WO2024022260A1 - 巡航路线地图的生成方法、装置、电子设备和存储介质 - Google Patents

巡航路线地图的生成方法、装置、电子设备和存储介质 Download PDF

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Publication number
WO2024022260A1
WO2024022260A1 PCT/CN2023/108741 CN2023108741W WO2024022260A1 WO 2024022260 A1 WO2024022260 A1 WO 2024022260A1 CN 2023108741 W CN2023108741 W CN 2023108741W WO 2024022260 A1 WO2024022260 A1 WO 2024022260A1
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WIPO (PCT)
Prior art keywords
route
learning
cruise
user
target
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PCT/CN2023/108741
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English (en)
French (fr)
Inventor
逯建枫
黄以琳
韩卓伟
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地平线(上海)人工智能技术有限公司
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Publication of WO2024022260A1 publication Critical patent/WO2024022260A1/zh

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Classifications

    • 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
    • G01C21/3804—Creation or updating 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
    • 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
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles

Definitions

  • the present disclosure relates to autonomous driving technology, and in particular, to a method, device, electronic device and storage medium for generating a cruise route map.
  • the pilot automatic driving function (also called the cruise function) can provide users with high-level pilot automatic functions such as ramp entry and exit, automatic lane change, active overtaking, roundabout passage, intersection passage, and narrow road meeting, etc., which improves user driving. Safety and comfort.
  • the pilot autonomous driving function of a vehicle needs to rely on a high-precision map provided by a third party to provide high-precision environmental information while the vehicle is driving.
  • the high-precision map has limited coverage and low update frequency, which greatly limits pilot autonomous driving.
  • Embodiments of the present disclosure provide a method, device, electronic device, and storage medium for generating a cruise route map.
  • a method for generating a cruise route map including: in response to a user's route learning request, determining a target learning route corresponding to the route learning request; and when the current vehicle is learning along the target During route driving, the surrounding environment information of the current vehicle is acquired; based on the surrounding environment information, mapping information corresponding to the target learning route is generated; based on the mapping information, cruise mapping information corresponding to the target learning route is generated Route map.
  • a device for generating a cruise route map including: a first determination module configured to respond to a user's route learning request and determine a target learning route corresponding to the route learning request;
  • the first acquisition module is used to acquire the surrounding environment information of the current vehicle while the current vehicle is traveling along the target learning route; the first processing module is used to generate the target learning route based on the surrounding environment information.
  • Corresponding mapping information a second processing module, configured to generate a cruise route map corresponding to the target learning route based on the mapping information.
  • a computer-readable storage medium stores a computer program, and the computer program is used to execute the generation of the cruise route map described in any of the above embodiments of the present disclosure. method.
  • an electronic device includes: a processor; a memory for storing instructions executable by the processor; and the processor is configured to retrieve instructions from the memory.
  • the executable instructions are read and executed to implement the method for generating a cruise route map described in any of the above embodiments of the present disclosure.
  • the cruise route customization function can be provided for the user.
  • the user can use the route that needs to be traveled frequently as the target learning route, and through the target learning Route driving vehicles enable the vehicle's on-board computing platform or related domain controller to collect surrounding environment information through the vehicle's sensors, learn the target learning route based on the collected surrounding environment information, and construct the target Learn the cruise route map of the route to provide users with a dedicated cruise route map. It can provide users with a dedicated cruise function based on the cruise route map. It can realize the pilot's automatic driving function without relying on high-precision maps, which helps to improve pilot's automatic driving.
  • the system's versatility solves the problem of existing technology relying on high-precision maps, which results in the inability to provide pilot autonomous driving functions in areas without high-precision map coverage, and helps improve user experience.
  • Figure 1 is an exemplary application scenario of the cruise route map generation method provided by the present disclosure
  • Figure 2 is a schematic flowchart of a method for generating a cruise route map provided by an exemplary embodiment of the present disclosure
  • Figure 3 is a schematic flowchart of a method for generating a cruise route map provided by another exemplary embodiment of the present disclosure
  • Figure 4 is a schematic flowchart of step 210 provided by an exemplary embodiment of the present disclosure.
  • Figure 5 is a schematic flowchart of a method for generating a cruise route map provided by yet another exemplary embodiment of the present disclosure
  • Figure 6 is a schematic diagram showing visual learning progress provided by an exemplary embodiment of the present disclosure.
  • Figure 7 is a schematic flowchart of a method for generating a cruise route map provided by yet another exemplary embodiment of the present disclosure
  • Figure 8 is a schematic structural diagram of a device for generating a cruise route map provided by an exemplary embodiment of the present disclosure
  • Figure 9 is a schematic structural diagram of a device for generating a cruise route map provided by another exemplary embodiment of the present disclosure.
  • Figure 10 is a schematic structural diagram of the first control module 510 provided by an exemplary embodiment of the present disclosure.
  • Figure 11 is a schematic structural diagram of a device for generating a cruise route map provided by yet another exemplary embodiment of the present disclosure.
  • Figure 12 is a schematic structural diagram of a device for generating a cruise route map provided by yet another exemplary embodiment of the present disclosure
  • Figure 13 is a schematic structural diagram of an application embodiment of the electronic device of the present disclosure.
  • the pilot automatic driving function (also called the cruise function) can provide users with on-ramp merging and exiting, automatic lane changing, active overtaking, roundabout passing, intersection passing, and narrow road meeting.
  • High-level pilot autonomous driving functions such as cars have improved user driving safety and comfort.
  • the pilot autonomous driving function of a vehicle relies on a high-precision map provided by a third party to provide high-precision environmental information while the vehicle is driving.
  • the high-precision map coverage is limited and the update frequency is low, which greatly limits the use of the pilot autonomous driving function.
  • Versatility, for example, the pilot autonomous driving function cannot be provided in areas without high-precision map coverage.
  • Figure 1 is an exemplary application scenario of the cruise route map generation method provided by the present disclosure.
  • the cruise route map generation method provided by the present disclosure can provide the user with a dedicated line cruise function, and the user can use the interactive interface (such as China Control screen) to enter the Linghang automatic driving system.
  • the Linghang automatic driving system executes the cruise route map generation method of the present disclosure and can provide the user with a cruise interface.
  • the user can select or create a target learning route to be learned on the cruise interface and trigger route learning.
  • the Linghang autonomous driving system responds to the user's route learning request and can determine the target learning route that the user currently wants to learn based on the route learning request, thereby entering the learning state.
  • Linghang Autopilot The system can obtain surrounding environment information in real time through sensors such as cameras on the current vehicle, and then continuously generate mapping information corresponding to the target learning route based on the surrounding environment information. Based on the mapping information, it generates a cruise route map corresponding to the target learning route to achieve target learning. Memory learning of routes to obtain information corresponding to the target learning route
  • the dedicated line cruise map that meets the cruise requirements provides users with the dedicated line cruising function. It can realize the pilot's automatic driving function without relying on high-precision maps.
  • FIG. 2 is a schematic flowchart of a method for generating a cruise route map provided by an exemplary embodiment of the present disclosure. This embodiment can be applied to electronic devices, such as but not limited to vehicle-mounted computing platforms, autonomous driving domain controllers, etc. As shown in Figure 2, it includes the following steps:
  • Step 201 In response to the user's route learning request, determine the target learning route corresponding to the route learning request.
  • the route learning request may include a starting point, an ending point selected by the user, and a route from the starting point to the ending point.
  • Users can enter the home page of the Linghang autonomous driving system through the interactive interface (such as the central control screen), and can enter the cruise interface through the cruise function entrance on the home page. They can select or create the target learning route to be learned on the cruise interface and trigger route learning.
  • Request for example, click "Create New Route" on the cruise interface to enter the map interface, which can provide users with a map interface based on the navigation map.
  • the user can select the target starting point and target ending point on the map interface.
  • the recommended route from the target starting point to the target ending point can be displayed for the user.
  • the target starting point and target ending point can be displayed for the user.
  • the point and the corresponding route trigger the route learning request.
  • the target learning route that the user currently wants to learn can be determined according to the route learning request, thereby entering the learning state.
  • the Linghang autonomous driving system portal can be integrated into the IVI (In-Vehicle Infotainment) central control screen as a functional interactive interface.
  • the user can also select the created learning route of unfinished learning as the target learning route and trigger the route learning request to conduct this learning. For example, when a user has multiple frequently-traveled routes to learn, since the learning of each route may not be completed at one time, it usually requires multiple learning. In order to further improve the user experience, multiple routes can be provided to coexist. For example, if the user needs The learning of route 1 from point A to point B and the learning of route 2 from point A to point C. After each route is created, it is learned once. If the learning has not been completed, such as route 1, it can be stored. When When the user needs to take this route 1 again later, the next learning will be performed. In this way, the user does not need to study on this route multiple times, but can choose to continue learning while driving on this route based on daily needs.
  • step 201 may be executed by the processor calling corresponding instructions stored in the memory, or may be executed by the first determination module run by the processor.
  • Step 202 While the current vehicle is traveling along the target learning route, the surrounding environment information of the current vehicle is obtained.
  • the surrounding environment information can be obtained through sensors installed on the current vehicle. Sensors may include cameras, lidar, millimeter-wave radar, etc., which may be set according to actual needs and are not limited by this disclosure.
  • the user After determining the user's target learning route, the user can drive the current vehicle along the target learning route from the target starting point to the target ending point.
  • the environment information surrounding the target learning route is collected, providing information for learning the target learning route. Data support.
  • the target learning route can also be displayed on the interactive interface.
  • step 202 may be performed by the processor calling corresponding instructions stored in the memory, or may be performed by the first acquisition module run by the processor.
  • Step 203 Generate mapping information corresponding to the target learning route based on the surrounding environment information.
  • mapping information can include the detected lane lines, sidewalks, parking lines and other road sign feature information, the building feature information on both sides of the road, etc., and can be set according to actual needs.
  • mapping information is generated based on the SLAM (Simultaneous Localization and Mapping) algorithm. The specific principles will not be described again.
  • step 203 can be executed by the processor calling corresponding instructions stored in the memory, or it can Executed with a first processing module executed by the processor.
  • Step 204 Generate a cruise route map corresponding to the target learning route based on the mapping information.
  • the cruise route map can be a global map corresponding to the target learning route, and the mapping information can include local information of the surrounding environment when the current vehicle is at different locations, that is, environmental feature information of different sections of the target learning route.
  • the mapping information can be integrated into Incremental mapping is implemented in global information, and the specific mapping method will not be described again.
