Vehicle navigation method, storage medium and program product

Abstract

One or more embodiments of the present specification provide a vehicle navigation method, a storage medium, and a program product, the method comprising: acquiring a global map and at least one local map, the global map comprising an entry point corresponding to each local map; in response to a vehicle navigation request for a navigation destination, determining a spatial relationship between a navigation route specified by the navigation request and each local map, and determining a target local map corresponding to the navigation destination based on the spatial relationship; and navigating to a target entrance point corresponding to the target local map based on the global map, and navigating to the navigation destination based on the target local map.

Description

TECHNICAL FIELD

[0001] One or more embodiments of the present specification relate to the technical field of vehicle navigation, and in particular to a vehicle navigation method, a storage medium and a program product. BACKGROUND

[0002] In the existing assisted driving scenarios, the navigation module is crucial, which is responsible for guiding the vehicle to drive from the public road into the parking lot and finally reach the target parking space. Since the public road navigation mainly relies on the data provided by the third-party map supplier, i.e., the map vendor, and the navigation needs to be switched to the navigation based on the high-precision self-built map inside the parking lot after entering the parking lot, there are essential differences between the two sources of map data. Therefore, in order to realize seamless navigation throughout the whole journey, it is necessary to accurately match and effectively connect the global path planning provided by the external map vendor with the local high-precision map inside the parking lot.

[0003] In the related art, the map switching is usually completed in an artificial confirmation manner, for example, when the vehicle approaches the destination, the vehicle-mounted system recommends multiple possible parking lots near the navigation destination as candidates, and then relies on the user to manually click to confirm the final destination parking lot through the touch screen, so as to trigger the switching to the internal map of the parking lot. However, this interaction method has significant defects, that is, it requires the driver to perform screen operation during the vehicle driving process, which not only distracts attention, constitutes a safety hazard, and goes against the original intention of reducing human intervention in automatic driving, but also has a high risk of selecting the wrong parking lot due to accidental touch, thereby causing subsequent navigation failure or vehicle driving into the wrong area. SUMMARY

[0004] Therefore, one or more embodiments of the present specification provide technical solutions as follows:

[0005] According to a first aspect of one or more embodiments of the present specification, a vehicle navigation method is provided, the method comprising:

[0006] obtaining a global map and at least one local map, the global map containing an entry point corresponding to each local map;

[0007] in response to a vehicle navigation request for a navigation destination, determining the spatial relationship between the navigation route specified by the navigation request and each local map, and determining a target local map corresponding to the navigation destination based on the spatial relationship;

[0008] navigating to a target entry point corresponding to the target local map based on the global map, and navigating to the navigation destination based on the target local map.

[0009] According to a second aspect of the present specification, a computer readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, implements the steps of the method of the first aspect.

[0010] According to a third aspect of the present specification, a computer program product is provided, comprising computer programs / instructions which, when executed by a processor, implement the steps of the method of the first aspect.

[0011] As can be seen from the above embodiments, the scheme of the present specification realizes seamless and automatic switching from global navigation to local map of scenarios such as target parking lot, eliminating the dangerous manual confirmation link in driving. Specifically, by pre-associating the entry points of each local map in the global map, and automatically analyzing the spatial relationship between the navigation route and all candidate local maps in response to the navigation request, the target local map corresponding to the navigation destination is accurately and autonomously identified; subsequently, the vehicle navigates to the specified entry point of the target map according to the global map, and automatically and smoothly switches to the navigation of the target local map at this point, finally guiding the vehicle to the destination parking space. This mechanism not only completely avoids the safety risks and human-computer interaction burdens brought by the requirement for the driver to operate the screen during driving in the prior art, but also fundamentally eliminates the possibility of selecting the wrong parking lot due to user mis-touch, and further causing subsequent navigation failure, significantly improving the safety, reliability and automation level of navigation. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 is a schematic diagram of a vehicle navigation system architecture according to an embodiment of the present disclosure;

[0013] Figure 2 is a flowchart of a vehicle navigation method according to an embodiment of the present disclosure;

[0014] Figure 3 is a flowchart of another vehicle navigation method according to an embodiment of the present disclosure;

[0015] Figure 4 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;

[0016] Figure 5 is a block diagram of a vehicle navigation device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0017] The user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the specification are information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation portal for user to choose authorization or refusal.

