶模式信息；。
一种可能的设计，收发单元1001，具体用于：接收高精度地图模块发送的目标车辆的第二位置信息，第二位置信息包括：目标车辆当前所处第二位置的车道信息；导航地图模块接收偏航概率信息，偏航概率信息用于指示所述目标车辆在所述第二位置上继续行驶至偏离所述导航路径的概率；
处理单元1002，具体用于：根据所述偏航概率信息，确定更新所述导航路径；根据所述第二位置信息及所述目的地更新所述导航路径。
一种可能的设计，第二位置信息还包括：目标车辆当前所处第二位置的第一预设周边区域范围内车道级别道路信息。
一种可能的设计，收发单元1001，还用于：接收所述高精度地图模块发送的所述目标车辆的第二位置信息，所述第二位置信息包括所述目标车辆当前所处第二位置的车道信息；接收偏航告警信息，所述偏航告警信息用于指示所述第二位置不在所述导航路径上；
处理单元1002，还用于：根据所述第二位置信息及所述目的地更新所述导航路径。
一种可能的设计，收发单元1001，还用于：接收所述高精度地图模块发送的第三位置信息，所述第三位置信息包括第三位置的车道信息，所述第三位置为所述高精度地图模块根据所述第二位置信息预测的所述目标车辆在一定时间后可能行驶到的位置，并且所述第三位置不在所述导航路径上；
处理单元1002，还用于：根据所述第二位置信息、所述第三位置信息及所述目的地， 更新所述导航路径。
基于以上方法实施例，本申请实施例还提供了一种导航装置，该导航装置用于实现上述图2中的高精度地图模块的功能，参阅图10所示，该导航装置1000包括：收发单元1001和处理单元1002。下面介绍导航装置1000在进行车辆行驶路线规划时，各个单元的功能和联系。
处理单元1002，用于根据目标车辆的定位信息，生成所述目标车辆的第一位置信息，所述第一位置信息包括所述目标车辆当前所处第一位置的车道信息；
收发单元1001，用于向导航地图模块发送目标车辆的第一位置信息；第一位置信息用于导航地图模块确定导航路径。
一种可能的设计，所述第一位置信息还包括：目标车辆当前所处第一位置的第一预设周边区域范围内车道级别道路信息。
一种可能的设计，收发单元1001，还用于：接收来自所述导航地图模块的初始导航路径，所述初始导航路径为所述导航地图模块根据所述第一位置信息以及目的地生成的；向导航地图模块发送初始导航路径的车道级别道路信息；
处理单元1002，还用于：根据所述初始导航路径，确定所述初始导航路径的车道级别道路信息，所述初始导航路径的车道级别道路信息包括所述初始导航路径的道路路段的车道级别道路信息。
一种看你的设计，所述初始导航路径的车道级别道路信息包括以下至少一项：所述初始导航路径中不可通行或建议绕行的道路或车道、所述初始导航路径在所述第二预设周边区域范围内的车道信息、所述初始导航路径在所述第二预设周边区域范围内的车道可用信息或者所述初始导航路径在所述第二预设周边区域范围内所支持的驾驶模式信息。
一种可能的设计，处理单元1002，还用于：确定目标车辆的第二位置信息，所述第二位置信息包括所述目标车辆当前所处第二位置的车道信息；根据所述导航路径和所述第二位置信息，确定所述目标车辆的偏航概率信息，所述偏航概率信息用于指示所述目标车辆在所述第二位置上继续行驶至偏离所述导航路径的概率；
收发单元1001，还用于向所述目标车辆发送所述第二位置信息；向导航地图模块发送偏航概率信息。
一种可能的设计，处理单元1002，还用于：确定目标车辆的第二位置信息，所述第二位置信息包括所述目标车辆当前所处第二位置的车道信息；根据所述导航路径和所述第二位置信息，生成所述目标车辆的偏航告警信息，所述偏航告警信息用于指示所述第二位置不在所述导航路径上；
收发单元1001，还用于向所述目标车辆发送所述第二位置信息；向导航地图模块发送偏航告警信息。
一种可能的设计，处理单元1002，还用于：根据所述导航路径和所述第二位置信息，生成第三位置信息，所述第三位置信息包括第三位置的车道信息，所述第三位置为所述高精度地图模块根据所述第二位置信息预测的所述目标车辆在一定时间后可能行驶到的位置，并且所述第三位置不在所述导航路径上；
收发单元1001，还用于向导航地图模块发送第三位置信息。
