WO2022143388A1 - 导航提示信息的确定方法和装置、存储介质及电子设备 - Google Patents

导航提示信息的确定方法和装置、存储介质及电子设备 Download PDF

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Publication number
WO2022143388A1
WO2022143388A1 PCT/CN2021/140766 CN2021140766W WO2022143388A1 WO 2022143388 A1 WO2022143388 A1 WO 2022143388A1 CN 2021140766 W CN2021140766 W CN 2021140766W WO 2022143388 A1 WO2022143388 A1 WO 2022143388A1
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WO
WIPO (PCT)
Prior art keywords
target
road
adjacent
road segment
segment
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PCT/CN2021/140766
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English (en)
French (fr)
Inventor
高璇
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腾讯科技（深圳）有限公司
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Priority to EP21914125.6A priority Critical patent/EP4246090A4/en
Publication of WO2022143388A1 publication Critical patent/WO2022143388A1/zh
Priority to US17/989,616 priority patent/US20230078656A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G01C21/32—Structuring or formatting of map data
    • 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
    • G01C21/3629—Guidance using speech or audio output, e.g. text-to-speech
    • 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
    • G01C21/3655—Timing of guidance instructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/40—High definition maps

Definitions

  • the present application relates to the field of map technology, and in particular, to a method and device for determining navigation prompt information, a storage medium, and an electronic device.
  • the map navigation system will prompt according to the actual road conditions of the map. For example, when a vehicle or pedestrian is driving on a road with curves and fork points, during the driving process, there is a non-fork steering 50 meters ahead. Curve, there is a fork 70 meters ahead of road A, the map navigation system will prompt "turn right 50 meters ahead", if there is no need to change lanes, the map navigation system will prompt "go straight ahead 70 meters”.
  • a method for determining navigation prompt information executed by an electronic device, comprising:
  • the navigation is set according to the non-branch steering position prompt information.
  • a device for determining navigation prompt information comprising:
  • an acquisition unit used for acquiring the first group of road shape points on the target road segment in the map data
  • a search unit configured to determine the target steering angle formed by the first group of road shape points according to the line segment between adjacent road shape points in the first group of road shape points, and search on the target road segment
  • the non-bifurcation and bifurcation steering position wherein the non-bifurcation and bifurcation steering position is used to indicate that there is a turning road segment to which the non-bifurcation bifurcation intersection belongs on the target road segment;
  • a setting unit configured to find the non-bifurcation and bifurcation steering position according to the target steering angle, and to determine, according to the road information of the road segment adjacent to the target road segment, that navigation prompt information needs to be set for the turning road segment. In the case of the situation, the navigation prompt information is set according to the non-bifurcation and bifurcation steering position.
  • An electronic device comprising a memory and one or more processors, the memory storing computer-readable instructions that, when executed by the one or more processors, cause the One or more processors implement the method for determining the navigation prompt information.
  • One or more non-volatile computer-readable storage media storing computer-readable instructions that, when executed by one or more processors, cause the one or more Each processor implements the method for determining the navigation prompt information.
  • a computer program product or computer program comprising computer readable instructions stored in a computer readable storage medium.
  • the processor of the computer device reads the computer-readable instructions from the computer-readable storage medium, and the processor executes the computer-readable instructions, so that the computer device executes the method for determining the navigation prompt information.
  • FIG. 1 is a schematic diagram of an application environment of an optional method for determining navigation prompt information according to an embodiment of the present application
  • FIG. 2 is a flowchart of an optional method for determining navigation prompt information according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of an optional road condition according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of an optional target road segment according to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of an optional steering angle calculation according to an embodiment of the present application.
  • FIG. 6 is a flowchart of an optional voice broadcast method without fork in an embodiment of the present application.
  • FIG. 7 is a schematic diagram of an optional roundabout-like road according to an embodiment of the present application.
  • FIG. 8 is a schematic diagram of an optional bifurcation calculation according to an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of an optional device for determining navigation prompt information according to an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of an optional electronic device according to an embodiment of the present application.
  • Fork The place where the road forks, such as the intersection of the main road and the fork.
  • Fork-free intersection There is only one entry and exit road, such as a fork-free bend.
  • Adjacent Edges Every other road that is connected to the current road.
  • Shape points point strings used to express and describe the shape of the road.
  • Roundabout-like The road is shaped like a roundabout, but is not actually a roundabout.
  • IC Inter-Change
  • JCT is the abbreviation of Junction, which refers to the connecting roads between highways (such as highways and highways, highways and urban highways), such as fork points or junctions.
  • Ramp A connecting road between intersecting roads, usually without a separate road name. Multiple ramps at the same intersection are often collectively referred to as a pan bridge.
  • roads that are inconvenient to pass such as narrow roads, poor road conditions, and serious road occupation, or roads that are only used in the area.
  • Dead end road A road that is not connected to any other road in the direction of travel.
  • a method for determining navigation prompt information is provided.
  • the above-mentioned method for determining navigation prompt information may be, but is not limited to, the method shown in FIG. 1 . in the environment shown.
  • the application environment includes a terminal 102 , a network 104 and a server 106 .
  • the server 106 may obtain the first group of road shape points on the target road segment from the map data; the first group of road shape points is determined according to the line segment between adjacent road shape points in the first group of road shape points.
  • the target steering angle formed by a set of road shape points, according to the target steering angle, the non-branch steering position is found on the target road segment, wherein the non-branch steering position is used to indicate that there is a non-branch intersection on the target road segment.
  • the navigation prompt information is set according to the non-fork turning position, and the navigation The prompt information can then be broadcast at a reasonable target location where the vehicle can travel to the target road segment.
  • the target steering angle formed by a set of road shape points when there is no fork in the road, it is determined whether to set the navigation prompt information, and the purpose of setting the navigation information broadcast position reasonably, so as to realize the reasonable determination according to the road parameters.
  • the above method for determining the navigation prompt information may also be executed by the terminal 102 or executed by the terminal 102 and the server 106 in cooperation.
  • the above is only an example, which is not limited in this embodiment.
  • the above-mentioned terminal 102 may be a terminal configured with a target client, which may include, but is not limited to, at least one of the following: a mobile phone (such as an Android mobile phone, an iOS mobile phone, etc.), a laptop computer, a tablet computer, a palmtop Computer, MID (Mobile Internet Devices), PAD, desktop computer, smart TV, etc.
  • the target client can be a map client, etc.
  • the above-mentioned networks may include, but are not limited to, wired networks and wireless networks, wherein the wired networks include local area networks, metropolitan area networks, and wide area networks, and the wireless networks include Bluetooth, WIFI, and other networks that implement wireless communication.
  • the above server may be a single server, a server cluster composed of multiple servers, or a cloud server. The above is only an example, which is not limited in this embodiment.
  • the method includes:
  • Step S202 obtaining the first group of road shape points on the target road segment in the map data
  • Step S204 according to the line segment between the adjacent road shape points in the first group of road shape points, determine the target steering angle formed by the first group of road shape points, and search for the non-branch steering on the target road segment according to the target steering angle position, wherein the fork-free turning position is used to indicate the turning section to which the fork-free intersection on the target road segment belongs;
  • Step S206 when the non-fork steering position is found and it is determined according to the road information of the road segment adjacent to the target road segment that navigation prompt information needs to be set for the turning road segment, the navigation prompt information is set according to the non-fork steering position.
  • the above method for determining the navigation prompt information may include, but is not limited to, application in navigation. For example, mobile phone map navigation, car map navigation and other navigation scenarios.
  • the navigation broadcast it can be determined whether to broadcast the non-branching steering position ahead according to a group of road shape points on the target road segment.
  • the waste of resources caused by the voice broadcast of the turning sections in the road that are not suitable for the navigation broadcast is avoided, and these unreasonable voice broadcasts are also reduced.
  • the navigation prompt information is set at the non-branch steering position, and the navigation prompt information can be broadcast in the form of voice "30 meters ahead to the left and straight ahead", so that the user can obtain the road conditions in time.
  • FIG. 3 it is a schematic diagram of road conditions in one embodiment.
  • the degree of road curvature is relatively large at the non-branch intersection on road 2, there is still a branch intersection between road 2 and road 3 not far from the non-branch intersection.
  • the non-branching voice broadcast prompt will cause unnecessary interference to the user, causing the user to yaw.
  • the road condition voice broadcast can be carried out according to the actual road conditions, so as to avoid the interference to the user caused by the voice broadcast of all the non-branch-turning intersections.
  • FIG. 4 it is a schematic diagram of a target road segment in one embodiment. 4
  • a section of road shape points 1 to 6 on Nanjing Road is a group of road shape points on the target road section, wherein the road shape points are points used to describe the shape of the target road section.
  • the shape points indicated by the triangle shape through the parameters between the group of road shape points, the shape of the target road segment can be known, For example, whether the target road segment has a fork or no fork, whether there is a fork, and so on.
  • the electronic device acquires a group of road shape points, two adjacent points in a group of road shape points may be connected to form a line segment, and two adjacent line segments may form an angle, which is recorded as a steering angle.
  • a set of road shape points may form the target steering angle.
  • the electronic device finds the non-branch turning position and determines that navigation prompt information needs to be set for the turning road segment according to the road information of the road segment adjacent to the target road segment, the electronic device sets the navigation prompt information according to the non-branch turning position. That is to say, when setting the navigation prompt information, when the position is a non-branch turning position, it is also necessary to consider the road information of the road section adjacent to the position to determine whether to broadcast the navigation prompt information of the turning section, and then It can reduce the waste of resources caused by unnecessary broadcasts, and can also avoid misleading users by navigating and broadcasting at the non-branching curve positions that are not suitable for broadcasts.
  • step S202 obtaining the first group of road shape points on the target road segment in the map data may include: starting from the target starting point on the target road in the map data, and determining along a preset driving direction The target end point, wherein the road segment between the target start point and the target end point is the target road segment; the first group of road shape points on the road segment between the target start point and the target end point are obtained.
  • the starting point of the target can be the current traveled position point.
  • the electronic device may determine a point reached by advancing the preset distance as the target end point without passing a fork in the process of advancing the preset distance from the target starting point along the traveling direction. In one embodiment, the electronic device may also pass through a fork in the process of advancing a preset distance along the driving direction from the target starting point, and there is a target adjacent road among a plurality of adjacent roads connected by the fork. Next, the target point on the target adjacent road is determined as the target end point, wherein the distance between the target end point and the target start point is a preset distance, and the target adjacent road is the direction of the road in the plurality of adjacent roads connected by the fork.
  • the adjacent road whose angle with the driving direction is smaller than the preset third angle threshold, or the target adjacent road is the angle between the road direction and the driving direction of the plurality of adjacent roads connected by the fork that is smaller than the preset angle
  • Adjacent roads that have the same road class and/or the same road attributes as the target road.
  • the electronic device may also pass through a fork in the process of advancing a preset distance along the driving direction from the target starting point, and there is no road that meets the above conditions among the plurality of adjacent roads connected by the fork.
  • the point where the fork is located is determined as the target end point.