  • the current vehicle travels from the target starting point to the target ending point, and can achieve one-time learning.
  • the final cruise route map of the target learning route can be completed through multiple studies. Each time learning is completed, the learned cruise route map can be tested to determine whether it meets the cruise requirements. When the cruise requirements are met, the final cruise route map can be obtained, otherwise the learning can be continued.
  • the maximum number of learning times threshold can also be set. When the number of learning times exceeds the maximum number of learning times threshold and the cruise requirements are still not met, the user can be prompted, such as changing a route or giving up learning.
  • the details can be set according to actual needs.
  • a cruise route map can be generated on the current vehicle side.
  • the mapping information can also be uploaded to the server, and the server will generate a cruise route map, which can be set according to actual needs.
  • step 204 may be performed by the processor calling corresponding instructions stored in the memory, or may be performed by a second processing module run by the processor.
  • the method for generating a cruise route map can provide users with a cruise route customization function.
  • the user can use a route that needs to be traveled frequently as a target learning route, and by driving the vehicle on the target learning route, the vehicle's on-board computing platform or
  • the relevant domain controller can collect surrounding environment information through the vehicle's sensors, learn the target learning route based on the collected surrounding environment information, and construct a cruise route map of the target learning route, thereby providing users with a dedicated cruise route map, which can be based on the cruise route
  • the map provides users with a dedicated line cruising function, which can realize Pilot's autonomous driving function without relying on high-precision maps. It helps to improve the versatility of Pilot's autonomous driving system and solves the problem of existing technology relying on high-precision maps in areas without high-precision map coverage. Problems such as the inability to provide pilot autopilot functions, thus helping to improve user experience.
  • Figure 3 is a schematic flowchart of a method for generating a cruise route map provided by another exemplary embodiment of the present disclosure.
  • the method of the embodiment of the present disclosure further includes:
  • Step 205 Check the cruise route map based on the first preset check rule to obtain the first check result.
  • the first preset inspection rule can be set according to actual cruise requirements, and is not limited by this disclosure.
  • the first preset inspection rule is set based on the conditions that the usual cruise map needs to meet and the needs of dedicated line cruise.
  • the first inspection result may include a pass or fail inspection result.
  • step 205 may be performed by the processor calling corresponding instructions stored in the memory, or may be performed by a third processing module run by the processor.
  • Step 206 In response to the first inspection result being passed, push the cruise function corresponding to the cruise route map to the user.
  • the display interface can be controlled to display "Mapping is successful, you can use the cruise function of this route" and other similar information, and the interface can provide an entry for starting the cruise function, or the user can be prompted to enter the cruise function, so that the user can master how to Start the cruise function of the current route, which can be set according to actual needs.
  • step 206 may be performed by the processor calling corresponding instructions stored in the memory, or may be performed by a fourth processing module run by the processor.
  • this disclosure can provide users with a dedicated line cruising function, so that users can enjoy the dedicated line cruising function on their usual routes.
  • it can provide users with cruise route customization services, and on the other hand, it can also provide users with customized cruise routes without high-precision
  • the area covered by the map can still provide users with cruising functions, which helps to greatly improve the user experience.
  • the method of the embodiment of the present disclosure further includes:
  • Step 207 in response to the first test result being failed, proceed with the target learning route as an unfinished learning route. storage.
  • the target learning route can be stored as an unfinished learning route to wait for the user to download the target learning route. times learning.
  • step 207 may be executed by the processor calling corresponding instructions stored in the memory, or may be executed by the fifth processing module run by the processor.
  • This disclosure allows users to study intermittently through the storage function of unfinished learning routes, and can support the coexistence of multiple learning routes for users.
  • learning can be started in real time without having to The learning of a certain route eliminates unnecessary driving on that route, helping to further improve the user experience.
  • the method of the embodiment of the present disclosure further includes:
  • Step 208 Output prompt information to continue training.
  • the specific content of the continued training prompt information can be set according to actual needs. For example, it can be "Your current route has not been completed yet and has been saved. Please continue learning next time.”
  • the output method can be any implementable method, and this disclosure does not limit it. For example, it can be output through a display screen, or it can be output through voice, or it can also be output through voice plus a display screen, and there is no specific limitation.
  • step 208 may be performed by the processor calling corresponding instructions stored in the memory, or may be performed by the first output module run by the processor.
  • the method further includes:
  • Step 209 Control and output the introduction information of the cruise function corresponding to the cruise route map.
  • the introduction information of the cruise function may include information that requires attention when using the cruise function, information on how to start the cruise function, and other possible information.
  • the details can be set according to actual needs, and are not limited by this disclosure.
  • the output method of the introduction information of the cruise function can be set according to actual needs. For example, it can be output through video playback, or it can be output through voice playback, or it can also be output through voice playback and video playback at the same time, etc., specifically No longer.
  • step 209 may be performed by the processor calling corresponding instructions stored in the memory, or may be performed by the second output module run by the processor.
  • the present disclosure can enable the user to grasp the relevant information of the cruise function in a timely and convenient manner, so that the user can better apply the cruise function and help further improve the user experience.
  • the method further includes:
  • Step 210 In response to the user's cruise request for the target learning route, perform cruise control on the current vehicle based on the cruise route map corresponding to the target learning route.
  • the cruise request can be triggered after the user selects a target learning route that has been learned on the cruise function interface.
  • the specific display content and display method of the cruise function interface can be set according to actual needs, and this disclosure does not limit it.
  • the entrance to the cruise function interface can be set according to actual needs, for example, it can be set on the home page of the pilot autopilot system, which is not limited by this disclosure.
  • Cruise control refers to providing vehicles with lane lines, road edges, traffic signs and other environmental information based on the cruise route map for path planning and control, realizing pilot autonomous driving functions, and providing users with on-ramp merging and exiting, automatic lane changes, and active overtaking. Pilot autonomous driving functions such as turning left at roundabouts or intersections or unprotected intersections, meeting cars on narrow roads, etc. The specific control principles will not be described again.
  • step 210 may be executed by the processor calling corresponding instructions stored in the memory, or may be executed by the first control module run by the processor.
  • This disclosure can provide users with a dedicated line cruise function after the target learning route is learned, regardless of whether the road section is covered by a high-precision map.
  • Figure 4 is a schematic flowchart of step 210 provided by an exemplary embodiment of the present disclosure.
  • step 210 in response to the user's cruise request for the target learning route, step 210 performs cruise control on the current vehicle based on the cruise route map corresponding to the target learning route, including:
  • Step 2101 In response to the user's cruise request for the target learning route, obtain the current traffic conditions of the target learning route.
  • the current traffic situation of the target learning route can be obtained based on the navigation map or other methods, and the details can be set according to actual needs. This disclosure does not make any first steps.
  • the current traffic situation can include both normal and abnormal situations. For example, if it is determined based on the navigation map that the current traffic rate of the target learning route is low, or it is impassable due to construction or other reasons, it can be determined that the current traffic situation is abnormal.
  • step 2101 may be executed by the processor calling corresponding instructions stored in the memory, or may be executed by the first acquisition unit run by the processor.
  • Step 2102 In response to the current traffic conditions being normal, cruise control is performed on the current vehicle based on the cruise route map corresponding to the target learning route.
  • the current traffic conditions are normal, it means that dedicated line cruising can be carried out, so that the current vehicle can be cruise controlled based on the cruising route map corresponding to the target learning route.
  • step 2102 may be executed by the processor calling corresponding instructions stored in the memory, or may be executed by the first control unit run by the processor.
  • the method of the embodiment of the present disclosure further includes:
  • Step 2103 In response to the current traffic situation being abnormal, output prompt information.
  • the content of the prompt information can be set according to actual needs, such as "The current route is inaccessible, please change the route.”
  • the prompt information can be output in any implementable manner, such as voice, display, voice+display, etc., which will not be described in details.
  • step 2103 may be executed by the processor calling corresponding instructions stored in the memory, or may be executed by the first output unit run by the processor.
  • This disclosure can further improve the user experience by first determining the traffic conditions of the current route before enabling the dedicated line cruise function for the user, and prompting the user when the traffic conditions are abnormal.
  • the method of the embodiment of the present disclosure further includes:
  • Step 2104 In response to the current traffic situation being abnormal, obtain the first route learned by other users that has the same starting point and end point as the target learning route.
  • the user can also be provided with other routes (first routes) that other users have learned for the user to choose.
  • first routes of other users can be obtained from the server (such as the cloud).
  • the first route of another user may be a route shared with the authorization of the other user. For example, after completing the dedicated cruise learning of the first route, the other user uploads the memorized cruise route map to the server so that more users can share it.
  • one of them can be determined as the first route according to certain rules, or multiple routes can be provided for the user.
  • a first route is chosen by the user.
  • the optional first route is displayed on the interactive interface of the display screen for the user to view and select. The details can be set according to actual needs.
  • step 2104 may be performed by the processor calling a corresponding instruction stored in the memory, or may be performed by a second acquisition unit run by the processor.
  • Step 2105 In response to the current traffic situation of the first route being normal, push the first route to the user.
  • the traffic situation of the first route can also be judged. For example, based on the navigation map, when the current traffic situation of the first route is normal, the first route can be pushed to the user.
  • the specific push method can be Set according to actual needs, for example, the first route can be marked and displayed on the map, and push voice can be played.
  • the display interface can also provide "confirm" and other similar trigger buttons, or a voice interaction confirmation method, with no specific limitations.
  • this step 2105 can be executed by the processor calling corresponding instructions stored in the memory, or it can Executed by a first processing unit executed by the processor.
  • Step 2106 In response to the user's usage confirmation information for the first route, perform cruise control on the current vehicle based on the cruise route map corresponding to the first route.
  • the user's confirmation usage information can be triggered and obtained in any implementable manner, for example, it can be triggered and obtained in at least one of voice confirmation, screen display button confirmation, and other methods.
  • the cruise function can be provided to the user based on the cruise route map corresponding to the first route.
  • step 2106 may be executed by the processor calling corresponding instructions stored in the memory, or may be executed by a second control unit run by the processor.
  • Step 2107 In response to the current traffic situation of the first route being abnormal, output prompt information.
  • a prompt message can be output to prompt the user to give up using the cruise function or change the route.
  • the specific content and output method of the prompt message can be set according to actual needs.
  • step 2107 may be executed by the processor calling corresponding instructions stored in the memory, or may be executed by the second output unit run by the processor.