一种可能的设计，第一位置信息、第二位置信息包括以下内容中的一项或多项：目标车辆车头朝向、目标车辆当前所处位置的第一预设周边区域范围内的车道信息或目标车辆 当前所处位置的第一预设周边区域范围内的车道可用信息；第三位置信息包括以下内容中的一项或多项：目标车辆的预计车头朝向、目标车辆预计位置的第一预设周边区域范围内的车道信息或目标车辆预计位置的第一预设周边区域范围内的车道可用信息。
一种可能的设计，车道信息包括以下一项或多项：车道数量、车道编号、车道方向信息、车道起止点、车道变换点、车道曲率信息、车道坡度信息或车道类型；车道类型可包括主路车道、辅路车道、汇入车道、岔路车道、单向车道、双向车道或潮汐车道；车道可用信息包括以下至少一项：是否可通行信息、建议绕行信息、路况信息或交通规则信息。
需要说明的是，本申请上述实施例中对单元的划分是示意性的，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，另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述各个单元的只一个或多个可以软件、硬件、固件或其结合实现。所述软件或固件包括但不限于计算机程序指令或代码，并可以被硬件处理器所执行。所述硬件包括但不限于各类集成电路，如中央处理单元(CPU)、数字信号处理器(DSP)、现场可编程门阵列(FPGA)或专用集成电路(ASIC)。
集成的单元如果以软件功能单元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，本申请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全部或部分可以以软件产品的形式体现出来，该计算机软件产品可以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)或处理器(processor)执行本申请各个实施例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(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
基于以上实施例，本申请实施例还提供了一种导航装置，该设备可以完成上述图2中的导航地图模块的工作，或完成上述图2中的高精度地图模块的工作，或者，该导航装置可以完成导航地图模块和高精度地图模块的工作。参阅图11所示，设备1100中包括：通信接口1101、处理器1102，以及存储器1103。
通信接口1101和存储器1103与处理器1102之间相互连接。可选的，通信接口1101和存储器1103与处理器1102之间可以通过总线相互连接；总线可以是外设部件互连标准(peripheral component interconnect，PCI)总线或扩展工业标准结构(extended industry standard architecture，EISA)总线等。总线可以分为地址总线、数据总线、控制总线等。为便于表示，图11中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
通信接口1101用于实现导航装置与导航系统中的其他部件通信。例如，若导航装置包括导航地图模块，则通信接口1101可以用于接收高精度地图模块发送的目标车辆的第一位置信息，第一位置信息包括：目标车辆当前所处第一位置的车道信息。若导航装置包括高精度地图模块，则通信接口1101可以用于接收定位系统发送的目标车辆的定位位置，向导航地图模块发送目标车辆的第一位置信息；第一位置信息用于导航地图模块确定导航路径。
处理器1102用于实现上述如图3所示的导航方案，具体可以参见上述图3所示的实施例中的描述，此处不再赘述。可选的，处理器1102可以是中央处理器(central processing unit，CPU)，或者其他硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。 上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)或其任意组合。处理器1102在实现上述功能时，可以通过硬件实现，当然也可以通过硬件执行相应的软件实现。