  • searching for the non-branch steering position on the target road segment may include:
  • S1 Obtain the steering angle formed by every 3 adjacent road shape points in the first group of road shape points, and obtain a set of steering angles, wherein the steering angle formed by every 3 adjacent road shape points includes the first The angle between the extension line of the line segment and the second line segment, the first line segment is the line segment between the first road shape point and the second road shape point in every three adjacent road shape points, the first The second line segment is the line segment between the second road shape point and the third road shape point in every three adjacent road shape points;
  • a set of road shape points includes multiple points, such as 6 shape points, numbered 1, 2, 3, 4, 5, and 6. Every 3 shape points on the target road segment form a steering angle, such as ⁇ 123, ⁇ 234 and ⁇ 345.
  • ⁇ 123 is determined by the extension line connecting shape point 1 and shape point 2 and the extension line connecting shape point 2 and shape point 3, and is the angle between the two connecting lines or extension lines.
  • the steering angle can be taken as the acute angle between two connecting lines or extension lines.
  • ⁇ 234 can be determined according to shape point 2, shape point 3 and shape point 4 in turn. 4 and shape point 5 determine ⁇ 345.
  • searching for the non-branch steering position on the target road segment may include: determining the accumulated steering angle corresponding to the first target position on the target road segment according to a set of steering angles; according to the accumulated steering angle , to determine whether the first target position is a non-branch steering position.
  • ⁇ 123, ⁇ 234, and ⁇ 345 are accumulated to obtain the accumulated steering angle on the target road segment. Further, it can be determined whether the first target position is a non-fork steering position according to the size of the accumulated steering angle, and in the case that the accumulated steering angle is within a preset angle range, it can be determined that the first target position is a non-bifurcated steering position. When the accumulated steering angle is not within the preset angle range, it can be determined that the first target position is not the non-branch steering position, and the voice navigation broadcast is not performed.
  • the values within the angle range can be (68°, 110°), and the specific values are determined according to actual needs, which are not specifically limited. For example, when the accumulated steering angle is greater than or equal to 68° and less than 110°, the accumulated steering angle is within the preset angle range, and when the accumulated steering angle is less than 68°, or the accumulated steering angle is greater than or equal to 110°, then Make sure that the accumulated steering angle is not within the preset angle range.
  • determining the accumulated steering angle corresponding to the first target position on the target road segment may include: obtaining a group of three adjacent road shapes corresponding to the first target position in the first group of road shape points point, wherein the distance between the first target position and the second road shape point in every 3 adjacent road shape points in a group of 3 adjacent road shape points is less than the preset first distance threshold ; Obtain the steering angles formed by a group of 3 adjacent road shape points in a group of steering angles; determine the cumulative steering angle to be equal to the cumulative sum of the steering angles formed by a group of 3 adjacent road shape points.
  • a group of 3 adjacent road shape points may include a plurality of 3 adjacent road shape points, for example, the 6 shape points are 1, 2, 3, 4, 5, 6 in sequence, forming a
  • the set of 3 adjacent road shape points includes 4: shape points 1, 2, 3, shape points 2, 3, 4, shape points 3, 4, 5, and shape points 4, 5, 6.
  • Each 3 adjacent road shape points can form a steering angle, which is ⁇ 123, ⁇ 234, ⁇ 345 and ⁇ 456.
  • the first group of road shape points may include multiple steering angles.
  • the 6 shape points include 4 steering angles: ⁇ 123, ⁇ 234, ⁇ 345, and ⁇ 456.
  • the target steering angle on the target road is not to accumulate the 4 steering angles, but to accumulate the steering angles that satisfy the condition, that is, the first target position and each 3 in a group of 3 adjacent road shape points If the distance between the second road shape point in the adjacent road shape points is smaller than the preset first distance threshold, the steering angle formed by the group of three adjacent road shape points can participate in the accumulation.
  • the first target position is located at shape point 3 in FIG. 5 , the distances between the first target position and shape point 3, shape point 2 and shape point 4 are all smaller than the preset distance threshold, and the distance between the first target position and shape point 5 is smaller than the preset distance threshold. distance is greater than the preset distance threshold, then the steering angle formed by shape point 3, shape point 2 and shape point 4 as the second road shape point in every three adjacent road shape points will be used as the The target steering angles on the target road section corresponding to a target position, that is, ⁇ 123, ⁇ 234 and ⁇ 345 are added together, while ⁇ 456 does not participate in the accumulation.
  • the accumulated steering angle calculated in this way can accurately characterize whether the first target position is on the turning section of the target road section to which the fork-free intersection belongs, and the position suitable for the prompt information on the turning section, so that according to the no-fork road section
  • the navigation prompt information set by the port can achieve the above technical effect.
  • determining whether the first target position is a non-branch steering position according to the accumulated steering angle may include the following methods:
  • Method 2 When the accumulated steering angle is within a preset angle range and the distance between the first target position and the starting point in the first group of road shape points is greater than the preset first distance threshold, the first The target position is determined as a non-branch steering position; or, when the accumulated steering angle is within a preset angle range, and the distance between the first target position and the end point in the first group of road shape points is greater than a preset second In the case of the distance threshold, the first target position is determined as the non-branch steering position.
  • Mode 3 When the accumulated steering angle is within a preset angle range, and the distance between the first target position and the starting point in the first group of road shape points is greater than the preset first distance threshold, the first target position and the first When the distance between the end points in the set of road shape points is greater than the preset second distance threshold, the first target position is determined as the non-branch turning position.
  • the above-mentioned preset angle range may be (68°, 110°), and the accumulated steering angle on the target road segment is within the preset angle range, then it is determined that the first target position is determined as the non-branch steering position, The position of point A shown in Fig. 5 is the non-branch steering position.
  • the accumulated steering angle on the target road segment is within the preset angle range (68°, 110°), and the distance 30 meters between the first target position A and the starting point S of the target road segment is greater than the preset angle
  • the threshold is 20 meters, it is determined that point A of the first target position is a non-branch steering position, and navigation voice broadcast can be performed on this position.
  • the accumulated steering angle on the target road segment is within the preset angle range (68°, 110°), and the distance 40 meters between the first target position point A and the end point E of the target road segment is greater than the preset threshold 30 In the case of meters, it is determined that point A of the first target position is the unbranched steering position, and the navigation voice broadcast can be performed on the position.
  • the accumulated steering angle on the target road segment is within the preset angle range (68°, 110°), and the distance 30 meters between the first target position A and the starting point S of the target road segment is greater than the preset threshold 20 If the distance between the first target position point A and the end point E of the target road segment is 40m, which is greater than the preset threshold value of 30m, it is determined that the first target position point A is the no-branch steering position, The location can be broadcasted by navigation voice.
  • the accumulated steering angle on the target road segment is not within the preset angle range (68°, 110°), or the distance between the first target position point A and the end point E of the target road segment is 10 meters
  • the preset threshold value of 30 meters or when the distance between the first target position point A and the end point E of the target road segment is 20 meters less than the preset threshold value of 30 meters, determine the first target position point A. Not a branch-free steering position.
  • the first group of road shape points on the target road segment is obtained from the map data; according to the target steering angle formed by the first group of road shape points, the target road segment is The fork-free turning position, wherein the non-fork-turning position is used to indicate that there is a turning section without a fork on the target road segment;
  • the navigation prompt information is set according to the non-branching turning position, and the navigation prompt information is broadcast, so as to achieve a set of road shapes according to a set of road shapes.
  • the target steering angle formed by the point in the case of no fork in the road, to determine whether to set the purpose of navigation prompt information, by reasonably determining whether the target position of the road needs to be broadcast according to the road parameters, so as to avoid the need for those in the road to be broadcast.
  • the above method may further include: determining whether navigation prompt information needs to be set for the turning road segment according to the road information of the road segment adjacent to the target road segment.
  • determining whether navigation prompt information needs to be set for the turning road segment according to the road information of the road segment adjacent to the target road segment may include: determining the target road segment and the adjacent road segment according to the road information of the road segment adjacent to the target road segment Whether a roundabout-like road is formed; if it is determined that the target road segment and the adjacent road segment form a roundabout-like road, it is determined that navigation prompt information does not need to be set for the turning road segment.
  • determining whether the target road segment and the adjacent road segment form a roundabout-like road may include:
  • determining whether navigation prompt information needs to be set for the turning road segment according to the road information of the road segment adjacent to the target road segment may include: determining whether there is a road segment adjacent to the target road segment according to the road information of the road segment adjacent to the target road segment.
  • Target branch intersection in the case that it is determined that there is a target branch road adjacent to the target road segment, it is determined that navigation prompt information does not need to be set for the turning road segment.
  • determining whether there is a target branch road adjacent to the target road segment according to the road information of the road segment adjacent to the target road segment may include: determining whether there is a branch road adjacent to the target road segment according to the road information of the adjacent road segment When it is determined that there is a fork road adjacent to the target road segment, the road directions of multiple adjacent roads connected by the fork road are obtained; when there is a target adjacent road in the multiple adjacent roads, the fork road is determined.
  • the mouth is a target branch intersection, wherein the included angle between the road direction of the target adjacent road and the road direction of the target road segment is smaller than a preset second angle threshold.
  • acquiring the first group of road shape points on the target road segment in the map data may include: acquiring the first group of road shape points on the target road segment along the driving direction in the map data;
  • Setting the navigation prompt information according to the non-branch steering position may include: setting the navigation prompt information on a second target position on the target road where the target road segment is located, wherein the second target position is in the driving direction, and the second target position is in the driving direction.
  • the position before the bifurcated steering position that has a preset target distance from the non-bifurcated steering position, that is to say, the distance between the second target position and the non-bifurcated steering position is the preset target distance.
  • the navigation prompt information is set in advance.
  • the navigation prompt information is set at point B 20 meters behind point C.
  • a navigation prompt message can be provided, and the prompt message is "turn right at 20 meters ahead", wherein the preset target distance can also be 50 meters , 80 meters, the specific value is not limited.
  • the target road segment is a road segment on the target road.
  • the above method may further include: canceling the setting for the turning road segment when the non-branching turning position is found and it is determined according to the road information of the road segment adjacent to the target road segment that it is not necessary to set the navigation prompt information for the turning road segment. Navigation tips.
  • the present application further provides a method for voice broadcast without fork in the road. As shown in Figure 6, the flow chart of the method for voice broadcast without fork in the road.
  • Step S602 calculating the roughness of the road
  • the roughness of the road is used to represent the road condition of the road.
  • the terminal can determine the shape point range used for the calculation of the road roughness of the road according to the road grade, road attribute information, and whether there are forks before and after the road, and calculate the road segment according to the shape points within the shape point range. degree of ruggedness.
  • Road attribute information includes but is not limited to filtering ramps, JCTs, ICs, internal roads, roundabouts, POI connecting roads, service area roads, dead ends, and other roads.
  • Step S603 extracting geographic features within a certain range
  • the geographic features within a certain range can be understood as obtaining shape points on the target road segment.
  • the terminal can determine the geographical features within the range of the shape point of the target road segment based on the road parameters calculated by these shape points, such as the steering angle, the accumulated steering angle, the distance between the shape points, and the distance between the shape point and the starting point. Distance, distance between shape point and end point, etc.
  • the road shape points within a certain range for example, 400m ahead when the road level is other roads
  • the angle difference is less than a preset angle (eg, 5 degrees). If there is no such road, continue to explore forward along the road whose angle difference from the current road driving direction is less than a preset angle (eg, 35 degrees).
