Navigation method, navigation system, and intelligent vehicle

Abstract

The application discloses a navigation method which can be applied to intelligent vehicles and intelligent networked vehicles, and comprises the following steps: obtaining a navigation request (201), wherein the navigation request comprises position information of a starting place of a vehicle and position information of a destination; and performing navigation planning on the vehicle according to the position information of the starting place, the position information of the destination and a vehicle head direction (202), wherein the vehicle head direction is determined according to a driving track stored before the navigation request is obtained. The application also relates to a navigation device and a vehicle. The method can improve the accuracy of vehicle navigation, especially the accuracy of vehicle starting navigation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of navigation, and in particular to a navigation method, a navigation system and an intelligent automobile. BACKGROUND

[0002] A global positioning system (GPS) is a high-precision radio navigation positioning system based on artificial satellites. It can provide accurate geographical position, vehicle speed and precise time information on the earth's surface and near-earth space that is not blocked by buildings or other obstacles.

[0003] Generally, vehicle navigation can use vehicle-mounted GPS to cooperate with an electronic map to plan a path. At present, the navigation accuracy of a vehicle at start-up is low, and there is a high probability that deviation correction needs to be performed, so how to improve the navigation accuracy of a vehicle at start-up needs to be solved. SUMMARY

[0004] Embodiments of the present application provide a navigation method to improve the navigation accuracy of a vehicle, in particular to improve the navigation accuracy of a vehicle at start-up.

[0005] To achieve the above-mentioned purpose, embodiments of the present application provide the following technical solutions:

[0006] It should be understood that the navigation method provided by the present application can be executed by an electronic device, which can be an entire machine of a computing device or part of a device in the computing device, such as a navigation-related chip. Specifically, the electronic device can be a terminal such as a car, a navigation device in a car, etc., or a system chip or navigation chip that can be set in the terminal. The system chip is also called a system on a chip (SoC) chip. In physical implementation, the navigation chip can be integrated inside the system chip or not integrated with the system chip.

[0007] The first aspect of the present application provides a navigation method, which can include: obtaining a navigation request, the navigation request can include position information of a starting point of a vehicle and position information of a destination. In the process of using a vehicle-mounted device for navigation, first, the name of the destination to be reached needs to be input in the navigation system provided by the vehicle-mounted device. The vehicle-mounted device searches in the navigation system and the navigation map according to the input name of the destination to be reached, and determines the position information of the destination of this navigation. The vehicle-mounted device can also be referred to as a vehicle-mounted navigation. When the difference between the two is not emphasized, the two mean the same thing. The above-mentioned way of inputting the name of the destination to be reached can be that the user inputs it by himself / herself, or selects it on the navigation map, or selects it from the menu provided by the vehicle-mounted device, etc. The way of inputting by the user himself / herself can include the way of inputting by the user through voice instruction, and the way of clicking or touching the vehicle-mounted navigation application. The position information of the starting point of the vehicle can also be obtained by inputting the name of the starting point in the navigation system provided by the vehicle-mounted device, and then obtaining the position information of the starting point. Alternatively, the position information of the starting point of the vehicle can be the position information of the current location of the vehicle by default. The position information in the present application can be represented by latitude and longitude coordinates, or by x and y coordinates, or by any other symbol indicating the geographical position of the vehicle. The scheme provided by the present application generates a navigation route according to the position information of the starting point, the position information of the destination and the heading direction of the vehicle, and plans the navigation for the vehicle. It should be noted that the navigation planning for the vehicle is sometimes referred to as navigation for the vehicle. It should be understood that both are used to indicate the driving direction of the next step of the vehicle, or to indicate the planning of the navigation route for the vehicle and the prompting of the driving direction of the next step of the vehicle. In one possible implementation, the driving direction of the next step, such as U-turn driving, left turn driving, etc., can be displayed on the user interaction interface of the vehicle-mounted device. Alternatively, in one possible implementation, the planned route and the driving direction of the next step can be displayed on the user interaction interface of the vehicle-mounted device. The heading direction is determined according to the driving track stored before the navigation request is obtained. As can be seen from the first aspect, the scheme provided by the present application is different from the prior art, which only generates a navigation route according to the position information of the starting point of the vehicle and the position information of the destination, and plans the navigation for the vehicle. In the process of generating a navigation route and planning the navigation for the vehicle, the present application introduces the heading direction, generates a navigation route according to the position information of the starting point, the position information of the destination and the heading direction, and plans the navigation for the vehicle. Through the scheme provided by the present application, for the scenario of starting navigation of the vehicle, without needing to travel a distance and then perform trajectory correction processing after the trajectory is generated, the scheme provided by the present application can take the heading direction as the reference direction, and accurately indicate the starting navigation without forming a trajectory. For the navigation scenario during the driving of the vehicle, the time required for correction can be reduced, and the efficiency of navigation can be improved.

[0008] Optionally, in combination with the first aspect, in a first possible implementation manner, the navigating the vehicle according to the position information of the starting location, the position information of the destination and the vehicle head direction can comprise: determining a first navigation direction according to the position information of the starting location and the position information of the destination; and navigating the vehicle according to an included angle between the first navigation direction and the vehicle head direction. According to the first aspect and the first possible implementation manner, a specific manner of navigating the vehicle according to the position information of the starting location, the position information of the destination and the vehicle head direction is given. First, a navigation direction, i.e., the first navigation direction, is determined according to the position information of the starting location and the position information of the destination. Then, the first navigation direction is corrected according to the included angle between the first navigation direction and the vehicle head direction, so as to determine a final navigation direction presented. The final navigation direction presented can be used to prompt the user or the vehicle.

[0009] Optionally, in combination with the first aspect and the first possible implementation manner, in a second possible implementation manner, the navigating the vehicle according to the included angle between the first navigation direction and the vehicle head direction can comprise: when the included angle is within a first preset range, sending a prompt message, the prompt message being used to instruct the vehicle to make a U-turn. According to the first aspect and the second possible implementation manner, a navigation manner in a specific application scenario is given. When the included angle is within the first preset range, it indicates that the direction of the destination and the direction of the vehicle head can be in opposite directions. At this time, the vehicle is instructed to make a U-turn, so as to avoid the vehicle driving in a direction deviating from the destination for a distance, thereby affecting the user experience. When it is determined that the included angle is within the first preset range, the vehicle is prompted to make a U-turn, so as to improve the accuracy of navigation.

[0010] Optionally, in combination with the first aspect and the first possible implementation manner, in a third possible implementation manner, the navigating the vehicle according to the included angle between the first navigation direction and the vehicle head direction can comprise: when the included angle is within a second preset range, sending a prompt message, the prompt message being used to instruct the vehicle to make a left turn or a right turn. According to the first aspect and the third possible implementation manner, a navigation manner in a specific application scenario is given. When the included angle is within the second preset range, the vehicle is instructed to make a left turn or a right turn, so as to improve the accuracy of navigation.

[0011] Optionally, in combination with the first aspect and the first possible implementation manner, in a fourth possible implementation manner, the navigating the vehicle according to the included angle between the first navigation direction and the vehicle head direction can comprise: when the included angle is within a third preset range, sending a prompt message, the prompt message being used to instruct the vehicle to drive according to the first navigation direction. According to the first aspect and the fourth possible implementation manner, a navigation manner in a specific application scenario is given.

[0012] Optionally, in combination with the first aspect or the first to fourth possible implementation manners of the first aspect, in a fifth possible implementation manner, the driving track is a segment of the driving track with a preset distance from the current position of the vehicle, and the method further includes: obtaining N track points according to the driving track, the track points being used to represent position information of the vehicle, and N being a positive integer; and determining the heading direction according to curvatures of the N track points. According to the fifth possible implementation manner of the first aspect, a specific manner of how to determine the heading direction is given.

[0013] Optionally, in combination with the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner, determining the heading direction according to the curvatures of the N track points includes: when a curvature variation rate of the N track points is not greater than a first preset value, determining the heading direction according to position information of any two track points in the N track points. The first preset value is used to determine whether the N track points are on a straight line. For example, N is 20, that is, there are 20 track points, and the curvature variation rate of the 20 track points is calculated and compared with the first preset value. For example, the curvature variation rate of the 20 track points is 0.3, and the first preset value is 0.5. When 0.3 is less than 0.5, it can be considered that the 20 track points are approximately distributed on a straight line, and the heading direction can be determined according to the position information of any two track points in the 20 track points. According to the sixth possible implementation manner of the first aspect, a specific manner of how to determine the heading direction according to the curvature is given. When the curvature variation rate of the N track points is not greater than the first preset value, it can be considered that the N track points are on a straight line, and the heading direction can be determined according to the position information of any two track points in the N track points.

[0014] Optionally, in combination with the fifth possible implementation manner of the first aspect, in a seventh possible implementation manner, determining the heading direction according to the curvatures of the N track points includes: when the curvature variation rate of the N track points is greater than the first preset value, determining the heading direction according to the curvature variation rate of the N track points and the speed of the vehicle. According to the seventh possible implementation manner of the first aspect, a specific manner of how to determine the heading direction according to the curvature is given. When the curvature variation rate of the N track points is greater than the first preset value, it can be considered that the N track points are not on a straight line, and it can be considered that the N track points are on a curve, and the heading direction can be determined according to the curvature variation rate of the N track points and the speed of the vehicle.

[0015] Optionally, in combination with the fifth to seventh possible implementation manners of the first aspect, in an eighth possible implementation manner, the obtaining the N track points according to the driving track can include: determining a plurality of track points according to the driving track; and performing deletion processing on M track points of the plurality of track points according to a preset condition to obtain the N track points, the preset condition including one or more of a first preset condition and a second preset condition, the first preset condition being that curvatures of the M track points are greater than a second preset value, and the second preset condition being that gears of vehicles corresponding to the M track points are neutral gears. M is a positive integer, and N is a positive integer. The second preset value is used to determine whether there are bad points or bad track points in the M track points, that is, if the curvatures of the M track points are greater than the second preset value, it is considered that such track points are unlikely to appear in the driving track, and the deletion processing can be performed on the track points. According to the eighth possible implementation manner of the first aspect, a specific manner of determining the N track points is given, that is, selecting N valid track points from the plurality of track points to determine the vehicle head direction, for example, deleting the bad points with curvatures greater than the second preset value or the track points with gears of the corresponding vehicles being neutral gears.

[0016] Optionally, in combination with the fifth to eighth possible implementation manners of the first aspect, in a ninth possible implementation manner, the method can further include: obtaining steering wheel angle information when the speed of the vehicle is detected to be less than a third preset value; determining a compensation direction according to the steering wheel angle information, the wheelbase, a time length, and the speed, the time length being a time length required for the vehicle to stop after the speed of the vehicle is detected to be less than the third preset value, and the speed being a real-time speed of the vehicle after the speed of the vehicle is detected to be less than the third preset value; and updating the vehicle head direction determined according to the curvatures of the N track points according to the compensation direction. According to the ninth possible implementation manner of the first aspect, when the change range of the track points is small, the driving track determined by relying on the GPS can not accurately predict the direction, so the final vehicle head direction is determined according to the compensation direction and the direction determined by the driving track, and the navigation accuracy is improved. For example, the final vehicle head direction can be determined by adding two directions, and the two directions are the compensation direction and the direction determined by the driving track.

[0017] The second aspect of the present application provides a navigation system, which can include a mobile terminal and a vehicle. The mobile terminal acquires a navigation request, which can include location information of a starting point of the vehicle and location information of a destination. In response to the navigation request, the mobile terminal sends an instruction to the vehicle or a navigation module of the vehicle, the instruction being used to instruct the vehicle or the navigation module of the vehicle to send a vehicle heading. In response to the instruction, the vehicle or the navigation module of the vehicle sends the vehicle heading to the mobile terminal, the vehicle heading being determined according to a driving track stored by the vehicle. The mobile terminal navigates the vehicle according to the location information of the starting point, the location information of the destination and the vehicle heading. According to the second aspect, the scheme provided by the present application can be executed by interaction of two devices, and the route of the vehicle can be planned and the vehicle can be navigated by the mobile terminal.

[0018] Optionally, in combination with the second aspect, in a first possible implementation manner, the mobile terminal navigates the vehicle according to the location information of the starting point, the location information of the destination and the vehicle heading, which can include that the mobile terminal determines a first navigation direction according to the location information of the starting point and the location information of the destination. The mobile terminal navigates the vehicle according to an included angle between the first navigation direction and the vehicle heading.

[0019] Optionally, in combination with the first possible implementation manner of the second aspect, in a second possible implementation manner, the mobile terminal is specifically used for when the included angle is within a first preset range, the mobile terminal sends a prompt message, the prompt message being used to instruct the vehicle to make a U-turn.

[0020] Optionally, in combination with the first possible implementation manner of the second aspect, in a third possible implementation manner, the mobile terminal is specifically used for when the included angle is within a second preset range, the mobile terminal sends a prompt message, the prompt message being used to instruct the vehicle to make a left turn or a right turn.

