Navigation method and navigation device

Abstract

The embodiment of the present invention discloses a navigation method and a navigation device, the navigation method comprising: generating N to-be-selected planned routes according to the current position and the destination position of the vehicle, wherein N is an integer greater than or equal to 1; obtaining the estimated turning situation of the intersection where the vehicle needs to turn most recently in the N to-be-selected planned routes according to the current vehicle speed and the current position of the vehicle; generating an optimal navigation route according to the estimated turning situation of the intersection where the vehicle needs to turn most recently in the N to-be-selected planned routes; and providing the optimal navigation route. The present invention can generate multiple to-be-selected planned routes when the vehicle is navigating, and obtain whether the most recent intersection where the vehicle needs to turn in each to-be-selected planned route can be turned safely, delete the planned routes that cannot be turned safely, and select the optimal planned route from the remaining planned routes as the navigation route, thereby improving the driving safety of the vehicle.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of navigation technology, and in particular to a navigation method and a navigation device. Background Art

[0002] The in-car navigation system has a satellite positioning system function, allowing users to know the vehicle's current location and planned route anytime and anywhere while driving.

[0003] Currently, when navigating a vehicle, the navigation route is usually planned based on the principle of the shortest journey and the smoothest driving, without considering the safety of the vehicle driving. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a navigation method and a navigation device to solve the problem that the safety of vehicle driving is not taken into consideration in navigation route planning.

[0005] To achieve the above objectives, the embodiments of the present invention mainly provide the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a navigation method, including:

[0007] Generate N candidate planned routes according to the current position and destination position of the vehicle, where N is an integer greater than or equal to 1;

[0008] Obtaining an estimated turning situation of the vehicle at a nearest intersection where the vehicle needs to turn among the N planned routes to be selected according to the current vehicle speed and the current position of the vehicle;

[0009] Generate an optimal navigation route according to the estimated turning situation of the vehicle at the nearest intersection where the vehicle needs to turn among the N planned routes to be selected;

[0010] The optimal navigation route is provided.

[0011] According to an embodiment of the present invention, the estimated turning situation includes safe turning and unsafe turning, and generating an optimal navigation route according to the estimated turning situation of the intersection where the vehicle needs to turn most recently among the N planned routes to be selected includes:

[0012] The optimal navigation route is selected from the N to-be-selected planned routes that can be safely turned.

[0013] According to one embodiment of the present invention, selecting the optimal navigation route from the N to-be-selected planned routes that can be safely turned includes:

[0014] Obtaining M candidate planned routes on which safe turns can be performed from the N candidate planned routes, where M is an integer greater than or equal to 1, and M≤N;

[0015] Obtaining the mileage, traffic light information and road condition information of the M planned routes to be selected;

[0016] The optimal navigation route is determined based on the mileage, traffic light information and road condition information of the M to-be-selected planned routes.

[0017] According to an embodiment of the present invention, the estimated turning situation includes safe turning and unsafe turning, and generating an optimal navigation route according to the estimated turning situation of the intersection where the vehicle needs to turn most recently among the N planned routes to be selected includes:

[0018] If none of the N candidate planned routes can be turned safely;

[0019] Obtaining the mileage, traffic light information and road condition information of the N to-be-selected planned routes;

[0020] The optimal navigation route is determined based on the mileage, traffic light information and road condition information of the N to-be-selected planned routes.

[0021] According to an embodiment of the present invention, obtaining an estimated turning situation of the vehicle at the nearest intersection where the vehicle needs to turn among the N planned routes to be selected according to the current vehicle speed and the current position includes:

[0022] Obtaining the distance between the vehicle and the nearest intersection requiring a turn among the N to-be-selected planned routes;

[0023] Obtaining an estimated vehicle speed when the vehicle reaches the nearest intersection among the N to-be-selected planned routes where a turn is required based on the current vehicle speed and the distance between the vehicle and the nearest intersection among the N to-be-selected planned routes where a turn is required;

[0024] The estimated turning conditions of the N to-be-selected planned routes are obtained according to the estimated vehicle speed when the vehicle reaches the nearest intersection where a turn is required among the N to-be-selected planned routes and a preset safe turning speed threshold.

[0025] In a second aspect, an embodiment of the present invention further provides another navigation method, including:

[0026] Get the vehicle's current location, current speed and navigation route;

[0027] Determining whether the vehicle can safely turn at the nearest turning intersection in the navigation route according to the current position and the current speed of the vehicle;

[0028] If the vehicle cannot make a safe turn at the nearest turning intersection in the navigation route, a prompt is given.