存储器1103用于存放程序指令和数据等。具体地，程序指令可以包括程序代码，该程序代码包括计算机操作的指令。存储器1103可能包含随机存取存储器(random access memory，RAM)，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。处理器1102执行存储器1103所存放的程序，并通过上述各个部件，实现上述功能，从而最终实现以上实施例提供的方法。
基于以上实施例，本申请实施例还提供了一种导航系统，该导航系统可以包括上述用于实现高精度地图模块功能的导航装置及上述用于实现导航地图模块功能的导航装置。所述用于实现高精度地图模块功能的导航装置和所述用于实现导航地图模块功能的导航装置，可以是一个通用设备或者是一个专用设备，本申请实施例对此不做具体限定。高精度地图模块和导航地图模块的相关功能可以由一个设备实现，也可以由多个设备共同实现，还可以是由一个设备内的一个或多个功能模块实现，本申请实施例对此不做具体限定。可以理解的是，上述功能既可以是硬件设备中的元件，也可以是在专用硬件上运行的软件功能，或者是硬件与软件的结合，或者是平台(例如，云平台)上实例化的虚拟化功能。
基于以上实施例，本申请实施例还提供了一种计算机程序产品，当所述计算机程序产品在处理器上运行时，使得所述导航装置执行上述实施例提供的各种可能的方法。
基于以上实施例，本申请实施例还提供了一种计算机存储介质，所述计算机存储介质中存储有计算机程序，当所述计算机程序被处理器执行时，使得所述导航装置执行上述实施例提供的各种可能的方法。
基于以上实施例，本申请实施例还提供了一种芯片，芯片用于读取存储器中存储的计算机程序，实现以上实施例提供的方法。
基于以上实施例，本申请实施例提供了一种芯片系统，该芯片系统包括处理器，用于支持计算机装置实现以上实施例提供的方法中终端设备所涉及的功能。在一种可能的设计中，芯片系统还包括存储器，存储器用于保存该计算机装置必要的程序和数据。该芯片系统，可以由芯片构成，也可以包含芯片和其他分立器件。
本领域的技术人员可以清楚地了解到，本申请提供的各实施例的描述可以相互参照，为描述的方便和简洁，例如关于本申请实施例提供的各装置、设备的功能以及执行的步骤可以参照本申请方法实施例的相关描述，各方法实施例之间、各装置实施例之间也可以互相参照。
本领域技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的全部或部分步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本发明实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算 机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如固态硬盘Solid State Disk(SSD))等。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，在没有超过本申请的范围内，可以通过其他的方式实现。例如，以上所描述的实施例仅仅是示意性的，例如，所述模块或单元的划分，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，例如多个单元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。其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
另外，所描述装置和方法以及不同实施例的示意图，在不超出本申请的范围内，可以与其它系统，模块，技术或方法结合或集成。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，装置或单元的间接耦合或通信连接，可以是电子、机械或其它的形式。
以上所述，仅为本申请的具体实施方式，但本申请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申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应所述以权利要求的保护范围为准。