[0018] Figure 1 FIG. 1 is a schematic diagram of an architecture of a vehicle navigation system according to an example embodiment. As shown in FIG. 1, the system can include a vehicle 12 and a map server 14. Figure 1

[0019] The vehicle 12 is the execution subject of the navigation method of the specification, which is configured to implement the core navigation logic. Specifically, the vehicle 12 can obtain the necessary navigation map data through its on-board computing unit, including global maps covering public roads and local maps. The vehicle 12 responds to a vehicle navigation request initiated by the user or the system for a specific navigation destination such as a target parking space. In response to this request, the vehicle 12 can determine the spatial relationship between the navigation route specified by the request and each of the acquired local maps, and determine the target local map corresponding to the above-mentioned navigation destination based on the spatial relationship analysis. Subsequently, the vehicle 12 first plans and guides the path based on the global map to navigate itself to the target entry point corresponding to the target local map. After arriving at the target entry point, the vehicle 12 can seamlessly switch and plan and guide the internal path based on the target local map, and finally navigate itself to the requested navigation destination. Of course, the source of the above-mentioned local map can be diverse. In addition to passively receiving pre-generated local map data from the map server 14 or other sources, the vehicle 12 can also perceive the surrounding environment through its on-board sensors such as cameras, lidar, ultrasonic radar, etc., and collect, construct and update the local map inside the parking lot in real time or offline based on the perception data.

[0020] ​The map server 14 can be a physical server containing a single host, or the server 4 can be a virtual server hosted by a cluster of hosts. In operation, the map server 14 can act as a key data provider for the navigation method described above. It is configured to store, manage and provide map data required for vehicle navigation. Specifically, the map server 14 provides a global map covering the public road network as described above. Crucially, the global map data contains information associated with at least one local map of a parking lot, in particular the geographical location information of the entry point corresponding to each local map. In addition, the map server 14 can also provide the local map of the interior of the at least one parking lot, which describes the environment information such as the internal roads, lane lines, parking space locations, etc. of the parking lot in detail. The vehicle 12 obtains the required global map and local map data from the map server 14 through a communication network such as a cellular network, laying a data foundation for the execution of the navigation method described above. The map server 14 is responsible for ensuring the accuracy and timeliness of the provided map data.

[0021] Embodiments of the vehicle navigation method of the present specification will now be described in detail below with reference to the accompanying drawings.

[0022] Figure 2 is a flowchart of a vehicle navigation method according to an exemplary embodiment of the present specification. As shown in Figure 2 the method can include the following steps:

[0023] Step S202, obtaining a global map and at least one local map, the global map containing an entry point corresponding to each local map.

[0024] In the initial stage of vehicle navigation, the vehicle can first obtain the necessary navigation map data, which includes a global map covering the public road network and at least one local map. The global map can be a navigation electronic map provided by a map vendor, the local map can be a self-built map collected and constructed by the vehicle itself, or a self-built map provided by a third party, which can cover high-precision internal areas that are missing or have low road precision in the global map. It should be noted that the global map obtained above already contains entry point information associated with each local map. Each local map can be associated with one or more entry points, which can be used to identify the specific location for entering the local map coverage area from the public road network, such as a cell gate, a parking lot gate, the top of a connecting ramp from the ground to the underground, or a location point defined by the maker of the local map according to actual needs, etc. In addition, the source of the data of the local map can be pre-stored locally in the vehicle, downloaded from a remote server such as a map vendor server, or constructed by the vehicle itself through sensor perception, which is not limited in the present specification.

[0025] Step S204, in response to the vehicle navigation request for the navigation destination, determining the spatial relationship between the navigation route specified by the navigation request and each local map, and determining the target local map corresponding to the navigation destination based on the spatial relationship.

[0026] When the navigation module of the vehicle receives a vehicle navigation request for a certain navigation destination initiated by the user or the vehicle itself, it enters the target map determination stage. At this time, the vehicle can determine the spatial relationship between the navigation route specified by the navigation request and each acquired local map, where the navigation route refers to the planned path with the navigation destination as the end point. The analysis of this spatial relationship will be used to determine which local map covering the area containing or strongly associated with the navigation destination. Based on the calculation and evaluation results of the above spatial relationship, the vehicle can automatically determine the target local map corresponding to the navigation destination.