[0029] According to one embodiment of the present invention, after the prompt is given, the method further includes:

[0030] If a navigation route change instruction is received before the vehicle travels to the nearest intersection where a turn is required in the navigation route, a recalculation of the route is triggered.

[0031] According to an embodiment of the present invention, the triggering of re-routing includes:

[0032] Generate N to-be-selected planned routes according to the current position and the destination position of the vehicle, where N is an integer greater than or equal to 1;

[0033] Obtaining an estimated turning situation of the vehicle at a nearest intersection where the vehicle needs to turn among the N planned routes to be selected according to the current vehicle speed and the current position of the vehicle;

[0034] Generate an optimal navigation route according to the estimated turning situation of the vehicle at the nearest intersection where the vehicle needs to turn among the N planned routes to be selected;

[0035] The optimal navigation route is provided.

[0036] In a third aspect, an embodiment of the present invention further provides a navigation device, including:

[0037] An acquisition module, used to generate N to-be-selected planned routes according to the current position and destination position of the vehicle, wherein N is an integer greater than or equal to 1; the acquisition module is also used to acquire the current speed of the vehicle and the current position of the vehicle;

[0038] A control processing module, used for obtaining an estimated turning situation of the intersection where the vehicle needs to turn most recently among the N planned routes to be selected according to the current vehicle speed and the current position of the vehicle; the control processing module is also used for generating an optimal navigation route according to the estimated turning situation of the intersection where the vehicle needs to turn most recently among the N planned routes to be selected;

[0039] A module is provided, for providing the optimal navigation route.

[0040] In a fourth aspect, an embodiment of the present invention further provides another navigation device, including:

[0041] The acquisition module is used to obtain the current position, current speed and navigation route of the vehicle;

[0042] Prompt module;

[0043] The control processing module is used to determine whether the vehicle can make a safe turn at the nearest turning intersection in the navigation route based on the current position of the vehicle and the current vehicle speed; the control processing module is also used to give a prompt through the prompt module if the vehicle cannot make a safe turn at the nearest turning intersection in the navigation route.

[0044] The technical solution provided by the embodiment of the present invention has at least the following advantages:

[0045] The navigation device and navigation method provided by the embodiments of the present invention can determine whether the vehicle can safely turn at the nearest intersection in the navigation path where a turn is required based on the current speed and current position of the vehicle when the vehicle is navigating. If there is a navigation route that can be safely turned, the optimal navigation route is selected from the navigation routes that can be safely turned; if there is no navigation route that can be safely turned, the optimal navigation route is selected from the candidate planned routes, and the driver is prompted, thereby improving the driving safety of the vehicle and the user experience. On the other hand, the present invention can determine whether the current navigation route can be safely turned at the nearest intersection where a turn is required based on the current position and current speed of the vehicle, and prompt when it is not safe to turn, or re-plan the navigation route according to user instructions, and provide the optimal navigation route that can be safely turned when the navigation route is re-planned. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a flowchart of a navigation method in Embodiment 1 of the present invention.

[0047] Figure 2 It is a structural block diagram of a navigation device in Embodiment 2 of the present invention.

[0048] Figure 3 This is a flowchart of the navigation method in Embodiment 3 of the present invention.

[0049] Figure 4 It is a structural block diagram of a navigation device in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0050] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0051] In the following description, specific details such as specific system structures, interfaces, and technologies are provided for illustration rather than limitation so that the present invention is thoroughly understood. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0052] [Example 1]

[0053] Figure 1 FIG. 1 is a flowchart of a navigation method in Embodiment 1 of the present invention. Figure 1 As shown, the navigation method of the embodiment of the present invention includes:

[0054] S110: Generate N planned routes to be selected according to the current position of the vehicle and the destination position, where N is an integer greater than or equal to 1.

[0055] In this embodiment, the new path planning may be performed after the vehicle deviates from the navigation planning path, or the path planning may be performed when the navigation is suddenly turned on during the vehicle driving. The following embodiment will take the new path planning performed after the vehicle deviates from the navigation planning path as an example.

[0056] S120: Obtaining an estimated turning situation of the vehicle at a nearest intersection where the vehicle needs to turn among the N planned routes to be selected based on the current vehicle speed and the current position of the vehicle.

[0057] In this embodiment, the method of obtaining the current vehicle speed includes connecting the navigation terminal to the vehicle control terminal, reading the engine information through the vehicle control terminal, and then obtaining the current vehicle speed according to the conversion formula.

[0058] The method of obtaining the current vehicle speed may also include the navigation terminal obtaining the current vehicle speed according to the change of the positioning information and the electronic map. For example, the initial vehicle position is position A, and the position of the vehicle after driving at the current speed for 10 seconds is position B. The navigation terminal obtains the distance between position A and position B and the time for the vehicle to drive at a constant speed of 10 seconds according to the electronic map, and divides the distance between position A and position B by the driving time from position A to position B to obtain the vehicle speed when the vehicle is at position A and the vehicle speed when the vehicle is at position B.