  • the terminal will get all the shape points explored.
  • FIG. 5 is a schematic diagram of the calculation of the steering angle. Calculate the angle ⁇ 123 between the extension of line segment 12 and line segment 23 between shape point 1 and shape point 2, calculate the distance of line segment 12, calculate the distance from the starting point to shape point 1, and calculate the distance from shape point 1 to shape Point 6 accumulated steering angle.
  • Step S604 decide whether there is no bifurcation and turn to broadcast according to the geographical feature
  • the absolute value of the steering angle at this position is smaller than the absolute value of the two steering angles before and after it. As shown in Figure 5, shape point 3.
  • the position (point on the merged curve) is less than 30m from the start or end point.
  • the unfiltered position is the non-bifurcation steering position.
  • Step S605 end.
  • the feature extraction according to surrounding geographical features may specifically include, but is not limited to, the following:
  • FIG 7 a schematic diagram of a roundabout-like road, explore a certain distance along the road that requires no bifurcation prompt. If a closed loop can be formed, it is judged whether it is a smooth circle according to all the shape points passing through the road.
  • Step 1 Explore 5 fixed steps forward along the driving direction. If the 5 fixed steps do not form a ring, that is, end to end, no subsequent judgment will be made;
  • Step 2 Calculate the steering angle at each shape point on the route in the same way as in step 603. If the difference between the maximum steering angle and the minimum steering angle is less than 45 degrees, it is considered to be a roundabout.
  • the schematic diagram of fork calculation if for road a, it is determined that the no-fork steering position is at P. Then extend a certain distance in the reverse direction along the road a, and obtain the geographical features within the distance (whether there is a fork, if there is a fork, obtain the road grade, road attributes and the angle between the road at the intersection).
  • Step 1 Explore a certain distance in the reverse direction of a, and find the fork at point Q;
  • Step 2 Traverse the adjacent edges at point Q;
  • Step 3 If there is an adjacent edge b similar to the direction of a at point Q, no navigation prompt information is set at P;
  • Step 4 If there is no adjacent edge similar to the direction of a at point Q, continue to explore along the adjacent edge c within 30 degrees of the included angle with PQ, otherwise end the exploration.
  • the navigation prompt information should be set here.
  • the fork-free voice broadcast method adopts more abundant geographical features to describe and express the fork-free intersection, and can more accurately identify whether the fork-free intersection needs to be given a voice broadcast prompt.
  • this embodiment is a specific implementation manner based on static data.
  • the machine learning method can also be used to generate a machine learning model for the non-branching voice broadcast prompt by learning the geographical features of the intersections that require non-branching voice broadcast.
  • the device for determining navigation prompt information includes: an acquisition unit 901 , a search unit 903 and a setting unit 905 .
  • the obtaining unit 901 is configured to obtain the first group of road shape points on the target road segment from the map data.
  • the search unit 903 is configured to determine the target steering angle formed by the first group of road shape points according to the line segment between the adjacent road shape points in the first group of road shape points;
  • the fork-free turning position wherein the non-fork-turning position is used to indicate the turning section to which the non-fork intersection on the target road segment belongs.
  • the setting unit 905 is configured to set the navigation prompt information according to the non-fork steering position when the non-fork steering position is found and it is determined according to the road information of the road segment adjacent to the target road segment that navigation prompt information needs to be set for the turning road segment .
  • the above-mentioned searching unit 903 may include: a first obtaining module, configured to obtain a steering angle formed by every three adjacent road shape points in the first group of road shape points, to obtain a group of steering angles, wherein, The steering angle formed by every three adjacent road shape points includes the angle between the extension line of the first line segment and the second line segment, and the first line segment is the first of every three adjacent road shape points.
  • the line segment between the 2nd road shape point and the 2nd road shape point, the second line segment is the line segment between the 2nd road shape point and the 3rd road shape point in every 3 adjacent road shape points; find A module for finding branch-free steering positions on a target road segment based on a set of steering angles.
  • the above search module may include: a first determination sub-module for determining the accumulated steering angle corresponding to the first target position on the target road segment according to a set of steering angles; a second determination sub-module for determining, according to the accumulated steering angle Steering angle, to determine whether the first target position is a non-branch steering position.
  • the above-mentioned first determination sub-module is further configured to perform the following operations: obtain a group of 3 adjacent road shape points corresponding to the first target position in the first group of road shape points, wherein the first target position is associated with a group of road shape points.
  • the distance between the 2nd road shape point in every 3 adjacent road shape points of the 3 adjacent road shape points is less than the preset first distance threshold; a group of 3 is obtained in a group of steering angles The steering angles formed by the adjacent road shape points respectively; the accumulated steering angle is determined to be equal to the cumulative sum of the steering angles formed by a group of three adjacent road shape points respectively.
  • the second determination submodule is further configured to perform the following operations:
  • the first target position as the non-bifurcation steering position
  • the first target position is a non-bifurcation steering position
  • the first target position is determined is a non-bifurcation steering position
  • the first target position is determined as the non-branching turning position.
  • the obtaining unit 901 obtains the first group of road shape points on the target road segment from the map data; Find the non-branching turning position, wherein the non-branching turning position is used to indicate that there is a turning road segment without a branching intersection on the target road segment; the setting unit 905 finds the non-branching turning position, and according to the road adjacent to the target road segment When the road information of the segment determines that the navigation prompt information needs to be set for the turning section, the navigation prompt information is set according to the non-fork steering position, and the navigation prompt information is broadcast, and the target steering angle formed according to a set of road shape points is achieved.
  • the purpose of determining whether to set the navigation prompt information is realized, so as to realize the technical effect of reasonably determining whether to carry out the navigation broadcast at the road target position according to the road parameters, thereby solving the problem in the prior art that during the map navigation process. Improper broadcast of navigation locations, causing technical problems that interfere with users.
  • the above-mentioned apparatus may further include: a determining unit configured to determine whether navigation prompt information needs to be set for the turning road segment according to the road information of the road segment adjacent to the target road segment.
  • the above determination unit may include: a first determination module, configured to determine whether the target road segment and the adjacent road segment form a roundabout-like road according to the road information of the road segment adjacent to the target road segment; the second determination module, using In the case where it is determined that the target road segment and the adjacent road segment form a roundabout-like road, it is determined that navigation prompt information does not need to be set for the turning road segment.
  • the above-mentioned first determining module may include: a third determining sub-module for determining whether the target road segment and the adjacent road segment form a closed-loop road; a first obtaining sub-module for determining whether the target road segment and the adjacent road segment form a closed-loop road;
  • a third determining sub-module for determining whether the target road segment and the adjacent road segment form a closed-loop road
  • a first obtaining sub-module for determining whether the target road segment and the adjacent road segment form a closed-loop road
  • a group of road shape points is used to determine a group of steering angles on adjacent road segments
  • the fifth determination sub-module is used for the difference between the maximum steering angle and the minimum steering angle in a group of steering angles is smaller than a preset first In the case of an angle threshold, it is determined that the target road segment and the adjacent road segment form a
  • the above determination unit may include: a third determination module, for determining whether there is a target fork intersection adjacent to the target road segment according to the road information of the road segment adjacent to the target road segment; a fourth determination module for In the case where it is determined that there is a target branch road adjacent to the target road segment, it is determined that navigation prompt information does not need to be set for the turning road segment.
  • the above-mentioned third determination module may include: a sixth determination sub-module for determining whether there is a fork adjacent to the target road segment according to the road information of adjacent road segments; a second acquisition sub-module for in When it is determined that there is a branch intersection adjacent to the target road segment, obtain the road directions of multiple adjacent roads connected by the branch intersection; the seventh determination sub-module is used for the situation that the target adjacent road exists in the multiple adjacent roads Next, the fork is determined as the target fork, wherein the direction included angle between the road direction of the target adjacent road and the road direction of the target road segment is smaller than a preset second angle threshold.
  • the above-mentioned obtaining unit 901 may include: a second obtaining module for obtaining the first group of road shape points on the target road segment along the driving direction in the map data;
  • the above-mentioned setting unit 905 may include: a setting module , which is used to set the navigation prompt information on the second target position on the target road where the target road segment is located, wherein the second target position is located before the non-branch steering position in the driving direction, and the second target position is the same as the non-branch steering position.
  • the distance between the positions is the preset target distance.
  • the above obtaining unit 901 may include: a fifth determining module, configured to start from the target starting point on the target road in the map data, and determine the target ending point along the preset driving direction, wherein the distance between the target starting point and the target ending point is The road segment is the target road segment; the third acquisition module is used to acquire the first group of road shape points on the road segment between the target start point and the target end point; the sixth determination module is used to drive along the road from the target start point In the process of advancing the preset distance in the direction without passing a fork, the point reached by advancing the preset distance is determined as the target end point; the seventh determination module is used to advance the preset distance from the target starting point along the driving direction.
  • a fifth determining module configured to start from the target starting point on the target road in the map data, and determine the target ending point along the preset driving direction, wherein the distance between the target starting point and the target ending point is The road segment is the target road segment
  • the third acquisition module is used to acquire the first group of road shape
  • the process of distance it passes through a fork, and if there is a target adjacent road in the multiple adjacent roads connected by the fork, the target point on the target adjacent road is determined as the target end point, wherein the target end point and the target start point
  • the distance between them is a preset distance
  • the angle between the road direction of the target adjacent road and the driving direction is smaller than the preset third angle threshold, or the angle between the road direction and the driving direction of the target adjacent road is smaller than the preset
  • the fourth angle threshold value, and the target adjacent road and the target road have the same road level and/or the same road attribute; the eighth determination module is used to pass the points in the process of advancing the preset distance from the target starting point along the driving direction.
  • the above-mentioned device may further include: a canceling navigation unit, used for finding a non-branching turning position and determining according to the road information of the road segment adjacent to the target road segment that it is not necessary to set navigation prompt information for the turning road segment. , cancel the setting of navigation prompt information for the turning section.
  • a canceling navigation unit used for finding a non-branching turning position and determining according to the road information of the road segment adjacent to the target road segment that it is not necessary to set navigation prompt information for the turning road segment. , cancel the setting of navigation prompt information for the turning section.
  • an electronic device for implementing the above method for determining navigation prompt information is also provided, where the electronic device may be the terminal or server shown in FIG. 1 .
  • the electronic device may be the terminal or server shown in FIG. 1 .
  • This embodiment is described by taking the electronic device as a server as an example.
  • the electronic device includes a memory 1002 and a processor 1004, where computer-readable instructions are stored in the memory 1002, and the processor 1004 is configured to execute any one of the above method embodiments through the computer-readable instructions. step.
  • the above-mentioned electronic device may be located in at least one network device among multiple network devices of a computer network.
  • the above-mentioned processor may be configured to execute the following steps through computer-readable instructions:
  • FIG. 10 is only for illustration, and the electronic device of the electronic device can also be a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.) , a tablet computer, a palmtop computer, and a mobile Internet device. (Mobile Internet Devices, MID), PAD and other terminal equipment.
  • FIG. 10 does not limit the structure of the above-mentioned electronic device.