[0027] The scheme of the present specification can prioritize the preliminary geometric distance screening before the step of determining the spatial relationship between the navigation route and each local map, focusing on the candidate local maps with potential strong association with the navigation destination, thereby improving the efficiency and accuracy of determining the target local map.

[0028] In an embodiment, the vehicle can determine the distance between the navigation destination and each entry point of the local map, and determine the entry points with a distance less than a preset screening distance as candidate entry points, and then determine the spatial relationship between the navigation route and the local map corresponding to each candidate entry point. Specifically, the vehicle can first determine the geometric distance between the geographic location of the navigation destination and each entry point corresponding to the local map. Then, the vehicle compares this distance with a preset screening distance threshold. The preset screening distance can be configured according to the actual application scenario, for example, 500 meters or 1 kilometer, which aims to define a reasonable proximity range. Only when the distance between a certain entry point and the navigation destination is less than the preset screening distance, the entry point will be marked as a candidate entry point. This step effectively filters out local maps and their entry points that are obviously irrelevant in terms of geographic location, significantly reducing the candidate set that needs to be analyzed in detail for spatial relationship in the subsequent step. Then, the vehicle determines the spatial relationship between the navigation route and the local map associated with each candidate entry point. Finally, the vehicle determines the target local map corresponding to the navigation destination based on the spatial relationship analysis results of the local maps corresponding to the screened candidate entry points.

[0029] After the candidate entry points and their associated local maps are determined, the above-mentioned process of determining the target local map based on spatial relationship can further combine the spatial topological relationship between the navigation route and the entry points for fine screening, thereby improving the accuracy of the selection of the target local map, especially in complex scenarios where the navigation destination is close to multiple candidate entry points.

[0030] In an embodiment, the vehicle can generate an entry range corresponding to each entry point based on a preset entry radius, and then determine the local map corresponding to each entry range intersecting with the navigation route as a candidate map based on the above-mentioned spatial relationship, and select one of the determined candidate maps as the target local map. Specifically, the so-called entry radius defines a buffer area around the entry point, such as a circular or rectangular area with a radius of 10 to 50 meters, which represents the effective proximity range in which the vehicle may trigger map switching or be considered to have reached the entry point when approaching the entry point. Then, the vehicle analyzes the geometric spatial relationship between the navigation route and each entry range to determine whether the navigation route intersects with a certain entry range, i.e., whether the path passes through or enters the buffer area. Only when the navigation route intersects with a certain entry range, the local map corresponding to the entry range will be determined as a candidate map. This process ensures that the candidate local map not only geographically approaches the navigation destination, but also that its entry point is indeed located on the navigation path to the destination or within its effective proximity area.

[0031] The above-mentioned navigation route is usually composed of at least one road segment, each road segment having a specific road type attribute, such as a public road or a private road. Based on this, the vehicle of the present specification can determine the candidate map based on the path backtracking analysis of the road segment type and the cumulative distance in reverse order, thereby more accurately defining the range of road segments that need to be judged for entry range intersection in complex road network environments where the navigation route contains both public roads and potential private roads, for example, to avoid unnecessary matching on public roads far from the destination.

[0032] In one embodiment, the vehicle first parses the navigation route into a sequence of paths consisting of at least one road segment. Then, the vehicle selects each road segment in reverse order from the navigation destination along the navigation route. If the selected road segment is a private road type, or if the selected road segment is a public road type and the total selected distance of this road type is not greater than a preset public road distance threshold, the vehicle can determine the local map corresponding to each entrance range intersecting with this road segment as a candidate map, respectively. If the selected road segment is a public road type and the total selected distance of this road type is greater than the preset public road distance threshold, the vehicle can stop the selection for the navigation route. Specifically, the above vehicle can select and process each road segment in reverse order from the navigation destination to the starting point of the navigation route. For the currently selected road segment, the vehicle performs the following judgment:

[0033] The first case: if the road segment is identified as a private road type, such as an internal road of a parking lot, an internal road of a community, or a non-public road, etc., the vehicle can determine the local map corresponding to each entrance range intersecting with this road segment as a candidate map, respectively. This is because the private road is usually directly associated with a specific local area such as a parking lot, and the intersection point thereon has strong logical significance.