[0059] In this embodiment, the current position of the vehicle can be obtained by satellite positioning.

[0060] In one embodiment of the present invention, the estimated turning situation of the vehicle at the nearest intersection where the vehicle needs to turn among the N planned routes to be selected is obtained according to the current vehicle speed and the current position, including:

[0061] S120-1: Obtain the distance between the vehicle and the nearest intersection requiring a turn among the N candidate planned routes.

[0062] In this embodiment, for any one of the planned routes to be selected, the distance between the vehicle and the intersection ahead where a turn is required in the planned route to be selected is obtained, and the specific method includes: obtaining the current position of the vehicle through positioning information, and then obtaining the position of the vehicle in the electronic map and the position of the nearest intersection ahead of the vehicle where a turn is required through the electronic map, and then obtaining the distance between the vehicle and the nearest intersection ahead where a turn is required based on the current position of the vehicle and the position of the nearest intersection ahead of the vehicle where a turn is required.

[0063] In one embodiment of the present invention, the effective braking distance from the vehicle to the nearest turning intersection ahead is calculated in the following manner:

[0064] S=S1-v1*t1

[0065] Among them, S represents the effective braking distance, S1 is the distance from the vehicle to the nearest turning intersection ahead, v1 is the current speed of the vehicle, and t1 represents the navigation path planning response time. For example, the navigation path planning response time can be 1 second. The specific time can also be recorded and modeled based on the historical navigation path planning response time, and the final response time can be obtained through the modeling analysis results.

[0066] S120-2: Obtain N estimated vehicle speeds when the vehicle travels to the nearest intersections in the N planned routes to be selected, respectively, based on the N effective braking distances and the current vehicle speed.

[0067] In one embodiment of the present invention, the estimated speed of the vehicle to the nearest turning intersection ahead is calculated in the following manner:

[0068] v2=sqrt(v1*v1-2gμ*S)

[0069] Among them, v2 represents the estimated speed of the vehicle to the nearest turning intersection ahead, g represents the acceleration of gravity, μ represents the friction coefficient, which can be 0.8, and S represents the effective braking distance.

[0070] S120-3: Obtain N safe turning situations of the vehicle at the nearest intersection among the N candidate planned routes according to the N estimated vehicle speeds and the preset safe turning speed threshold, wherein the safe turning situation includes safe turning and unsafe turning.

[0071] Specifically, if the estimated speed v2 of the vehicle at the intersection ahead where the vehicle needs to turn is greater than the preset safe turning speed, it is determined that the vehicle cannot safely turn at the intersection ahead where the vehicle needs to turn, and if the estimated speed v2 is less than or equal to the preset safe turning speed threshold, it is determined that the vehicle can safely turn at the intersection where the vehicle needs to turn. The preset safe turning speed threshold may be 30 km / h.

[0072] S130-A: If there is a candidate planned route among the N candidate planned routes where the vehicle can safely turn at the intersection ahead where the vehicle needs to turn, then the optimal navigation route is selected from the N candidate planned routes where the vehicle can safely turn, and the candidate planned routes that cannot safely turn are deleted.

[0073] In one embodiment of the present invention, step S130-A includes:

[0074] S130-A-1: Obtain M candidate planned routes that can be safely turned from N candidate planned routes, where M is an integer greater than or equal to 1, and M≤N.

[0075] S130-A-2: Obtain the mileage, traffic light information and road condition information of the M planned routes to be selected, wherein the road condition information includes at least one of road congestion information, traffic accident information and traffic control information, preferably including all of the above information.

[0076] S130-A-3: Determine the optimal navigation route according to the mileage, traffic light information and road condition information of the M selected planned routes. The method of determining the optimal navigation route is the same as the method of determining the optimal navigation route in the existing navigation.

[0077] S130-B: If none of the N candidate planned routes can be turned safely, then the optimal navigation route is selected from the N candidate planned routes, and a prompt is given so that the driver can slow down according to the prompt information, thereby improving the driving safety of the vehicle.

[0078] In one embodiment of the present invention, step S130-B includes:

[0079] S130-B-1: Obtain the mileage, traffic light information and road condition information of N selected planned routes, wherein the road condition information includes at least one of road congestion information, traffic accident information and traffic control information, preferably including all of the above information.

[0080] S130-B-2: Determine the optimal navigation route according to the mileage, traffic light information and road condition information of the N selected planned routes. The method of determining the optimal navigation route is the same as the method of determining the optimal navigation route in the existing navigation.