  • the electronic device may also include more or fewer components (eg, network interfaces, etc.) than shown in FIG. 10 , or have a different configuration than that shown in FIG. 10 .
  • the memory 1002 can be used to store software programs and modules, such as program instructions/modules corresponding to the method and device for determining navigation prompt information in the embodiments of the present application, and the processor 1004 runs the software programs and modules stored in the memory 1002, Thus, various functional applications and data processing are executed, that is, the above-mentioned method for determining the navigation prompt information is implemented.
  • Memory 1002 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, memory 1002 may further include memory located remotely from processor 1004, and these remote memories may be connected to the terminal through a network.
  • the memory 1002 may be used for, but not limited to, a set of shape points on the target road segment, target steering angle, navigation information, and other information.
  • the memory 1002 may include, but is not limited to, the acquiring unit 901 , the searching unit 903 and the setting unit 905 in the determining device for the navigation prompt information.
  • it may also include, but is not limited to, other module units in the apparatus for determining the navigation prompt information, which will not be repeated in this example.
  • the above-mentioned transmission device 1006 is configured to receive or send data via a network.
  • Specific examples of the above-mentioned networks may include wired networks and wireless networks.
  • the transmission device 1006 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices and routers through a network cable so as to communicate with the Internet or a local area network.
  • the transmission device 1006 is a radio frequency (Radio Frequency, RF) module, which is used for wirelessly communicating with the Internet.
  • RF Radio Frequency
  • the above-mentioned electronic device further includes: a display 1008 for displaying the above-mentioned target road segment; and a connection bus 1010 for connecting various module components in the above-mentioned electronic device.
  • the above-mentioned terminal device or server may be a node in a distributed system, wherein the distributed system may be a blockchain system, and the blockchain system may be communicated by the multiple nodes through a network A distributed system formed by connection in the form of.
  • a peer-to-peer (P2P, Peer To Peer) network can be formed between nodes, and any form of computing equipment, such as servers, terminals and other electronic devices can become a node in the blockchain system by joining the peer-to-peer network.
  • a computer program product or computer program comprising computer readable instructions stored in a computer readable storage medium.
  • the processor of the computer device reads the computer-readable instructions from the computer-readable storage medium, and the processor executes the computer-readable instructions to cause the computer device to perform various aspects of the determination of the above-mentioned navigation prompt information or the determination of the navigation prompt information
  • the method for determining the navigation prompt information provided in the optional implementation.
  • the computer-readable instructions are configured to execute the steps in any one of the above method embodiments when running.
  • the above-mentioned computer-readable storage medium may be configured to store computer-readable instructions for performing the following steps:
  • the storage medium may include: a flash disk, a read-only memory (Read-Only Memory, ROM), a random access device (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.
  • the integrated units in the above-mentioned embodiments are implemented in the form of software functional units and sold or used as independent products, they may be stored in the above-mentioned computer-readable storage medium.
  • the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art, or all or part of the technical solution, and the computer software product is stored in a storage medium,
  • Several instructions are included to cause one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the disclosed client may be implemented in other manners.
  • the apparatus embodiments described above are only illustrative, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components may be combined or Integration into another system, or some features can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of units or modules, and may be in electrical or other forms.
  • the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

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Abstract

一种导航提示信息的确定方法，包括：在地图数据中获取目标道路段上的第一组道路形状点(S202)；根据第一组道路形状点中相邻的道路形状点之间的线段，确定第一组道路形状点所形成的目标转向角度；根据目标转向角在目标道路段上查找无分岔转向位置，其中，无分岔转向位置用于表示目标道路段上无分岔路口所属的转弯路段(S204)；在查找到无分岔转向位置、且根据与目标道路段相邻的道路段的道路信息确定需要为转弯路段设置导航提示信息时，根据无分叉转向位置设置导航提示信息(S206)。

Description

导航提示信息的确定方法和装置、存储介质及电子设备
本申请要求于2021年01月04日提交中国专利局，申请号为202110000633.2，申请名称为“导航方法和装置、存储介质及电子设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及地图技术领域，具体而言，涉及一种导航提示信息的确定方法和装置、存储介质及电子设备。
背景技术
人们在驱车前往某个目的地时，在不熟悉路况或想知道道路信息的情况下，一般需要使用地图导航系统。在实际应用时，地图导航系统会根据地图的实际路况进行提示，如，车辆或行人行驶在具有弯道和分岔路口的道路上，在行驶的过程中，前方50米处存在无分岔转向弯道，道路A前方70米处存在分岔路口，地图导航系统将提示“前方50米右拐”，在不需要换道的情况下，地图导航系统将提示“前方70米直行”。