  • This disclosure uses the user's target learning route to provide the user with other route options that have been learned by other users when the current traffic situation is abnormal, so that the user can also enjoy the cruising function of more routes, further improving the user experience.
  • FIG. 5 is a schematic flowchart of a method for generating a cruise route map provided by yet another exemplary embodiment of the present disclosure.
  • the method of the embodiment of the present disclosure further includes:
  • Step 301 While the current vehicle is traveling along the target learning route, determine whether this learning is successful based on the second preset inspection rule.
  • the second preset inspection rule can be set according to actual needs. For example, during the current driving process of the vehicle, if the current vehicle deviates from the target learning route, it can be determined that the learning has failed. If the sensor fails and the surrounding environment information cannot be collected, it can be determined that the This study failed, etc. Specific examples of sensor failure may include the camera being blocked, GNSS (Global Navigation Satellite System, Global Navigation Satellite System) signal loss, etc.
  • GNSS Global Navigation Satellite System, Global Navigation Satellite System
  • step 301 may be executed by the processor calling corresponding instructions stored in the memory, or may be executed by the sixth processing module run by the processor.
  • Step 302 In response to the success of this learning, output the current learning progress of the target learning route.
  • the current learning progress can be determined based on the learning and memory situation, for example, it can be determined based on the completion of the cruise route map and/or the number of learning times and other related factors.
  • the specific settings can be set according to actual needs, which is not limited by this disclosure.
  • the output method of the current learning progress can be any implementable method.
  • the output method can include at least one of voice output, visual output and other output methods, which is not limited in this embodiment.
  • encouragement information can also be output to encourage the user to continue training the route.
  • the specific content and output method can be set according to actual needs.
  • step 302 may be performed by the processor calling corresponding instructions stored in the memory, or may be performed by a third output module run by the processor.
  • Step 303 In response to the failure of this learning, output the prompt information of the failure of this learning of the target learning route.
  • this learning failure prompt information can include this learning failure information and failure reasons.
  • the failure reasons can include, for example, the vehicle deviating from the target learning route, the vehicle being unable to obtain environmental information on a certain road section, etc., which can be set according to actual needs. .
  • a failure prompt can also be provided through the dashboard of the current vehicle, which can be set according to actual needs.
  • a retraining prompt message can also be output to prompt the user to retrain.
  • Specific prompt content can be set according to actual needs.
  • step 303 may be executed by the processor calling corresponding instructions stored in the memory, or may be executed by the fourth output module run by the processor.
  • This disclosure can output corresponding information according to the learning situation after each learning.
  • the current learning progress can be output to facilitate the user to grasp the learning situation of the current route in a timely manner.
  • the user can be prompted to lose Failure reasons can help users complete their learning better and further improve user experience.
  • the method of the embodiment of the present disclosure further includes:
  • Step 304 Obtain the current number of learning failures of the target learning route.
  • the learning situation can include two situations: learning success and learning failure.
  • the number of failures can also be recorded, which can be used as a reference for final learning success or failure.
  • step 304 may be executed by the processor calling corresponding instructions stored in the memory, or may be executed by the second acquisition module run by the processor.
  • Step 305 In response to the current number of learning failures being greater than the preset number threshold, output route change prompt information.
  • the preset times threshold can be set according to actual needs.
  • the preset times threshold can be set to 10 times, 15 times, etc., and there is no specific limit. If the current number of learning failures is greater than the preset number threshold, it can mean that the current route learning difficulty is too great and the final cruise route map that meets the requirements may not be completed. Therefore, a route replacement prompt message can be output to the user to remind the user that the current route may not be completed. Learn and recommend the user to abandon the route or change the route.
  • the specific output content and output method can be set according to actual needs.
  • step 305 may be executed by the processor calling corresponding instructions stored in the memory, or may be executed by the fifth output module run by the processor.
  • outputting the current learning progress of the target learning route includes: in response to the success of this learning, outputting the current learning progress of the target learning route to the display device, and controlling The current learning progress is displayed on the display screen of the display device in a preset manner.
  • the preset method can be set according to actual needs.
  • the preset method can be a progress bar method or a disk progress method.
  • the display device may be a central control screen on the vehicle. In actual applications, it may also be other possible display devices, and the details are not limited.
  • FIG. 6 is a schematic diagram showing visual learning progress provided by an exemplary embodiment of the present disclosure.
  • the method in the embodiment of the present disclosure before responding to the user's route learning request and determining the target learning route corresponding to the route learning request in step 201, the method in the embodiment of the present disclosure further includes:
  • Step 401 In response to the user's request to enter the cruise interface, control the display of the cruise interface.
  • the cruise interface request can be triggered by the user on the first interface of the Pilot Autopilot system or other possible interface entrances.
  • the specific interface display method and interface switching logic can be set according to actual needs, and this disclosure is not limited.
  • the cruise interface may include a selection entrance for created unfinished routes and/or a new route creation entrance, which can be set according to actual needs.
  • step 401 may be executed by the processor calling corresponding instructions stored in the memory, or may be executed by the second control module run by the processor.
  • Step 402 In response to the user's request to create a new route on the cruise interface, control the display of the map interface.
  • a new route creation request can be triggered through the new route creation entrance.
  • a map interface is displayed for the user.
  • the map interface can be provided based on the navigation map for the user to select the route to be created. The start and end points of the new route.
  • step 402 may be executed by the processor calling corresponding instructions stored in the memory, or may be executed by a third control module run by the processor.
  • Step 403 In response to the target starting point and target ending point selected by the user on the map interface, determine the user's route learning request.
  • the user After the user selects the target starting point and target ending point on the map interface, the user can trigger the route learning request by clicking "Confirm”.
  • At least one route recommended for the user from the target starting point to the target end point can also be displayed for the user to select based on the user's target starting point and target end point.
  • the route learning request is triggered after the user selects it. For example, after the user selects the target starting point and the target ending point, a route from the target starting point to the target ending point is directly recommended to the user according to the shortest route rules. If the user agrees, he or she can directly recommend a route from the target starting point to the target ending point. Just trigger the route learning request. In addition, you can also provide the user with the option to switch routes.
  • the route learning request After triggering, you can display other routes from the target starting point to the target ending point for the user to choose. After the user selects, the route learning request is triggered, thus making the route
  • the learning request includes the target starting point, the target ending point selected by the user, and the route from the target starting point to the target ending point. Therefore, in response to the user's route learning request, the target learning route can be determined from the route learning request.
  • step 403 may be executed by the processor calling corresponding instructions stored in the memory, or may be executed by the second determination module run by the processor.
  • This disclosure provides users with convenient dedicated line cruise learning and customization functions and dedicated line cruise functions after learning through the Human Machine Interface (HMI), which helps to further improve the user experience.
  • HMI Human Machine Interface
  • Figure 7 is a schematic flowchart of a method for generating a cruise route map provided by yet another exemplary embodiment of the present disclosure.
  • the method before responding to the user's route learning request and determining the target learning route corresponding to the route learning request in step 201, the method further includes:
  • Step 404 In response to the user's selection operation on the unfinished learning route interface, determine the user's route learning request.
  • the unfinished learning route interface includes at least one unfinished learning route.
  • the user can trigger the trigger by entering the unfinished learning route interface and selecting the unfinished learning route as this learning route.
  • the specific triggering method of the route learning request can be set according to actual needs, and is not limited by this disclosure.
  • step 404 may be performed by the processor calling corresponding instructions stored in the memory, or may be performed by a third determination module run by the processor.
  • step 203 after step 203 generates mapping information corresponding to the target learning route based on the surrounding environment information, it also includes:
  • Step 2041 Upload the mapping information to the server, so that the server generates a cruise route map corresponding to the target learning route based on the mapping information.
  • the server can be any implementable server that communicates with vehicle electronic devices, such as a cloud server, a single server, a server cluster, etc., and is not specifically limited.
  • the mapping information can be uploaded to the server, the cruise route map is generated on the server side, and then the server side returns the generated cruise route map to the vehicle electronic device for storage.
  • step 2041 may be executed by the processor calling corresponding instructions stored in the memory, or may be executed by the first sending module run by the processor.
  • Step 2042 Receive and store the cruise route map returned by the server.
  • the cruise route map corresponding to the target learning route returned by the server After receiving the cruise route map corresponding to the target learning route returned by the server, it can be stored to provide the user with a dedicated line cruise function after the cruise route map meets the cruise requirements.
  • the cruise route map can be returned to the current vehicle end after the server detects that the cruise requirements are met, or it can be returned to the vehicle end every time it is learned and generated.
  • the details can be set according to actual needs.
  • the detection of whether the cruise route map meets the cruise requirements can be implemented on the server side, or can also be implemented on the vehicle side, with no specific limitation.
  • the sharing request information can be pushed to the user to request the user's consent to share the learned cruise route map of the current route with other users. If the user confirms the sharing, the learned cruise route map can be sent to the server so that the server can provide shared cruise route services for other users. The details can be set according to actual needs.
  • step 2042 may be performed by the processor calling corresponding instructions stored in the memory, or may be performed by the first receiving module run by the processor.
  • the disclosed embodiments are oriented to users' high-frequency travel routes and can construct targeted dedicated cruises, which can help increase the frequency of use of Pilot's autonomous driving function, improve the continuity and integrity of the intelligent driving function experience, and effectively expand Pilot's autonomous driving
  • the visual environment can be used to create Modeling technology breaks the coverage limitations of high-precision maps and can create a point-to-point pilot autonomous driving system exclusive to user routes, helping to improve user travel efficiency and experience.
  • dedicated line cruising can be realized based on vehicle real-time environment modeling, without increasing the cost of vehicle system software and hardware, and getting rid of dependence on expensive high-precision maps, thus helping to reduce the cost of intelligent driving systems.
  • Any method of generating a cruise route map provided by the embodiments of the present disclosure can be executed by any appropriate device with data processing capabilities, including but not limited to: terminal devices and servers.
  • any method for generating a cruise route map provided by the embodiments of the present disclosure can be executed by a processor.
  • the processor executes the generation of any cruise route map mentioned in the embodiments of the present disclosure by calling corresponding instructions stored in the memory. method. No further details will be given below.
  • the aforementioned program can be stored in a computer-readable storage medium.
  • the program When the program is executed, It includes the steps of the above method embodiment; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other various media that can store program codes.
  • Figure 8 is a schematic structural diagram of a device for generating a cruise route map provided by an exemplary embodiment of the present disclosure.