[0081] S140: Providing an optimal navigation route. After the navigation terminal finally determines the optimal navigation route, the navigation terminal provides the optimal navigation route.

[0082] The safe steering method for vehicle navigation provided by the embodiment of the present invention can determine whether the vehicle can safely turn at the nearest intersection in the navigation route where it needs to turn, according to the current speed and current position of the vehicle, when the vehicle is navigating. If there is a navigation route that can be safely turned, the optimal navigation route is selected from the navigation routes that can be safely turned; if there is no navigation route that can be safely turned, the optimal navigation route is selected from the candidate planned routes, and the driver is prompted, thereby improving the vehicle driving safety and user experience.

[0083] [Example 2]

[0084] Corresponding to the first embodiment, the present invention further provides a navigation device.

[0085] Figure 2 FIG. 1 is a structural block diagram of a navigation device according to an embodiment of the present invention. Figure 2 As shown, the navigation device according to the embodiment of the present invention includes: an acquisition module 210 , a control processing module 220 and a providing module 230 .

[0086] Among them, the acquisition module 210 is used to generate N to-be-selected planned routes according to the current position of the vehicle and the destination position, wherein N is an integer greater than or equal to 1. The acquisition module 210 is also used to obtain the current speed of the vehicle and the current position of the vehicle. The control processing module 220 is used to obtain the estimated turning situation of the intersection where the vehicle needs to turn most recently among the N to-be-selected planned routes according to the current speed of the vehicle and the current position of the vehicle; the control processing module is also used to generate the optimal navigation route according to the estimated turning situation of the intersection where the vehicle needs to turn most recently among the N to-be-selected planned routes. The providing module 230 is used to provide the optimal navigation route.

[0087] In one embodiment of the present invention, the estimated turning conditions include safe turning and unsafe turning. The control processing module 220 is used to select the optimal navigation route from the N candidate planned routes that can be turned safely, and delete the candidate planned routes that cannot be turned safely.

[0088] In one embodiment of the present invention, the control processing module 220 is used to obtain M candidate planned routes that can be safely turned from the N candidate planned routes, where M is an integer greater than or equal to 1, and M≤N. The acquisition module 210 is also used to obtain the mileage, traffic light information, and road condition information of the M candidate planned routes. The control processing module 220 is also used to determine the optimal navigation route based on the mileage, traffic light information, and road condition information of the M candidate planned routes.

[0089] In one embodiment of the present invention, the road condition information includes at least one of road congestion information, traffic accident information and traffic control information.

[0090] In one embodiment of the present invention, the estimated turning conditions include safe turning and unsafe turning. The control processing module 220 is used to select the best navigation route from the N candidate planned routes if all of the N candidate planned routes are unsafe to turn, and provide prompts through the providing module.

[0091] In one embodiment of the present invention, the acquisition module 210 is used to acquire the mileage, traffic light information and road condition information of the N candidate planned routes. The control processing module 220 is used to determine the optimal navigation route according to the mileage, traffic light information and road condition information of the N candidate planned routes.

[0092] In one embodiment of the present invention, the acquisition module 210 is used to acquire the distance between the vehicle and the nearest intersection where a turn is required among the N to-be-selected planned routes. The control processing module 220 is used to obtain the estimated vehicle speed when the vehicle travels to the nearest intersection where a turn is required among the N to-be-selected planned routes based on the current vehicle speed and the distance between the vehicle and the nearest intersection where a turn is required among the N to-be-selected planned routes. The control processing module 220 is also used to obtain the estimated turning conditions of the N to-be-selected planned routes based on the estimated vehicle speed when the vehicle travels to the nearest intersection where a turn is required among the N to-be-selected planned routes and a preset safe turning speed threshold.

[0093] In one embodiment of the present invention, the effective braking distance from the vehicle to the nearest turning intersection ahead is obtained according to the following formula:

[0094] S=S1-v1*t1

[0095] Among them, S represents the effective braking distance, S1 is the distance from the vehicle to the nearest turning intersection ahead, v1 is the current speed of the vehicle, and t1 represents the navigation path planning response time.

[0096] In one embodiment of the present invention, the estimated speed of the vehicle to the nearest turning intersection ahead is obtained according to the following formula:

[0097] v2=sqrt(v1*v1-2gμ*S)

[0098] Among them, v2 represents the estimated speed of the vehicle to the nearest turning intersection ahead, g represents the acceleration of gravity, μ represents the friction coefficient, and S represents the effective braking distance.

[0099] It should be noted that the specific implementation of the navigation device of the second embodiment is similar to the specific implementation of the navigation method of the first embodiment. Please refer to the description of the navigation method of the first embodiment for details. To reduce redundancy, it will not be described in detail.