Claims (46)

  1. 一种导航方法，其特征在于，所述方法用于为目标车辆提供导航路径，包括：
    接收高精度地图模块发送的所述目标车辆的第一位置信息，所述第一位置信息包括所述目标车辆当前所处第一位置的车道信息；
    根据所述第一位置信息以及目的地，确定导航路径。
  2. 如权利要求1所述的方法，其特征在于，所述第一位置信息还包括：所述目标车辆当前所处第一位置的第一预设周边区域范围内车道级别道路信息。
  3. 如权利要求1或2所述的方法，其特征在于，所述根据所述第一位置信息以及目的地，确定导航路径，包括：
    根据所述第一位置信息以及目的地，生成初始导航路径；
    向所述高精度地图模块发送所述初始导航路径；
    接收所述高精度地图模块返回的所述初始导航路径的车道级别道路信息，所述初始导航路径的车道级别道路信息包括所述初始导航路径的道路路段的车道级别道路信息；
    根据所述初始导航路径的车道级别道路信息，确定所述导航路径。
  4. 如权利要求3所述的方法，其特征在于，所述初始导航路径的车道级别道路信息还包括：所述初始导航路径所对应第二预设周边区域范围内的道路路段的车道级别道路信息。
  5. 如权利要求3或4所述的方法，其特征在于，所述根据所述初始导航路径的车道级别道路信息，确定所述导航路径，包括：
    根据所述初始导航路径的车道级别道路信息，确定所述初始导航路径中存在不可通行或建议绕行的道路或车道；
    根据确定的所述不可通行或建议绕行的道路或车道、所述第一位置信息以及目的地，更新所述初始导航路径；
    确定所述导航路径为更新后的初始导航路径。
  6. 如权利要求3或4所述的方法，其特征在于，所述初始导航路径包括K条候选路径；所述根据所述初始导航路径的车道级别道路信息，确定所述导航路径，包括：
    根据所述初始导航路径的车道级别道路信息，从所述K条候选路径中筛选出所述导航路径；
    所述初始导航路径的车道级别道路信息包括以下至少一项：所述初始导航路径在所述第二预设周边区域范围内的车道信息、所述初始导航路径在所述第二预设周边区域范围内的车道可用信息或者所述初始导航路径在所述第二预设周边区域范围内所支持的驾驶模式信息。
  7. 如权利要求1或2所述的方法，其特征在于，确定导航路径之后，所述方法还包括：
    接收所述高精度地图模块发送的所述目标车辆的第二位置信息，所述第二位置信息包括所述目标车辆当前所处第二位置的车道信息；
    接收偏航概率信息，所述偏航概率信息用于指示所述目标车辆在所述第二位置上继续行驶至偏离所述导航路径的概率；
    根据所述偏航概率信息，确定更新所述导航路径；
    根据所述第二位置信息及所述目的地更新所述导航路径。
  8. 如权利要求1所述的方法，其特征在于，确定导航路径之后，所述方法还包括：
    接收所述高精度地图模块发送的所述目标车辆的第二位置信息，所述第二位置信息包括所述目标车辆当前所处第二位置的车道信息；
    接收偏航告警信息，所述偏航告警信息用于指示所述第二位置不在所述导航路径上；
    根据所述第二位置信息及所述目的地更新所述导航路径。
  9. 如权利要求7或8所述的方法，其特征在于，所述第二位置信息还包括：所述目标车辆当前所处第二位置的第一预设周边区域范围内车道级别道路信息。
  10. 如权利要求7-9任一项所述的方法，其特征在于，所述方法还包括：
    接收所述高精度地图模块发送的第三位置信息，所述第三位置信息包括第三位置的车道信息，所述第三位置为所述高精度地图模块根据所述第二位置信息预测的所述目标车辆在一定时间后可能行驶到的位置，并且所述第三位置不在所述导航路径上；
    所述根据所述第二位置信息及所述目的地更新所述导航路径，包括：
    根据所述第二位置信息、所述第三位置信息及所述目的地，更新所述导航路径。
  11. 一种导航方法，其特征在于，所述方法用于为目标车辆提供导航路径，包括：
    根据目标车辆的定位信息，生成所述目标车辆的第一位置信息，所述第一位置信息包括所述目标车辆当前所处第一位置的车道信息；
    向导航地图模块发送所述第一位置信息，所述第一位置信息用于所述导航地图模块确定导航路径。