在经过这种附近存在分岔路口的无分岔转向弯道时，提示“前方50米右拐”，将会对行人或驾驶人员造成干扰，如，驾驶人员误以为前方不远处的分岔路口处需要右拐，可能导致用户偏航。又例如，对于前方是环岛道路的情况下，在此时提示“前方50米右拐”一定程度上是没有必要的，会造成导航资源的浪费。
针对上述的问题，目前尚未提出有效的解决方案。
发明内容
一种导航提示信息的确定方法，由电子设备执行，包括：
在地图数据中获取目标道路段上的第一组道路形状点；
根据所述第一组道路形状点中相邻的道路形状点之间的线段，确定所述第一组道路形状点所形成的目标转向角度；
根据所述目标转向角在所述目标道路段上查找无分岔转向位置，其中，所述无分岔转向位置用于表示所述目标道路段上无分岔路口所属的转弯路段；
在查找到所述无分岔转向位置、且根据与所述目标道路段相邻的道路段的道路信息确定需要为所述转弯路段设置导航提示信息时，根据所述无分叉转向位置设置所述导航提示信息。
一种导航提示信息的确定装置，包括：
获取单元，用于在地图数据中获取目标道路段上的第一组道路形状点；
查找单元，用于根据所述第一组道路形状点中相邻的道路形状点之间的线段，确定所述第一组道路形状点所形成的目标转向角度，在所述目标道路段上查找无分叉分岔转向位置，其中，所述无分叉分岔转向位置用于表示所述目标道路段上存在无分叉分岔路口所属的转弯路段；
设置单元，用于根据所述目标转向角在查找到所述无分叉分岔转向位置、且根据与所述目标道路段相邻的道路段的道路信息确定需要为所述转弯路段设置导航提示信息的情况下时，根据所述无分叉分岔转向位置设置所述导航提示信息。
一种电子设备，所述计算机设备包括存储器和一个或多个处理器，所述存储器存储有计算机可读指令，所述计算机可读指令被所述一个或多个处理器执行时，使得所述一个或多个处理器实现所述导航提示信息的确定方法。
一个或多个存储有计算机可读指令的非易失性计算机可读存储介质，存储有计算机可读指令，所述计算机可读指令被一个或多个处理器执行时，使得所述一个或多个处理器实现所述导航提示信息的确定方法。
一种计算机程序产品或计算机程序，所述计算机程序产品或计算机程序包括计算机可读指令，所述计算机可读指令存储在计算机可读存储介质中。计算机设备的处理器从所述计算机可读存储介质读取所述计算机可读指令，处理器执行所述计算机可读指令，使得所述计算机设备执行所述导航提示信息的确定方法。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是根据本申请实施例的一种可选的导航提示信息的确定方法的应用环境的示意图；
图2是根据本申请实施例的一种可选的导航提示信息的确定方法的流程图；
图3是根据本申请实施例的一种可选的道路状况示意图；
图4是根据本申请实施例的一种可选的目标道路段示意图；
图5是根据本申请实施例的一种可选的转向角计算示意图；
图6是根据本申请实施例的一种可选的无分岔路口语音播报方法的流程图；
图7是根据本申请实施例的一种可选的类环岛道路示意图；
图8是根据本申请实施例的一种可选的分岔口计算示意图；
图9是根据本申请实施例的一种可选的导航提示信息的确定装置的结构示意图；
图10是根据本申请实施例的一种可选的电子设备的结构示意图。
具体实施方式
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
为了更好的理解本申请提供的实施例，对部分名词说明如下：
分岔路口：道路分岔的地方，如主道路与分岔路的交叉口等。
无分岔路口：只有唯一的进入与退出道路，如无分岔弯道。
邻接边：与当前道路相连的其他各条道路。
召回：被策略识别，认为是符合当前策略的场景。
形状点：用于表达、描述道路形状的点串。
类环岛：道路形状像环岛，但实际并非环岛。
IC( Inter-Change)：高速公路的出入匝道，连接高速公路和其它不同等级道路之间的道路。
JCT：是Junction的缩写，指高速公路之间(如高速公路与高速公路、高速公路与城市高速公路)的连接道路，如分岔路口或汇合点。
匝道：交叉道路之间的连接道路，通常没有独立的道路名。同一个交叉路口处多条匝道通常合称为盘桥。
其它道路：道路狭窄、路况较差、占道严重等不便通行的道路或者仅供区域内使用的道路。
断头路：沿行驶方向不与其他任何道路连接的道路。
根据本申请实施例的一个方面，提供了一种导航提示信息的确定方法，可选地，作为一种可选的实施方式，上述导航提示信息的确定方法可以但不限于应用于如图1所示的环境中。该应用环境包括终端102、网络104以及服务器106。
在一个实施例中，可以由服务器106在地图数据中获取目标道路段上的第一组道路形状点；根据第一组道路形状点中相邻的道路形状点之间的线段，确定所述第一组道路形状点所形成的目标转向角度，根据所述目标转向角在目标道路段上查找无分岔转向位置，其中，无分岔转向位置用于表示目标道路段上存在无分岔路口的转弯路段；在查找到无分岔转向位置、且根据与目标道路段相邻的道路段的道路信息确定需要为转弯路段设置导航提示信息的情况下，根据无分岔转向位置设置导航提示信息，该导航提示信息就可以在可在车辆行驶至该目标道路段上的合理的目标位置处进行播报。达到了根据一组道路形状点形成的目标转向角度，在道路存在无分岔路口的情况下，确定是否设置导航提示信息、以及合理设置导航信息播报位置的目的，从而实 现了根据道路参数合理确定在道路目标位置是否进行导航播报的技术效果，进而解决了现有技术中，地图导航过程中导航信息播报位置不当，造成对用户干扰的技术问题。
上述导航提示信息的确定方法还可以由终端102执行或是由终端102与服务器106协同执行。上述仅是一种示例，本实施例中对此不作任何限定。
可选地，在本实施例中，上述终端102可以是配置有目标客户端的终端，可以包括但不限于以下至少之一：手机(如Android手机、iOS手机等)、笔记本电脑、平板电脑、掌上电脑、MID(Mobile Internet Devices，移动互联网设备)、PAD、台式电脑、智能电视等。目标客户端可以是地图客户端等。上述网络可以包括但不限于：有线网络，无线网络，其中，该有线网络包括：局域网、城域网和广域网，该无线网络包括：蓝牙、WIFI及其他实现无线通信的网络。上述服务器可以是单一服务器，也可以是由多个服务器组成的服务器集群，或者是云服务器。上述仅是一种示例，本实施例中对此不作任何限定。
可选地，作为一种可选的实施方式，如图2所示，以上述导航提示信息的确定方法由电子设备(如图1中的终端102或服务器104)执行为例，该方法包括：
步骤S202，在地图数据中获取目标道路段上的第一组道路形状点；
步骤S204，根据第一组道路形状点中相邻的道路形状点之间的线段，确定第一组道路形状点所形成的目标转向角度，根据目标转向角在目标道路段上查找无分岔转向位置，其中，无分岔转向位置用于表示目标道路段上无分岔路口所属的转弯路段；
步骤S206，在查找到无分岔转向位置、且根据与目标道路段相邻的道路段的道路信息确定需要为转弯路段设置导航提示信息时，根据无分叉转向位置设置导航提示信息。
上述导航提示信息的确定方法可以包括但不限应用于导航中。如，手机地图导航、车载地图导航等各个导航场景。在进行导航播报时可以根据目标道路段上的一组道路形状点，确定是否对前方无分岔转向位置进行语音播报。通过根据道路参数合理地确定道路目标位置是否需要进行导航播报，从而避 免了对道路中那些不适合进行导航播报的转弯路段进行语音播报所导致的资源浪费，而且还减少了这些不合理的语音播报对驾驶人员造成的干扰而引起的导航效果差的问题。
在一个实施例中，在无分岔转向位置设置导航提示信息，该导航提示信息可以通过语音的形式播报“前方30米向左前方直行”，以便用户及时获取路况。
如图3所示，为一个实施例中道路状况的示意图。参照图3，道路2上的无分岔路口处虽然道路弯曲程度较大，该无分岔路口附近不远处还是存在道路2与道路3的分岔路口，在经过该无分岔路口时的无分岔语音播报提示会对用户产生不必要的干扰，导致用户偏航。
在本申请实施例中，在进行导航播报时可以根据目标道路段上的一组道路形状点，确定是否对前方无分岔转向位置进行语音播报。进而可以根据路况实际情况进行路况语音播报，避免对所有的无分岔转向路口进行语音播报对用户的干扰。
如图4所示，为一个实施例中目标道路段示意图。参照图4，南京路上的一段道路形状点1至6为目标道路段上的一组道路形状点，其中，道路形状点是用于描述该目标道路段的形状的各个点。如图4中的一段具有弯道且无分岔的道路，存在一组道路形状点，三角形状示意出的形状点，通过该组道路形状点之间的参数，可以知道目标道路段的形状，如目标道路段是否有无分岔弯道，是否有分岔路口等等。
在本申请实施例中，电子设备获取一组道路形状点，一组道路形状点中的相邻两点可以连成一条线段，相邻两条线段可以构成一个角度，记为转向角。在道路存在弯曲的情况下，则一组道路形状点可以形成目标转向角。
电子设备在查找到无分岔转向位置、且根据与目标道路段相邻的道路段的道路信息确定需要为转弯路段设置导航提示信息的情况下，根据无分岔转向位置设置导航提示信息。也就是说，在设置导航提示信息时，在该位置是无分岔转向位置时，还需要考虑到与该位置相邻的道路段的道路信息，确定是否进行转弯路段导航提示信息的播报，进而可以减少不必要的播报带来的资源浪费，还可以避免在不适合进行播报的无分岔弯道位置进行导航播报对 用户的误导。
在一个实施例中，步骤S202，在地图数据中获取目标道路段上的第一组道路形状点，可以包括：在地图数据中从目标道路上的目标起点开始，沿着预设的行驶方向确定目标终点，其中，目标起点与目标终点之间的道路段为目标道路段；获取目标起点与目标终点之间的道路段上的第一组道路形状点。目标起点可以是当前行驶至的位置点。
在一个实施例中，电子设备可以在从目标起点开始沿着行驶方向前进预设距离的过程中未经过分岔路口的情况下，将前进预设距离所到达的点确定为目标终点。在一个实施例中，电子设备还可以在从目标起点开始沿着行驶方向前进预设距离的过程中经过分岔路口、且在分岔路口所连接的多条邻接道路中存在目标邻接道路的情况下，将目标邻接道路上的目标点确定为目标终点，其中，目标终点与目标起点之间的距离为预设距离，目标邻接道路是所述分岔路口所连接的多条邻接道路中道路方向与行驶方向之间的角度小于预设的第三角度阈值的邻接道路，或者，目标邻接道路是所述分岔路口所连接的多条邻接道路中道路方向与行驶方向之间的角度小于预设的第四角度阈值、且与目标道路具有相同的道路等级和/或相同的道路属性的邻接道路。
在一个实施例中，电子设备还可以在从目标起点开始沿着行驶方向前进预设距离的过程中经过分岔路口、且在分岔路口所连接的多条邻接道路中不存在符合上述条件的目标邻接道路的情况下，将分岔路口所在的点确定为目标终点。
在一个实施例中，根据第一组道路形状点所形成的目标转向角度，在目标道路段上查找无分岔转向位置，可以包括：
S1，获取第一组道路形状点中每3个相邻的道路形状点所形成的转向角度，得到一组转向角度，其中，每3个相邻的道路形状点所形成的转向角度包括第一线段的延长线与第二线段之间的夹角，第一线段为每3个相邻的道路形状点中的第1个道路形状点和第2个道路形状点之间的线段，第二线段为每3个相邻的道路形状点中的第2个道路形状点和第3个道路形状点之间的线段；
S2，根据一组转向角度，在目标道路段上查找无分岔转向位置。
如图5所示，为一个实施例中计算转向角的示意图。如图5所示，一组道路形状点包括多个点，如6个形状点，编号1、2、3、4、5、6。目标道路段上的每3个形状点形成一个转向角度，如∠123，∠234以及∠345。需要说明的是，∠123是形状点1和形状点2连线的延长线与形状点2和形状点3连线的延长线确定的，是两条连线或延长线之间的夹角，为方便计算，转向角可以取两条连线或延长线之间的锐角，按这样的方式，可以依次根据形状点2、形状点3和形状点4确定∠234，根据形状点3、形状点4和形状点5确定∠345。
其中，根据一组转向角度，在目标道路段上查找无分岔转向位置，可以包括：根据一组转向角度，确定目标道路段上的第一目标位置所对应的累加转向角度；根据累加转向角度，确定第一目标位置是否为无分岔转向位置。
如图5中所示，∠123，∠234，以及∠345累加，得到目标道路段上的累加转向角。进而可以根据累加转向角的大小确定第一目标位置是否为无分岔转向位置，在累加转向角在预设的角度范围内的情况下，可以确定第一目标位置为无分岔转向位置，在累加转向角不在预设的角度范围内的情况下，可以确定第一目标位置不是无分岔转向位置，不进行语音导航播报。
其中，角度范围内可以取值为(68°，110°)，具体取值根据实际需要进行确定，对此不作具体限定。例如，当累加转向角大于或等于68°且小于110°时，则累加转向角在预设的角度范围内，而当累加转向角小于68°，或累加转向角大于或等于110°时，则确定累加转向角不在预设的角度范围内。