[0021] Optionally, in combination with the first possible implementation manner of the second aspect, in a fourth possible implementation manner, the mobile terminal is specifically used for when the included angle is within a third preset range, the mobile terminal sends a prompt message, the prompt message being used to instruct the vehicle to travel according to the first navigation direction.

[0022] Optionally, in combination with the second aspect or the first to fourth possible implementation manners of the second aspect, in a fifth possible implementation manner, the driving track is a segment of the driving track with a preset distance from a current position of the vehicle, and the vehicle is further used for acquiring N track points according to the driving track, the track points being used to represent location information of the vehicle, N being a positive integer. The vehicle heading is determined according to curvatures of the N track points.

[0023] Optionally, in combination with the fifth possible implementation manner of the second aspect, in a sixth possible implementation manner, the vehicle, specifically for the case that the rate of change of curvature of the N trajectory points is not greater than the first preset value, determines the vehicle head direction according to position information of any two trajectory points in the N trajectory points.

[0024] Optionally, in combination with the fifth possible implementation manner of the second aspect, in a seventh possible implementation manner, the vehicle, specifically for the case that the rate of change of curvature of the N trajectory points is greater than the first preset value, determines the vehicle head direction according to the rate of change of curvature of the N trajectory points and the speed of the vehicle.

[0025] Optionally, in combination with the fifth to seventh possible implementation manners of the second aspect, in an eighth possible implementation manner, the vehicle, specifically for determining a plurality of trajectory points according to the driving trajectory, performs deletion processing on M trajectory points in the plurality of trajectory points according to a preset condition to obtain the N trajectory points, the preset condition including one or more of a first preset condition and a second preset condition, the first preset condition being that the curvature of the M trajectory points is greater than a second preset value, and the second preset condition being that a gear of the vehicle corresponding to the M trajectory points is neutral. Wherein, M is a positive integer, and N is a positive integer.

[0026] Optionally, in combination with the fifth to eighth possible implementation manners of the second aspect, in a ninth possible implementation manner, the vehicle further detects that the speed of the vehicle is less than a third preset value, and acquires steering wheel angle information. The vehicle determines a compensation direction according to the steering wheel angle information, the wheelbase, a time length, and the speed, the time length being a time length required for the vehicle to stop after detecting that the speed of the vehicle is less than the third preset value, and the speed being a real-time speed of the vehicle after detecting that the speed of the vehicle is less than the third preset value. The vehicle updates the vehicle head direction determined according to the curvature of the N trajectory points according to the compensation direction.

[0027] The third aspect of the present application provides a navigation device, which can include: a first acquisition module configured to acquire a navigation request, the navigation request including position information of a starting point of a vehicle and position information of a destination. A navigation module configured to navigate the vehicle according to the position information of the starting point, the position information of the destination, and a vehicle head direction, the vehicle head direction being determined according to a driving trajectory stored before the navigation request is acquired.

[0028] Optionally, in combination with the third aspect, in a first possible implementation manner, the navigation module is specifically configured to: determine a first navigation direction according to the position information of the starting point and the position information of the destination. Navigate the vehicle according to an included angle between the first navigation direction and the vehicle head direction.

[0029] Optionally, in combination with the first possible implementation manner of the third aspect, in a second possible implementation manner, the navigation module is specifically configured to: when the included angle is within a first preset range, send a prompt message, the prompt message being used to instruct the vehicle to make a U-turn.

[0030] Optionally, in combination with the first possible implementation manner of the third aspect, in a third possible implementation manner, the navigation module is specifically configured to: when the included angle is within a second preset range, send a prompt message, the prompt message being used to instruct the vehicle to make a left turn or a right turn.

[0031] Optionally, in combination with the first possible implementation manner of the third aspect, in a fourth possible implementation manner, the navigation module is specifically configured to: when the included angle is within a third preset range, send a prompt message, the prompt message being used to instruct the vehicle to travel in a first navigation direction.

[0032] Optionally, in combination with the third aspect or any one of the first to fourth possible implementation manners of the third aspect, in a fifth possible implementation manner, the driving track is a driving track with a preset distance from a current position of the vehicle, and the device further includes a second acquisition module and a processing module. The second acquisition module is configured to acquire N track points according to the driving track, the track points being used to represent position information of the vehicle, and N being a positive integer. The processing module is configured to determine the heading direction of the vehicle according to curvatures of the N track points acquired by the second acquisition module.

[0033] Optionally, in combination with the fifth possible implementation manner of the third aspect, in a sixth possible implementation manner, the processing module is specifically configured to: when a curvature change rate of the N track points is not greater than a first preset value, determine the heading direction of the vehicle according to position information of any two track points in the N track points.

[0034] Optionally, in combination with the fifth possible implementation manner of the third aspect, in a seventh possible implementation manner, the processing module is specifically configured to: when the curvature change rate of the N track points is greater than the first preset value, determine the heading direction of the vehicle according to the curvature change rate of the N track points and a speed of the vehicle.

[0035] Optionally, in combination with the fifth to seventh possible implementation manners of the third aspect, in an eighth possible implementation manner, the second acquisition module is specifically configured to determine a plurality of track points according to the driving track. The processing module is specifically configured to perform deletion processing on M track points in the plurality of track points according to a preset condition to obtain the N track points, the preset condition including one or more of a first preset condition and a second preset condition, the first preset condition being that the curvatures of the M track points are greater than a second preset value, and the second preset condition being that gears corresponding to the M track points are neutral gears. M is a positive integer, and N is a positive integer.

[0036] Optionally, in combination with the third aspect and the fifth possible implementation to the eighth possible implementation of the third aspect, in a ninth possible implementation, the method further includes: detecting that the speed of the vehicle is less than a third preset value; and obtaining the steering wheel angle information. The processing module is further configured to determine the compensation direction according to the steering wheel angle information, the wheel track, the time length, and the speed, the time length being a time length from when the speed of the vehicle is detected to be less than the third preset value to when the vehicle stops, and the speed being a real-time speed of the vehicle after the speed of the vehicle is detected to be less than the third preset value. The processing module is further configured to update the vehicle head direction determined according to the curvatures of the N track points according to the compensation direction.

[0037] The fourth aspect of the present application provides a vehicle, which can include a processor, the processor and a memory are coupled, the memory stores program instructions, and the program instructions stored in the memory are executed by the processor to implement the method described in the first aspect or any one of the possible implementation manners of the first aspect.

[0038] The fifth aspect of the present application provides a vehicle, which can include a processor and a communication interface, the processor obtains program instructions through the communication interface, and the program instructions are executed by the processor to implement the method described in the first aspect or any one of the possible implementation manners of the first aspect.

[0039] The sixth aspect of the present application provides a computer readable storage medium, which can include a program, and when the program is run on a computer, the computer is caused to execute the method described in the first aspect or any one of the possible implementation manners of the first aspect.

[0040] The seventh aspect of the present application provides a vehicle, which can include a processing circuit, and the processing circuit is configured to execute the method described in the first aspect or any one of the possible implementation manners of the first aspect.

[0041] The eighth aspect of the present application provides a chip system, which can include a processor, and the processor is configured to support functions involved in the method described in the first aspect or any one of the possible implementation manners of the first aspect.

[0042] Optionally, in combination with the eighth aspect, in a first possible implementation, the chip system can further include a memory, and the memory is configured to save necessary program instructions and data of the vehicle. The chip system can be composed of a chip, or can include the chip and other discrete devices. The chip system can include an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, etc. Further, the chip system can further include an interface circuit, etc.

[0043] A ninth aspect of this application provides a navigation system, characterized in that the navigation system includes a vehicle and a cloud-based device. The vehicle acquires a navigation request, the navigation request including the vehicle's origin location information and destination location information. In response to the navigation request, the vehicle or its navigation module sends the destination location information and first information to the cloud-based device, the first information including at least one of the vehicle's heading direction and the origin location information. The cloud-based device performs navigation planning for the vehicle based on the origin location information, the destination location information, and the vehicle's heading direction.

[0044] Optionally, in conjunction with the ninth aspect, in a first possible implementation, the cloud-side device navigating the vehicle based on the location information of the origin, the location information of the destination, and the vehicle's heading direction may include: the cloud-side device determining a first navigation direction based on the location information of the origin and the location information of the destination; and the cloud-side device navigating the vehicle based on the relationship between the angle between the first navigation direction and the vehicle's heading direction and a preset angle.

[0045] Optionally, in conjunction with the first possible implementation of the ninth aspect above, in the second possible implementation, the cloud-side device is specifically used to send a prompt message when the included angle is within a first preset range. The prompt message is used to instruct the vehicle to turn around.

[0046] Optionally, in conjunction with the first possible implementation of the ninth aspect above, in the third possible implementation, the cloud-side device is specifically used to send a prompt message when the included angle is within the second preset range. The prompt message is used to instruct the vehicle to turn left or right.

[0047] Optionally, in conjunction with the first possible implementation of the ninth aspect above, in the fourth possible implementation, the cloud-side device is specifically used to send a prompt message when the included angle is within a third preset range. The prompt message is used to instruct the vehicle to travel in the first navigation direction.

[0048] Optionally, in conjunction with the above-mentioned ninth aspect or the first to fourth possible implementations of the ninth aspect, in the fifth possible implementation, the driving trajectory is a segment of driving trajectory at a preset distance from the vehicle's current position. The vehicle is also used to obtain N trajectory points based on the driving trajectory. The trajectory points are used to represent the vehicle's position information, where N is a positive integer. The vehicle's heading direction is determined based on the curvature of the N trajectory points.

[0049] Optionally, in conjunction with the fifth possible implementation of the ninth aspect above, in the sixth possible implementation, when the rate of curvature change of the vehicle at the N trajectory points is not greater than the first preset value, the vehicle determines the direction of its head based on the position information of any two trajectory points among the N trajectory points.

[0050] Optionally, in the seventh possible implementation manner of the fifth possible implementation manner of the ninth aspect, the vehicle is specifically configured to determine the heading direction of the vehicle according to the rate of the vehicle and the rate of change of the curvature of the N trajectory points when the rate of change of the curvature of the N trajectory points is greater than the first preset value.

[0051] Optionally, in the eighth possible implementation manner of the fifth to seventh possible implementation manners of the ninth aspect, the vehicle is specifically configured to determine a plurality of trajectory points according to the driving trajectory. M trajectory points in the plurality of trajectory points are deleted according to a preset condition to obtain the N trajectory points, and the preset condition includes one or more of a first preset condition and a second preset condition. The first preset condition is that the curvature of the M trajectory points is greater than a second preset value, and the second preset condition is that the gear of the vehicle corresponding to the M trajectory points is neutral. Optionally, in the ninth possible implementation manner of the fifth to eighth possible implementation manners of the ninth aspect, the vehicle is further configured to acquire steering wheel angle information when the rate of the vehicle is detected to be less than a third preset value. The compensation direction is determined according to the steering wheel angle information, the wheelbase, the time length, and the rate. The time length is the time length required for the vehicle to stop after the rate of the vehicle is detected to be less than the third preset value, and the rate is the real-time rate of the vehicle after the rate of the vehicle is detected to be less than the third preset value. The vehicle updates the heading direction determined according to the curvature of the N trajectory points according to the compensation direction.

[0052] The tenth aspect of the present application provides a mobile terminal, which comprises a first acquisition module configured to acquire a navigation request, the navigation request comprising position information of a starting point and position information of a destination. A communication module configured to send an instruction to a vehicle or a navigation module of the vehicle in response to the navigation request, the instruction being used to instruct the vehicle or the navigation module of the vehicle to send heading direction information. The communication module is further configured to receive the heading direction information sent by the vehicle or the navigation module of the vehicle, the heading direction information being determined according to a stored driving trajectory. A navigation module configured to plan a navigation for the vehicle according to the position information of the starting point, the position information of the destination, and the heading direction information.

[0053] Optionally, in the first possible implementation manner of the tenth aspect, the navigation module is specifically configured to determine a first navigation direction according to the position information of the starting point and the position information of the destination. The vehicle is navigated according to the included angle between the first navigation direction and the heading direction.

[0054] Optionally, in the second possible implementation manner of the first possible implementation manner of the tenth aspect, the navigation module is specifically configured to send a prompt message when the included angle is within a first preset range, the prompt message being used to instruct the vehicle to make a U-turn.

[0055] Optionally, in a third possible implementation manner of the first possible implementation manner of the tenth aspect, the navigation module is specifically configured to: when the included angle is within a second preset range, send a prompt message, the prompt message being used to instruct the vehicle to turn left or turn right.

[0056] Optionally, in a fourth possible implementation manner of the first possible implementation manner of the tenth aspect, the navigation module is specifically configured to: when the included angle is within a third preset range, send a prompt message, the prompt message being used to instruct the vehicle to travel according to the first navigation direction.