[0034] The second case: if the road segment is identified as a public road type, such as a municipal road, a highway, etc., the vehicle needs to check whether the cumulative length of all selected public road type road segments from the beginning to the current selected road segment, i.e., the total selected distance, exceeds a preset public road distance threshold. If not, the vehicle can determine the local map corresponding to each entrance range intersecting with this road segment as a candidate map, as in the first case. This allows matching within a limited public road range close to the destination. If the threshold is exceeded, the vehicle stops selecting and intersecting the subsequent road segments for the navigation route. The threshold sets a reasonable public road backtracking range near the destination, and exceeding this range is considered to be too far from the destination, which is not meaningful and prone to error in matching the entrance range of the parking lot.

[0035] In summary, the above method focuses on the road segments near the end of the navigation route, especially prioritizes private road segments, and strictly limits the backtracking distance on public road segments. Only the local map corresponding to the entrance range intersecting with the navigation route near the destination is included in the candidate map set. Overall, the accuracy and robustness of determining candidate maps in a mixed road network environment are improved, effectively avoiding false matching on long-distance public roads.

[0036] It is worth mentioning that the above-mentioned navigation route segments are by default composed of the structure of "…public road 1-public road 2…public road n-private road" or "…public road 1-public road 2…public road m", which ensures that the vehicle can efficiently and accurately locate the key segment containing the target entry point when backtracking in reverse order, i.e. the private road near the end or the end public road. For other special structures, such as multiple segments of alternating public roads and private roads caused by passing through multiple closed areas, the above-mentioned backtracking in reverse order based on segment type and public road cumulative distance threshold is still applicable.

[0037] In addition, the present specification can further perform directional verification on the entry point located on the public road segment. It prevents the vehicle from selecting an invalid path due to the inconsistency between the navigation route and the actual traffic direction of the one-way entry point.

[0038] In an embodiment, the vehicle can obtain the one-way entry point corresponding to the candidate map determined in the last selected public road type segment, and set the local map corresponding to the one-way entry point as a non-candidate map if the one-way entry point and the navigation destination are on different sides of the navigation route, respectively. Specifically, during the backtracking in reverse order selection process, when the vehicle determines that certain entry ranges intersect on the last selected public road type segment, i.e. the last public road segment processed before stopping backtracking, and thus marks the local map corresponding to the entry ranges as a candidate map, the vehicle can pay special attention to whether the entry points have a "one-way" attribute. For the identified one-way entry point, i.e. the entry point that only allows the vehicle to enter from a specific direction, such as a parking lot entry point that only allows right turns, or a parking lot across the street, the vehicle can specifically perform the following additional directional verification:

[0039] The vehicle obtains the candidate map corresponding to the one-way entry point determined in the last selected public road segment. Then, the vehicle analyzes the relative position relationship between the one-way entry point and the navigation destination, and determines whether they are on different sides of the navigation route, i.e. the forward direction on the public road segment. If it is determined that the one-way entry point and the navigation destination are indeed on different sides of the navigation route, it means that the vehicle cannot enter the corresponding local area from the entry point without violating traffic rules or unreasonable detours according to the current navigation route planning. Therefore, the vehicle sets the local map corresponding to the one-way entry point as a non-candidate map, and thus removes it from the candidate map set. This verification step effectively avoids selecting those parking lot entry points and their associated maps that are geographically close and path-intersecting, but actually cannot be legally and smoothly reached due to one-way traffic restrictions, thereby significantly improving the practicality and feasibility of the selection of the final target local map.

[0040] In addition to the aforementioned matching strategy based on the entry point and its entry range, this specification also provides another parallel or complementary strategy for determining the candidate map, i.e., a spatial relationship analysis based on the inflation of the internal roads in the parking lot, so as to more directly capture the topological connectivity between the navigation destination and the internal road network of the parking lot from another perspective, and enhance the robustness to map data errors or positioning errors.