  • the device of this embodiment can be used to implement the corresponding method embodiment of the present disclosure.
  • the device shown in Figure 8 includes: a first determination module 501, a first acquisition module 502, a first processing module 503 and a second processing module 504.
  • the first determination module 501 is used to determine the target learning route corresponding to the route learning request in response to the user's route learning request; the first acquisition module 502 is used to obtain the target learning route while the current vehicle is traveling along the target learning route. The surrounding environment information of the current vehicle; the first processing module 503 is used to generate mapping information corresponding to the target learning route based on the surrounding environment information obtained by the first acquisition module 502; the second processing module 504 is used to Based on the mapping information generated by the first processing module 503, a cruise route map corresponding to the target learning route is generated.
  • Figure 9 is a schematic structural diagram of a device for generating a cruise route map provided by another exemplary embodiment of the present disclosure.
  • the device of the embodiment of the present disclosure further includes: a third processing module 505 and a fourth processing module 506.
  • the third processing module 505 is used to check the cruise route map based on the first preset inspection rule to obtain a first inspection result; the fourth processing module 506 is used to respond to the first inspection result being passed, to The user pushes the cruise function corresponding to the cruise route map.
  • the device of the embodiment of the present disclosure further includes: a fifth processing module 507, configured to store the target learning route as an unfinished learning route in response to the first test result being failed.
  • the device of this embodiment of the present disclosure also includes: a first output module 508, configured to output continued training prompt information.
  • the device of the embodiment of the present disclosure further includes: a second output module 509, configured to control the output of introduction information of the cruise function corresponding to the cruise route map.
  • the device of the embodiment of the present disclosure further includes: a first control module 510, configured to respond to the user's cruise request for the target learning route, based on the cruise corresponding to the target learning route.
  • Route map cruise control for the current vehicle.
  • FIG. 10 is a schematic structural diagram of the first control module 510 provided by an exemplary embodiment of the present disclosure.
  • the first control module 510 includes: a first acquisition unit 5101 and a first control unit 5102.
  • the first acquisition unit 5101 is configured to acquire the current traffic situation of the target learning route in response to the user's cruise request for the target learning route; the first control unit 5102 is used to respond to the current traffic situation being Normally, cruise control is performed on the current vehicle based on the cruise route map corresponding to the target learning route.
  • the first control module 510 further includes: a first output unit 5103, configured to output prompt information in response to the current traffic situation being abnormal.
  • the first control module 510 also includes: a second acquisition unit 5104, a first processing unit 5105, and a second control unit 5106.
  • the second acquisition unit 5104 is configured to acquire the first route learned by other users that has the same starting point and end point as the target learning route in response to the current traffic situation being abnormal.
  • the first processing unit 5105 is configured to push the first route to the user in response to the current traffic situation of the first route being normal.
  • the second control unit 5106 is configured to perform cruise control on the current vehicle based on the cruise route map corresponding to the first route in response to the user's usage confirmation information of the first route.
  • the second output unit 5107 is configured to output prompt information in response to the current traffic situation of the first route being abnormal.
  • Figure 11 is a schematic structural diagram of a device for generating a cruise route map provided by yet another exemplary embodiment of the present disclosure.
  • the device of the embodiment of the present disclosure further includes: a sixth processing module 601, a third output module 602, and a fourth output module 603.
  • the sixth processing module 601 is used to determine whether this learning is successful based on the second preset inspection rule while the current vehicle is traveling along the target learning route; the third output module 602 is used to respond to this If the learning is successful, the current learning progress of the target learning route is output; the fourth output module 603 is used to respond to this learning failure and output the prompt information of the target learning route's current learning failure.
  • the device of the embodiment of the present disclosure further includes: a second acquisition module 604 and a fifth output module 605.
  • the second acquisition module 604 is used to acquire the current number of learning failures of the target learning route; the fifth output module 605 is used to output route replacement prompt information in response to the current number of learning failures being greater than the preset number threshold.
  • the third output module 602 is specifically configured to: in response to the success of this learning, output the current learning progress of the target learning route to a display device, and control the current learning progress of the target learning route on the display device.
  • the current learning progress is displayed on the display screen in a preset manner.