  12. 如权利要求11所述的方法，其特征在于，所述第一位置信息还包括：所述目标车辆当前所处第一位置的第一预设周边区域范围内车道级别道路信息。
  13. 如权利要求11所述的方法，其特征在于，向导航地图模块发送所述第一位置信息之后，所述方法还包括：
    接收来自所述导航地图模块的初始导航路径，所述初始导航路径为所述导航地图模块根据所述第一位置信息以及目的地生成的；
    根据所述初始导航路径，确定所述初始导航路径的车道级别道路信息，所述初始导航路径的车道级别道路信息包括所述初始导航路径的道路路段的车道级别道路信息；
    向所述导航地图模块发送所述初始导航路径的车道级别道路信息。
  14. 如权利要求13所述的方法，其特征在于，所述初始导航路径的车道级别道路信息包括以下至少一项：所述初始导航路径中不可通行或建议绕行的道路或车道、所述初始导航路径在所述第二预设周边区域范围内的车道信息、所述初始导航路径在所述第二预设周边区域范围内的车道可用信息或者所述初始导航路径在所述第二预设周边区域范围内所支持的驾驶模式信息。
  15. 如权利要求12所述的方法，其特征在于，在向导航地图模块发送所述第一位置信息之后，所述方法还包括：
    确定目标车辆的第二位置信息，所述第二位置信息包括所述目标车辆当前所处第二位置的车道信息；
    向所述目标车辆发送所述第二位置信息；
    根据所述导航路径和所述第二位置信息，确定所述目标车辆的偏航概率信息，所述偏航概率信息用于指示所述目标车辆在所述第二位置上继续行驶至偏离所述导航路径的概 率；
    向所述导航地图模块发送所述偏航概率信息。
  16. 如权利要求13所述的方法，其特征在于，在向导航地图模块发送所述第一位置信息之后，所述方法还包括：
    确定目标车辆的第二位置信息，所述第二位置信息包括所述目标车辆当前所处第二位置的车道信息；
    向所述目标车辆发送所述第二位置信息；
    根据所述导航路径和所述第二位置信息，生成所述目标车辆的偏航告警信息，所述偏航告警信息用于指示所述第二位置不在所述导航路径上；
    向所述导航地图模块发送所述偏航告警信息。
  17. 如权利要求15或16所述的方法，其特征在于，所述第二位置信息还包括：所述目标车辆当前所处第二位置的第一预设周边区域范围内车道级别道路信息。
  18. 如权利要求15-17任一项所述的方法，其特征在于，所述方法还包括：
    根据所述导航路径和所述第二位置信息，生成第三位置信息，所述第三位置信息包括第三位置的车道信息，所述第三位置为所述高精度地图模块根据所述第二位置信息预测的所述目标车辆在一定时间后可能行驶到的位置，并且所述第三位置不在所述导航路径上；
    向所述导航地图模块发送所述第三位置信息。
  19. 如权利要求1-18任一项所述的方法，其特征在于，所述第一位置信息、第二位置信息包括以下内容中的一项或多项：
    所述目标车辆车头朝向、所述目标车辆当前所处位置的第一预设周边区域范围内的车道信息或所述目标车辆当前所处位置的第一预设周边区域范围内的车道可用信息；
    所述第三位置信息包括以下内容中的一项或多项：
    所述目标车辆的预计车头朝向、所述目标车辆预计位置的第一预设周边区域范围内的车道信息或所述目标车辆预计位置的第一预设周边区域范围内的车道可用信息。
  20. 如权利要求1-17任一项所述的方法，其特征在于，所述车道信息包括以下一项或多项：
    车道数量、车道编号、车道方向信息、车道起止点、车道变换点、车道曲率信息、车道坡度信息或车道类型，其中，所述车道类型包括主路车道、辅路车道、汇入车道、岔路车道、单向车道、双向车道或潮汐车道；
    所述车道可用信息包括以下至少一项：是否可通行信息、建议绕行信息、路况信息或交通规则信息。
  21. 一种导航装置，其特征在于，包括：
    收发单元，接收高精度地图模块发送的目标车辆的第一位置信息，所述第一位置信息包括：所述目标车辆当前所处第一位置的车道信息；
    处理单元，用于根据所述目标车辆第一位置信息以及目的地，确定导航路径。
  22. 如权利要求21所述的导航装置，其特征在于，所述第一位置信息还包括：所述目标车辆当前所处第一位置的第一预设周边区域范围内车道级别道路信息。