[0100] [Example 3]

[0101] Figure 3 FIG. 1 is a flowchart of a navigation method in Embodiment 3 of the present invention. Figure 3 As shown, the navigation method of the embodiment of the present invention includes:

[0102] S310: Acquire the current position, current speed and navigation route of the vehicle. The current position of the vehicle can be obtained through satellite positioning, the current speed can be obtained by converting engine parameters, and the navigation route is the navigation route currently being used.

[0103] S320: Determine, based on the current position and current speed of the vehicle, whether the vehicle can safely turn at the nearest intersection where a turn is required in the navigation route.

[0104] It should be noted that, in this embodiment, the method of determining whether the vehicle can make a safe turn at the nearest turning intersection in the navigation route is similar to the method of determining whether it can make a safe turn in embodiment 1, the only difference being that there is only one navigation route in step S320, and it is the navigation route in use.

[0105] S330: If the vehicle cannot make a safe turn at the nearest intersection where a turn is required in the navigation route, a prompt is given.

[0106] In one embodiment of the present invention, after step S330, the method further includes:

[0107] S330-A: If the vehicle does not receive a command to change navigation before it reaches the nearest intersection where it needs to turn in the navigation route, it will continue to navigate along the original navigation route and provide a voice prompt for safe driving. The content of the safe driving prompt may be "The vehicle is going too fast, there is a turn at the intersection ahead, please slow down."

[0108] S330-B: If a navigation route change instruction is received before the vehicle reaches the nearest intersection where a turn is required in the navigation route, the navigation route is changed.

[0109] Specifically, after receiving the prompt information, the driver can inform the navigation terminal that the navigation route needs to be changed by touching the navigation terminal, voice controlling the navigation terminal, etc., and then the navigation terminal starts to trigger route calculation and provide the optimal navigation route.

[0110] In one embodiment of the present invention, changing the navigation route includes:

[0111] Generate N candidate planned routes according to the current position and destination position of the vehicle, where N is an integer greater than or equal to 1;

[0112] According to the current vehicle speed and the current position of the vehicle, the estimated turning situation of the vehicle at the nearest intersection where it needs to turn among the N candidate planned routes is obtained;

[0113] Generate an optimal navigation route based on the estimated turning situation of the vehicle at the nearest intersection where it needs to turn among N candidate planned routes;

[0114] Provide the best navigation route.

[0115] According to one embodiment of the present invention, the estimated turning conditions include safe turning and unsafe turning, and the optimal navigation route is generated according to the estimated turning conditions of the intersection where the vehicle needs to turn most recently among the N planned routes to be selected, including:

[0116] Select the best navigation route from N possible planned routes that can be safely turned;

[0117] Delete the candidate planned routes that cannot make safe turns.

[0118] According to an embodiment of the present invention, selecting an optimal navigation route from N to-be-selected planned routes that can be safely turned includes:

[0119] Obtain M candidate planned routes that can be safely turned from N candidate planned routes, where M is an integer greater than or equal to 1, and M≤N;

[0120] Obtain the mileage, traffic light information and road condition information of M candidate planned routes;

[0121] The optimal navigation route is determined based on the mileage, traffic light information and road condition information of the M candidate planned routes.

[0122] According to an embodiment of the present invention, the road condition information includes at least one of road congestion information, traffic accident information and traffic control information.

[0123] According to one embodiment of the present invention, the estimated turning conditions include safe turning and unsafe turning, and the optimal navigation route is generated according to the estimated turning conditions of the intersection where the vehicle needs to turn most recently among the N planned routes to be selected, including:

[0124] If none of the N candidate planned routes can be turned safely, the optimal navigation route is selected from the N candidate planned routes and a prompt is given.

[0125] According to an embodiment of the present invention, selecting an optimal navigation route from N planned routes to be selected includes:

[0126] Obtain the mileage, traffic light information and road condition information of N candidate planned routes;

[0127] The optimal navigation route is determined based on the mileage, traffic light information and road condition information of N candidate planned routes.

[0128] According to one embodiment of the present invention, obtaining an estimated turning situation of a vehicle at a nearest intersection where the vehicle needs to turn among N candidate planned routes according to the current vehicle speed and the current position includes:

[0129] Obtain the distance between the vehicle and the nearest intersection where a turn is required among the N candidate planned routes;

[0130] The estimated vehicle speed when the vehicle reaches the nearest intersection where the vehicle needs to turn among the N candidate planned routes is obtained according to the current vehicle speed and the distance between the vehicle and the nearest intersection where the vehicle needs to turn among the N candidate planned routes;

[0131] The estimated turning conditions of the N candidate planned routes are obtained according to the estimated vehicle speed when the vehicle travels to the nearest intersection where a turn is required among the N candidate planned routes and a preset safe turning speed threshold.