  • the device of the embodiment of the present disclosure further includes: a second control module 606, a third control module 607, and a second determination module 608.
  • the second control module 606 is used to control the display of the cruise interface in response to the user's request to enter the cruise interface; the third control module 607 is used to control the display of the cruise interface in response to the user's request to create a new route in the cruise interface.
  • Map interface; the second determination module 608 is configured to determine the route learning request of the user in response to the target starting point and target ending point selected by the user on the map interface.
  • Figure 12 is a schematic structural diagram of a device for generating a cruise route map provided by yet another exemplary embodiment of the present disclosure.
  • the device of this embodiment of the present disclosure further includes: a third determination module 609, configured to determine the route learning request of the user in response to the user's selection operation on the uncompleted route learning interface,
  • the unfinished learning route interface includes at least one unfinished learning route.
  • the device of the embodiment of the present disclosure further includes: a first sending module 610 and a first receiving module 611.
  • the first sending module 610 is used to upload the mapping information to the server, so that the server generates a cruise route map corresponding to the target learning route based on the mapping information; the first receiving module 611 is used to receive And store the cruise route map returned by the server.
  • Figure 13 is a schematic structural diagram of an application embodiment of the electronic device of the present disclosure.
  • the electronic device 10 includes one or more processors 11 and memories 12 .
  • the processor 11 may be a central processing unit (CPU) or a computer with data processing capabilities and/or instruction execution capabilities. Other forms of processing units and can control other components in the electronic device 10 to perform desired functions.
  • CPU central processing unit
  • Memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory.
  • Volatile memory may include, for example, random access memory (RAM) and/or cache memory (cache), etc.
  • Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc.
  • One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the one or more computer program instructions to implement the methods and/or other desired functions of the various embodiments of the disclosure above.
  • the electronic device 10 may further include an input device 13 and an output device 14, and these components are interconnected through a bus system and/or other forms of connection mechanisms (not shown).
  • the input device 13 may also include, for example, a keyboard, a mouse, and the like.
  • the output device 14 can output various information to the outside, which can include, for example, a display, a speaker, a printer, a communication network and its connected remote output devices, etc.
  • the electronic device 10 may also include any other appropriate components depending on the specific application.
  • embodiments of the present disclosure may also provide a computer program product, including computer program instructions.
  • the computer program instructions When executed by a processor, the computer program instructions cause the processor to perform the present invention described in the “Exemplary Method” section above. Steps in methods of various embodiments are disclosed.
  • the computer program product may have program code for performing operations of embodiments of the present disclosure written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and Includes conventional procedural programming languages, such as the "C" language or similar programming languages.
  • the program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on.
  • embodiments of the present disclosure may also be a computer-readable storage medium having computer program instructions stored thereon.
  • the computer program instructions when executed by a processor, cause the processor to execute the above-mentioned “example method” part of this specification. The steps in methods according to various embodiments of the present disclosure are described in .
  • Computer-readable storage media can take the form of any combination of one or more computer-readable media.
  • the readable medium may be a readable signal medium or a readable storage medium.
  • the readable storage medium may include, for example, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: electrical connection with one or more conductors, portable disk, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.

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Abstract

一种巡航路线地图的生成方法、装置、电子设备和存储介质，其中，方法包括：响应于用户的路线学习请求，确定路线学习请求对应的目标学习路线（201）；在当前车辆沿目标学习路线行驶过程中，获取当前车辆的周围环境信息（202）；基于周围环境信息，生成目标学习路线对应的建图信息（203）；基于建图信息，生成目标学习路线对应的巡航路线地图（204）。该方法可以为用户提供巡航路线订制功能，为用户提供专线的巡航路线地图，可以基于巡航路线地图为用户提供专线巡航功能，无需依赖高精地图，即可实现领航自动驾驶功能，有助于提高通用性，解决现有技术依赖高精地图导致在无高精地图覆盖区域无法提供领航自动驾驶功能等问题，从而提高用户体验。

Description

巡航路线地图的生成方法、装置、电子设备和存储介质
本公开要求在2022年07月29日提交国家知识产权局、申请号为CN202210913779.0、发明名称为“巡航路线地图的生成方法、装置、电子设备和存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及自动驾驶技术，尤其是一种巡航路线地图的生成方法、装置、电子设备和存储介质。
背景技术
领航自动驾驶功能(也可称巡航功能)可以为用户提供匝道汇入汇出、自动变道、主动超车、环岛通行、十字路口通行、窄路会车等高级别领航自动功能，提升了用户驾驶安全性与舒适性。相关技术中，车辆的领航自动驾驶功能需要依赖于第三方提供的高精度地图来提供车辆行驶过程中的高精度环境信息，而高精度地图覆盖范围有限且更新频率低，极大限制了领航自动驾驶功能的通用性，比如在无高精度地图覆盖区域无法提供领航自动驾驶功能。
发明内容
为了解决上述领航自动驾驶功能通用性较差等技术问题，提出了本公开。本公开的实施例提供了一种巡航路线地图的生成方法、装置、电子设备和存储介质。
根据本公开实施例的一个方面，提供了一种巡航路线地图的生成方法，包括：响应于用户的路线学习请求，确定所述路线学习请求对应的目标学习路线；在当前车辆沿所述目标学习路线行驶过程中，获取所述当前车辆的周围环境信息；基于所述周围环境信息，生成所述目标学习路线对应的建图信息；基于所述建图信息，生成所述目标学习路线对应的巡航路线地图。
根据本公开实施例的另一个方面，提供了一种巡航路线地图的生成装置，包括：第一确定模块，用于响应于用户的路线学习请求，确定所述路线学习请求对应的目标学习路线；第一获取模块，用于在当前车辆沿所述目标学习路线行驶过程中，获取所述当前车辆的周围环境信息；第一处理模块，用于基于所述周围环境信息，生成所述目标学习路线对应的建图信息；第二处理模块，用于基于所述建图信息，生成所述目标学习路线对应的巡航路线地图。
根据本公开实施例的再一方面，提供一种计算机可读存储介质，所述存储介质存储有计算机程序，所述计算机程序用于执行本公开上述任一实施例所述的巡航路线地图的生成方法。
根据本公开实施例的又一方面，提供一种电子设备，所述电子设备包括：处理器；用于存储所述处理器可执行指令的存储器；所述处理器，用于从所述存储器中读取所述可执行指令，并执行所述指令以实现本公开上述任一实施例所述的巡航路线地图的生成方法。