[0057] Optionally, in a fifth possible implementation manner of the tenth aspect or the first to fourth possible implementation manners of the tenth aspect, the driving track is a driving track stored before the navigation request is acquired, the driving track being a driving track within a preset distance from a current position of the vehicle, the driving track including N track points, the track points being used to represent position information of the vehicle, and the heading direction information including curvatures of the N track points. Optionally, in a sixth possible implementation manner of the fourth possible implementation manner of the tenth aspect, the communication module is further configured to: receive compensation direction information of the vehicle, the compensation direction information being used to update the heading direction determined by the heading direction information, the compensation direction information including steering wheel information, a wheelbase, a time length, and a speed, the steering wheel information being steering wheel angle information acquired when the vehicle detects that the speed of the vehicle is less than a third preset value, the time length being a time length required for the vehicle to stop after the vehicle detects that the speed of the vehicle is less than the third preset value, and the speed being a real-time speed of the vehicle. The compensation direction information of the vehicle received by the communication module of the mobile terminal can be from different devices. For example, the communication module can receive the compensation direction information sent by the vehicle or the navigation module of the vehicle, or the communication module can receive the compensation direction information of the vehicle sent by a cloud-side device.

[0058] It should be noted that the beneficial effects brought by the implementation manners of the second aspect to the tenth aspect of the present application can be understood with reference to the implementation manners of the first aspect, and thus are not repeated.

[0059] By the technical solutions provided in the present application, the vehicle can be navigated according to the position information of the starting point, the position information of the destination, and the heading direction. The scheme provided in the present application can take the heading direction as a reference direction, accurately navigate the vehicle without forming a track, and especially provide accurate navigation when the vehicle starts. BRIEF DESCRIPTION OF DRAWINGS

[0060] Figure 1 A structural schematic diagram of a vehicle provided by an embodiment of the present application;

[0061] Figure 2 A flowchart of a navigation method provided by an embodiment of the present application;

[0062] Figure 3 A schematic diagram of one application scenario of the scheme provided in the present application;

[0063] Figure 4 A schematic diagram of another application scenario of the scheme provided in the present application;

[0064] Figure 5 A schematic diagram of another application scenario of the scheme provided in the present application;

[0065] Figure 6 A schematic diagram of another application scenario of the scheme provided in the present application;

[0066] Figure 7 A schematic diagram of another application scenario of the scheme provided in the present application;

[0067] Figure 8 A schematic diagram of another application scenario of the scheme provided in the present application;

[0068] Figure 9 A schematic diagram of another navigation method provided in the embodiment of the present application;

[0069] Figure 10a A schematic diagram of another application scenario of the scheme provided in the present application;

[0070] Figure 10b A schematic diagram of another application scenario of the scheme provided in the present application;

[0071] Figure 10c A schematic diagram of another application scenario of the scheme provided in the present application;

[0072] Figure 11a A schematic diagram of another navigation method provided in the embodiment of the present application;

[0073] Figure 11b A schematic diagram of another application scenario of the scheme provided in the present application;

[0074] Figure 12 A schematic diagram of another application scenario of the scheme provided in the present application;

[0075] Figure 13 A schematic diagram of another navigation method provided in the embodiment of the present application;

[0076] Figure 14 A schematic diagram of another application scenario of the scheme provided in the present application;

[0077] Figure 15 A schematic diagram of another application scenario of the scheme provided in the present application;

[0078] Figure 16 A flowchart of another navigation method provided by an embodiment of the present application;

[0079] Figure 17 A schematic diagram of another application scenario of the scheme provided by the present application;

[0080] Figure 18 A schematic diagram of another application scenario of the scheme provided by the present application;

[0081] Figure 19 A schematic diagram of a navigation system architecture provided by the present application;

[0082] Figure 20a A schematic diagram of another application scenario of the scheme provided by the present application;

[0083] Figure 20b A schematic diagram of another application scenario of the scheme provided by the present application;

[0084] Figure 20c A schematic diagram of another application scenario of the scheme provided by the present application;

[0085] Figure 20d A schematic diagram of another application scenario of the scheme provided by the present application;

[0086] Figure 20e A schematic diagram of another application scenario of the scheme provided by the present application;

[0087] Figure 20f A schematic diagram of another application scenario of the scheme provided by the present application;

[0088] Figure 21 A schematic diagram of a navigation device provided by an embodiment of the present application;

[0089] Figure 22 A schematic diagram of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0090] The technical scheme provided by the present application is further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the system structure and business scenario provided in the embodiments of the present application are mainly for describing possible implementation manners of the technical scheme of the present application, and should not be interpreted as the only limitation of the technical scheme of the present application. Those skilled in the art can know that the technical scheme provided by the present application is also applicable to similar technical problems as the system structure evolves and new business scenarios appear.

[0091] The vehicle described in the present application can be an internal combustion engine vehicle taking an engine as a power source, a hybrid vehicle taking an engine and an electric motor as a power source, an electric vehicle taking an electric motor as a power source, and the like.

[0092] To facilitate understanding of the present solution, the present embodiments first introduce the vehicle structure in conjunction with Figure 1 The vehicle structure is introduced as follows, please refer to Figure 1 , Figure 1 A structure diagram of the vehicle provided by the present embodiments is shown in FIG. 1.

[0093] The vehicle can include various subsystems, such as a travel system 102, a sensor system 104, a control system 106, one or more peripheral devices 108, and a power source 110 and a user interface 116. Alternatively, the vehicle can include more or fewer subsystems, and each subsystem can include multiple components. In addition, each subsystem and component of the vehicle can be interconnected by wire or wirelessly (e.g., Bluetooth).

[0094] The travel system 102 can include components that provide powered movement for the vehicle. In one embodiment, the travel system 102 can include an engine 118, an energy source 119, a transmission 120, and wheels 121.

[0095] The engine 118 can be a combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine composed of a gasoline engine and an electric motor, a hybrid engine composed of a combustion engine and an air compression engine. The engine 118 converts the energy source 119 into mechanical energy. Examples of the energy source 119 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source 119 can also provide energy for other systems of the vehicle. The transmission 120 can transmit mechanical power from the engine 118 to the wheels 121. The transmission 120 can include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 120 can also include other devices, such as a clutch. The drive shaft can include one or more shafts that can be coupled to the wheels 121.

[0096] The sensor system 104 can include several sensors that sense information about the vehicle's location. For example, the sensor system 104 can include a positioning system 122 (which can be a global positioning GPS system, a Beidou system, or other positioning systems), an inertial measurement unit (IMU) 124, a radar 126, a laser rangefinder 128, and a camera 130. The sensor system 104 can also include sensors that monitor the vehicle's internal systems (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). The sensor data from one or more of these sensors can be used to detect objects and their respective characteristics (e.g., location, shape, direction, speed, etc.). Such detection and identification are critical functions for the safe operation of autonomous vehicles.

[0097] The positioning system 122 can be used to estimate the geographical position of the vehicle, such as the latitude and longitude information of the location where the vehicle is located. The IMU 124 is used to perceive the changes in position and orientation of the vehicle based on inertial acceleration rates. In one embodiment, the IMU 124 can be a combination of an accelerometer and a gyroscope. The radar 126 can utilize radio signals to perceive objects within the surrounding environment of the vehicle, which can be manifested as a millimeter wave radar or a laser radar. In some embodiments, in addition to perceiving objects, the radar 126 can also be used to perceive the speed and / or the heading direction of the objects. The laser rangefinder 128 can utilize laser light to perceive objects in the environment where the vehicle is located. In some embodiments, the laser rangefinder 128 can include one or more laser sources, a laser scanner, and one or more detectors, among other system components. The camera 130 can be used to capture a plurality of images of the surrounding environment of the vehicle. The camera 130 can be a still camera or a video camera.

[0098] The control system 106 is used to control the operation of the vehicle and its components. The control system 106 can include various components, including a steering system 132, a throttle 134, a braking unit 136, an electronic control unit 138 (ECU), and a body control module 140 (BCM).

[0099] The steering system 132 can be operable to adjust the heading of the vehicle. In one embodiment, the steering system 132 can be a steering wheel system. The throttle 134 can be used to control the rate of operation of the engine 118 and, in turn, the speed of the vehicle. The brake unit 136 can be used to control the deceleration of the vehicle. The brake unit 136 can use friction to slow the wheels 121. In other embodiments, the brake unit 136 can convert the kinetic energy of the wheels 121 into electrical current. The brake unit 136 can also take other forms to slow the wheels 121 to control the speed of the vehicle. The vehicle electronic control unit 138 can be implemented as a single ECU or multiple ECUs on the vehicle that are configured to communicate with the peripherals 108, the sensor system 104. The vehicle ECU 138 can include at least one processor 1381, memory 1382 (read-only memory, ROM). The at least one processor can be implemented or executed with one or more general purpose processors, content addressable memories, digital signal processors, application specific integrated circuits, field programmable gate arrays, any suitable programmable logic devices, discrete gates or transistor logic, discrete hardware components, or any combination designed for the performance of the functions described herein. Specifically, the at least one processor can be implemented as one or more microprocessors, controllers, microcontroller units (MCUs), or state machines. Furthermore, the at least one processor can be implemented as a combination of a

[0100] The BCM 140 can provide the ECU 138 with information about the vehicle engine state, speed, gear, steering wheel angle, etc.

[0101] The vehicle interacts with external sensors, other vehicles, other computer systems, or users through peripherals 108. Peripherals 108 can include a wireless communication system 146, a navigation system 148, a microphone 150, and / or a speaker 152. In some embodiments, peripherals 108 provide a means for a user of the vehicle to interact with user interface 116. For example, navigation system 148 can be implemented as part of an in-vehicle entertainment system, an in-vehicle display system, an in-vehicle instrument cluster, or the like. In one practical embodiment, navigation system 148 is implemented to include or cooperate with sensor system 104, which derives a current geographic position of the vehicle in real-time or substantially real-time. Navigation system 148 is configured to provide navigation data to a driver of the vehicle. Navigation data can include location data for the vehicle, suggested route planning travel instructions, and visible map information to the operator of the vehicle. Navigation system 148 can present this location data to the driver of the vehicle through a display element or other presentation device. The current location of the vehicle can be described by one or several of the following: a triangulated position, a latitude / longitude position, x and y coordinates, or any other symbol or any measurement that indicates the geographic position of the vehicle.

[0102] The user interface 116 can also operate the navigation system 148 to receive inputs from a user. The navigation system 148 can be operated through a touchscreen. The navigation system 148 provides the ability to plan a route and the ability to navigate when the user inputs the geographic location values for the start and end points. In other cases, the peripherals 108 can provide a means for the vehicle to communicate with other devices located within the vehicle. For example, the microphone 150 can receive audio (e.g., voice commands or other audio inputs) from a user of the vehicle. Similarly, the speaker 152 can output audio to a user of the vehicle. The wireless communication system 146 can wirelessly communicate with one or more devices, either directly or via a communication network. For example, the wireless communication system 146 can use 3G cellular communication, such as code division multiple access (CDMA), EVD0, global system for mobile communications (GSM) / general packet radio service (GPRS), or 4G cellular communication, such as long term evolution (LTE), or 5G cellular communication. The wireless communication system 146 can utilize WiFi for wireless local area network (WLAN) communication. In some embodiments, the wireless communication system 146 can utilize an infrared link, Bluetooth, or ZigBee for direct communication with devices. Other wireless protocols, such as various vehicle communication systems, for example, the wireless communication system 146 can include one or more dedicated short range communications (DSRC) devices, which can include public and / or private data communication between vehicles and / or roadside stations.

[0103] The power supply 110 can provide power to various components of the vehicle. In one embodiment, the power supply 110 can be a rechargeable lithium ion or lead acid battery. One or more battery packs of such a battery can be configured as the power supply to provide power to various components of the vehicle. In some embodiments, the power supply 110 and the energy source 119 can be implemented together, such as in some all-electric vehicles.

[0104] Optionally, one or more of the above-described components can be installed separately from or associated with the vehicle. For example, the memory 1382 can exist partially or entirely separately from the vehicle. The above-described components can be communicatively coupled together in a wired and / or wireless manner.

[0105] Optionally, the above-described components are just one example, and in actual applications, components in each of the above-described modules can be added or deleted according to actual needs, Figure 1It should not be understood as a limitation to the embodiments of the present application.

[0106] The vehicle can be a car, a truck, a motorcycle, a bus, a boat, a lawnmower, an amusement vehicle, a fairground vehicle, a construction equipment, a trolleybus, a golf cart, a handcart, and the like, and the embodiments of the present application are not particularly limited.

[0107] The above Figure 1 The architecture of the system to which the embodiments of the present application are applicable is described, and in order to better understand the technical solutions provided by the embodiments of the present application, the research ideas of the technical solutions described in the present application are specifically described below.