在一个实施例中，确定目标道路段上的第一目标位置所对应的累加转向角度，可以包括：在第一组道路形状点中获取第一目标位置对应的一组3个相邻的道路形状点，其中，第一目标位置与一组3个相邻的道路形状点中的每3个相邻的道路形状点中的第2个道路形状点之间的距离小于预设的第一距离阈值；在一组转向角度中获取一组3个相邻的道路形状点分别形成的转向角度；将累加转向角度确定为等于一组3个相邻的道路形状点分别形成的转向角度的累加和。
其中，一组3个相邻的道路形状点，可以是包括多个3个相邻的道路形 状点，例如，6个形状点依次为1,2,3,4,5,6，形成的一组3个相邻的道路形状点包括4个：形状点1,2,3，形状点2,3,4，形状点3,4,5，形状点4,5,6。每个3个相邻的道路形状点可以形成一个转向角，依次为∠123、∠234、∠345以及∠456。
在本实施例中，第一组道路形状点可以包括多个转向角，如图5所示，6个形状点包括4个转向角：∠123、∠234、∠345以及∠456。目标道路上的目标转向角并不是将该4个转向角累加，而是将满足条件的转向角累加，条件即，第一目标位置与一组3个相邻的道路形状点中的每3个相邻的道路形状点中的第2个道路形状点之间的距离小于预设的第一距离阈值，则该一组3个相邻的道路形状点所形成的转向角可参与累加。
例如，第一目标位置位于图5中的形状点3处，第一目标位置与形状点3、形状点2和形状点4之间的距离均小于预设距离阈值，而与形状点5之间的距离均大于预设距离阈值，则将以形状点3、形状点2和形状点4为每3个相邻的道路形状点中的第2个道路形状点所形成的转向角，作为该第一目标位置对应的目标路段上的目标转向角，也就是∠123、∠234以及∠345相加，而∠456不参与累加。
可以理解，对于无分岔路口所属的转弯路段，若转弯程度较小则可以不用对其设置导航提示信息，减少每个转弯路口设置导航提示信息带来的资源浪费，若转弯程度较大，则可以根据需要对其设置导航提示信息，而转弯路段上的哪个位置最适合设置导航提示信息，以提升导航提示信息设置的合理性，减少过早或过晚设置提示信息导致导航效果较差的情况。通过这样的方式计算得到的累加转向角，可以准确表征第一目标位置是否在目标道路段上无分岔路口所属的转弯路段上以及在该转弯路段上适合提示信息的位置，使得根据无分岔路口设置的导航提示信息能够实现上述技术效果。
在一个实施例中，根据累加转向角度，确定第一目标位置是否为无分岔转向位置，可以包括如下方式：
方式一，在累加转向角度在预设的角度范围内的情况下，将第一目标位置确定为无分岔转向位置。
方式二，在累加转向角度在预设的角度范围内、且第一目标位置与第一 组道路形状点中的起始点之间的距离大于预设的第一距离阈值的情况下，将第一目标位置确定为无分岔转向位置；或者，在累加转向角度在预设的角度范围内、且第一目标位置与第一组道路形状点中的结束点之间的距离大于预设的第二距离阈值的情况下，将第一目标位置确定为无分岔转向位置。
方式三，在累加转向角度在预设的角度范围内、且第一目标位置与第一组道路形状点中的起始点之间的距离大于预设的第一距离阈值、第一目标位置与第一组道路形状点中的结束点之间的距离大于预设的第二距离阈值的情况下，将第一目标位置确定为无分岔转向位置。
其中，上述预设的角度范围可以取值为(68°，110°)，在目标道路段上的累加转向角在预设角度范围内，则确定第一目标位置确定为无分岔转向位置，如图5所示的A点位置为无分岔转向位置。
那么，在目标道路段上的累加转向角在预设的角度范围内(68°，110°)、且第一目标位置A点与目标道路段的起始点S之间的距离30米大于预设阈值20米的情况下，确定第一目标位置A点为无分岔转向位置，可以对该位置进行导航语音播报。
在目标道路段上的累加转向角在预设的角度范围内(68°，110°)、且第一目标位置A点与目标道路段的结束点E之间的距离40米大于预设阈值30米的情况下，确定第一目标位置A点为无分岔转向位置，可以对该位置进行导航语音播报。
在目标道路段上的累加转向角在预设的角度范围内(68°，110°)、且第一目标位置A点与目标道路段的起始点S之间的距离30米大于预设阈值20米的情况下，且第一目标位置A点与目标道路段的结束点E之间的距离40米大于预设阈值30米的情况下，确定第一目标位置A点为无分叉转向位置，可以对该位置进行导航语音播报。
在目标道路段上的累加转向角不在预设的角度范围内(68°，110°)的情况下、或是在第一目标位置A点与目标道路段的结束点E之间的距离10米小于预设阈值30米的情况下，或是在第一目标位置A点与目标道路段的结束点E之间的距离20米小于预设阈值30米的情况下，确定第一目标位置A点不是无分岔转向位置。
通过本申请提供的实施例，在地图数据中获取目标道路段上的第一组道路形状点；根据所述第一组道路形状点所形成的目标转向角度，在所述目标道路段上查找无分岔转向位置，其中，所述无分岔转向位置用于表示所述目标道路段上存在无分岔路口的转弯路段；在查找到所述无分岔转向位置、且根据与所述目标道路段相邻的道路段的道路信息确定需要为所述转弯路段设置导航提示信息的情况下，根据所述无分岔转向位置设置所述导航提示信息，并播报导航提示信息，达到了根据一组道路形状点形成的目标转向角度，在道路存在无分岔路口的情况下，确定是否设置导航提示信息的目的，通过根据道路参数合理地确定道路目标位置是否需要进行导航播报，从而避免了对道路中那些不适合进行导航播报的转弯路段进行语音播报所导致的资源浪费，而且还减少了这些不合理的语音播报对驾驶人员造成的干扰而引起的导航效果差的情况。
可选的，上述方法还可以包括：根据与目标道路段相邻的道路段的道路信息，确定是否需要为转弯路段设置导航提示信息。
其中，根据与目标道路段相邻的道路段的道路信息，确定是否需要为转弯路段设置导航提示信息，可以包括：根据与目标道路段相邻的道路段的道路信息，确定目标道路段与相邻的道路段是否形成类环岛道路；在确定目标道路段与相邻的道路段形成类环岛道路的情况下，确定不需要为转弯路段设置导航提示信息。
需要说明的是，根据与目标道路段相邻的道路段的道路信息，确定目标道路段与相邻的道路段是否形成类环岛道路，可以包括：
S1，确定目标道路段与相邻的道路段是否形成闭环道路；
S2，在确定目标道路段与相邻的道路段形成闭环道路的情况下，根据与目标道路段相邻的道路段的道路信息，获取相邻的道路段上的第二组道路形状点；
S3，根据第二组道路形状点，确定相邻的道路段上的一组转向角度；
S4，在一组转向角度与目标转向角度中的最大转向角度与最小转向角度之间的差值小于预设的第一角度阈值的情况下，确定目标道路段与相邻的道路段形成类环岛道路。
可选的，根据与目标道路段相邻的道路段的道路信息，确定是否需要为转弯路段设置导航提示信息，可以包括：根据与目标道路段相邻的道路段的道路信息，确定是否存在与目标道路段相邻的目标分岔路口；在确定存在与目标道路段相邻的目标分岔路口的情况下，确定不需要为转弯路段设置导航提示信息。
其中，根据与目标道路段相邻的道路段的道路信息，确定是否存在与目标道路段相邻的目标分岔路口，可以包括：根据相邻的道路段的道路信息，确定是否存在与目标道路段相邻的分岔路口；在确定出存在与目标道路段相邻的分岔路口的情况下，获取分岔路口所连接的多条邻接道路的道路方向；在多条邻接道路中存在目标邻接道路的情况下，确定分岔路口为目标分岔路口，其中，目标邻接道路的道路方向与目标道路段的道路方向之间的方向夹角小于预设的第二角度阈值。
可选的，在地图数据中获取目标道路段上的第一组道路形状点，可以包括：在地图数据中沿着行驶方向获取目标道路段上的第一组道路形状点；
根据无分岔转向位置设置导航提示信息，可以包括：在目标道路段所在的目标道路上的第二目标位置上设置导航提示信息，其中，第二目标位置是在行驶方向上，在行驶至无分岔转向位置之前的、距离该无分岔转向位置有预设目标距离的位置，也就是说，第二目标位置与无分岔转向位置之间的距离为预设目标距离，在行驶到距离无分岔转向位置的该预设目标距离处时，提前设置导航提示信息。
举例来说，假设目标预设距离为20米，在目标道路段上确定出无分岔转向位置C点后，在距离C点后方20米B点处设置导航提示信息。当行人或车辆行驶在目标道路的第二目标位置处(如B点)，可以进行导航提示信息，提示信息为“距离前方20米处右拐弯”，其中，预设目标距离还可以是50米、80米，具体取值不做限定。其中，目标道路段是目标道路上的路段。
可选的，上述方法还可以包括：在查找到无分岔转向位置、且根据与目标道路段相邻的道路段的道路信息确定不需要为转弯路段设置导航提示信息的情况下，取消为转弯路段设置导航提示信息。
可选地，作为一种可选的实施方式，本申请还提供了一种无分岔路口语 音播报方法。如图6所示，无分岔路口语音播报方法的流程图。
步骤S601，开始；
步骤S602，道路崎岖程度计算；
其中，道路的崎岖程度用于表示道路的路况。例如，对于无分岔弯道路段而言，其前方可能存在分岔路口，前方可能不存在分岔路径而是直行路段，前方还可能是匝道、环岛路、断头路等等。终端可以根据道路的道路等级、道路属性信息以及前后是否有分岔口等等，确定用于该段道路的道路崎岖程度计算的形状点范围，并根据该形状点范围内的形状点计算该段道路的崎岖程度。道路属性信息包括但不限于过滤匝道、JCT、IC、内部路、环岛、POI连接路、服务区道路、断头路、其他道路等场景。
步骤S603，提取一定范围内的地理特征；
在本实施例中，一定范围内的地理特征可以理解为获取目标道路段上的形状点。终端可以根据这些形状点计算得到的道路参数，确定目标道路段的该形状点所在范围内的地理特征，如转向角度，累加转向角度，形状点之间的距离，形状点与起始点之间的距离，形状点与结束点之间的距离，等等。例如，沿当前道路行驶方向向前获取一定范围(如道路等级为其他道路时则为前方400m)内的道路形状点。若前方存在分岔路口，则沿与当前道路相同的道路等级、相同的道路属性且角度差小于预设角度(如5度)的道路继续向前探索。若不存在这样的道路，则沿与当前道路行驶方向角度差小于预设角度(如35度)的道路继续向前探索。终端将获取探索到的所有形状点。
接着，依次计算相邻3个形状点组成线段之间的夹角，如图5所示，转向角计算示意图。计算形状点1与形状点2之间线段12的延长线与线段23之间的夹角∠123，计算线段12的距离，计算从起始点到形状点1的距离，计算从形状点1到形状点6累加的转向角度。
步骤S604，根据地理特征决策是否无分岔转向播报；
找到符合下述条件的转向角位置：
该位置的转向角度的绝对值小于其前后两个转向角度的绝对值。如图5所示，形状点3处。
满足以下条件的位置被过滤：
1)该位置(合并弯道上的点)距离起点或终点小于30m。
2)该位置相邻30m内的累加转向角度之和小于68度或大于110度。
其中，未被过滤的位置即为无分岔转向位置。
步骤S605，结束。
需要说明的是，在本实施例中，根据周围地理特征提取特征具体可以包括但不限于包括以下内容：
1)类环岛判断
如图7所示，类环岛道路示意图，沿需要无分岔提示的道路向前探索一定的距离，若能构成闭环，根据经过道路的所有形状点判断其是否是平滑的圆形。
步骤1：沿行驶方向向前探索5个固定步长，若5个固定步长之内不会组成环形，即首尾相连，则不进行后续判断；
步骤2：按步骤603中相同方式，计算路线上的各个形状点处的转向角，若最大的转向角和最小转向角之间的差值小于45度，则认为是类环岛。
其中，类环岛场景不设置导航提示信息。
2)分岔口计算
如图8所示，分岔口计算示意图，若对于道路a，确定了无分岔转向位置在P处。则沿道路a逆向拓展一定距离，获取该距离以内的地理特征(是否存在分岔路口，若存在分岔路口则获取各个连接边的道路等级、道路属性及其与路口道路的夹角)。
步骤1：沿a逆向探索一定距离，在点Q处找到分岔路口；
步骤2：遍历点Q处邻接边；
步骤3：若点Q处存在与a方向相似的邻接边b，则P处不设置导航提示信息；
步骤4：若点Q处不存在与a方向相似的邻接边，则沿与PQ夹角在30度以内的邻接边c继续探索，否则结束探索。
若未被上述步骤过滤，则此处应设置导航提示信息。
通过本申请提供的实施例，无分岔语音播报方法，采用了更加丰富的地理特征对无分岔路口进行描述、表达，能够更加准确的识别出是否需要对无 分岔路口进行语音播报提示。
其中，本实施例是一种根据静态数据的具体实现方式。另外，也可以使用机器学习的方式，通过学习需要无分岔语音播报路口的地理特征，产出机器学习模型用于无分岔语音播报提示。
需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本申请所必须的。
根据本申请实施例的另一个方面，还提供了一种用于实施上述导航提示信息的确定方法的导航提示信息的确定装置。如图9所示，该导航提示信息的确定装置包括：获取单元901、查找单元903以及设置单元905。