基于本公开上述实施例提供的巡航路线地图的生成方法、装置、电子设备和存储介质，可以为用户提供巡航路线订制功能，用户可以将需要经常行驶的路线作为目标学习路线，通过在目标学习路线驾驶车辆，使得车辆的车载计算平台或相关域控制器可以通过车辆的传感器采集周围环境信息，基于采集的周围环境信息对目标学习路线进行学习，构建目标 学习路线的巡航路线地图，从而为用户提供专线的巡航路线地图，可以基于巡航路线地图为用户提供专线巡航功能，无需依赖高精地图，即可实现领航自动驾驶功能，有助于提高领航自动驾驶系统的通用性，解决现有技术依赖高精地图导致在无高精地图覆盖区域无法提供领航自动驾驶功能等问题，有助于提高用户体验。
附图说明
图1是本公开提供的巡航路线地图的生成方法的一个示例性的应用场景；
图2是本公开一示例性实施例提供的巡航路线地图的生成方法的流程示意图；
图3是本公开另一示例性实施例提供的巡航路线地图的生成方法的流程示意图；
图4是本公开一示例性实施例提供的步骤210的流程示意图；
图5是本公开再一示例性实施例提供的巡航路线地图的生成方法的流程示意图；
图6是本公开一示例性实施例提供的可视化学习进度的展示示意图；
图7是本公开又一示例性实施例提供的巡航路线地图的生成方法的流程示意图；
图8是本公开一示例性实施例提供的巡航路线地图的生成装置的结构示意图；
图9是本公开另一示例性实施例提供的巡航路线地图的生成装置的结构示意图；
图10是本公开一示例性实施例提供的第一控制模块510的结构示意图；
图11是本公开再一示例性实施例提供的巡航路线地图的生成装置的结构示意图；
图12是本公开又一示例性实施例提供的巡航路线地图的生成装置的结构示意图；
图13是本公开电子设备一个应用实施例的结构示意图。
具体实施方式
为了解释本公开，下面将参考附图详细地描述本公开的示例实施例，显然，所描述的实施例仅是本公开的一部分实施例，而不是全部实施例，应理解，本公开不受示例性实施例的限制。
应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本公开的范围。
本公开概述
在实现本公开的过程中，发明人发现，领航自动驾驶功能(也可称巡航功能)可以为用户提供匝道汇入汇出、自动变道、主动超车、环岛通行、十字路口通行、窄路会车等高级别领航自动驾驶功能，提升了用户驾驶安全性与舒适性。目前车辆的领航自动驾驶功能需要依赖于第三方提供的高精度地图来提供车辆行驶过程中的高精度环境信息，而高精度地图覆盖范围有限且更新频率低，极大限制了领航自动驾驶功能的通用性，比如在无高精度地图覆盖区域无法提供领航自动驾驶功能。
示例性概述
图1是本公开提供的巡航路线地图的生成方法的一个示例性的应用场景。当用户需要经常行驶某条路线时，比如从家A点到公司B点的路线，通过本公开提供的巡航路线地图的生成方法，可以为用户提供专线巡航功能，用户可以通过交互界面(比如中控屏)进入领航自动驾驶系统，领航自动驾驶系统执行本公开的巡航路线地图的生成方法，可以为用户提供巡航界面，用户可以在巡航界面选择或创建要学习的目标学习路线，并触发路线学习请求，领航自动驾驶系统响应于用户的路线学习请求，可以根据路线学习请求确定出用户当前要学习的目标学习路线，从而进入学习状态，当用户驾驶当前车辆沿目标学习路线行驶时，领航自动驾驶系统可以通过当前车辆上的摄像头等传感器实时获取周围环境信息，进而基于周围环境信息不断生成目标学习路线对应的建图信息，基于建图信息生成目标学习路线对应的巡航路线地图，实现对目标学习路线的记忆学习，获得目标学习路线对应的 满足巡航要求的专线巡航地图，以为用户提供专线巡航功能，无需依赖高精地图，即可实现领航自动驾驶功能，有助于提高领航自动驾驶系统的通用性，解决相关技术中因依赖高精地图而导致在无高精地图覆盖区域无法提供领航自动驾驶功能等问题，有助于提高用户体验。
示例性方法
图2是本公开一示例性实施例提供的巡航路线地图的生成方法的流程示意图。本实施例可应用在电子设备上，具体比如为但不限于为车载计算平台上、自动驾驶域控制器等，如图2所示，包括如下步骤：
步骤201，响应于用户的路线学习请求，确定路线学习请求对应的目标学习路线。
其中，路线学习请求可以包括用户选择的起始点、终止点及从起始点到终止点的路线。用户可以通过交互界面(比如中控屏)进入领航自动驾驶系统首页面，并可以通过首页面的巡航功能入口进入巡航界面，可以在巡航界面选择或创建要学习的目标学习路线，并触发路线学习请求，比如在巡航界面点击“创建新路线”进入地图界面，可以基于导航地图为用户提供地图界面。用户可以在地图界面选择目标起始点和目标终止点，响应于用户的选择，可以为用户显示推荐的从目标起始点到目标终止点的路线，用户确认后，可以基于该目标起始点、目标终止点及对应的路线触发路线学习请求，响应于用户的路线学习请求，可以根据路线学习请求确定出用户当前要学习的目标学习路线，从而进入学习状态。领航自动驾驶系统入口可以集成在IVI(In-Vehicle Infotainment，车载信息娱乐系统)中控屏中，作为功能交互界面。
在一个可选示例中，用户也可以选择已创建的未完成学习的学习路线作为目标学习路线并触发路线学习请求，进行本次学习。比如当用户有多个常走路线需要学习时，由于每条路线的学习可能不是一次就能完成，通常需要多次学习，为了进一步提高用户体验，可以提供多条路线的学习并存，比如用户需要从A点到B点的路线1的学习、从A点到C点的路线2的学习，当每条路线被创建后，学习一次若还未完成学习，比如路线1，则可以进行存储，当用户后续再次需要走该路线1时，再进行下一次学习，如此，用户无需专门多次在该路线行驶时进行学习，而是可基于日常需要，在选择在该路线行驶时继续学习即可。
在一个可选示例中，该步骤201可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第一确定模块执行。
步骤202，在当前车辆沿目标学习路线行驶过程中，获取当前车辆的周围环境信息。
其中，周围环境信息可以通过设置在当前车辆上的传感器采集获得。传感器可包括摄像头、激光雷达、毫米波雷达等，具体可以根据实际需求设置，本公开不作限定。确定用户的目标学习路线后，用户可以驾驶当前车辆沿该目标学习路线从目标起始点行驶到目标终止点，在行驶过程中，实现目标学习路线周围环境信息的采集，为目标学习路线的学习提供数据支撑。
可选地，在行驶过程中，还可以在交互界面显示目标学习路线。
在一个可选示例中，该步骤202可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第一获取模块执行。
步骤203，基于周围环境信息，生成目标学习路线对应的建图信息。
其中，建图信息可以包括感知获得的车道线、人行道、停车线等道路标志特征信息、道路两侧的建筑物特征信息，等等，具体可以根据实际需求设置。比如基于SLAM(Simultaneous Localization and Mapping，同时定位与建图)算法生成建图信息，具体原理不再赘述。
在一个可选示例中，该步骤203可以由处理器调用存储器存储的相应指令执行，也可 以由被处理器运行的第一处理模块执行。
步骤204，基于建图信息，生成目标学习路线对应的巡航路线地图。
其中，巡航路线地图可以是目标学习路线对应的全局地图，建图信息可以包括当前车辆在不同位置时周围环境的局部信息，也即目标学习路线不同路段的环境特征信息，将建图信息融合到全局信息中实现增量式建图，具体建图方式不再赘述。当前车辆从目标起始点行驶到目标终止点，可以实现一次的学习。在实际应用中，可以通过多次学习完成目标学习路线的最终的巡航路线地图。每完成一次学习，可以对学习后的巡航路线地图进行检验，确定其是否满足巡航要求，当满足巡航要求，即可获得最终的巡航路线地图，否则可以继续学习。在具体实现中，还可以设置最大学习次数阈值，当学习次数超过该最大学习次数阈值后仍不满足巡航要求，可以提示用户，比如换条路线或者放弃学习，具体可以根据实际需求设置。
在一个可选示例中，巡航路线地图可以在当前车辆端生成。或者，也可以将建图信息上传到服务器，由服务器生成巡航路线地图，具体可以根据实际需求设置。
在一个可选示例中，该步骤204可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第二处理模块执行。
本实施例提供的巡航路线地图的生成方法，可以为用户提供巡航路线订制功能，用户可以将需要经常行驶的路线作为目标学习路线，通过在目标学习路线驾驶车辆，使得车辆的车载计算平台或相关域控制器可以通过车辆的传感器采集周围环境信息，基于采集的周围环境信息对目标学习路线进行学习，构建目标学习路线的巡航路线地图，从而为用户提供专线的巡航路线地图，可以基于巡航路线地图为用户提供专线巡航功能，无需依赖高精地图，即可实现领航自动驾驶功能，有助于提高领航自动驾驶系统的通用性，解决现有技术依赖高精地图导致在无高精地图覆盖区域无法提供领航自动驾驶功能等问题，从而有助于提高用户体验。
图3是本公开另一示例性实施例提供的巡航路线地图的生成方法的流程示意图。
在一个可选示例中，本公开实施例的方法还包括：
步骤205，基于第一预设检验规则对巡航路线地图进行检验，获得第一检验结果。
其中，第一预设检验规则可以根据实际巡航需求设置，本公开不作限定。比如根据通常巡航地图需要满足的条件结合专线巡航的需求设置第一预设检验规则。第一检验结果可以包括通过或不通过的检验结果。
在一个可选示例中，该步骤205可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第三处理模块执行。
步骤206，响应于第一检验结果为通过，向用户推送巡航路线地图对应的巡航功能。
其中，若第一检验结果为通过，表示当前巡航路线地图已满足巡航要求，可以用于为用户提供专线巡航功能，则可以向用户推送巡航路线地图对应的巡航功能，具体推送方式可以根据实际需求设置，本公开不作限定。比如可以控制在显示界面显示“制图成功，您可以使用该路线的巡航功能了”等类似信息，并可以在界面提供巡航功能启动入口，或者可以提示用户进入巡航功能的方式，以使用户掌握如何启动当前路线的巡航功能，具体可以根据实际需求设置。
在一个可选示例中，该步骤206可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第四处理模块执行。
本公开通过专线巡航的学习，可以为用户提供专线巡航功能，使得用户能够在自己常走路线享受专线巡航功能，一方面可以为用户提供巡航路线订制服务，另一方面还可以在无高精地图覆盖的区域仍可为用户提供巡航功能，有助于大大提高用户体验。
在一个可选示例中，本公开实施例的方法还包括：
步骤207，响应于第一检验结果为未通过，将目标学习路线作为未完成学习路线进行 存储。
其中，若第一检验结果为未通过，表示当前该目标学习路线的巡航路线地图还不能满足巡航要求，可以将目标学习路线作为未完成学习路线进行存储，以等待用户对该目标学习路线的下次学习。
在一个可选示例中，该步骤207可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第五处理模块执行。
本公开通过未完成学习路线的存储功能，使得用户可以间断进行学习，并且可以实现支持用户的多条路线学习的并存，在需要走某条未完成学习路线时，可以实时开始学习，而不必为了某条路线的学习在该路线上进行不必要的行驶，有助于进一步提高用户体验。
在一个可选示例中，在步骤207的将目标学习路线作为未完成路线进行存储之后，本公开实施例的方法还包括：
步骤208，输出继续训练提示信息。
其中，继续训练提示信息的具体内容可以根据实际需求设置，比如可以为“您当前路线尚未完成，已保存，请下次继续学习”。输出方式可以采用任意可实施的方式，本公开不作限定，比如可以通过显示屏输出，或者，也可以通过语音输出，或者，还可以通过语音加显示屏输出，具体不作限定。
在一个可选示例中，该步骤208可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第一输出模块执行。
在一个可选示例中，在步骤206的响应于第一检验结果为通过，向用户推送巡航路线地图对应的巡航功能之后，还包括：
步骤209，控制输出巡航路线地图对应的巡航功能的介绍信息。
其中，巡航功能的介绍信息可以包括巡航功能使用需要注意的信息、巡航功能的启动方式信息及其他可能的信息，具体可以根据实际需求设置，本公开不作限定。巡航功能的介绍信息的输出方式可以根据实际需求设置，比如可以通过视频播放方式输出，或者，也可以通过语音播放方式输出，或者，还可以同时通过语音播放和视频播放方式输出，等等，具体不再赘述。
在一个可选示例中，该步骤209可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第二输出模块执行。
本公开通过输出巡航功能的介绍信息，可以使用户能够及时、方便地掌握巡航功能的相关信息，以使用户更好地适用巡航功能，有助于进一步提升用户体验。
在一个可选示例中，在步骤206的响应于第一检验结果为通过，向用户推送巡航路线地图对应的巡航功能之后，还包括：
步骤210，响应于用户针对目标学习路线的巡航请求，基于目标学习路线对应的巡航路线地图，对当前车辆进行巡航控制。
其中，巡航请求可以是用户在巡航功能界面选择已完成学习的目标学习路线后触发，巡航功能界面的具体展示内容和展示方式可以根据实际需求设置，本公开不作限定。巡航功能界面的入口可以根据实际需求设置，比如设置在领航自动驾驶系统的首页面，本公开不作限定。巡航控制是指基于巡航路线地图为车辆提供车道线、道路边沿、交通标志牌等环境信息进行路径规划和控制，实现领航自动驾驶功能，为用户提供匝道汇入汇出、自动变道、主动超车、环岛或十字路口或无保护路口左转、窄路会车等领航自动驾驶功能。具体控制原理不再赘述。
在一个可选示例中，该步骤210可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第一控制模块执行。
本公开在目标学习路线学习完成后，无论是否是高精地图覆盖路段，均可以为用户提供专线巡航功能。
图4是本公开一示例性实施例提供的步骤210的流程示意图。
在一个可选示例中，步骤210的响应于用户针对目标学习路线的巡航请求，基于目标学习路线对应的巡航路线地图，对当前车辆进行巡航控制，包括：
步骤2101，响应于用户针对目标学习路线的巡航请求，获取目标学习路线的当前通行情况。