[0041] In an embodiment, the vehicle can scale the internal roads of each local map based on a preset road inflation width, and determine the local map corresponding to the scaled road intersecting the navigation route as the candidate map based on the spatial relationship. Specifically, the road inflation width defines a buffer distance for the outward expansion of the road geometric boundary, for example, 0.5 meters to 2 meters or even 10 meters, etc., and the purpose is to create a "valid travel area" that is wider than the actual physical road. This scaling operation can be realized by a polygon buffer algorithm in computational geometry. Then, the vehicle analyzes the navigation route, especially the end part of the navigation route, i.e., the geometric spatial relationship between the navigation destination and the scaled internal roads. Among them, the vehicle judges whether the navigation route intersects or overlaps with the scaled internal road of a local map, and only when the navigation route intersects with the scaled internal road of a local map, the local map is determined as the candidate map. This embodiment can directly verify whether the navigation destination is located in or extremely close to the passable area of the internal road network in the area where the local map is located. Even if the navigation route does not strictly fall on the original internal road centerline due to map accuracy, positioning drift or slight deviation of path planning, as long as the deviation is within the inflation width range, it can still ensure successful matching to the correct local map, thereby significantly improving the fault tolerance and reliability of determining the candidate map in a complex or crowded parking lot environment.

[0042] It should be noted that the two strategies for determining the candidate map, i.e., the spatial relationship analysis based on the entry point and its entry range and the spatial relationship analysis based on the inflation of the internal roads, can be applied independently or in combination to form a more robust screening mechanism. When applied in combination, a preferred implementation is to take the intersection of the two, i.e., only the local map that satisfies both the entry range intersection condition and the internal road inflation intersection condition is determined as the candidate map. This intersection strategy can maximize the exclusion of false matches and ensure that the target local map has both entry accessibility and internal road connectivity with the navigation destination.

[0043] After the candidate map set is determined through one or more of the above strategies, in most cases, the candidate map set only contains a unique candidate map, and the map is directly determined as the target local map. However, in some complex scenarios, the candidate map set may still contain multiple candidates. Based on this, the vehicle can obtain the preset entry point of each local map in the candidate map set. At the same time, the vehicle obtains the end point coordinates of the navigation guide line. Then, the vehicle calculates the plane Euclidean distance between each entry point and the end point of the navigation guide line. Finally, the vehicle selects the local map corresponding to the entry with the shortest distance to the end point of the navigation guide line as the target local map. This method preferentially selects the local map whose representative position, i.e., the entry, is closest to the actual target parking space of the user. This method is particularly suitable for scenarios where multiple high-precision maps exist inside a large parking lot, and can ensure that the local map finally used by the vehicle is most suitable in space for the specific destination that the user needs to reach, thereby providing the optimal map data basis for subsequent accurate navigation to the parking space.

[0044] Step S206, navigate to the target entry point corresponding to the target local map based on the global map, and navigate to the navigation destination based on the target local map.

[0045] After determining the target local map, the vehicle begins to perform navigation guidance. First, the vehicle can perform path planning and vehicle control based on the global map to navigate the vehicle to the target entry point corresponding to the target local map identified in the global map. When the vehicle reaches the target entry point, the vehicle completes the switching from global navigation to local navigation. Then, the system seamlessly performs fine path planning and guidance inside the area of the target local map based on the target local map, and finally navigates the vehicle to the navigation destination initially specified by the user or the system, such as a target parking space inside a parking lot. The entire process is transparent to the user driving the vehicle, and maximizes the safety, reliability, and automation level of navigation.

[0046] The following will be described in conjunction with Figure 3 Another vehicle navigation method is introduced. As shown in Figure 3 The above method includes the following steps:

[0047] Step S302, the vehicle responds to the navigation request and obtains map data.

[0048] In an embodiment, assuming that the computing unit of a vehicle receives the navigation destination "XX Mall B2 Floor A Area 012 Parking Space" input by the user and triggers a vehicle navigation request, and then obtains the global map covering public roads and local map data including the ground parking lot of the mall, B1 floor, and B2 floor from local storage or a map server, wherein the global map has associated each parking lot entry point coordinates, such as ground entrance gate coordinates, B1 / B2 layer ramp vertex coordinates.

[0049] Step S304, the vehicle performs multi-level map matching screening.

[0050] In an embodiment, the computing unit of the vehicle first calculates the geometric distance between the navigation destination, i.e. the B2 layer A012 parking space, and all local map entry points, and screens out the candidate entry points within a range of 1 km, such as the B2 layer ramp top point; then generates an entry range based on a preset entry radius of 50 meters, verifies whether the navigation route passes through the range, and in the case that the route successfully passes through the B2 layer ramp range, then parses the road segments along the navigation route in reverse order from the destination, such as “Municipal Road-Commercial Road-B2 layer driveway”, wherein, since the B2 layer driveway is a private road and the cumulative backtracking distance of the public road does not exceed the threshold of 300 meters, it can be confirmed that the road segment is valid.