[0108] Figure 1 When introducing the navigation system, it is mentioned that the navigation system is configured to provide navigation data to the driver of the vehicle. One way can be to obtain the position information of the current vehicle when setting the navigation, such as obtaining the latitude and longitude information of the vehicle itself through GPS, and then performing route planning according to the position information of the destination, and starting navigation. This scheme is to drive the vehicle for a distance, and then perform navigation correction and prompt the user to the next driving direction after the vehicle has a driving track. Specifically, when the vehicle has a driving track, the current navigation route direction is compared. If they are consistent, continue navigation. If they are not consistent, automatically correct and prompt that the navigation has been updated. This scheme has a high probability of needing to correct, especially when the vehicle is in a stationary state and the navigation is started. This correction scheme cannot effectively indicate the driving direction when the vehicle is stationary, and the correct direction guidance when starting has a large number of applications in the driving scene.

[0109] To solve the above problems, the present application provides a navigation method, which predicts the driving direction of the vehicle according to the historical track. After starting navigation, the predicted driving direction can be compared with the driving direction of the navigation route, and automatically corrected to the accurate driving direction. The navigation accurately indicates the next correct driving direction of the vehicle, improves the accuracy of navigation, and improves the feeling of the driver.

[0110] Based on the above research ideas, the technical solutions provided by the present application are specifically introduced below.

[0111] Figure 2 A flowchart of a navigation method provided by the embodiments of the present application.

[0112] As Figure 2 shown, the navigation method provided by the embodiments of the present application can include the following steps:

[0113] 201, obtaining a navigation request.

[0114] The embodiments of the present application do not limit the way of obtaining the navigation request. The navigation request can include the position information of the starting point of the vehicle and the position information of the destination. For example, the vehicle can obtain the navigation request by clicking or touching the screen of the vehicle-mounted navigation, or can obtain the navigation request by the voice instruction of the user. For example, the following two ways are introduced.

[0115] In one possible implementation, the action of starting the vehicle-mounted navigation by the user, such as clicking or touching the vehicle-mounted navigation application, starts and runs the vehicle-mounted navigation. The name of the starting point and the name of the destination input by the user in the vehicle-mounted navigation can be obtained, and the navigation system and the navigation map can be searched to determine the position information of the starting point and the position information of the destination of this navigation. It should be noted that the position information of the starting point of the vehicle can be the position information of the current location of the vehicle by default, and the name of the starting point of the vehicle does not need to be input repeatedly, and the position information of the starting point is obtained according to the name of the starting point. In addition, the way of inputting the name of the destination to be reached can be input by the user, or selecting on the navigation map, or selecting from the menu provided by the vehicle-mounted device, and the embodiments of the present application do not limit the above.

[0116] In one possible implementation, the action of starting the vehicle-mounted navigation by the user can be obtained by the vehicle (vehicle-mounted device) to start and run the vehicle-mounted navigation. The name of the starting point and the name of the destination obtained are sent to the server, and the server determines the position information of the starting point and the position information of the destination according to the name of the starting point and the name of the destination.

[0117] In one possible implementation, the navigation request can be obtained by the voice instruction, such as the navigation request can be initiated by the voice assistant built in the vehicle. For example, the user can issue a voice instruction to specify the name of the destination. It should be noted that the starting point is also called the starting point or the starting point or the starting point in the present application, and they express the same meaning when the difference between them is not emphasized. The destination is also called the end point or the end point in the present application, and they express the same meaning when the difference between them is not emphasized.

[0118] In a possible implementation, the location information of the destination can also be pushed according to the use habit of the user. For example, in a possible application scenario, the user sets the time period of going to work and going home, the address of the company, and the address of the home in advance. When the user uses the vehicle-mounted device to perform navigation in the time period of going home, the vehicle-mounted device can display the address of the home as the destination, and the user only needs to determine the destination as the home, without repeatedly inputting the address of the destination. Alternatively, in another possible application scenario, the vehicle-mounted navigation device can automatically push the destination for the user according to the frequency of setting the starting point and the destination in the historical navigation request of the user, and the user only needs to confirm the destination, without repeatedly inputting the address of the destination. For example, in the historical navigation request of the user, the starting point is set as the company and the destination is set as the home, or the starting point is set as the home and the destination is set as the company. When the current location of the vehicle is obtained as the company, the vehicle-mounted navigation device can push the suggested destination, for example, the home. Alternatively, when the current location of the vehicle is obtained as the home, the vehicle-mounted navigation device displays a suggestion, and the destination is set as the company.

[0119] 202. navigate the vehicle according to the location information of the starting point, the location information of the destination, and the heading direction of the vehicle.

[0120] In a possible implementation, the first navigation direction is determined according to the location information of the starting point and the location information of the destination, and the vehicle is navigated according to the included angle between the first navigation direction and the heading direction of the vehicle.

[0121] The navigation system can automatically plan the corresponding navigation direction and navigation route according to the best path algorithm based on the satellite positioning system and the electronic map data, the location information of the starting point, and the location information of the destination. The navigation direction directly planned from the location information of the starting point and the location information of the destination is the first navigation direction mentioned in this application.

[0122] However, the first navigation direction directly planned from the location information of the starting point and the location information of the destination has defects. When the current location of the vehicle is not on the best path provided by the existing navigation system, the vehicle cannot reach the destination according to the best path. At this time, the system can only recalculate the best path according to the current location of the vehicle and the destination, that is, the deviation needs to be corrected. In other words, only after the vehicle travels, the driving direction of the vehicle can be obtained, so as to determine whether the current driving direction and the navigation route are deviated.

[0123] In the navigation of the vehicle, the heading direction of the vehicle is considered in this application, and the heading direction of the vehicle can be determined according to the driving track stored before the navigation request is obtained.

[0124] According to the scheme provided in the application, when the vehicle is in a normal use state, the driving track of the vehicle is recorded, and the vehicle head direction is determined through the driving track. The normal use state of the vehicle includes that the vehicle is in a driving state and the vehicle is in a non-parking state. In one possible implementation, whether the vehicle is in the normal use state can be determined through the gear of the vehicle. For example, if the vehicle is in the P gear (parking gear or parking gear), it is determined that the vehicle is in an abnormal use state. The P gear is used when the vehicle is parked or stationary. After the gear is engaged in the P gear, the brake of the vehicle is locked, and the vehicle will not move even if it is parked on a slope. If the vehicle is in a non-P gear state, such as D gear (forward gear), N gear (neutral gear) and R gear (reverse gear), the driving track of the vehicle is recorded.

[0125] In one possible implementation, the driving track can be a track point including position information. The navigation device or the inertial measurement unit or the driving recorder can record the GPS information of the current position, wherein the GPS information can include the longitude and latitude information of the current position, and the longitude and latitude information can represent the position information of the vehicle. For example, the longitude and latitude information of the current position in the GPS information is extracted and recorded every certain time or distance. Such a recording point can be referred to as a track point. The longitude and latitude information of a series of track points is referred to as a route track or a driving track. In other words, in one possible implementation, the track point can refer to the position point recorded when the GPS is positioned.

[0126] The scheme provided in the application can collect the driving track according to the driving speed of the vehicle and the gear change. Hereinafter, the driving track is collected according to the driving speed of the vehicle and the gear change. Figure 3For example, how to obtain the driving track is described. In the process of driving, the vehicle can collect the position information of the vehicle according to fixed time, for example, the position information of the vehicle can be collected once every preset time. The position information of the vehicle can be latitude and longitude information of the vehicle, and each collected position information of the vehicle can be regarded as a track point. In a specific implementation manner, if the position information of the vehicle is collected according to fixed time, the track points can be too dense, which is not conducive to determining the direction of the vehicle head according to the track points later, and is specifically manifested in waste of computing power and storage space. Therefore, the track points can be recorded according to the driving speed of the vehicle, for example, a standard speed and a frequency of collecting track points corresponding to the standard speed are set. For example, the frequency of collecting track points corresponding to the standard speed is a first frequency. When the driving speed of the vehicle is greater than the standard speed, the frequency of collecting track points is greater than the first frequency. When the driving speed of the vehicle is less than the standard speed, the frequency of collecting track points is less than the first frequency. In addition, another manner of determining track points according to the speed can also be used, which is described below. For example, track points can be obtained according to fixed time, and then part of the track points obtained are deleted according to the driving speed of the vehicle, for example, when the driving speed of the vehicle is 5 km / h, one track point is taken every 5 points, and other track points are discarded, or one track point is taken every 5K points, and other track points are discarded, where k is a positive integer. For example, when k is 1, 5k is 5, that is, one track point is taken every 5 points, and other track points not selected are discarded; when k is 2, 5k is 10, that is, one track point is taken every 10 points, and other track points not selected are discarded.

[0127] The driving track can also be obtained according to the change of the gear, which is described below. For example, the track points corresponding to the gear N in the track points can be deleted. Gear N is generally used when temporarily parking, for example, as shown in FIG. 1, the gear is engaged in N gear when waiting for a red light. When the vehicle is in gear N, the position of the vehicle generally remains unchanged, and if the track points are collected in gear N, the track points corresponding to gear N can be deleted. Figure 3

[0128] ​As to how to determine the vehicle head direction according to the driving track, different driving scenarios need to be considered, which will be specifically introduced below. The scheme provided by the present application can be applied to various driving scenarios. By way of example, two driving scenarios are taken as examples to illustrate how to determine the vehicle head direction according to the driving track. The first scenario is the navigation scenario when the vehicle starts. This scenario is the main scenario to which the technical scheme provided by the present application is mainly applicable. This scenario is the scenario of starting navigation when the vehicle is in a stationary state, or the navigation scenario when the vehicle is in a parking state. For example, the specific scenario can be that the vehicle starts navigation from the parking space. The second scenario is the navigation scenario during vehicle driving. In this scenario, the vehicle is driving on the road, and the navigation is started during driving. Among them, for each of the first scenario and the second scenario, the driving track of the vehicle can be a straight line or the driving track of the vehicle can be a curve. It should be noted that the driving track referred to in the present application refers to the last driving track of the vehicle. In other words, the driving track referred to in the present application can refer to a track of a predetermined distance from the current position of the vehicle. For example, taking the first scenario as an example, if the predetermined distance is 20 meters, the last driving track of the vehicle can refer to the track points obtained within 20 meters before the vehicle is parked. In addition, it should be noted that the driving track can be a plurality of track points including position information. When the curvature change rate of the plurality of track points is not greater than a first preset value, it can be considered that the driving track is a straight line. If the curvature change rate of the plurality of track points is greater than the first preset value, it can be considered that the driving track is a curve. In order to better understand the scenario to which the scheme provided by the present application is applicable, the following will be described in conjunction with Figures 4 to 7 As shown in Figure 4 , it is a schematic diagram of one application scenario of the scheme provided by the present application. As shown in Figure 4 , it is a schematic diagram of the first scenario. It is assumed that the vehicle enters the parking space from position A. According to the driving track of the vehicle, the vehicle head direction can be determined as the direction indicated by the arrow in Figure 4 . Taking the coordinate system shown in Figure 4 as an example, the vehicle head direction is east. As shown in Figure 5 , it is another schematic diagram of the first scenario. It is assumed that the vehicle enters the parking space from position B. According to the driving track of the vehicle, the vehicle head direction can be determined as the direction indicated by the arrow in Figure 5 . Figure 4 and Figure 5 The difference lies in that Figure 4 , the driving track is a straight line, Figure 5 , the driving track is a curve. As shown in Figure 6 , it is a schematic diagram of another application scenario of the scheme provided by the present application. As shown in Figure 6As shown in FIG. 1, it is a schematic diagram of a second scenario, assuming that the vehicle is driving straight on the road, according to the driving track of the vehicle, it can be determined that the vehicle head direction is Figure 6 the direction indicated by the arrow in FIG. 1, and Figure 6 taking the coordinate system shown in FIG. 1 as an example, the vehicle head direction is east. As shown in FIG. 2, it is another schematic diagram of the second scenario, assuming that the vehicle is driving on a curve, according to the driving track of the vehicle, it can be determined that the vehicle head direction is Figure 7 the direction indicated by the arrow in FIG. 2. Figure 7 As shown in FIG. 3, it is a schematic diagram of a third scenario, assuming that the vehicle is driving straight on the road, according to the driving track of the vehicle, it can be determined that the vehicle head direction is Figure 6 the direction indicated by the arrow in FIG. 3. Figure 7 The difference between the first scenario and the third scenario is that Figure 6 in the scenario shown in FIG. 1, the driving track is a straight line, Figure 7 in the scenario shown in FIG. 3, the driving track is a curve. Figure 4 As shown in FIG. 4, it is a schematic diagram of a fourth scenario, assuming that the vehicle is driving straight on the road, according to the driving track of the vehicle, it can be determined that the vehicle head direction is Figure 5 the direction indicated by the arrow in FIG. 4. Figure 6 As shown in FIG. 5, it is a schematic diagram of a fifth scenario, assuming that the vehicle is driving straight on the road, according to the driving track of the vehicle, it can be determined that the vehicle head direction is Figure 7 the direction indicated by the arrow in FIG. 5.