[0132] According to one embodiment of the present invention, the effective braking distance from the vehicle to the nearest turning intersection ahead is obtained according to the following formula:

[0133] S=S1-v1*t1

[0134] Among them, S represents the effective braking distance, S1 is the distance from the vehicle to the nearest turning intersection ahead, v1 is the current speed of the vehicle, and t1 represents the navigation path planning response time.

[0135] According to one embodiment of the present invention, the estimated speed of the vehicle at the intersection ahead where the vehicle needs to turn is obtained according to the following formula:

[0136] v2=sqrt(v1*v1-2gμ*S)

[0137] Among them, v2 represents the estimated speed of the vehicle to the nearest turning intersection ahead, g represents the acceleration of gravity, μ represents the friction coefficient, and S represents the effective braking distance.

[0138] It should be noted that the specific implementation method of changing the navigation route in Example 3, that is, the specific implementation method of re-planning the navigation route is similar to the specific implementation method of the navigation method in Example 1, and will not be described in detail to reduce redundancy.

[0139] [Example 4]

[0140] Corresponding to the third embodiment, the present invention further provides a navigation device.

[0141] Figure 4 FIG. 4 is a structural block diagram of a navigation device in Embodiment 4 of the present invention. Figure 4 As shown, the navigation device of this embodiment includes: an acquisition module 410 , a prompt module 420 and a control processing module 430 .

[0142] The acquisition module 410 is used to acquire the current position, current speed and navigation route of the vehicle. The control processing module 430 is used to determine whether the vehicle can make a safe turn at the nearest intersection where a turn is required in the navigation route according to the current position and current speed of the vehicle. The control processing module 430 is also used to give a prompt through the prompt module if the vehicle cannot make a safe turn at the nearest intersection where a turn is required in the navigation route.

[0143] In one embodiment of the present invention, the control processing module 430 is further configured to change the navigation route if a navigation route change instruction is received before the vehicle reaches the nearest intersection where a turn is required in the navigation route.

[0144] In one embodiment of the present invention, a providing module is also included. The control processing module 430 is used to generate N to-be-selected planned routes according to the current position and destination position of the vehicle, wherein N is an integer greater than or equal to 1. The control processing module 430 is also used to obtain the estimated turning situation of the intersection where the vehicle needs to turn most recently among the N to-be-selected planned routes according to the current vehicle speed and the current position of the vehicle. The control processing module 430 is also used to generate the optimal navigation route according to the estimated turning situation of the intersection where the vehicle needs to turn most recently among the N to-be-selected planned routes. The providing module is used to provide the optimal navigation route.

[0145] In one embodiment of the present invention, the estimated turning conditions include safe turning and unsafe turning. The control processing module 430 is used to select the optimal navigation route from the N candidate planned routes that can be turned safely, and delete the candidate planned routes that cannot be turned safely.

[0146] In one embodiment of the present invention, the control processing module 430 is used to obtain M candidate planned routes that can be safely turned from the N candidate planned routes, where M is an integer greater than or equal to 1, and M≤N. The acquisition module 410 is also used to obtain the mileage, traffic light information, and road condition information of the M candidate planned routes. The control processing module 430 is also used to determine the optimal navigation route based on the mileage, traffic light information, and road condition information of the M candidate planned routes.

[0147] In one embodiment of the present invention, the road condition information includes at least one of road congestion information, traffic accident information and traffic control information.

[0148] In one embodiment of the present invention, the estimated turning conditions include safe turning and unsafe turning. The control processing module 430 is used to select the best navigation route from the N candidate planned routes if all of the N candidate planned routes are unsafe to turn, and to give a prompt through the prompt module.

[0149] In one embodiment of the present invention, the acquisition module 410 is used to acquire the mileage, traffic light information and road condition information of the N candidate planned routes. The control processing module 430 is used to determine the optimal navigation route according to the mileage, traffic light information and road condition information of the N candidate planned routes.

[0150] In one embodiment of the present invention, the acquisition module 410 is used to obtain the distance between the vehicle and the nearest intersection where the vehicle needs to turn among the N to-be-selected planned routes. The control processing module 430 is used to obtain the estimated vehicle speed when the vehicle travels to the nearest intersection where the vehicle needs to turn among the N to-be-selected planned routes based on the current vehicle speed and the distance between the vehicle and the nearest intersection where the vehicle needs to turn among the N to-be-selected planned routes. The control processing module 430 is also used to obtain the estimated turning conditions of the N to-be-selected planned routes based on the estimated vehicle speed when the vehicle travels to the nearest intersection where the vehicle needs to turn among the N to-be-selected planned routes and a preset safe turning speed threshold.