获取单元901，用于在地图数据中获取目标道路段上的第一组道路形状点。
查找单元903，用于根据第一组道路形状点中相邻的道路形状点之间的线段，确定第一组道路形状点所形成的目标转向角度；根据目标转向角在目标道路段上查找无分岔转向位置，其中，无分岔转向位置用于表示目标道路段上无分岔路口所属的转弯路段。
设置单元905，用于在查找到无分岔转向位置、且根据与目标道路段相邻的道路段的道路信息确定需要为转弯路段设置导航提示信息的情况下，根据无分岔转向位置设置导航提示信息。
可选的，上述查找单元903，可以包括：第一获取模块，用于获取第一组道路形状点中每3个相邻的道路形状点所形成的转向角度，得到一组转向角度，其中，每3个相邻的道路形状点所形成的转向角度包括第一线段的延长线与第二线段之间的夹角，第一线段为每3个相邻的道路形状点中的第1个道路形状点和第2个道路形状点之间的线段，第二线段为每3个相邻的道路形状点中的第2个道路形状点和第3个道路形状点之间的线段；查找模块，用于根据一组转向角度，在目标道路段上查找无分岔转向位置。
其中，上述查找模块，可以包括：第一确定子模块，用于根据一组转向角度，确定目标道路段上的第一目标位置所对应的累加转向角度；第二确定子模块，用于根据累加转向角度，确定第一目标位置是否为无分岔转向位置。
其中，上述第一确定子模块还用于执行如下操作：在第一组道路形状点中获取第一目标位置对应的一组3个相邻的道路形状点，其中，第一目标位置与一组3个相邻的道路形状点中的每3个相邻的道路形状点中的第2个道路形状点之间的距离小于预设的第一距离阈值；在一组转向角度中获取一组3个相邻的道路形状点分别形成的转向角度；将累加转向角度确定为等于一组3个相邻的道路形状点分别形成的转向角度的累加和。
在本实施例中，需要在目标道路段上的一组转向角中选择满足条件的一个或多个转向角作的累加和作为该目标道路段的目标转向角。
需要说明的是，第二确定子模块还用于执行如下操作：
在累加转向角度在预设的角度范围内的情况下，将第一目标位置确定为无分岔转向位置；或者
在累加转向角度在预设的角度范围内、且第一目标位置与第一组道路形状点中的起始点之间的距离大于预设的第一距离阈值的情况下，将第一目标位置确定为无分岔转向位置；或者
在累加转向角度在预设的角度范围内、且第一目标位置与第一组道路形状点中的结束点之间的距离大于预设的第二距离阈值的情况下，将第一目标位置确定为无分岔转向位置；或者
在累加转向角度在预设的角度范围内、且第一目标位置与第一组道路形状点中的起始点之间的距离大于预设的第一距离阈值、第一目标位置与第一组道路形状点中的结束点之间的距离大于预设的第二距离阈值的情况下，将第一目标位置确定为无分岔转向位置。
通过本申请提供的实施例，获取单元901在地图数据中获取目标道路段上的第一组道路形状点；查找单元903根据第一组道路形状点所形成的目标转向角度，在目标道路段上查找无分岔转向位置，其中，无分岔转向位置用于表示目标道路段上存在无分岔路口的转弯路段；设置单元905在查找到无分岔转向位置、且根据与目标道路段相邻的道路段的道路信息确定需要为转 弯路段设置导航提示信息的情况下，根据无分岔转向位置设置导航提示信息，并播报导航提示信息，达到了根据一组道路形状点形成的目标转向角度，在道路存在无分岔路口的情况下，确定是否设置导航提示信息的目的，从而实现了根据道路参数合理确定在道路目标位置是否进行导航播报的技术效果，进而解决了现有技术中，地图导航过程中导航位置播报不当，造成对用户干扰的技术问题。
可选的，上述装置还可以包括：确定单元，用于根据与目标道路段相邻的道路段的道路信息，确定是否需要为转弯路段设置导航提示信息。
其中，上述确定单元，可以包括：第一确定模块，用于根据与目标道路段相邻的道路段的道路信息，确定目标道路段与相邻的道路段是否形成类环岛道路；第二确定模块，用于在确定目标道路段与相邻的道路段形成类环岛道路的情况下，确定不需要为转弯路段设置导航提示信息。
可选的，上述第一确定模块，可以包括：第三确定子模块，用于确定目标道路段与相邻的道路段是否形成闭环道路；第一获取子模块，用于在确定目标道路段与相邻的道路段形成闭环道路的情况下，根据与目标道路段相邻的道路段的道路信息，获取相邻的道路段上的第二组道路形状点；第四确定子模块，用于根据第二组道路形状点，确定相邻的道路段上的一组转向角度；第五确定子模块，用于在一组转向角度中的最大转向角度与最小转向角度之间的差值小于预设的第一角度阈值的情况下，确定目标道路段与相邻的道路段形成类环岛道路。
可选的，上述确定单元，可以包括：第三确定模块，用于根据与目标道路段相邻的道路段的道路信息，确定是否存在与目标道路段相邻的目标分岔路口；第四确定模块，用于在确定存在与目标道路段相邻的目标分岔路口的情况下，确定不需要为转弯路段设置导航提示信息。
其中，上述第三确定模块，可以包括：第六确定子模块，用于根据相邻的道路段的道路信息，确定是否存在与目标道路段相邻的分岔路口；第二获取子模块，用于在确定出存在与目标道路段相邻的分岔路口的情况下，获取分岔路口所连接的多条邻接道路的道路方向；第七确定子模块，用于在多条邻接道路中存在目标邻接道路的情况下，确定分岔路口为目标分岔路口，其 中，目标邻接道路的道路方向与目标道路段的道路方向之间的方向夹角小于预设的第二角度阈值。
可选的，上述获取单元901，可以包括：第二获取模块，用于在地图数据中沿着行驶方向获取目标道路段上的第一组道路形状点；上述设置单元905，可以包括：设置模块，用于在目标道路段所在的目标道路上的第二目标位置上设置导航提示信息，其中，第二目标位置在行驶方向上位于无分岔转向位置之前，第二目标位置与无分岔转向位置之间的距离为预设目标距离。
其中，上述获取单元901，可以包括：第五确定模块，用于在地图数据中从目标道路上的目标起点开始，沿着预设的行驶方向确定目标终点，其中，目标起点与目标终点之间的道路段为目标道路段；第三获取模块，用于获取目标起点与目标终点之间的道路段上的第一组道路形状点；第六确定模块，用于在从目标起点开始沿着行驶方向前进预设距离的过程中未经过分岔路口的情况下，将前进预设距离所到达的点确定为目标终点；第七确定模块，用于在从目标起点开始沿着行驶方向前进预设距离的过程中经过分岔路口、且在分岔路口所连接的多条邻接道路中存在目标邻接道路的情况下，将目标邻接道路上的目标点确定为目标终点，其中，目标终点与目标起点之间的距离为预设距离，目标邻接道路的道路方向与行驶方向之间的角度小于预设的第三角度阈值，或者，目标邻接道路的道路方向与行驶方向之间的角度小于预设的第四角度阈值、且目标邻接道路与目标道路具有相同的道路等级和/或相同的道路属性；第八确定模块，用于在从目标起点开始沿着行驶方向前进预设距离的过程中经过分岔路口、且在分岔路口所连接的多条邻接道路中不存在目标邻接道路的情况下，将分岔路口所在的点确定为目标终点。
可选的，上述装置还可以包括：取消导航单元，用于在查找到无分岔转向位置、且根据与目标道路段相邻的道路段的道路信息确定不需要为转弯路段设置导航提示信息的情况下，取消为转弯路段设置导航提示信息。
根据本申请实施例的又一个方面，还提供了一种用于实施上述导航提示信息的确定方法的电子设备，该电子设备可以是图1所示的终端或服务器。本实施例以该电子设备为服务器为例来说明。如图10所示，该电子设备包括存储器1002和处理器1004，该存储器1002中存储有计算机可读指令，该处 理器1004被设置为通过计算机可读指令执行上述任一项方法实施例中的步骤。
可选地，在本实施例中，上述电子设备可以位于计算机网络的多个网络设备中的至少一个网络设备。
可选地，在本实施例中，上述处理器可以被设置为通过计算机可读指令执行以下步骤：
S1，通过在地图数据中获取目标道路段上的第一组道路形状点；
S2，根据所述第一组道路形状点所形成的目标转向角度，在所述目标道路段上查找无分岔转向位置，其中，所述无分岔转向位置用于表示所述目标道路段上存在无分岔路口的转弯路段；
S3，在查找到所述无分岔转向位置、且根据与所述目标道路段相邻的道路段的道路信息确定需要为所述转弯路段设置导航提示信息的情况下，根据所述无分岔转向位置设置所述导航提示信息，并播报导航提示信息。
可选地，本领域普通技术人员可以理解，图10所示的结构仅为示意，电子装置电子设备也可以是智能手机(如 Android手机、iOS手机等)、平板电脑、掌上电脑以及移动互联网设备(Mobile Internet Devices，MID)、PAD等终端设备。图10其并不对上述电子装置电子设备的结构造成限定。例如，电子装置电子设备还可包括比图10中所示更多或者更少的组件(如网络接口等)，或者具有与图10所示不同的配置。
其中，存储器1002可用于存储软件程序以及模块，如本申请实施例中的导航提示信息的确定方法和装置对应的程序指令/模块，处理器1004通过运行存储在存储器1002内的软件程序以及模块，从而执行各种功能应用以及数据处理，即实现上述的导航提示信息的确定方法。存储器1002可包括高速随机存储器，还可以包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器1002可进一步包括相对于处理器1004远程设置的存储器，这些远程存储器可以通过网络连接至终端。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。其中，存储器1002具体可以但不限于用于目标道路段上的一组形状点、目标转向角、导航信息等信息。作为一种示例，如图10所示， 上述存储器1002中可以但不限于包括上述导航提示信息的确定装置中的获取单元901、查找单元903以及设置单元905。此外，还可以包括但不限于上述导航提示信息的确定装置中的其他模块单元，本示例中不再赘述。
可选地，上述的传输装置1006用于经由一个网络接收或者发送数据。上述的网络具体实例可包括有线网络及无线网络。在一个实例中，传输装置1006包括一个网络适配器(Network Interface Controller，NIC)，其可通过网线与其他网络设备与路由器相连从而可与互联网或局域网进行通讯。在一个实例中，传输装置1006为射频(Radio Frequency，RF)模块，其用于通过无线方式与互联网进行通讯。
此外，上述电子设备还包括：显示器1008，用于显示上述目标路段；和连接总线1010，用于连接上述电子设备中的各个模块部件。
在其他实施例中，上述终端设备或者服务器可以是一个分布式系统中的一个节点，其中，该分布式系统可以为区块链系统，该区块链系统可以是由该多个节点通过网络通信的形式连接形成的分布式系统。其中，节点之间可以组成点对点(P2P，Peer To Peer)网络，任意形式的计算设备，比如服务器、终端等电子设备都可以通过加入该点对点网络而成为该区块链系统中的一个节点。
根据本申请的一个方面，提供了一种计算机程序产品或计算机程序，该计算机程序产品或计算机程序包括计算机可读指令，该计算机可读指令存储在计算机可读存储介质中。计算机设备的处理器从计算机可读存储介质读取该计算机可读指令，处理器执行该计算机可读指令，使得该计算机设备执行上述导航提示信息的确定方面或者导航提示信息的确定方面的各种可选实现方式中提供的导航提示信息的确定方法。其中，该计算机可读指令被设置为运行时执行上述任一项方法实施例中的步骤。
可选地，在本实施例中，上述计算机可读的存储介质可以被设置为存储用于执行以下步骤的计算机可读指令：
S1，通过在地图数据中获取目标道路段上的第一组道路形状点；
S2，根据所述第一组道路形状点所形成的目标转向角度，在所述目标道路段上查找无分岔转向位置，其中，所述无分岔转向位置用于表示所述目标 道路段上存在无分岔路口的转弯路段；
S3，在查找到所述无分岔转向位置、且根据与所述目标道路段相邻的道路段的道路信息确定需要为所述转弯路段设置导航提示信息的情况下，根据所述无分岔转向位置设置所述导航提示信息，并播报导航提示信息。
可选地，在本实施例中，本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令终端设备相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：闪存盘、只读存储器(Read-Only Memory，ROM)、随机存取器(Random Access Memory，RAM)、磁盘或光盘等。
上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。