[0129] The scheme provided by the present application can determine the second navigation direction according to the first navigation direction and the vehicle head direction. Specifically, in the first scenario, i.e. the vehicle starting navigation scenario, the scheme provided by the present application can directly correct the first navigation direction by taking the vehicle head direction as the reference direction without needing to correct the trajectory after the vehicle drives a distance. In the second scenario, i.e. the vehicle driving navigation scenario, the scheme provided by the present application can reduce the time required for correction and improve the efficiency of navigation.

[0130] As shown in FIG. 6, it is a flowchart of a navigation method provided by an embodiment of the present application. As shown in FIG. 7, the scheme provided by the present application can be applied to two different scenarios. In the first scenario, the vehicle is in a powered-off state, such as a parking state, and the gear position at this time may be P. After obtaining a navigation request (the navigation request includes the position information of the starting point and the position information of the destination), the vehicle head direction can be determined according to the pre-stored driving track. Assuming that the navigation direction determined according to the position information of the starting point and the position information of the destination is the first navigation direction, if the first navigation direction is consistent with the vehicle head direction, the vehicle is navigated according to the first navigation direction, if the first navigation direction is not consistent with the vehicle head direction, the first navigation direction is corrected to obtain the second navigation direction, and the vehicle is navigated according to the second navigation direction. Whether the first navigation direction is consistent with the vehicle head direction can be determined according to the relationship between the included angle between the first navigation direction and the vehicle head direction and a preset angle, which will be described below. Figure 8 Figure 8 As shown in FIG. 8, it is a flowchart of a navigation method provided by an embodiment of the present application. As shown in FIG. 9, the scheme provided by the present application can be applied to two different scenarios. In the first scenario, the vehicle is in a powered-off state, such as a parking state, and the gear position at this time may be P. After obtaining a navigation request (the navigation request includes the position information of the starting point and the position information of the destination), the vehicle head direction can be determined according to the pre-stored driving track. Assuming that the navigation direction determined according to the position information of the starting point and the position information of the destination is the first navigation direction, if the first navigation direction is consistent with the vehicle head direction, the vehicle is navigated according to the first navigation direction, if the first navigation direction is not consistent with the vehicle head direction, the first navigation direction is corrected to obtain the second navigation direction, and the vehicle is navigated according to the second navigation direction. Whether the first navigation direction is consistent with the vehicle head direction can be determined according to the relationship between the included angle between the first navigation direction and the vehicle head direction and a preset angle, which will be described below. Figure 9 ​Corresponding embodiments are introduced. In the second scenario, the vehicle is in the powered-on state, such as the vehicle is in the driving process. The vehicle can save the driving trajectory of the vehicle in the driving process, and can determine the trajectory point according to the driving trajectory. When the vehicle is in the powered-on state and the navigation request is obtained, the driving direction can be regarded as the vehicle head direction. The angle between the driving direction and the first navigation direction is compared. If the first navigation direction is consistent with the vehicle head direction, the vehicle is navigated according to the first navigation direction. If the first navigation direction is inconsistent with the vehicle head direction, the first navigation direction is corrected to obtain the second navigation direction, and the vehicle is navigated according to the second navigation direction.

[0131] In addition, it needs to be explained that the calculation time of the vehicle head direction can have different implementation manners. One manner can determine the vehicle head direction according to the driving trajectory after the navigation is started. Another manner can determine the vehicle head direction according to the driving trajectory in advance before the navigation is started, and store the vehicle head direction. When the driving trajectory changes, the new vehicle head direction is determined according to the updated driving trajectory, and the originally stored vehicle head direction is updated. When the navigation is started, the latest stored vehicle head direction can be directly used for navigation.

[0132] The vehicle is navigated according to the second navigation direction, or the navigation guidance is determined according to the second navigation direction. The navigation guidance in the application can also be called navigation instruction or navigation indication, which is used to prompt the driver or user to the driving direction of the vehicle. Assuming that the second navigation direction is to drive in reverse, the navigation guidance is to drive in reverse. Specifically, the navigation guidance can be displayed to the user in the form of text and image, such as displaying the navigation guidance on the screen of the vehicle navigation, and playing the navigation guidance in the form of voice. It needs to be explained that the manner of prompting the user to the navigation guidance is not limited in the embodiments of the application.

[0133] The technical scheme provided in the application is different from the prior art of determining the navigation guidance according to the first navigation direction. The application determines the second navigation direction according to the first navigation direction and the vehicle head direction, and determines the navigation guidance according to the second navigation direction, which improves the accuracy and efficiency of navigation.

[0134] It should be noted that, in a possible implementation, the vehicle can be navigated directly according to the position information of the starting point of the vehicle, the position information of the destination of the vehicle, and the heading direction of the vehicle, instead of determining the first navigation direction according to the position information of the starting point of the vehicle and the position information of the destination, and then correcting the first navigation direction according to the heading direction to determine the second navigation direction, and navigating the vehicle according to the second navigation direction. In this implementation, the first navigation direction does not need to be determined explicitly, and the data determined according to the position information of the starting point and the position information of the destination of the vehicle can be regarded as a parameter, which can be called or used in the process of determining the final navigation direction.

[0135] Figure 2 It is mentioned in the corresponding embodiments that the driving track includes two different scenarios: the last driving track of the vehicle is a straight line or the last driving track of the vehicle is a curve, and the way of determining the direction of the vehicle head according to the driving track is different for each different scenario, which will be introduced below. In addition, several specific ways of determining the second navigation direction according to the first navigation direction and the heading direction will be introduced below.

[0136] Figure 9 A flowchart of another navigation method provided by the embodiments of the present application.

[0137] As Figure 9 shown, the another navigation method provided by the embodiments of the present application can include the following steps:

[0138] 901, obtaining a navigation request.

[0139] Step 901 can be understood with reference to step 201 in the corresponding embodiments, which will not be repeated here. Figure 2

[0140] 902, determining a first navigation direction according to the navigation request.

[0141] Step 902 about how to determine the first navigation direction can be understood with reference to the description about determining the first navigation direction in step 202 in the corresponding embodiments, which will not be repeated here. Figure 2

[0142] 903, when the included angle between the heading direction and the first navigation direction is greater than a preset angle, determining that the second navigation direction is to drive in a U-turn.

[0143] ​​The following describes the determination of the second navigation direction as U-turn driving when the angle between the vehicle head direction and the first navigation direction is greater than the preset angle, taking the start navigation as an example. It should be noted that the angle between the vehicle head direction and the first navigation direction can be a positive angle or a negative angle, and the preset angle can be a positive number or a negative number. For example, the vector in the vehicle head direction is regarded as one side of the angle, and the vector in the first navigation direction is regarded as the other side of the angle. If the angle between the vehicle head direction and the first navigation direction is regarded as a positive angle, that is, the angle generated by rotating one side along the vertex of the other side counterclockwise, the angle is a positive angle, such as A°. If the angle between the vehicle head direction and the first navigation direction is regarded as a negative angle, that is, the angle generated by rotating one side along the vertex of the other side clockwise, the angle is a negative angle, such as -(360°-A°)°. In one possible implementation, the second navigation direction is determined as U-turn driving when the angle between the vehicle head direction and the first navigation direction is greater than the absolute value of the preset angle. For example, the preset angle can be a positive angle or a negative angle, and the absolute value of the preset angle can be compared with the angle to determine the second navigation direction, wherein the angle refers to the angle between the vehicle head direction and the first navigation direction. It should be noted that the navigation during driving can be understood with reference to the start navigation, which will not be repeated here. Figure 10a FIG. 6 shows another application scenario of the scheme provided in the present application, assuming that the vehicle is parked in a parallel parking space, which is generally applicable to the scenario of parking on the roadside. The solid arrow is the vehicle head direction determined according to the driving trajectory, the dashed arrow is the first navigation direction determined according to the navigation trajectory, and the preset angle is 90°. If the angle between the vehicle head direction and the first navigation direction is greater than 90°, the second navigation direction is determined as U-turn driving. Figure 10b FIG. 7 shows another application scenario of the scheme provided in the present application, which is also a scenario in which the angle between the vehicle head direction and the first navigation direction is greater than the preset angle, and the second navigation direction is determined as U-turn driving. Figure 10c FIG. 8 shows another application scenario of the scheme provided in the present application, assuming that the vehicle is parked in an inclined parking space, which is generally applicable to the scenario of parking in indoor or outdoor parking lots. The solid arrow is the vehicle head direction determined according to the driving trajectory, the dashed arrow is the first navigation direction determined according to the navigation trajectory, the preset angle is 90°, the angle between the vehicle head direction and the first navigation direction is greater than 90°, and the second navigation direction is determined as U-turn driving.

[0144] When the direction calculated by the navigation and the actual vehicle head direction have a large deviation, the navigation will be corrected, so that the vehicle can drive according to the corrected direction indication after starting from the parking space, thereby avoiding wrong turns. Through the scheme provided in the present application, the navigation system will check the angle deviation between the vehicle head direction and the first navigation direction when displaying the navigation guidance to the vehicle, and if the included angle between the two is greater than the preset angle, the adjusted navigation guidance will be displayed, and in one possible implementation, the navigation guidance is displayed to the user.

[0145] 904、When the included angle between the vehicle head direction and the first navigation direction is equal to the preset angle, the second navigation direction is determined to be left turn driving or right turn driving.

[0146] Figure 11a and Figure 11b As shown in FIG. 9 and FIG. 10, FIG. 9 and FIG. 10 respectively show a schematic diagram of another application scenario provided by the embodiments of the present application. It is assumed that the solid arrow is the vehicle head direction determined according to the driving track, the dashed arrow is the first navigation direction determined according to the navigation track, and the preset angle is 90°. If the included angle between the vehicle head direction and the first navigation direction is equal to 90°, the second navigation direction is determined to be left turn driving or right turn driving. The scenario applicable to this mode can be a scenario where the parking space is a perpendicular parking space, at this time, the driving direction is according to the vehicle head direction, and the prompt is left turn or right turn. The user parks on the perpendicular parking space, sets the navigation start, and then, as shown in FIG. 9, the first navigation direction determined according to the navigation determines left turn driving, or as shown in FIG. 10, the first navigation direction determined according to the navigation determines right turn driving. This is to select left turn driving or right turn driving according to the corrected navigation indication directly. Figure 11a Figure 11b

[0147] 905、When the included angle between the vehicle head direction and the first navigation direction is less than the preset angle, the second navigation direction is determined to be the first navigation direction.

[0148] Figure 12 As shown in FIG. 11, FIG. 11 shows a schematic diagram of another application scenario provided by the embodiments of the present application. It is assumed that the solid arrow is the vehicle head direction determined according to the driving track, the dashed arrow is the first navigation direction determined according to the navigation track, and the preset angle is 90°. If the included angle between the vehicle head direction and the first navigation direction is less than 90°, the second navigation direction is determined to be the first navigation direction. In this scenario, when the included angle between the vehicle head direction and the first navigation direction is less than the preset angle, there is no need to correct the first navigation direction, and the navigation guidance can be determined directly according to the first navigation direction, that is, the second navigation direction is the first navigation direction.

[0149] Figure 9 The steps 903 to 905 in the corresponding embodiments can be regarded as a refinement of the step 203 in the corresponding embodiments. Figure 2 The steps 903 to 905 in the corresponding embodiments can be regarded as a refinement of the step 203 in the corresponding embodiments.​​

[0150] 906. Determine the navigation guide according to the second navigation direction.

[0151] Step 906 can refer to Figure 2 Step 204 in the corresponding embodiment is understood, and will not be repeated here.

[0152] By Figure 9 As can be seen from the corresponding embodiment, the scheme provided by the present application can correct the navigation direction under the premise of being static, compared with the current need to correct the navigation direction after the driving path is determined.

[0153] The driving trajectory includes two different scenarios: the last driving trajectory of the vehicle is a straight line or the last driving trajectory of the vehicle is a curve. For each different scenario, the way of determining the direction of the vehicle head according to the driving trajectory is different, which will be introduced respectively.