其中，目标学习路线的当前通行情况可以基于导航地图或其他方式获得，具体可以根据实际需求设置，本公开不做先等等。当前通行情况可以包括正常和异常两种情况，比如基于导航地图确定出目标学习路线当前通行率较低，或者因施工或其他原因导致不能通行，则可以确定出当前通行情况异常。
在一个可选示例中，该步骤2101可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第一获取单元执行。
步骤2102，响应于当前通行情况为正常，基于目标学习路线对应的巡航路线地图，对当前车辆进行巡航控制。
当前通行情况正常表示可以进行专线巡航，从而可以基于目标学习路线对应的巡航路线地图，对当前车辆进行巡航控制。
在一个可选示例中，该步骤2102可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第一控制单元执行。
在一个可选示例中，本公开实施例的方法还包括：
步骤2103，响应于当前通行情况为异常，输出提示信息。
其中，提示信息内容可以根据实际需求设置，比如“当前路线无法通行，请换路线”。提示信息的输出方式可以采用任意可实施的方式，比如语音、显示、语音+显示，等等，具体不再赘述。
在一个可选示例中，该步骤2103可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第一输出单元执行。
本公开通过在为用户开启专线巡航功能之前，先确定当前路线的通行情况，当通行情况异常时可以提示用户，可以进一步提升用户体验。
在一个可选示例中，本公开实施例的方法还包括：
步骤2104，响应于当前通行情况为异常，获取与目标学习路线的起始点和终止点相同的其他用户已学习的第一路线。
其中，若当前通行情况为异常，还可以为用户提供其他用户已学习完成的其他路线(第一路线)，供用户选择，具体可以是从服务器(比如云端)获取其他用户的第一路线。其他用户的第一路线可以是经该其他用户授权共享的路线，比如其他用户在完成第一路线的专线巡航学习后，将记忆的巡航路线地图上传到服务器，以便于更多用户共享。
在实际应用中，当与目标学习路线的起始点和终止点相同的其他用户已学习的路线有多条时，可以根据一定的规则，确定出其中的一条作为第一路线，或者为用户提供多条第一路线，由用户自己选择，比如在显示屏的交互界面显示可选择的第一路线供用户查看选择，具体可以根据实际需求设置。
在一个可选示例中，该步骤2104可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第二获取单元执行。
步骤2105，响应于第一路线的当前通行情况为正常，将第一路线推送给用户。
为了确保第一路线通行，还可以对第一路线的通行情况进行判断，比如基于导航地图判断，当第一路线的当前通行情况为正常时，再将第一路线推送给用户，具体推送方式可以根据实际需求设置，比如可以将第一路线在地图上标记显示，并播放推送语音。在显示界面还可以提供“确认”等类似触发按钮，或者语音交互确认方式，具体不作限定。
在一个可选示例中，该步骤2105可以由处理器调用存储器存储的相应指令执行，也可 以由被处理器运行的第一处理单元执行。
步骤2106，响应于用户对第一路线的使用确认信息，基于第一路线对应的巡航路线地图，对当前车辆进行巡航控制。
其中，用户的确认使用信息可以通过任意可实施的方式触发获得，比如可以通过语音确认、屏幕显示按键确认等方式中的至少一种方式触发获得。当用户确认使用第一路线后，可以基于第一路线对应的巡航路线地图为用户提供巡航功能。
在一个可选示例中，该步骤2106可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第二控制单元执行。
步骤2107，响应于第一路线的当前通行情况为异常，输出提示信息。
当第一路线的当前通行情况也异常时，可以输出提示信息，提示用户放弃使用巡航功能或再更换路线，提示信息的具体内容和输出方式可以根据实际需求设置。
在一个可选示例中，该步骤2107可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第二输出单元执行。
本公开通过用户的目标学习路线当前通行情况异常时，为用户提供其他用户已学习的其他路线选择，使得用户还可以享受更多路线的巡航功能，进一步提升用户体验。
图5是本公开再一示例性实施例提供的巡航路线地图的生成方法的流程示意图。
在一个可选示例中，本公开实施例的方法还包括：
步骤301，在当前车辆沿目标学习路线行驶过程中，基于第二预设检验规则，确定本次学习是否成功。
其中，第二预设检验规则可以根据实际需求设置，比如在当前车辆行驶过程中，若当前车辆脱离目标学习路线，可以确定本次学习失败，若传感器发生故障，无法采集周围环境信息，可以确定本次学习失败，等等。传感器发生故障具体比如可以包括摄像头被遮挡、GNSS(Global Navigation Satellite System，全球导航卫星系统)信号丢失等。
在一个可选示例中，该步骤301可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第六处理模块执行。
步骤302，响应于本次学习成功，输出目标学习路线的当前学习进度。
其中，当前学习进度可以根据学习记忆情况来确定，比如可以根据巡航路线地图的完成情况和/或者学习次数及其他相关因素确定，具体可以根据实际需求设置，本公开不作限定。当前学习进度的输出方式可以为任意可实施的方式，比如输出方式可以包括语音输出、可视化输出等输出方式中的至少一种方式，本实施例不作限定。
可选地，在本次学习成功后，还可以输出鼓励信息，鼓励用户持续训练该路线，具体内容和输出方式可以根据实际需求设置。
在一个可选示例中，该步骤302可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第三输出模块执行。
步骤303，响应于本次学习失败，输出目标学习路线本次学习失败提示信息。
其中，本次学习失败提示信息可以包括本次学习失败信息和失败原因，其中，失败原因比如可以包括车辆脱离目标学习路线、车辆在某路段无法获取环境信息，等等，具体可以根据实际需求设置。
可选地，还可以通过当前车辆的仪表盘进行失败提示，具体可以根据实际需求设置。
可选地，在本次学习失败后，还可以输出重新训练提示信息，提示用户重新训练。具体提示内容可以根据实际需求设置。
在一个可选示例中，该步骤303可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第四输出模块执行。
本公开在每次学习完后，可以根据学习情况输出相应的信息，当本次学习成功可以输出当前学习进度，便于用户及时掌握当前路线的学习情况，当学习失败，可以提示用户失 败原因，帮助用户更好地完成学习，有助于进一步提升用户体验。
在一个可选示例中，本公开实施例的方法还包括：
步骤304，获取目标学习路线的当前学习失败次数。
其中，在每完成一次学习，可以记录学习情况，学习情况可以包括学习成功、学习失败两种情况，并可以记录失败次数，用于最终学习成功与失败的参考。
在一个可选示例中，该步骤304可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第二获取模块执行。
步骤305，响应于当前学习失败次数大于预设次数阈值，输出更换路线提示信息。
其中，预设次数阈值可以根据实际需求设置，比如预设次数阈值可以设置为10次、15次，等等，具体不作限定。若当前学习失败次数大于预设次数阈值，可以表示当前路线学习困难太大，可能无法完成符合要求的最终巡航路线地图，因此，可以向用户输出更换路线提示信息，以提示用户当前路线可能无法完成学习，建议用户放弃该路线或者更换路线。具体输出内容和输出方式可以根据实际需求设置。
在一个可选示例中，该步骤305可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第五输出模块执行。
在一个可选示例中，步骤302的响应于本次学习成功，输出目标学习路线的当前学习进度，包括：响应于本次学习成功，将目标学习路线的当前学习进度输出到显示设备，并控制在显示设备的显示屏上按照预设方式显示当前学习进度。
其中，预设方式可以根据实际需求设置，比如预设方式可以为进度条方式或者圆盘进度方式，具体不作限定，只要能使用户清楚方便地查看当前学习进度即可。显示设备可以是车辆上的中控屏，在实际应用中也可以是其他可能的显示设备，具体不作限定。
示例性的，图6是本公开一示例性实施例提供的可视化学习进度的展示示意图。
在一个可选示例中，在步骤201的响应于用户的路线学习请求，确定路线学习请求对应的目标学习路线之前，本公开实施例的方法还包括：
步骤401，响应于用户的进入巡航界面请求，控制显示巡航界面。
其中，巡航界面请求可以由用户在领航自动驾驶系统的首界面或其他可能的界面入口触发，具体界面展示方式及界面切换逻辑可以根据实际需求设置，本公开不作限定。巡航界面可以包括已创建的未完成路线的选择入口和/或新路线创建入口，具体可以根据实际需求设置。
在一个可选示例中，该步骤401可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第二控制模块执行。
步骤402，响应于用户在巡航界面的创建新路线请求，控制显示地图界面。
当用户需要学习新的路线时，可以通过新路线创建入口触发创建新路线请求，响应于用户的创建新路线请求，为用户显示地图界面，地图界面可以基于导航地图提供，供用户选择要创建的新路线的起始点和终止点。
在一个可选示例中，该步骤402可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第三控制模块执行。
步骤403，响应于用户在地图界面选择的目标起始点和目标终止点，确定用户的路线学习请求。
当用户在地图界面选择好目标起始点和目标终止点后，可以通过点击“确认”等触发路线学习请求。
可选地，在用户选择目标起始点和目标终止点后，还可以根据用户的目标起始点和目标终止点显示为用户推荐的从目标起始点到目标终止点的至少一条路线，供用户选择，用户选择后触发路线学习请求。比如在用户选择目标起始点和目标终止点后，按照最短路线规则为用户直接推荐显示一条从目标起始点到目标终止点的路线，用户若同意，可以直接 触发路线学习请求即可，另外还可以为用户提供切换路线选项，可以在触发后为用户显示从目标起始点到目标终止点的其他路线供用户选择，用户选择后触发路线学习请求，从而使得路线学习请求包括用户选择的目标起始点、目标终止点及从目标起始点到目标终止点的路线，因此，响应用户的路线学习请求，可以从路线学习请求中可以确定出目标学习路线。
在一个可选示例中，该步骤403可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第二确定模块执行。
本公开通过人机交互界面(Human Machine Interface，简称：HMI)为用户提供方便的专线巡航学习订制功能及学习后的专线巡航功能，有助于进一步提升用户体验。
图7是本公开又一示例性实施例提供的巡航路线地图的生成方法的流程示意图。
在一个可选示例中，在步骤201的响应于用户的路线学习请求，确定路线学习请求对应的目标学习路线之前，还包括：
步骤404，响应于用户在未完成学习路线界面的选择操作，确定用户的路线学习请求，未完成学习路线界面包括至少一个未完成学习路线。
当用户处于已创建的未完成学习路线的起始点，并要行驶到该未完成学习路线的终止点时，可以通过进入未完成学习路线界面选择该未完成学习路线作为本次学习路线，来触发路线学习请求，具体触发方式可以根据实际需求设置，本公开不作限定。
在一个可选示例中，该步骤404可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第三确定模块执行。
在一个可选示例中，在步骤203的基于周围环境信息，生成目标学习路线对应的建图信息之后，还包括：
步骤2041，将建图信息上传到服务器，以使服务器基于建图信息生成目标学习路线对应的巡航路线地图。
其中，服务器可以是与车辆电子设备通信的任意可实施的服务器，比如云端服务器、单个服务器、服务器集群等等，具体不作限定。经用户确认可以将建图信息上传到服务器，在服务器端生成巡航路线地图，再由服务器端将生成的巡航路线地图返回给车辆电子设备进行存储。
在一个可选示例中，该步骤2041可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第一发送模块执行。
步骤2042，接收并存储服务器返回的巡航路线地图。
接收到服务器返回的目标学习路线对应的巡航路线地图后，可以进行存储，以在巡航路线地图满足巡航要求后，为用户提供专线巡航功能。
可选地，巡航路线地图可以是服务器检测满足巡航要求后再返回给当前车辆端，或者，也可以是每次学习生成后即返回车辆端，具体可以根据实际需求设置。
可选地，在由服务器生成巡航路线地图的情况下，巡航路线地图是否满足巡航要求的检测可以在服务器端实现，或者，也可以在车端实现，具体不作限定。
在一个可选示例中，对于在车辆端生成巡航路线地图的情况，可以在学习完成后，向用户推送共享请求信息，请求用户是否同意将学习获得的当前路线的巡航路线地图共享给其他用户，若用户确认共享，则可以将学习获得的巡航路线地图发送给服务器，以使服务器为其他用户提供共享巡航路线服务，具体可以根据实际需求设置。
在一个可选示例中，该步骤2042可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的第一接收模块执行。
本公开实施例面向用户高频出行路线，可以有针对性地构建专线巡航，能够有助于提高领航自动驾驶功能的使用频率，提升智能驾驶功能体验的连续性和完整性，有效扩展领航自动驾驶功能的可开启范围，具体来说，针对用户高频出行路线，可以通过视觉环境建 模技术，打破高精地图的覆盖限制，可以打造专属于用户路线的点到点领航自动驾驶系统，有助于提升用户出行效率和体验。并且可以基于车辆实时环境建模实现专线巡航，在不增加车辆系统软硬件成本的基础上，摆脱对昂贵的高精地图的依赖，从而有助于降低智能驾驶系统成本。
本公开实施例提供的任一种巡航路线地图的生成方法可以由任意适当的具有数据处理能力的设备执行，包括但不限于：终端设备和服务器等。或者，本公开实施例提供的任一种巡航路线地图的生成方法可以由处理器执行，如处理器通过调用存储器存储的相应指令来执行本公开实施例提及的任一种巡航路线地图的生成方法。下文不再赘述。