[0051] Further, one-way attribute verification can also be performed on the entry point associated with this road segment, and it is retained after confirming that it and the parking space are located on the same side of the route advancing direction; finally, 1-meter inflation processing can also be performed on the internal roads of the B2 layer local map, and the navigation route endpoint is verified to intersect with the inflated driveway, and the B1 layer and B2 layer maps are comprehensively determined to be valid candidates.

[0052] Step S306, the vehicle determines the final target local map.

[0053] In an embodiment, for the remaining B1 layer and B2 layer maps in the candidate map set, the computing unit of the vehicle can obtain the preset recognition points of each local map, assuming the B1 layer main elevator coordinates and the B2 layer A area center point, respectively calculate the plane Euclidean distance between them and the navigation guide line endpoint B2 layer A012 parking space center, and since the B2 layer recognition point is closer, the B2 layer map is finally selected as the target local map.

[0054] Step S308, the vehicle navigates to the target entry point based on the global map.

[0055] In an embodiment, the vehicle plans a public road path based on the global map, controls the vehicle to drive along the planned route in real time, and provides steering guidance and voice prompts through the vehicle-mounted system, such as “turn right into the parking lot of the mall in 500 meters”, until it accurately arrives at the B2 layer ramp top point, i.e. the above-mentioned target entry point, at which time the central control screen can display “switching to B2 layer navigation soon”.

[0056] Step S310, the vehicle switches to the local map and navigates to the parking space.

[0057] In an embodiment, the vehicle can automatically trigger the map switching when it reaches the top of the ramp, and after loading the B2 layer high-definition map, the vehicle immediately generates an internal optimal path based on the real-time position of the vehicle, assuming that the A015 parking space and the target parking space A012 are generated, so that the path avoids the pedestrian area and the no-parking column, and finally guides the vehicle to drive along the internal lane through autonomous steering control and parking assistance system. Finally, the vehicle completes accurate parking in the A012 parking space without manual intervention throughout the process.

[0058] Step S312, the vehicle completes navigation and feeds back the result.

[0059] In an embodiment, the vehicle automatically triggers the end process after parking, and through voice broadcast "navigation ends, the destination is located on your right rear", while highlighting the A012 parking space in the B2 layer parking map and marking the "arrived" status identifier on the center control screen, thus completing the whole process of automatic navigation from the public road to the closed parking space.

[0060] Figure 4 FIG. 1 is a schematic structural diagram of an electronic device in an example embodiment. Please refer to Figure 4 At the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile storage, and of course, it can also include other required hardware. The processor reads the corresponding computer program from the non-volatile storage into the memory and then runs, and at the logical level, it forms a vehicle navigation device. Of course, in addition to the software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc. That is, the execution subject of the following processing flow is not limited to each logical unit, but can also be hardware or a logic device.

[0061] Figure 5 FIG. 2 is a block diagram of a vehicle navigation device according to an embodiment of the present application. Please refer to Figure 5 The device can be applied to the equipment as shown in Figure 4 to realize the technical solutions described in the present application, and the device includes:

[0062] The map acquisition unit 502 is configured to acquire a global map and at least one local map, and the global map contains an entry point corresponding to each local map.

[0063] The target local map determination unit 504 is configured to determine the spatial relationship between the navigation route specified by the vehicle navigation request for the navigation destination and each local map, and determine the target local map corresponding to the navigation destination based on the spatial relationship.

[0064] The map navigation unit 506 is configured to navigate to a target entry point corresponding to the target local map based on the global map, and navigate to the navigation destination based on the target local map.

[0065] Optionally, the target local map determination unit 504 is specifically configured to:

[0066] determine distances between the navigation destination and entry points of each local map, and determine entry points with distances less than a preset screening distance as candidate entry points;

[0067] determine spatial relationships between the navigation route and local maps corresponding to each candidate entry point.

[0068] Optionally, the target local map determination unit 504 is specifically configured to:

[0069] generate an entry range corresponding to each entry point based on a preset entry radius;

[0070] determine, based on the spatial relationships, local maps corresponding to each entry range intersecting the navigation route as candidate maps respectively;

[0071] select one map from the determined candidate maps as the target local map.