[0154] Most of the embodiments in the present application take 90° as the preset angle to explain the scheme. It should be noted that in some other possible implementations, the preset angle can also be other values, such as 92°, 87°, etc. It should be understood that the purpose of setting the preset angle in the present application is to determine the deviation between the direction of the vehicle head and the first navigation direction. If the direction of the vehicle head and the first navigation direction are close, the vehicle can be prompted to travel according to the first navigation direction. If the directions of the two are not close, such as the directions of the two are completely opposite, the vehicle can be prompted to make a U-turn. If the directions of the two are close to perpendicular, the vehicle needs to be prompted to turn left or turn right. In some possible implementations, different angle ranges can be defined, such as three preset angle ranges, which are the first preset range, the second preset range and the third preset range. When the included angle is within the first preset range, it can be considered that the first navigation direction and the direction of the vehicle head are not close, and then the scheme in step 903 can be executed to determine the second navigation direction as a U-turn. When the included angle is within the second preset range, it can be considered that the first navigation direction and the direction of the vehicle head are close to perpendicular, and then the scheme in step 904 can be executed. When the included angle is within the third preset range, it can be considered that the first navigation direction and the direction of the vehicle head are close, and then the scheme in step 905 can be executed to determine the second navigation direction as the first navigation direction. The following is an example. Assuming that the second preset range is greater than 85° and not greater than 90°, the first preset range can be greater than 90° and not greater than 180°, and the third preset range can be not less than 0° and not greater than 85°.

[0155] In addition, it should be noted that the first preset range, the second preset range and the third preset range do not overlap with each other, so as to avoid the problem that the included angle between the vehicle head direction and the first navigation direction falls into two preset ranges at the same time, resulting in that the second direction is not clear. In addition, it should be noted that the first preset range, the second preset range and the third preset range, the sum of the three ranges can cover all possible included angles between the vehicle head direction and the first navigation direction. Or the first preset range, the second preset range and the third preset range, the sum of the three ranges can not cover all possible included angles between the vehicle head direction and the first navigation direction, when the included angle does not fall into any one of the three preset ranges, then the first navigation direction is used to plan the navigation for the vehicle.

[0156] In a possible implementation, two preset ranges can be set. For example, a first preset range and a second preset range can be set, or a first preset range and a third preset range can be set, or a second preset range and a third preset range can be set. When only two preset ranges are set, the two preset ranges do not overlap, so as to avoid the problem that the included angle between the vehicle heading direction and the first navigation direction falls into both preset ranges, and the second navigation direction is unclear. In addition, it needs to be noted that when two preset ranges are set, the sum of the two ranges does not need to cover all possible included angles between the vehicle heading direction and the first navigation direction. For example, when only a first preset range and a second preset range are set, when the included angle is in the first preset range, it can be considered that the first navigation direction and the vehicle heading direction are not close, and then the scheme in step 903 can be executed to determine that the second navigation direction is to turn around; when the included angle is in the second preset range, it can be considered that the first navigation direction and the vehicle heading direction are close to perpendicular, and then the scheme in step 904 can be executed. When the included angle is neither in the first preset range nor in the second preset range, the vehicle is navigated according to the first navigation direction, that is, the vehicle is navigated according to the starting point and the destination. In a possible implementation, only one preset range can be set. For example, only a first preset range can be set, or only a second preset range can be set. When only one preset range is set, when the included angle between the vehicle heading direction and the first navigation direction falls into the set preset range, the scheme provided in the present application is executed, and if the included angle does not fall into the set preset range, the vehicle is navigated according to the first navigation direction, that is, the vehicle is navigated according to the starting point and the destination. For example, when only one preset range is set, and the preset range is a first preset range, if the included angle falls into the first preset range, it can be considered that the first navigation direction and the vehicle heading direction are not close, and then the scheme in step 903 can be executed to determine that the second navigation direction is to turn around; when the included angle does not fall into the first preset range, the vehicle is navigated according to the first navigation direction, or the navigation guide is determined according to the first navigation direction. Or when only one preset range is set, and the preset range is a second preset range, if the included angle falls into the second preset range, it can be considered that the first navigation direction and the vehicle heading direction are close to perpendicular, and then the scheme in step 904 can be executed; when the included angle does not fall into the second preset range, the vehicle is navigated according to the first navigation direction, or the navigation guide is determined according to the first navigation direction. Or when only one preset range is set, and the preset range is a third preset range, if the included angle falls into the third preset range, it can be considered that the first navigation direction and the vehicle heading direction are close, and then the scheme in step 905 can be executed to determine that the second navigation direction is the first navigation direction.When the included angle does not fall into the third preset range, it can be considered that the first navigation direction and the vehicle heading direction are not very close, and the user can be prompted to make a U-turn or to make a left or right turn.

[0157] Figure 13 A flowchart of another navigation method provided by the embodiments of the present application.

[0158] As shown in Figure 13 Another navigation method provided by the embodiments of the present application can include the following steps:

[0159] 1301, obtaining a navigation request.

[0160] The step 1301 can be understood with reference to the step 201 in the corresponding embodiments, which will not be repeated here. Figure 2

[0161] 1302, determining a first navigation direction according to the navigation request.

[0162] The step 1302 about how to determine the first navigation direction can be understood with reference to the description about determining the first navigation direction in the step 202 in the corresponding embodiments, which will not be repeated here. Figure 2

[0163] 1303, obtaining N trajectory points according to a driving trajectory.

[0164] The driving trajectory is a driving trajectory for a preset distance from the current position of the vehicle. For example, in the scenario of starting driving navigation, assuming that the preset distance is 20 meters, the driving trajectory is the driving trajectory 20 meters before the vehicle is parked.

[0165] ​​According to the driving track, a plurality of track points are determined. According to a preset condition, M track points in the plurality of track points are deleted to obtain N track points. The preset condition includes one or more of a first preset condition and a second preset condition. The first preset condition is that the curvature of the M track points is greater than a second preset value. The second preset condition is that the gear of the vehicle corresponding to the M track points is neutral. After the approximate curvature of the track points is calculated, whether the absolute value of the approximate curvature of the track points is greater than the second preset value is determined to determine whether the track point is an invalid point. If the absolute value of the approximate curvature is greater than the second preset value, the track point is an invalid point. After the invalid point is determined, the track point determined to be the invalid point is deleted from the track point set to form a new track point set. The track point corresponding to the gear N can also be deleted. Gear N is generally used when temporarily parking. When the vehicle is in gear N, the position of the vehicle generally remains unchanged. If the track point is collected in gear N, the track point corresponding to gear N can be deleted to form a new track point set. It should be noted that the preset condition can include multiple conditions. Each preset condition can be used to delete the plurality of track points to obtain N track points. Alternatively, multiple preset conditions can be used to delete the plurality of track points to obtain N track points. By deleting some track points from the plurality of track points according to the preset condition to obtain N track points, the time required for calculation can be saved.

[0166] 1304. The heading of the vehicle is determined according to the curvature of the N track points.

[0167] In this application, the curvature can be understood as the turning radius of the vehicle.

[0168] When the rate of change of the curvature of the N track points is not greater than a first preset value, the heading of the vehicle is determined according to the position information of any two track points in the N track points.

[0169] When the rate of change of the curvature of the N track points is greater than the first preset value, the heading of the vehicle is determined according to the rate of change of the curvature of the N track points and the speed of the vehicle.

[0170] Firstly, the curvature of each of the N trajectory points is calculated. After the approximate curvature of the N trajectory points is calculated, it is determined whether the curvature of the N trajectory points is all less than a preset threshold, in other words, whether the change rate of the curvature of the N trajectory points is less than a first preset value. If the curvature of the N trajectory points is all less than the threshold, or in other words, the change rate of the curvature of the N trajectory points is less than the first preset value, it is determined that the N trajectory points are located on an approximately straight road section, and it can be considered that the N trajectory points are on a straight line, i.e., the driving trajectory is a straight line. If the change rate of the curvature of the N trajectory points is not less than the first preset value, it is considered that the N trajectory points are not located on an approximately straight road section, i.e., the driving trajectory is a curve. As to how to determine the curvature of a trajectory point, the curvature of each trajectory point can be determined according to the position information of two trajectory points, and the curvature of each trajectory point is equal to the included angle between two vector line segments formed by the trajectory point and the adjacent trajectory points before and after the trajectory point, divided by the length of the vector line segment formed between the trajectory point and the previous trajectory point. It should be noted that the curvature of the starting trajectory point and the ending trajectory point of the N trajectory points is not calculated.

[0171] When it is determined that the driving trajectory is a straight line, the heading direction of the vehicle can be determined according to the position information of any two of the N trajectory points, for example, as shown in FIG. 6. Figure 14 Figure 14 FIG. 7 is a schematic diagram of another application scenario provided by the embodiment of the present application. It is assumed that N is 5, and the position information of the last point B and the second last point A of the 5 trajectory points is selected to determine the heading direction of the vehicle, and then the direction of the last point B relative to the second last point A is the heading direction of the vehicle. As to how to determine the direction of a trajectory point relative to another trajectory point according to the position information of the two trajectory points, for example, the position information can be longitude and latitude information, an exemplary calculation method is given below. It is assumed that Aj represents the longitude of point A, Aw represents the latitude of point A, Bj represents the longitude of point B, and Bw represents the latitude of point B. If the direction angle of the trajectory point B relative to the trajectory point A is to be determined, the direction angle of the trajectory point B relative to the trajectory point A is determined by the following formula:

[0172] cos(c) = cos(90°-Bw) x cos(90°-Aw) + sin(90°-Bw) x sin(90°-Aw) x cos(Bj-Aj)

[0173] wherein c represents the included angle between A and B and the line connecting the center of the earth.

[0174]

[0175] The angle is solved by the inverse sine function, and then the above formula can be directly written as:

[0176]

[0177] ​Azimuth represents azimuth angle, taking true north as 0 degree, rotating 360 degrees clockwise from east to south to west. According to the position of B relative to A on the two axes of the four quadrants, the calculation results are processed differently according to different situations. Assuming that A is fixed at the origin, if B is in the first quadrant, Azimuth = A, if B is in the second quadrant, Azimuth = 360° + A, if B is in the fourth quadrant, Azimuth = 180° - A.

[0178] When it is determined that the driving track is a curve, the heading direction of the vehicle can be determined according to the rate of change of the curvature of the N track points and the speed of the vehicle. For example, as shown in Figure 15 , Figure 15 The schematic diagram of another application scenario provided by the embodiment of the present application is shown, assuming that N is 5, the rate of change of the curvature of the five points is determined, and the existing technology about the way of calculating the rate of change of the curvature according to the curvature can be used in the embodiment of the present application. Taking the direction of the curvature of any one of the points B, C and D as the reference direction, the direction of the point E can be determined according to the rate of change of the curvature and the speed of the vehicle, and the direction of the point E is the heading direction of the vehicle.

[0179] 1305. Determine a second navigation direction according to the first navigation direction and the heading direction.

[0180] Step 1305 can refer to Figure 2 Step 203 in the corresponding embodiment, and Figure 9 Step 903 to step 905 in the corresponding embodiment, which will not be repeated here.

[0181] 1306. Determine a navigation guide according to the second navigation direction.

[0182] Step 1306 can refer to Figure 2 Step 204 in the corresponding embodiment, which will not be repeated here.

[0183] It can be known from the embodiment shown in Figure 13 that how to determine the heading direction of the vehicle according to the driving track is introduced. It should be noted that in some scenarios, it may not be accurate to determine the heading direction of the vehicle only according to the driving track, in order to obtain a more accurate heading direction of the vehicle, the heading direction of the vehicle can also be determined in combination with the steering wheel angle information, and the embodiments of determining the heading direction of the vehicle in combination with the steering wheel angle information will be introduced in detail below.

[0184] Figure 16 The flowchart of another navigation method provided by the embodiment of the present application is shown.

[0185] As shown in Figure 16 , the another navigation method provided by the embodiment of the present application can include the following steps:

[0186] 1601. Obtain navigation request.

[0187] Step 1601 can be referred to Figure 2 The steps 201 in the corresponding embodiments will be understood and will not be repeated here.

[0188] 1602. Determine the first navigation direction based on the navigation request.

[0189] Step 1602, regarding how to determine the first navigation direction, can be found in [reference needed]. Figure 2 The description of determining the first navigation direction in step 202 of the corresponding embodiment is understood and will not be repeated here.

[0190] 1603. Determine the third navigation direction based on the first navigation direction and the direction of the vehicle's front.

[0191] You can refer to Figure 9 Steps 903 to 905 in the corresponding embodiments will be understood and will not be repeated here. The determination of the vehicle's heading direction can also be referred to... Figure 13 Steps 1303 and 1304 in the corresponding embodiments are understood and will not be repeated here.

[0192] 1604. Obtain steering wheel angle information.

[0193] When the vehicle speed is detected to be less than the third preset value, the steering wheel angle information is obtained.

[0194] Assuming the change in trajectory points during parking is very small, the driving trajectory determined by GPS may not accurately predict the direction. Therefore, in this embodiment, when the vehicle speed is less than a third preset value, such as less than 5 km / h, the vehicle's steering wheel angle β, the duration of the angle, and the vehicle's speed are recorded. The duration of the angle can be understood as the time from when the steering wheel angle information is first acquired to when the vehicle speed reaches 0, where the time of 0 speed can also be understood as the moment the vehicle is parked or when it is in P gear.