本领域普通技术人员可以理解：实现上述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，执行包括上述方法实施例的步骤；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。
示例性装置
图8是本公开一示例性实施例提供的巡航路线地图的生成装置的结构示意图。该实施例的装置可用于实现本公开相应的方法实施例，如图8所示的装置包括：第一确定模块501、第一获取模块502、第一处理模块503和第二处理模块504。
第一确定模块501，用于响应于用户的路线学习请求，确定所述路线学习请求对应的目标学习路线；第一获取模块502，用于在当前车辆沿所述目标学习路线行驶过程中，获取所述当前车辆的周围环境信息；第一处理模块503，用于基于第一获取模块502获取的所述周围环境信息，生成所述目标学习路线对应的建图信息；第二处理模块504，用于基于第一处理模块503生成的所述建图信息，生成所述目标学习路线对应的巡航路线地图。
图9是本公开另一示例性实施例提供的巡航路线地图的生成装置的结构示意图。
在一个可选示例中，本公开实施例的装置还包括：第三处理模块505和第四处理模块506。
第三处理模块505，用于基于第一预设检验规则对所述巡航路线地图进行检验，获得第一检验结果；第四处理模块506，用于响应于所述第一检验结果为通过，向所述用户推送所述巡航路线地图对应的巡航功能。
在一个可选示例中，本公开实施例的装置还包括：第五处理模块507，用于响应于所述第一检验结果为未通过，将所述目标学习路线作为未完成学习路线进行存储。
在一个可选示例中，本公开实施例的装置还包括：第一输出模块508，用于输出继续训练提示信息。
在一个可选示例中，本公开实施例的装置还包括：第二输出模块509，用于控制输出所述巡航路线地图对应的巡航功能的介绍信息。
在一个可选示例中，本公开实施例的装置还包括：第一控制模块510，用于响应于所述用户针对所述目标学习路线的巡航请求，基于所述目标学习路线对应的所述巡航路线地图，对所述当前车辆进行巡航控制。
图10是本公开一示例性实施例提供的第一控制模块510的结构示意图。
在一个可选示例中，所述第一控制模块510包括：第一获取单元5101和第一控制单元5102。
第一获取单元5101，用于响应于所述用户针对所述目标学习路线的巡航请求，获取所述目标学习路线的当前通行情况；第一控制单元5102，用于响应于所述当前通行情况为正常，基于所述目标学习路线对应的所述巡航路线地图，对所述当前车辆进行巡航控制。
在一个可选示例中，第一控制模块510还包括：第一输出单元5103，用于响应于所述当前通行情况为异常，输出提示信息。
在一个可选示例中，第一控制模块510还包括：第二获取单元5104、第一处理单元5105、第二控制单元5106。
第二获取单元5104，用于响应于所述当前通行情况为异常，获取与所述目标学习路线的起始点和终止点相同的其他用户已学习的第一路线。
第一处理单元5105，用于响应于所述第一路线的当前通行情况为正常，将所述第一路线推送给所述用户。
第二控制单元5106，用于响应于所述用户对所述第一路线的使用确认信息，基于所述第一路线对应的巡航路线地图，对所述当前车辆进行巡航控制。
第二输出单元5107，用于响应于所述第一路线的当前通行情况为异常，输出提示信息。
图11是本公开再一示例性实施例提供的巡航路线地图的生成装置的结构示意图。
在一个可选示例中，本公开实施例的装置还包括：第六处理模块601、第三输出模块602和第四输出模块603。
第六处理模块601，用于在所述当前车辆沿所述目标学习路线行驶过程中，基于第二预设检验规则，确定本次学习是否成功；第三输出模块602，用于响应于本次学习成功，输出所述目标学习路线的当前学习进度；第四输出模块603，用于响应于本次学习失败，输出所述目标学习路线本次学习失败提示信息。
在一个可选示例中，本公开实施例的装置还包括：第二获取模块604和第五输出模块605。
第二获取模块604，用于获取所述目标学习路线的当前学习失败次数；第五输出模块605，用于响应于所述当前学习失败次数大于预设次数阈值，输出更换路线提示信息。
在一个可选示例中，所述第三输出模块602具体用于：响应于本次学习成功，将所述目标学习路线的所述当前学习进度输出到显示设备，并控制在所述显示设备的显示屏上按照预设方式显示所述当前学习进度。
在一个可选示例中，本公开实施例的装置还包括：第二控制模块606、第三控制模块607和第二确定模块608。
第二控制模块606，用于响应于所述用户的进入巡航界面请求，控制显示巡航界面；第三控制模块607，用于响应于所述用户在所述巡航界面的创建新路线请求，控制显示地图界面；第二确定模块608，用于响应于所述用户在所述地图界面选择的目标起始点和目标终止点，确定所述用户的所述路线学习请求。
图12是本公开又一示例性实施例提供的巡航路线地图的生成装置的结构示意图。
在一个可选示例中，本公开实施例的装置还包括：第三确定模块609，用于响应于所述用户在未完成学习路线界面的选择操作，确定所述用户的所述路线学习请求，所述未完成学习路线界面包括至少一个未完成学习路线。
在一个可选示例中，本公开实施例的装置还包括：第一发送模块610和第一接收模块611。
第一发送模块610，用于将所述建图信息上传到服务器，以使所述服务器基于所述建图信息生成所述目标学习路线对应的巡航路线地图；第一接收模块611，用于接收并存储所述服务器返回的所述巡航路线地图。
本装置示例性实施例对应的有益技术效果可以参见上述示例性方法部分的相应有益技术效果，在此不再赘述。
示例性电子设备
图13是本公开电子设备一个应用实施例的结构示意图。本实施例中，该电子设备10包括一个或多个处理器11和存储器12。
处理器11可以是中央处理单元(CPU)或者具有数据处理能力和/或指令执行能力的 其他形式的处理单元，并且可以控制电子设备10中的其他组件以执行期望的功能。
存储器12可以包括一个或多个计算机程序产品，所述计算机程序产品可以包括各种形式的计算机可读存储介质，例如易失性存储器和/或非易失性存储器。易失性存储器例如可以包括随机存取存储器(RAM)和/或高速缓冲存储器(cache)等。非易失性存储器例如可以包括只读存储器(ROM)、硬盘、闪存等。在计算机可读存储介质上可以存储一个或多个计算机程序指令，处理器11可以运行一个或多个计算机程序指令，以实现上文中本公开的各个实施例的方法和/或其他期望的功能。
在一个示例中，电子设备10还可以包括：输入装置13和输出装置14，这些组件通过总线系统和/或其他形式的连接机构(未示出)互连。
该输入装置13还可以包括例如键盘、鼠标等等。
该输出装置14可以向外部输出各种信息，其可以包括例如显示器、扬声器、打印机、以及通信网络及其所连接的远程输出设备等等。
当然，为了简化，图13中仅示出了该电子设备10中与本公开有关的组件中的一些，省略了诸如总线、输入/输出接口等等的组件。除此之外，根据具体应用情况，电子设备10还可以包括任何其他适当的组件。
示例性计算机程序产品和计算机可读存储介质
除了上述方法和设备以外，本公开的实施例还可以提供一种计算机程序产品，包括计算机程序指令，计算机程序指令在被处理器运行时使得处理器执行上述“示例性方法”部分中描述的本公开各种实施例的方法中的步骤。
计算机程序产品可以以一种或多种程序设计语言的任意组合来编写用于执行本公开实施例操作的程序代码，所述程序设计语言包括面向对象的程序设计语言，诸如Java、C++等，还包括常规的过程式程序设计语言，诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。
此外，本公开的实施例还可以是计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令在被处理器运行时使得所述处理器执行本说明书上述“示例性方法”部分中描述的根据本公开各种实施例的方法中的步骤。
计算机可读存储介质可以采用一个或多个可读介质的任意组合。可读介质可以是可读信号介质或者可读存储介质。可读存储介质例如可以包括但不限于电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。
以上结合具体实施例描述了本公开的基本原理，但是，在本公开中提及的优点、优势、效果等仅是示例而非限制，不能认为其是本公开的各个实施例必须具备的。另外，上述公开的具体细节仅是为了示例的作用和便于理解的作用，而非限制，上述细节并不限制本公开为必须采用上述具体的细节来实现。
本领域的技术人员可以对本公开进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请的这些修改和变型属于本公开权利要求及其等同技术的范围之内，则本公开也意图包含这些改动和变型在内。

Claims (17)

  1. 一种巡航路线地图的生成方法，包括：
    响应于用户的路线学习请求，确定所述路线学习请求对应的目标学习路线；
    在当前车辆沿所述目标学习路线行驶过程中，获取所述当前车辆的周围环境信息；
    基于所述周围环境信息，生成所述目标学习路线对应的建图信息；
    基于所述建图信息，生成所述目标学习路线对应的巡航路线地图。
  2. 根据权利要求1所述的方法，还包括：
    基于第一预设检验规则对所述巡航路线地图进行检验，获得第一检验结果；
    响应于所述第一检验结果为通过，向所述用户推送所述巡航路线地图对应的巡航功能。
  3. 根据权利要求2所述的方法，还包括：
    响应于所述第一检验结果为未通过，将所述目标学习路线作为未完成学习路线进行存储。
  4. 根据权利要求3所述的方法，其中，在将所述目标学习路线作为未完成路线进行存储之后，还包括：
    输出继续训练提示信息。
  5. 根据权利要求2所述的方法，其中，在所述响应于所述第一检验结果为通过，向所述用户推送所述巡航路线地图对应的巡航功能之后，还包括：
    控制输出所述巡航路线地图对应的巡航功能的介绍信息。
  6. 根据权利要求2所述的方法，其中，在所述响应于所述第一检验结果为通过，向所述用户推送所述巡航路线地图对应的巡航功能之后，还包括：
    响应于所述用户针对所述目标学习路线的巡航请求，基于所述目标学习路线对应的所述巡航路线地图，对所述当前车辆进行巡航控制。
  7. 根据权利要求6所述的方法，其中，所述响应于所述用户针对所述目标学习路线的巡航请求，基于所述目标学习路线对应的所述巡航路线地图，对所述当前车辆进行巡航控制，包括：
    响应于所述用户针对所述目标学习路线的巡航请求，获取所述目标学习路线的当前通行情况；
    响应于所述当前通行情况为正常，基于所述目标学习路线对应的所述巡航路线地图，对所述当前车辆进行巡航控制。
  8. 根据权利要求7所述的方法，还包括：
    响应于所述当前通行情况为异常，输出提示信息；或者，
    响应于所述当前通行情况为异常，获取与所述目标学习路线的起始点和终止点相同的其他用户已学习的第一路线；
    响应于所述第一路线的当前通行情况为正常，将所述第一路线推送给所述用户；
    响应于所述用户对所述第一路线的使用确认信息，基于所述第一路线对应的巡航路线地图，对所述当前车辆进行巡航控制；
    响应于所述第一路线的当前通行情况为异常，输出提示信息。
  9. 根据权利要求1所述的方法，还包括：
    在所述当前车辆沿所述目标学习路线行驶过程中，基于第二预设检验规则，确定本次学习是否成功；
    响应于本次学习成功，输出所述目标学习路线的当前学习进度；或者，
    响应于本次学习失败，输出所述目标学习路线本次学习失败提示信息。
  10. 根据权利要求9所述的方法，还包括：
    获取所述目标学习路线的当前学习失败次数；
    响应于所述当前学习失败次数大于预设次数阈值，输出更换路线提示信息。
  11. 根据权利要求9所述的方法，其中，所述响应于本次学习成功，输出所述目标学习路线的当前学习进度，包括：
    响应于本次学习成功，将所述目标学习路线的所述当前学习进度输出到显示设备，并控制在所述显示设备的显示屏上按照预设方式显示所述当前学习进度。
  12. 根据权利要求1所述的方法，其中，在所述响应于用户的路线学习请求，确定所述路线学习请求对应的目标学习路线之前，还包括：
    响应于所述用户的进入巡航界面请求，控制显示巡航界面；
    响应于所述用户在所述巡航界面的创建新路线请求，控制显示地图界面；
    响应于所述用户在所述地图界面选择的目标起始点和目标终止点，确定所述用户的所述路线学习请求。
  13. 根据权利要求1所述的方法，其中，在所述响应于用户的路线学习请求，确定所述路线学习请求对应的目标学习路线之前，还包括：
    响应于所述用户在未完成学习路线界面的选择操作，确定所述用户的所述路线学习请求，所述未完成学习路线界面包括至少一个未完成学习路线。
  14. 根据权利要求1所述的方法，其中，在所述基于所述周围环境信息，生成所述目标学习路线对应的建图信息之后，还包括：
    将所述建图信息上传到服务器，以使所述服务器基于所述建图信息生成所述目标学习路线对应的巡航路线地图；
    接收并存储所述服务器返回的所述巡航路线地图。
  15. 一种巡航路线地图的生成装置，包括：
    第一确定模块，用于响应于用户的路线学习请求，确定所述路线学习请求对应的目标学习路线；
    第一获取模块，用于在当前车辆沿所述目标学习路线行驶过程中，获取所述当前车辆的周围环境信息；
    第一处理模块，用于基于所述周围环境信息，生成所述目标学习路线对应的建图信息；
    第二处理模块，用于基于所述建图信息，生成所述目标学习路线对应的巡航路线地图。
  16. 一种计算机可读存储介质，所述存储介质存储有计算机程序，所述计算机程序用于执行上述权利要求1-14任一所述的巡航路线地图的生成方法。
  17. 一种电子设备，所述电子设备包括：
    处理器；
    用于存储所述处理器可执行指令的存储器；
    所述处理器，用于从所述存储器中读取所述可执行指令，并执行所述指令以实现上述权利要求1-14任一所述的巡航路线地图的生成方法。
PCT/CN2023/108741 2022-07-29 2023-07-21 巡航路线地图的生成方法、装置、电子设备和存储介质 WO2024022260A1 (zh)

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