上述实施例中的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，可以存储在上述计算机可读取的存储介质中。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，该计算机软件产品存储在存储介质中，包括若干指令用以使得一台或多台计算机设备(可为个人计算机、服务器或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。
在本申请的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本申请所提供的几个实施例中，应该理解到，所揭露的客户端，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，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。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，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。
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 者全部单元来实现本实施例方案的目的。
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，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
以上所述仅是本申请的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本申请的保护范围。

Claims (20)

  1. 一种导航提示信息的确定方法，由电子设备执行，所述方法包括：
    在地图数据中获取目标道路段上的第一组道路形状点；
    根据所述第一组道路形状点中相邻的道路形状点之间的线段，确定所述第一组道路形状点所形成的目标转向角度；
    根据所述目标转向角在所述目标道路段上查找无分岔转向位置，其中，所述无分岔转向位置用于表示所述目标道路段上无分岔路口所属的转弯路段；
    在查找到所述无分岔转向位置、且根据与所述目标道路段相邻的道路段的道路信息确定需要为所述转弯路段设置导航提示信息时，根据所述无分叉转向位置设置所述导航提示信息。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述目标转向角在所述目标道路段上查找无分岔转向位置，包括：
    确定所述第一组道路形状点中每3个相邻的道路形状点；
    确定所述每3个相邻的道路形状点中的第1个道路形状点和第2个道路形状点之间的第一线段，以及确定所述每3个相邻的道路形状点中的第2个道路形状点和第3个道路形状点之间的第二线段；
    根据所述第一线段的延长线与所述第二线段之间的夹角，作为所述每3个相邻的道路形状点所形成的一组转向角度；
    从所述一组转向角度中确定第一目标位置对应的目标转向角，基于所述目标转向角确定所述第一目标位置是否为所述目标道路段上的无分岔转向位置。
  3. 根据权利要求2所述的方法，其特征在于，所述从所述一组转向角度中确定第一目标位置对应的目标转向角，基于所述目标转向角确定所述第一目标位置是否为所述目标道路段上的无分岔转向位置，包括：
    从所述一组转向角度中，确定所述目标道路段上的第一目标位置所对应目标转向角，将确定的所述目标转向角进行累加得到所述第一目标位置对应的累加转向角度；
    根据所述第一目标位置对应的累加转向角度，确定所述第一目标位置 是否为所述无分岔转向位置。
  4. 根据权利要求3所述的方法，其特征在于，所述从所述一组转向角度，确定所述目标道路段上的第一目标位置所对应目标转向角，将确定的所述目标转向角进行累加得到所述第一目标位置对应的累加转向角度，包括：
    在所述第一组道路形状点中获取所述第一目标位置对应的一组3个相邻的道路形状点，其中，所述第一目标位置是与所述一组3个相邻的道路形状点中的每3个相邻的道路形状点中的第2个道路形状点之间的距离小于预设的第一距离阈值的位置点；
    在所述一组转向角度中获取所述一组3个相邻的道路形状点分别形成的转向角度，作为所述第一目标位置所对应目标转向角；
    将所述第一目标位置所对应目标转向角累加得到所述第一目标位置对应的累加转向角度。
  5. 根据权利要求3所述的方法，其特征在于，所述根据所述第一目标位置对应的累加转向角度，确定所述第一目标位置是否为所述无分岔转向位置，包括：
    在所述累加转向角度在预设的角度范围内时，将所述第一目标位置确定为所述无分岔转向位置；或者
    在所述累加转向角度在所述预设的角度范围内、且所述第一目标位置与所述第一组道路形状点中的起始点之间的距离大于预设的第二距离阈值时，将所述第一目标位置确定为所述无分岔转向位置；或者
    在所述累加转向角度在所述预设的角度范围内、且所述第一目标位置与所述第一组道路形状点中的结束点之间的距离大于预设的第三距离阈值时，将所述第一目标位置确定为所述无分岔转向位置；或者
    在所述累加转向角度在所述预设的角度范围内、且所述第一目标位置与所述第一组道路形状点中的所述起始点之间的距离大于预设的所述第二距离阈值、且所述第一目标位置与所述第一组道路形状点中的所述结束点之间的距离大于预设的所述第三距离阈值时，将所述第一目标位置确定为所述无分岔转向位置。
  6. 根据权利要求1至5任一项所述的方法，其特征在于，所述方法还包括：
    根据与所述目标道路段相邻的道路段的道路信息，确定是否需要为所述转弯路段设置所述导航提示信息。
  7. 根据权利要求6所述的方法，其特征在于，所述根据与所述目标道路段相邻的道路段的道路信息，确定是否需要为所述转弯路段设置所述导航提示信息，包括：
    根据与所述目标道路段相邻的道路段的道路信息，确定所述目标道路段与所述相邻的道路段是否形成类环岛道路；
    在确定所述目标道路段与所述相邻的道路段形成所述类环岛道路时，确定不需要为所述转弯路段设置所述导航提示信息。
  8. 根据权利要求7所述的方法，其特征在于，所述根据与所述目标道路段相邻的道路段的道路信息，确定所述目标道路段与所述相邻的道路段是否形成类环岛道路，包括：
    确定所述目标道路段与所述相邻的道路段是否形成闭环道路；
    在确定所述目标道路段与所述相邻的道路段形成闭环道路时，根据与所述目标道路段相邻的道路段的道路信息，获取所述相邻的道路段上的第二组道路形状点；
    根据所述第二组道路形状点，确定所述相邻的道路段上的一组转向角度；
    在所述一组转向角度中的最大转向角度与最小转向角度之间的差值小于预设的第一角度阈值时，确定所述目标道路段与所述相邻的道路段形成所述类环岛道路。
  9. 根据权利要求6所述的方法，其特征在于，所述根据与所述目标道路段相邻的道路段的道路信息，确定是否需要为所述转弯路段设置所述导航提示信息，包括：
    根据与所述目标道路段相邻的道路段的道路信息，确定是否存在与所述目标道路段相邻的目标分岔路口；
    在确定存在与所述目标道路段相邻的所述目标分岔路口时，确定不需 要为所述转弯路段设置所述导航提示信息。
  10. 根据权利要求9所述的方法，其特征在于，所述根据与所述目标道路段相邻的道路段的道路信息，确定是否存在与所述目标道路段相邻的目标分岔路口，包括：
    根据所述相邻的道路段的道路信息，确定是否存在与所述目标道路段相邻的分岔路口；
    在确定存在与所述目标道路段相邻的所述分岔路口时，获取所述分岔路口所连接的多条邻接道路的道路方向；
    在所述多条邻接道路中存在道路方向与所述目标道路段的道路方向之间的方向夹角小于预设的第二角度阈值的目标邻接道路时，确定所述分岔路口为所述目标分岔路口。
  11. 根据权利要求1至10中任一项所述的方法，其特征在于，所述根据所述无分叉转向位置设置所述导航提示信息，包括：
    在所述目标道路段所在的目标道路上的第二目标位置上设置所述导航提示信息，其中，所述第二目标位置在所述行驶方向上位于所述无分岔转向位置之前，所述第二目标位置与所述无分岔转向位置之间的距离为预设目标距离。
  12. 根据权利要求110中任一项所述的方法，其特征在于，所述在地图数据中获取目标道路段上的第一组道路形状点，包括：
    在所述地图数据中从目标道路上的目标起点开始，沿着预设的行驶方向确定目标终点，其中，所述目标起点与所述目标终点之间的道路段为所述目标道路段；
    获取所述目标起点与所述目标终点之间的道路段上的所述第一组道路形状点。
  13. 根据权利要求12所述的方法，其特征在于，所述在所述地图数据中从目标道路上的目标起点开始，沿着预设的行驶方向确定目标终点，包括：
    在从所述目标起点开始沿着所述行驶方向前进预设距离的过程中未经过分岔路口的情况下，将前进所述预设距离所到达的点确定为所述目标 终点；
    在从所述目标起点开始沿着所述行驶方向前进预设距离的过程中经过分岔路口、且在所述分岔路口所连接的多条邻接道路中存在目标邻接道路的情况下，将所述目标邻接道路上的目标点确定为所述目标终点，其中，所述目标终点与所述目标起点之间的距离为所述预设距离，所述目标邻接道路的道路方向与所述行驶方向之间的角度小于预设的第三角度阈值，或者，所述目标邻接道路的道路方向与所述行驶方向之间的角度小于预设的第四角度阈值、且所述目标邻接道路与所述目标道路具有相同的道路等级和/或相同的道路属性；
    在从所述目标起点开始沿着所述行驶方向前进预设距离的过程中经过分岔路口、且在所述分岔路口所连接的多条邻接道路中不存在所述目标邻接道路的情况下，将所述分岔路口所在的点确定为所述目标终点。
  14. 根据权利要求1至13所述的方法，其特征在于，所述方法还包括：
    在查找到所述无分岔转向位置、且根据与所述目标道路段相邻的道路段的道路信息确定不需要为所述转弯路段设置导航提示信息的情况下，取消为所述转弯路段设置所述导航提示信息。
  15. 一种导航提示信息的确定装置，其特征在于，包括：
    获取单元，用于在地图数据中获取目标道路段上的第一组道路形状点；
    查找单元，用于根据所述第一组道路形状点中相邻的道路形状点之间的线段，确定所述第一组道路形状点所形成的目标转向角度，在所述目标道路段上查找无分岔转向位置，其中，所述无分岔转向位置用于表示所述目标道路段上无分岔路口所属的转弯路段；
    设置单元，用于根据所述目标转向角在查找到所述无分岔转向位置、且根据与所述目标道路段相邻的道路段的道路信息确定需要为所述转弯路段设置导航提示信息时，根据所述无分岔转向位置设置所述导航提示信息。
  16. 根据权利要求15所述的装置，其特征在于，所述查找单元还用 于确定所述第一组道路形状点中每3个相邻的道路形状点；确定所述每3个相邻的道路形状点中的第1个道路形状点和第2个道路形状点之间的第一线段，以及确定所述每3个相邻的道路形状点中的第2个道路形状点和第3个道路形状点之间的第二线段；根据所述第一线段的延长线与所述第二线段之间的夹角，作为所述每3个相邻的道路形状点所形成的一组转向角度；从所述一组转向角度中确定第一目标位置对应的目标转向角，基于所述目标转向角确定所述第一目标位置是否为所述目标道路段上的无分岔转向位置。
  17. 根据权利要求16所述的装置，其特征在于，所述查找单元还用于从所述一组转向角度中，确定所述目标道路段上的第一目标位置所对应目标转向角，将确定的所述目标转向角进行累加得到所述第一目标位置对应的累加转向角度；根据所述第一目标位置对应的累加转向角度，确定所述第一目标位置是否为所述无分岔转向位置。
  18. 根据权利要求17所述的装置，其特征在于，所述查找单元还用于在所述第一组道路形状点中获取所述第一目标位置对应的一组3个相邻的道路形状点，其中，所述第一目标位置是与所述一组3个相邻的道路形状点中的每3个相邻的道路形状点中的第2个道路形状点之间的距离小于预设的第一距离阈值的位置点；在所述一组转向角度中获取所述一组3个相邻的道路形状点分别形成的转向角度，作为所述第一目标位置所对应目标转向角；将所述第一目标位置所对应目标转向角累加得到所述第一目标位置对应的累加转向角度。
  19. 一种电子设备，所述计算机设备包括存储器和一个或多个处理器，所述存储器存储有计算机可读指令，所述计算机可读指令被所述一个或多个处理器执行时，使得所述一个或多个处理器实现如权利要求1至14任一项所述导航提示信息的确定方法。
  20. 一个或多个存储有计算机可读指令的非易失性计算机可读存储介质，存储有计算机可读指令，所述计算机可读指令被一个或多个处理器执行时，使得所述一个或多个处理器实现如权利要求1至14任一项所述导航提示信息的确定方法。
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