[0195] The steering wheel angle of a vehicle can be obtained through a sensor system. Typically, there is a correspondence between the vehicle's heading angle and the steering wheel angle, and the steering wheel angle can be determined based on the vehicle's heading angle. However, the correspondence between the heading angle and the steering wheel angle differs for different vehicles, and this application does not impose any limitations on this correspondence.

[0196] 1605. Determine the compensation direction based on the steering wheel angle information and detour distance.

[0197] The compensation direction is determined based on steering wheel angle information, wheel track, duration, and speed. Duration is the time required from when the vehicle's speed is detected to be less than a third preset value until the vehicle comes to a stop. Speed ​​is the real-time speed of the vehicle after the speed is detected to be less than the third preset value. For example... Figure 17 This is a schematic diagram illustrating another application scenario provided by an embodiment of this application. The following is in conjunction with... Figure 17 Explain how to determine the direction of compensation.

[0198] According to Ackermann's principle, when a vehicle is turning, all tires are in a state of pure rolling with no slippage. Each tire follows its own natural laws, that is, all wheels move around the same "center point." Therefore, the relationship between the inner and outer wheel steering angles is:

[0199]

[0200]

[0201] Where A represents the tire angle, L represents the track width, and r represents the turning radius. Assuming D represents the detour distance, where D is the length of an arc, then:

[0202] D = speed × time

[0203] The duration is the time required from when the vehicle's speed is detected to be less than the third preset value until the vehicle stops; the speed is the real-time speed of the vehicle after the speed is detected to be less than the third preset value. Assuming γ represents the compensation direction, which is the vehicle's turning angle, then:

[0204] γ = 360 * D / 2πr

[0205] The relationship between the tire turning angle A and the steering wheel clamping angle c is explained below. Usually, the tire will turn to its full lock after about 2.5 turns of the steering wheel, which is about 60 degrees. The relationship between the two is linear, so A = k * C, where C represents the steering wheel turning angle. The value of k is set differently by each car manufacturer, and this application does not limit it.

[0206] 1606. Determine navigation guidance based on the second navigation direction and the compensation direction.

[0207] like Figure 18 As shown, Figure 18 This is a schematic diagram illustrating another application scenario provided by an embodiment of this application. Figure 17 In the scenario shown, the vehicle slowly drives into the parking space, for example... Figure 18As shown in the figure, the vehicle drives into the parking space B from the position A. Since the speed of the vehicle is slow during this process, such as the speed of the vehicle is less than the third preset value, the steering wheel angle information of the vehicle is obtained during this process. The change range of the parking trajectory point is small, and at this time, the driving trajectory determined by the GPS may not be able to accurately predict the direction, so the final vehicle heading direction is determined according to the compensation direction and the direction determined by the driving trajectory, such as the final vehicle heading direction is determined according to the sum of the compensation direction and the direction determined by the driving trajectory.

[0208] The above introduces a navigation method provided by the embodiment of the application. According to the scheme provided by the application, the current navigation trajectory correction method needs to be corrected after the user drives for a distance, which causes the vehicle to miss important intersections or to drive in the wrong direction and then to turn around. Through the technical scheme provided by the application, the navigation indication correction can be completed when the vehicle is stationary. In the driving scenario, the same calculation method can also be used to reduce the driving distance and the correction time to complete the navigation indication correction in advance.

[0209] It should be noted that the navigation method provided by the application can be executed by two devices. For example, the application also provides a navigation system, which includes a mobile terminal and a vehicle. The mobile terminal obtains a navigation request, and the navigation request includes position information of a starting point of the vehicle and position information of a destination. In response to the navigation request, the mobile terminal sends an instruction to the vehicle or a navigation module of the vehicle, and the instruction is used to instruct the vehicle or the navigation module of the vehicle to send a vehicle heading direction. In response to the instruction, the vehicle or the navigation module of the vehicle sends the vehicle heading direction to the mobile terminal, and the vehicle heading direction is determined according to a driving trajectory stored by the vehicle. The mobile terminal navigates the vehicle according to the position information of the starting point, the position information of the destination and the vehicle heading direction.

[0210] The embodiment of the application also provides a mobile terminal. The mobile terminal device in the application can be various handheld devices, wearable devices, computing devices or other processing devices connected to a wireless modem, etc. that include a communication function. For example, it can be a personal digital assistant (PDA) computer, a tablet computer, a wireless modem, a handset, a laptop computer, a machine type communication (MTC) terminal, etc.

[0211] In one possible implementation, the mobile terminal comprises a first obtaining module configured to obtain a navigation request, the navigation request comprising location information of a starting point and location information of a destination. A communication module configured to send an instruction to the vehicle or a navigation module of the vehicle in response to the navigation request, the instruction being used to instruct the vehicle or the navigation module of the vehicle to send vehicle head direction information. The communication module is further configured to receive the vehicle head direction information sent by the vehicle or the navigation module of the vehicle, the vehicle head direction information being determined according to a stored driving track. A navigation module configured to perform navigation planning for the vehicle according to the location information of the starting point, the location information of the destination and the vehicle head direction information.

[0212] In one possible implementation, the navigation module is specifically configured to determine a first navigation direction according to the location information of the starting point and the location information of the destination. The vehicle is navigated according to an included angle between the first navigation direction and the vehicle head direction.

[0213] In one possible implementation, the navigation module is specifically configured to send a prompt message when the included angle is within a first preset range, the prompt message being used to instruct the vehicle to make a U-turn.

[0214] In one possible implementation, the navigation module is specifically configured to send a prompt message when the included angle is within a second preset range, the prompt message being used to instruct the vehicle to make a left turn or a right turn.

[0215] In one possible implementation, the navigation module is specifically configured to send a prompt message when the included angle is within a third preset range, the prompt message being used to instruct the vehicle to travel according to the first navigation direction.

[0216] In one possible implementation, the driving track is a driving track stored before the navigation request is obtained, the driving track being a driving track within a preset distance from a current position of the vehicle, the driving track comprising N track points, the track points being used to represent position information of the vehicle, and the vehicle head direction information comprising curvatures of the N track points.

[0217] In one possible implementation, the communication module is further configured to receive compensation direction information of the vehicle, the compensation direction information being used to update the vehicle head direction, the compensation direction information comprising steering wheel information, wheelbase, time length and speed, the steering wheel information being steering wheel angle information obtained when the vehicle detects that the speed of the vehicle is less than a third preset value, the time length being a time length required for the vehicle to stop after the vehicle detects that the speed of the vehicle is less than the third preset value, and the speed being a real-time speed of the vehicle. The compensation direction information of the vehicle received by the communication module of the mobile terminal can come from different devices. For example, the communication module can receive the compensation direction information sent by the vehicle or the navigation module of the vehicle, or the communication module can receive the compensation direction information of the vehicle sent by a cloud-side device.

[0218] For example, the solution provided in this application can also be implemented by combining vehicles and cloud-based devices. The following section will illustrate this further. Figure 19 Please provide an explanation, such as Figure 19 The diagram shown illustrates the architecture of a navigation system provided in this application. The navigation system includes a cloud-side device and a vehicle. The vehicle receives a navigation request, which includes the vehicle's origin and destination location information. In response to the navigation request, the vehicle sends its heading direction to the cloud-side device, the heading direction being determined based on the vehicle's stored driving trajectory. The cloud-side device plans a navigation direction and route for the vehicle based on the origin, destination, and heading directions, and sends the navigation direction and route back to the vehicle.

[0219] In one possible implementation, the cloud-side device can be a vehicle-to-everything (V2X) positioning server. This V2X positioning server can directly determine the vehicle's driving trajectory based on the acquired GPS signal, and then determine the vehicle's heading based on the driving trajectory. How the V2X positioning server determines the vehicle's heading based on the driving trajectory can be understood by referring to the method by which a vehicle determines its heading based on its driving trajectory, and will not be repeated here. In this implementation, when the vehicle receives a navigation request, it can send instruction information to the cloud-side device. In one possible implementation, this instruction information may include the name of the vehicle's origin and destination. The cloud-side device determines the location information of the origin and destination based on these names. The cloud-side device determines the vehicle's heading based on the locally stored driving trajectory, and then navigates the vehicle based on the determined location information of the origin and destination, as well as the determined heading. In one possible implementation, the indication information may include the vehicle's origin location information and destination location information. The cloud-side device determines the vehicle's heading based on locally stored driving trajectory and navigates the vehicle based on the determined origin location information, destination location information, and heading. Alternatively, the indication information may include the vehicle's destination location information. The cloud-side device determines the vehicle's origin location information based on its current location and determines the vehicle's heading based on locally stored driving trajectory. Finally, the cloud-side device navigates the vehicle based on the determined origin location information, destination location information, and heading.

[0220] In one possible implementation, differential navigation and L1 / L5 dual-frequency GPS (L1 and L5 represent the L1 and L5 frequency bands of GPS) can be used. Differential navigation first uses a differential GPS reference station with known precise three-dimensional coordinates to obtain pseudorange correction or position correction, and then sends this correction to the user (GPS navigator) in real time or afterward to correct the user's measurement data and improve GPS positioning accuracy.

[0221] The scheme provided in the present application can bring better driving experience to the driver. In the scenario of starting navigation, a more accurate direction can be planned to avoid the driver taking the wrong road. In the scenario of driving navigation, the time required for correction can be reduced, and the efficiency of navigation can be improved. The following describes the scheme provided in the present application which can bring better driving experience to the driver in combination with a possible application scenario.

[0222] As shown in Figure 20a , after the user opens the vehicle-mounted device, the user can select an application on the interactive interface (such as the display screen of the vehicle-mounted device). As an example, Figure 20a , the interactive interface displays three applications, which are navigation, music and mobile phone interconnection. It should be noted that the three applications displayed on the interactive interface are only for example and do not limit the present scheme. The user can enter the navigation interface by clicking the icon corresponding to the navigation application and input the starting point and destination. It should be noted that the vehicle-mounted device can be opened in other ways, such as the voice command of the user mentioned in the foregoing, and the present scheme does not limit this. The starting point and destination can also be obtained in other ways, such as the various ways mentioned in the foregoing, which will not be repeated here. As an example, as shown in Figure 20b , the vehicle-mounted device can recommend the starting point and destination for the user according to the user's previous settings, such as the user setting two commonly used routes, which are starting point 1 to destination 1 and starting point 2 to destination 2. When the user uses navigation, the vehicle-mounted device can push the suggestion to the user according to the user's previous settings: starting point 1 to destination 1 and starting point 2 to destination 2, and the user clicks the recommended route to start navigation. Or the vehicle-mounted device can recommend the starting point and destination for the user according to the historical record of using the vehicle-mounted navigation. For example, the vehicle-mounted device can recommend the starting point and destination of the route used by the user in the last few times for the user to select. When the recommended route is not the route the user wants, the user can re-input the starting point and destination. For example, the user can re-input the starting point and destination by clicking the return of the interactive interface. In a possible implementation, as shown in Figure 20cAs shown, the user can modify the starting location or the destination of the route recommended by the in-vehicle device, such as the starting location of the user is 2, but the user does not want to go to the destination 2, the user can modify the destination 2 to other addresses. In one possible implementation, the in-vehicle device can take each starting location address and destination address set by the user as training data to train the neural network model to better recommend the starting location and destination for the user. After obtaining the starting location and destination confirmed by the user, the in-vehicle navigation device can plan the navigation for the vehicle according to the scheme provided in the embodiments of the present application. Compared with the prior art of planning the navigation for the vehicle only according to the starting location and the destination, the scheme provided in the present application combines the vehicle heading direction, which can improve the accuracy of the navigation. In one possible implementation, the in-vehicle device can display the navigation direction finally determined by combining the vehicle heading direction to the user, and directly prompt the user to drive according to the planned direction, such as directly prompting the user to make a U-turn or drive left, etc. In one possible implementation, the in-vehicle device can also present the calculated vehicle heading direction to the user for confirmation of whether the vehicle heading direction is accurate. As shown, Figure 20d In one possible implementation, the user is allowed to adjust the vehicle heading direction on the interactive interface, and the in-vehicle device re-determines the final navigation direction according to the vehicle heading direction adjusted by the user. In one possible implementation, as shown, Figure 20e The first navigation direction and the vehicle heading direction can also be displayed to the user, wherein the first navigation direction is determined according to the starting location and the destination. In this implementation, the user can be prompted with the second navigation direction, i.e., the navigation direction determined according to the first navigation direction and the vehicle heading direction. In this implementation, the user is also allowed to adjust the vehicle heading direction, and the in-vehicle device can re-determine the second navigation direction according to the updated vehicle heading direction and update the navigation. For example, Figure 20e As shown, the final navigation direction presented to the user is to make a U-turn according to the vehicle heading direction and the first navigation direction (destination direction) in Figure 20e If the user adjusts the vehicle heading direction in Figure 20e , such as the vehicle heading direction shown in Figure 20f , the in-vehicle device re-determines the navigation direction according to the adjusted vehicle heading direction in Figure 20f and updates the navigation direction displayed to the user. For example, Figure 20e and Figure 20f As shown, the navigation displayed to the user is updated from the U-turn to the left turn.