[0151] In one embodiment of the present invention, the effective braking distance from the vehicle to the nearest turning intersection ahead is obtained according to the following formula:

[0152] S=S1-v1*t1

[0153] Among them, S represents the effective braking distance, S1 is the distance from the vehicle to the nearest turning intersection ahead, v1 is the current speed of the vehicle, and t1 represents the navigation path planning response time.

[0154] In one embodiment of the present invention, the estimated speed of the vehicle to the nearest turning intersection ahead is obtained according to the following formula:

[0155] v2=sqrt(v1*v1-2gμ*S)

[0156] Among them, v2 represents the estimated speed of the vehicle to the nearest turning intersection ahead, g represents the acceleration of gravity, μ represents the friction coefficient, and S represents the effective braking distance.

[0157] It should be noted that the specific implementation of the navigation device of Example 4 is similar to the specific implementation of the navigation method of Example 3. Please refer to the description of the navigation method of Example 1 for details. In order to reduce redundancy, it will not be described in detail.

[0158] An embodiment of the present invention also provides an electronic device, comprising: at least one processor and at least one memory; the memory is used to store one or more program instructions; the processor is used to run one or more program instructions to execute the navigation method of the first aspect or the third aspect.

[0159] The embodiments disclosed in the present invention provide a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed on a computer, the computer executes the navigation method of the first aspect or the third aspect.

[0160] In the embodiment of the present invention, the processor may be an integrated circuit chip having the ability to process signals. The processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0161] The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present invention can be directly embodied as a hardware decoding processor for execution, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The processor reads the information in the storage medium and completes the steps of the above method in combination with its hardware.

[0162] The storage medium may be a memory, which may be, for example, a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memory.

[0163] Among them, the non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory.

[0164] The volatile memory may be a random access memory (RAM) which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DRRAM).

[0165] The storage media described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memory.

[0166] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the present invention can be implemented using a combination of hardware and software. When software is used, the corresponding functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. Storage media can be any available media that can be accessed by general or special-purpose computers.

[0167] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solution of the present invention should be included in the scope of protection of the present invention.

Claims

1. A navigation method, characterized in that: include: Generate N candidate planning routes according to the current position and destination position of the vehicle, where N is an integer greater than or equal to 1; Obtaining an estimated turning situation of the vehicle at a nearest intersection where the vehicle needs to turn among the N planned routes to be selected according to the current vehicle speed and the current position of the vehicle; Generate an optimal navigation route according to the estimated turning situation of the vehicle at the nearest intersection where the vehicle needs to turn among the N planned routes to be selected; Providing the optimal navigation route; The estimated turning conditions include safe turning and unsafe turning, and generating an optimal navigation route according to the estimated turning conditions of the vehicle at the nearest intersection where the vehicle needs to turn among the N planned routes to be selected, including: selecting the optimal navigation route from the routes in the N planned routes to be selected that can be turned safely; Selecting the optimal navigation route from the routes that can be safely turned from the N planned routes to be selected, comprising: obtaining M planned routes to be safely turned from the N planned routes to be selected, where M is an integer greater than or equal to 1, and M≤N; obtaining the mileage, traffic light information, and road condition information of the M planned routes to be selected; and determining the optimal navigation route according to the mileage, traffic light information, and road condition information of the M planned routes to be selected; The estimated turning conditions include safe turning and unsafe turning, and generating an optimal navigation route according to the estimated turning conditions of the vehicle at the nearest intersection where the vehicle needs to turn among the N to-be-selected planned routes, including: if all the N to-be-selected planned routes are unsafe to turn; obtaining the mileage, traffic light information and road condition information of the N to-be-selected planned routes; determining the optimal navigation route according to the mileage, traffic light information and road condition information of the N to-be-selected planned routes; An estimated turning situation of the vehicle at a nearest intersection where the vehicle needs to turn among the N planned routes to be selected is obtained based on the current vehicle speed and the current position, including: obtaining the distance between the vehicle and the nearest intersection where the vehicle needs to turn among the N planned routes to be selected; obtaining an estimated vehicle speed when the vehicle reaches the nearest intersection where the vehicle needs to turn among the N planned routes to be selected based on the current vehicle speed and the distance between the vehicle and the nearest intersection where the vehicle needs to turn among the N planned routes to be selected; and obtaining an estimated turning situation of the N planned routes to be selected based on the estimated vehicle speed when the vehicle reaches the nearest intersection where the vehicle needs to turn among the N planned routes to be selected and a preset safe turning speed threshold.