  23. 如权利要求21或22所述的导航装置，其特征在于，所述处理单元，用于根据所述目标车辆第一位置信息以及目的地，生成初始导航路径；根据所述初始导航路径的车道级别道路信息，确定所述导航路径；
    所述收发单元，用于向所述高精度地图模块发送所述初始导航路径；接收所述高精度地图模块返回的所述初始导航路径的车道级别道路信息；所述初始导航路径的车道级别道路信息包括所述初始导航路径的道路路段的车道级别道路信息。
  24. 如权利要求23所述的导航装置，其特征在于，所述初始导航路径的车道级别道路信息还包括：所述初始导航路径所对应第二预设周边区域范围内的道路路段的车道级别道路信息。
  25. 如权利要求23或24所述的导航装置，其特征在于，所述处理单元，具体用于：根据所述初始导航路径的车道级别道路信息，若确定所述初始导航路径中存在不可通行或建议绕行的道路或车道，则根据确定出的所述不可通行或建议绕行的道路或车道、所述目标车辆第一位置信息以及目的地，确定所述导航路径为更新后的初始导航路径。
  26. 如权利要求23或24所述的导航装置，其特征在于，所述初始导航路径包括K条候选路径；所述处理单元，具体用于：根据所述初始导航路径的车道级别道路信息，从所述K条候选路径中筛选出所述导航路径；所述初始导航路径的车道级别道路信息包括以下至少一项：所述初始导航路径在所述第二预设周边区域范围内的车道信息、所述初始导航路径在所述第二预设周边区域范围内的车道可用信息或所述初始导航路径在所述第二预设周边区域范围内所支持的驾驶模式信息。
  27. 如权利要求21所述的导航装置，其特征在于，所述收发单元，具体用于：
    接收所述高精度地图模块发送的所述目标车辆的第二位置信息，所述第二位置信息包括所述目标车辆当前所处第二位置的车道信息；接收偏航概率信息，所述偏航概率信息用于指示所述目标车辆在所述第二位置上继续行驶至偏离所述导航路径的概率；
    所述处理单元，具体用于：根据所述偏航概率信息，确定更新所述导航路径。
  28. 如权利要求21所述的导航装置，其特征在于，所述收发单元，还用于：接收所述高精度地图模块发送的所述目标车辆的第二位置信息，所述第二位置信息包括所述目标车辆当前所处第二位置的车道信息；接收偏航告警信息，所述偏航告警信息用于指示所述第二位置不在所述导航路径上；
    所述处理单元，还用于：根据所述第二位置信息及所述目的地更新所述导航路径。
  29. 如权利要求27或28所述的装置，其特征在于，所述第二位置信息还包括：所述目标车辆当前所处第二位置的第一预设周边区域范围内车道级别道路信息。
  30. 如权利要求27-29任一项所述的导航装置，其特征在于，所述收发单元，还用于：接收所述高精度地图模块发送的第三位置信息，所述第三位置信息包括第三位置的车道信息，所述第三位置为所述高精度地图模块根据所述第二位置信息预测的所述目标车辆在一定时间后可能行驶到的位置，并且所述第三位置不在所述导航路径上；
    所述处理单元，还用于：根据所述第二位置信息、所述第三位置信息及所述目的地，更新所述导航路径。
  31. 一种导航装置，其特征在于，包括：
    处理单元，用于根据目标车辆的定位信息，确定所述目标车辆的第一位置信息；所述目标车辆当前所处第一位置的车道信息；
    收发单元，用于向导航地图模块发送所述目标车辆的第一位置信息；所述第一位置信息用于所述导航地图模块确定导航路径。
  32. 如权利要求31所述的导航装置，其特征在于，所述第一位置信息还包括：所述 目标车辆当前所处第一位置的第一预设周边区域范围内车道级别道路信息。
  33. 如权利要求31或32所述的导航装置，其特征在于，所述收发单元，还用于：接收来自所述导航地图模块的初始导航路径；所述初始导航路径为所述导航地图模块根据所述目标车辆第一位置信息以及目的地生成的；向所述导航地图模块发送所述初始导航路径的车道级别道路信息；
    所述处理单元，还用于：根据所述初始导航路径，确定所述初始导航路径的车道级别道路信息；所述初始导航路径的车道级别道路信息用于所述导航地图模块根据所述初始导航路径的车道级别道路信息，确定出所述导航路径；所述初始导航路径的车道级别道路信息包括所述初始导航路径的道路路段的车道级别道路信息。