[0072] Optionally, the navigation route is composed of at least one road segment; and the device further comprises:

[0073] a road segment selection unit configured to select road segments in reverse order along the navigation route from the navigation destination;

[0074] in a case where the selected road segment is a private road type, or the selected road segment is a public road type and a total selection distance of the road type is not greater than a preset public road distance threshold, determine, as candidate maps respectively, local maps corresponding to each entry range intersecting the road segment;

[0075] in a case where the selected road segment is a public road type and the total selection distance of the road type is greater than the preset public road distance threshold, stop the selection for the navigation route.

[0076] Optionally, the device further comprises:

[0077] a one-way screening unit configured to acquire a one-way entry point corresponding to a candidate map determined in a last selected road segment of a public road type;

[0078] in a case where the one-way entry point and the navigation destination are respectively located on different sides of the navigation route, set a local map corresponding to the one-way entry point as a non-candidate map.

[0079] Optionally, the target local map determining unit 504 is specifically configured to:

[0080] scaling the internal road of each local map based on a preset road expansion width;

[0081] determining the local map corresponding to the scaled road intersecting the navigation route as the candidate map based on the spatial relationship.

[0082] Optionally, the target local map determining unit 504 is specifically configured to:

[0083] determining the local map corresponding to the entry point closest to the navigation destination in space as the candidate map based on the spatial relationship.

[0084] Optionally, the global map is a navigation electronic map provided by a map vendor;

[0085] The local map is a self-built map collected and constructed by the vehicle, or a self-built map provided by a third party.

[0086] The implementation process of the functions and roles of each unit in the above device is specifically described in the implementation process of the corresponding steps in the above method, which will not be repeated here.

[0087] For the device embodiment, since it basically corresponds to the method embodiment, the relevant part can be referred to the part of the method embodiment. The device embodiments described above are only illustrative, and the units described as separate components can be or can not be physically separated, and the components displayed as units can be or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. According to the actual needs, part or all of the modules can be selected to achieve the purpose of the scheme of the present specification. Those skilled in the art can understand and implement without creative labor.

[0088] Based on the same idea as the above method, the present specification also provides a vehicle, comprising: a processor, a memory for storing processor executable instructions; wherein the processor implements the steps of the method according to any one of the above embodiments by running the executable instructions.

[0089] Based on the same idea as the above method, the present specification also provides a computer readable storage medium, which stores computer instructions, and the instructions are executed by a processor to implement the steps of the method according to any one of the above embodiments.

[0090] Based on the same idea as the above method, the specification also provides a computer program product comprising computer programs / instructions which, when executed by a processor, implement the steps of the method according to any of the above embodiments.

[0091] Embodiments of the subject matter and the functional operations described in this specification can be implemented in digital electronic circuitry, in tangibly-embodied computer software or firmware, in computer hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible non-transitory program carrier for execution by, or to control the operation of, data processing apparatus. Alternatively or additionally, the program instructions can be encoded on an artificially generated propagated signal, e.g., a machine-generated electrical, optical, or electromagnetic signal that is generated to encode information for transmission to suitable receiver apparatus for execution by a data processing apparatus. The computer storage medium can be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or a combination of one or more of them.

[0092] The processes and logic flows described in this specification can be performed by one or more programmable computers executing one or more computer programs to perform functions by operating on input data and generating output. The processes and logic flows can also be performed by special purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application specific integrated circuit), and the apparatus can be a special purpose logic circuitry. The processes and logic flows can be embodied in computer- executable instructions, e.g., in one or more computer programs that are executable on a programmable computer to perform functions described herein by operating on input data and generating output.

[0093] Computers suitable for the execution of a computer program include, by way of example, general and / or special purpose microprocessors, or any other kind of central processing unit. Generally, a central processing unit will receive instructions and data from a read-only memory and / or a random access memory. The essential elements of a computer are a central processing unit for performing instructions and one or more memory devices for storing instructions and data. Generally, a computer will also include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g., magnetic, magneto-optical disks, or optical disks. However, a computer need not have such devices. Moreover, a computer can be embedded in another device, e.g., a mobile telephone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a GPS receiver, a portable storage device (e.g., a universal serial bus (USB) flash drive), to name just a few.

[0094] Computer readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including by way of example semiconductor memory devices, e.g., EPROM, EEPROM, and flash memory devices; magnetic disks, e.g., internal hard disks or removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks. The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry.