2. A navigation method, characterized in that: include: Get the vehicle's current location, current speed and navigation route; Determining whether the vehicle can safely turn at the nearest turning intersection in the navigation route according to the current position and the current speed of the vehicle; If the vehicle cannot safely turn at the nearest intersection where a turn is required in the navigation route, a prompt is given; After the prompt is given, the method further includes: if a navigation route change instruction is received before the vehicle drives to the nearest intersection where a turn is required in the navigation route, a recalculation of the route is triggered; The triggering of recalculating the route includes: generating N candidate planned routes according to the current position and the destination position of the vehicle, wherein N is an integer greater than or equal to 1; obtaining an estimated turning situation of an intersection where the vehicle needs to turn most recently among the N candidate planned routes according to the current vehicle speed and the current position of the vehicle; generating an optimal navigation route according to the estimated turning situation of the intersection where the vehicle needs to turn most recently among the N candidate planned routes; and providing the optimal navigation route.

3. A navigation device, characterized in that: include: An acquisition module, used to generate N to-be-selected planned routes according to the current position and destination position of the vehicle, wherein N is an integer greater than or equal to 1; the acquisition module is also used to acquire the current speed of the vehicle and the current position of the vehicle; A control processing module, used for obtaining an estimated turning situation of the intersection where the vehicle needs to turn most recently among the N planned routes to be selected according to the current vehicle speed and the current position of the vehicle; the control processing module is also used for generating an optimal navigation route according to the estimated turning situation of the intersection where the vehicle needs to turn most recently among the N planned routes to be selected; Providing a module, used to provide the optimal navigation route; The estimated turning conditions include safe turning and unsafe turning, and generating an optimal navigation route according to the estimated turning conditions of the vehicle at the nearest intersection where the vehicle needs to turn among the N planned routes to be selected, including: selecting the optimal navigation route from the routes in the N planned routes to be selected that can be turned safely; Selecting the optimal navigation route from the routes that can be safely turned from the N planned routes to be selected, comprising: obtaining M planned routes to be safely turned from the N planned routes to be selected, where M is an integer greater than or equal to 1, and M≤N; obtaining the mileage, traffic light information, and road condition information of the M planned routes to be selected; and determining the optimal navigation route according to the mileage, traffic light information, and road condition information of the M planned routes to be selected; The estimated turning conditions include safe turning and unsafe turning, and generating an optimal navigation route according to the estimated turning conditions of the vehicle at the nearest intersection where the vehicle needs to turn among the N to-be-selected planned routes, including: if all the N to-be-selected planned routes are unsafe to turn; obtaining the mileage, traffic light information and road condition information of the N to-be-selected planned routes; determining the optimal navigation route according to the mileage, traffic light information and road condition information of the N to-be-selected planned routes; An estimated turning situation of the vehicle at a nearest intersection where the vehicle needs to turn among the N planned routes to be selected is obtained based on the current vehicle speed and the current position, including: obtaining the distance between the vehicle and the nearest intersection where the vehicle needs to turn among the N planned routes to be selected; obtaining an estimated vehicle speed when the vehicle reaches the nearest intersection where the vehicle needs to turn among the N planned routes to be selected based on the current vehicle speed and the distance between the vehicle and the nearest intersection where the vehicle needs to turn among the N planned routes to be selected; and obtaining an estimated turning situation of the N planned routes to be selected based on the estimated vehicle speed when the vehicle reaches the nearest intersection where the vehicle needs to turn among the N planned routes to be selected and a preset safe turning speed threshold.

4. A navigation device, characterized in that: include: The acquisition module is used to obtain the current position, current speed and navigation route of the vehicle; Prompt module; a control processing module, configured to determine whether the vehicle can make a safe turn at the nearest turning intersection in the navigation route according to the current position of the vehicle and the current vehicle speed; the control processing module is further configured to give a prompt through the prompt module if the vehicle cannot make a safe turn at the nearest turning intersection in the navigation route; After the prompt is given, the method further includes: if a navigation route change instruction is received before the vehicle drives to the nearest intersection where a turn is required in the navigation route, a recalculation of the route is triggered; The triggering of recalculating the route includes: generating N candidate planned routes according to the current position and the destination position of the vehicle, wherein N is an integer greater than or equal to 1; obtaining an estimated turning situation of an intersection where the vehicle needs to turn most recently among the N candidate planned routes according to the current vehicle speed and the current position of the vehicle; generating an optimal navigation route according to the estimated turning situation of the intersection where the vehicle needs to turn most recently among the N candidate planned routes; and providing the optimal navigation route.

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