  34. 如权利要求33所述的导航装置，其特征在于，所述初始导航路径的车道级别道路信息包括以下至少一项：所述初始导航路径中不可通行或建议绕行的道路或车道、所述初始导航路径在所述第二预设周边区域范围内的车道信息、所述初始导航路径在所述第二预设周边区域范围内的车道可用信息或者所述初始导航路径在所述第二预设周边区域范围内所支持的驾驶模式信息。
  35. 如权利要求33所述的导航装置，其特征在于，所述处理单元，还用于：确定目标车辆的第二位置信息，所述第二位置信息包括所述目标车辆当前所处第二位置的车道信息；根据所述导航路径和所述第二位置信息，确定所述目标车辆的偏航概率信息，所述偏航概率信息用于指示所述目标车辆在所述第二位置上继续行驶至偏离所述导航路径的概率；
    所述收发单元，还用于向所述目标车辆发送所述第二位置信息；向所述导航地图模块发送所述偏航概率信息。
  36. 如权利要求33所述的导航装置，其特征在于，所述处理单元，还用于：
    确定目标车辆的第二位置信息，所述第二位置信息包括所述目标车辆当前所处第二位置的车道信息；根据所述导航路径和所述第二位置信息，生成所述目标车辆的偏航告警信息，所述偏航告警信息用于指示所述第二位置不在所述导航路径上；
    所述收发单元，还用于向所述目标车辆发送所述第二位置信息；向所述导航地图模块发送所述偏航告警信息。
  37. 如权利要求35或36所述的导航装置，其特征在于，所述第二位置信息还包括：所述目标车辆当前所处第二位置的第一预设周边区域范围内车道级别道路信息。
  38. 如权利要求35-37任一项所述的导航装置，其特征在于，所述处理单元，还用于：
    根据所述导航路径和所述第二位置信息，生成第三位置信息，所述第三位置信息包括第三位置的车道信息，所述第三位置为所述高精度地图模块根据所述第二位置信息预测的所述目标车辆在一定时间后可能行驶到的位置，并且所述第三位置不在所述导航路径上；
    所述收发单元，还用于向所述导航地图模块发送所述第三位置信息。
  39. 如权利要求21-38任一项所述的导航装置，其特征在于，所述第一位置信息、第二位置信息包括以下内容中的一项或多项：
    所述目标车辆车头朝向、所述目标车辆当前所处位置的第一预设周边区域范围内的车道信息或所述目标车辆当前所处位置的第一预设周边区域范围内的车道可用信息；
    所述第三位置信息包括以下内容中的一项或多项：
    所述目标车辆的预计车头朝向、所述目标车辆预计位置的第一预设周边区域范围内的 车道信息或所述目标车辆预计位置的第一预设周边区域范围内的车道可用信息。
  40. 如权利要求21-39任一项所述的导航装置，其特征在于，所述车道信息包括以下一项或多项：
    车道数量、车道编号、车道方向信息、车道起止点、车道变换点、车道曲率信息、车道坡度信息或车道类型，其中，所述车道类型包括主路车道、辅路车道、汇入车道、岔路车道、单向车道、双向车道或潮汐车道；
    所述车道可用信息包括以下至少一项：是否可通行信息、建议绕行信息、路况信息或交通规则信息。
  41. 一种导航装置，其特征在于，包括存储器和处理器；
    所述存储器中存储有计算机程序；
    所述处理器，用于执行所述计算机程序，以执行如权利要求1-10任一项所述的方法。
  42. 一种导航装置，其特征在于，包括存储器和处理器；
    所述存储器中存储有计算机程序；
    所述处理器，用于执行所述计算机程序，以执行如权利要求11-20任一项所述的方法。
  43. 一种导航系统，其特征在于，包括如权利要求21-30任一所述的导航装置和如权利要求31-40任一所述的导航装置。
  44. 一种导航系统，其特征在于，包括如权利要求42所述的导航装置和如权利要求43所述的导航系统。
  45. 一种计算机程序产品，其特征在于，当所述计算机程序产品在处理器上运行时，使得所述导航装置执行如权利要求1-20任一项所述的方法。
  46. 一种计算机存储介质，其特征在于，所述计算机存储介质中存储有计算机程序，当所述计算机程序被处理器执行时，使得所述导航装置执行如权利要求1-20任一项所述的方法。
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