[0095] While the specification contains many specifics, these should not be construed as limiting the scope of any invention or of the required claims in any way. The specification and the described embodiments are merely illustrative of specific ways to make and use the many inventive features and the present application will be measured in terms of the claims which follow, rather than the ability to practice the specification. Certain features described in the specification in the context of one embodiment also can be implemented in other embodiments. Conversely, certain features of the described embodiments can also be implemented in a less than all of the embodiments described and can be practiced or carried out in various other ways. Furthermore, the described features can be combined in any suitable sub-combination or variations thereof. Additionally, features can be practiced in isolation from each other and the specification and claims are intended to cover any and all novel and non-obvious combinations of features. Similarly, although operations can be depicted in the drawings in a particular order, this should not be understood as requiring or implying that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing can be advantageous. Moreover, the separation of various system modules and components in the embodiments described above should not be understood as requiring such separation in all embodiments and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0096] Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring or implying that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing can be advantageous. Moreover, the separation of various system modules and components in the embodiments described above should not be understood as requiring such separation in all embodiments and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0097] Accordingly, specific embodiments of the subject matter have been described. Further, the described process can not be required to be performed in the particular order described, or in sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0098] The above description is merely illustrative of the preferred embodiments of this description and is not to be taken in a limiting sense. Any modification, equivalent substitution, improvement, etc. not described in the specification is to be included in the scope of the protection of the present description.

Claims

1. A vehicle navigation method characterized by comprising: The method comprises: acquiring a global map and at least one local map, the global map containing an entry point corresponding to each local map; in response to a vehicle navigation request for a navigation destination, determining a spatial relationship between a navigation route specified by the navigation request and each local map, and determining a target local map corresponding to the navigation destination based on the spatial relationship; based on the global map, navigating to a target entry point corresponding to the target local map, and based on the target local map, navigating to the navigation destination.

2. The method of claim 1, wherein, The determination of the spatial relationship between the navigation route specified by the navigation request and each local map comprises: determining the distance between the navigation destination and the entry point of each local map, and determining the entry point with a distance less than a preset screening distance as a candidate entry point; determining the spatial relationship between the navigation route and the local map corresponding to each candidate entry point.

3. The method of claim 1, wherein, The determination of the target local map corresponding to the navigation destination based on the spatial relationship comprises: generating an entry range corresponding to each entry point based on a preset entry radius; based on the spatial relationship, determining the local map corresponding to each entry range intersecting the navigation route as a candidate map respectively; selecting one map from the determined candidate maps as the target local map.

4. The method of claim 3, wherein, The navigation route is composed of at least one road segment; the determination of the local map corresponding to each entry range intersecting the navigation route as a candidate map respectively comprises: selecting each road segment in reverse order along the navigation route from the navigation destination; in the case that the selected road segment is a private road type, or the selected road segment is a public road type and the total selected distance of the road type is not greater than a preset public road distance threshold, determining the local map corresponding to each entry range intersecting the road segment as a candidate map respectively; in the case that the selected road segment is a public road type and the total selected distance of the road type is greater than a preset public road distance threshold, stopping the selection for the navigation route.

5. The method of claim 4, wherein, The method further comprises: acquiring a one-way entry point corresponding to the candidate map determined in the last selected public road type road segment; in the case that the one-way entry point and the navigation destination are respectively on different sides of the navigation route, setting the local map corresponding to the one-way entry point as a non-candidate map.

6. The method of claim 1, wherein, The determination of the target local map corresponding to the navigation destination based on the spatial relationship comprises: scaling the internal road of each local map based on a preset road expansion width; based on the spatial relationship, determining the local map corresponding to the scaled road intersecting the navigation route as a candidate map respectively.

7. The method of claim 1, wherein, The determination of the target local map corresponding to the navigation destination based on the spatial relationship comprises: based on the spatial relationship, determining the local map corresponding to the entry point closest to the navigation destination in space as a candidate map.

8. The method according to any one of claims 1-7, wherein: the global map is a navigation electronic map provided by a map vendor; The local map is either a self-built map collected and constructed by the vehicle, or a self-built map provided by a third party.

9. A computer-readable storage medium, characterized in that, It stores computer instructions that, when executed by a processor, implement the steps of the method as described in any one of claims 1-8.

10. A computer program product, characterised in that, Includes a computer program / instructions that, when executed by a processor, implement the steps of the method as described in any one of claims 1-8.

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