[0223] It should be understood that the navigation method provided in the present application can be executed by an electronic device, which can be an entire computing device or a part of the computing device. For example, the electronic device can be a navigation-related chip. Specifically, the electronic device can be a terminal such as a car or a navigation device in a car, or a system chip or a navigation chip that can be arranged in the terminal. The system chip is also called a system on chip, or SoC chip. In physical implementation, the navigation chip can be integrated in the system chip or not.

[0224] In Figures 1 to 18 Based on the corresponding embodiments, in order to better implement the above-mentioned scheme of the embodiments of the present application, the related equipment for implementing the above-mentioned scheme is also provided below.

[0225] Referring to Figure 21 , Figure 21 A structural schematic diagram of a navigation device provided by the embodiments of the present application is shown. The navigation device provided by the present application can include a first acquisition module 2101 and a navigation module 2102.

[0226] The first acquisition module 2101 is configured to acquire a navigation request, and the navigation request includes position information of a starting point of a vehicle and position information of a destination. The navigation module 2102 is configured to navigate the vehicle according to the position information of the starting point, the position information of the destination, and a vehicle head direction, which is determined according to a driving track stored before the navigation request is acquired.

[0227] In one possible implementation, the navigation module 2102 is specifically configured to determine a first navigation direction according to the position information of the starting point and the position information of the destination, and navigate the vehicle according to an included angle between the first navigation direction and the vehicle head direction.

[0228] In one possible implementation, the navigation module 2102 is specifically configured to send a prompt message when the included angle is within a first preset range, and the prompt message is used to instruct the vehicle to make a U-turn.

[0229] In one possible implementation, the navigation module 2102 is specifically configured to send a prompt message when the included angle is within a second preset range, and the prompt message is used to instruct the vehicle to make a left turn or a right turn.

[0230] In one possible implementation, the navigation module 2102 is specifically configured to send a prompt message when the included angle is within a third preset range, and the prompt message is used to instruct the vehicle to travel according to the first navigation direction.

[0231] In a possible implementation, the driving track is a segment of the driving track with a preset distance from the current position of the vehicle, and the device further includes a second acquisition module 2103 and a processing module 2104. The second acquisition module 2103 is configured to acquire N track points according to the driving track, the track points being used to represent position information of the vehicle, and N being a positive integer. The processing module 2104 is configured to determine the heading direction of the vehicle according to the curvatures of the N track points acquired by the second acquisition module 2103. The processing module 2104 is specifically configured to: when the rate of change of the curvatures of the N track points is not greater than a first preset value, determine the heading direction of the vehicle according to the position information of any two track points in the N track points.

[0232] In a possible implementation, the processing module 2104 is specifically configured to: when the rate of change of the curvatures of the N track points is greater than the first preset value, determine the heading direction of the vehicle according to the rate of change of the curvatures of the N track points and the speed of the vehicle.

[0233] In a possible implementation, the second acquisition module 2103 is specifically configured to determine a plurality of track points according to the driving track. The processing module 2104 is specifically configured to perform deletion processing on M track points in the plurality of track points according to a preset condition, to obtain the N track points. The preset condition includes one or more of a first preset condition and a second preset condition. The first preset condition is that the curvatures of the M track points are greater than a second preset value. The second preset condition is that the gears of the vehicle corresponding to the M track points are neutral gears.

[0234] In a possible implementation, the device further includes a third acquisition module 2105. The third acquisition module 2105 is configured to acquire steering wheel angle information when it is detected that the speed of the vehicle is less than a third preset value. The processing module 2104 is further configured to determine a compensation direction according to the steering wheel angle information, the wheelbase, a time length, and the speed. The time length is a time length required for the vehicle to stop after it is detected that the speed of the vehicle is less than the third preset value. The speed is a real-time speed of the vehicle after it is detected that the speed of the vehicle is less than the third preset value. The processing module 2104 is further configured to update the heading direction of the vehicle determined according to the curvatures of the N track points according to the compensation direction.

[0235] In a possible implementation, the first acquisition module is configured to perform Figure 2 The navigation module is configured to perform Figure 2 Step 202 in the corresponding embodiment.

[0236] In a possible implementation, the first acquisition module is configured to perform Figure 9 The navigation module is configured to perform Figure 9 Steps 902 to 906 in the corresponding embodiment.

[0237] In one possible implementation, the first acquisition module is used to perform... Figure 13 In step 1301 of the corresponding embodiment, the navigation module is used to execute... Figure 13 Step 1302 in the corresponding embodiment. The second acquisition module is used to execute... Figure 13 Step 1303 in the corresponding embodiment. The processing module is used to execute... Figure 13 Step 1304 in the corresponding embodiment. The navigation module is used to execute... Figure 13 Steps 1305 and 1306 in the corresponding embodiments.

[0238] In one possible implementation, the first acquisition module is used to perform... Figure 16 In step 1601 of the corresponding embodiment, the navigation module is used to execute... Figure 16 Steps 1602 and 1603 in the corresponding embodiments. The third acquisition module is used to execute... Figure 16 Step 1604 in the corresponding embodiment. The processing module is used to execute... Figure 16 Step 1605 in the corresponding embodiment. The navigation module is used to execute... Figure 16 Step 1606 in the corresponding embodiment.

[0239] It should be noted that the information interaction and execution process between the various modules / units of the navigation device are different from those in this application. Figures 1 to 18 The various method embodiments are based on the same concept, and the details can be found in the descriptions of the method embodiments shown above in this application, which will not be repeated here.

[0240] This application also provides a vehicle, in conjunction with the above-described embodiments. Figure 1 For a description, please refer to Figure 22 , Figure 22 This is a schematic diagram of a vehicle structure provided in an embodiment of this application. The vehicle may be equipped with... Figure 19 The navigation device described in the corresponding embodiment is used to implement Figures 1 to 18 The functions of the vehicle in the corresponding embodiment.

[0241] In one possible implementation, the vehicle includes a processor coupled to a memory, the memory storing program instructions that, when executed by the processor, perform actions such as... Figures 1 to 18 The method described.

[0242] In a possible implementation, the processor includes a navigation system 148 configured to acquire a navigation request, the navigation request including location information of a starting point of the vehicle and location information of a destination. The navigation system 148 is further configured to navigate the vehicle according to the location information of the starting point, the location information of the destination, and a heading direction of the vehicle, the heading direction being determined according to a driving track stored before the navigation request is acquired.

[0243] In a possible implementation, the navigation system 148 is configured to determine a first navigation direction according to the location information of the starting point and the location information of the destination, and navigate the vehicle according to a relationship between an included angle between the first navigation direction and the heading direction and a preset angle.

[0244] In a possible implementation, the navigation system 148 is specifically configured to send a prompt message when the included angle is within a first preset range, the prompt message being used to instruct the vehicle to make a U-turn.

[0245] In a possible implementation, the navigation system 148 is specifically configured to send a prompt message when the included angle is within a second preset range, the prompt message being used to instruct the vehicle to make a left turn or a right turn.

[0246] In a possible implementation, the navigation system 148 is specifically configured to send a prompt message when the included angle is within a third preset range, the prompt message being used to instruct the vehicle to travel according to the first navigation direction.

[0247] In a possible implementation, the driving track is a driving track within a preset distance from a current position of the vehicle, and the device further includes a memory 1382 configured to store the driving track of the vehicle and N track points, the track points being used to represent location information of the vehicle, and N being a positive integer. The processor 1381 is configured to determine the heading direction according to curvatures of the N track points. The processor 1381 is specifically configured to determine the heading direction according to location information of any two track points in the N track points when a rate of change of the curvatures of the N track points is not greater than a first preset value.

[0248] In a possible implementation, the processor 1381 is specifically configured to determine the heading direction according to the rate of change of the curvatures of the N track points and a speed of the vehicle when the rate of change of the curvatures of the N track points is greater than the first preset value.

[0249] In a possible implementation, the processor 1381 is specifically configured to perform deletion processing on M track points in the plurality of track points according to a preset condition to obtain the N track points, the preset condition including one or more of a first preset condition and a second preset condition, the first preset condition being that curvatures of the M track points are greater than a second preset value, and the second preset condition being that gears corresponding to the M track points are neutral.

[0250] In a possible implementation, the vehicle control unit 140 is configured to obtain the steering wheel angle information when the speed of the vehicle is detected to be less than a third preset value; the processor 1381 is further configured to determine the compensation direction according to the steering wheel angle information, the wheel track, the time length, and the speed, wherein the time length is a time length required for the vehicle to stop after the speed of the vehicle is detected to be less than the third preset value, and the speed is a real-time speed of the vehicle after the speed of the vehicle is detected to be less than the third preset value; and the processor 1381 is further configured to update the heading direction of the vehicle determined according to the curvatures of the N track points according to the compensation direction.

[0251] In a possible implementation, the sensor system 104 can provide the latitude and longitude information of the location of the vehicle. The navigation module can provide the ability of route planning and the ability of navigation when the user inputs the geographic location values of the starting point and the destination. The processor 1381 can perform calculation on the data. The storage 1382 provides storage of the data, including storage of the addresses, routes, and driving directions in the present application. The vehicle control unit 140 provides the processor 1381 with information such as the engine state, speed, gear position, and steering wheel angle of the vehicle. The data flow of the modules is as follows: the user selects a destination on the navigation system 148, and then initiates a navigation by using the navigation system 148. Before the navigation system 148 displays the navigation guide information to the user, the navigation system 148 checks the current location and the heading direction of the vehicle. The location of the vehicle is provided by the sensor system 104, and the heading direction of the vehicle is determined according to the vehicle information provided by the vehicle control unit 140. The processor 1381 processes the data of the information, and then stores the data result in the storage 1382 for calling by the navigation system 148.

[0252] It should be noted that the specific implementation modes of the navigation device, the vehicle performing the navigation method, and the beneficial effects brought by the specific implementation modes can be referred to the specific implementation modes of the navigation device, the vehicle performing the navigation method, and the beneficial effects brought by the specific implementation modes in the foregoing detailed description of the method embodiments. Figures 1 to 18 The descriptions in the corresponding method embodiments are not repeated here.

[0253] The present application also provides a computer readable storage medium, which stores a program for navigation, and causes a computer to perform the steps performed by the vehicle and the navigation device in the method described in the foregoing Figures 1 to 18 embodiments when the computer is running.

[0254] The present application also provides a computer program product, which causes a computer to perform the steps performed by the vehicle and the navigation device in the method described in the foregoing Figures 1 to 18The steps performed by the vehicle and the navigation device in the method described in the illustrated embodiments. The computer program product comprises one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the entire or partial process or function described in the embodiments of the present application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another, for example, the computer instructions can be transferred from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that a computer can store or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (for example, floppy disk, hard disk, magnetic tape), optical media (for example, DVD), or semiconductor media (for example, solid state disk (SSD)) and the like.

[0255] The embodiments of the present application also provide a circuit system, which comprises a processing circuit and a storage circuit, and the processing circuit and the storage circuit are configured to perform the method as described in the foregoing Figures 1 to 18 The steps performed by the vehicle and the navigation device in the method described in the illustrated embodiments. The processing circuit can be any suitable type of computing unit, such as a microprocessor, a digital signal processor (DSP), a field programmable gate array (FPGA), or an application specific integrated circuit (ASIC), or any other form of circuit. The storage circuit can be volatile and / or non-volatile. For example, the storage circuit can be a register or a cache, etc. Specifically, the volatile storage circuit can include a cache memory, and the non-volatile storage circuit can include a flash memory.

[0256] The navigation device or vehicle provided by the embodiments of the present application can be a chip, which comprises a processing unit and a communication unit. The processing unit can be a processor, and the communication unit can be an input / output interface, a pin, or a circuit, etc. The processing unit can execute computer execution instructions stored in the storage unit to enable the chip in the server to perform the above Figures 1 to 18The navigation method is described in the embodiment. Optionally, the storage unit is a storage unit in the chip, such as a register, a cache, etc. The storage unit can also be a storage unit outside the chip in the wireless access device, such as a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM), etc.

[0257] In addition, it should be noted that the above-described apparatus embodiments are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment. In addition, the connection relationship between the modules in the apparatus embodiments provided in the present application indicates that there is a communication connection between them, which can be implemented as one or more communication buses or signal lines.

[0258] Through the above description of the embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software and the necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CLUs, special memories, special components, etc. Generally, functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure for implementing the same function can also be various, such as analog circuits, digital circuits or special circuits, etc. However, for the present application, software program implementation is a better embodiment. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer's floppy disk, U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk, etc., including a plurality of instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in various embodiments of the present application.

[0259] In the above embodiments, all or part can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in the form of a computer program product in whole or in part.

[0260] The terms "first", "second", and the like in the description and in the claims of the present application and above drawings are used for distinguishing between similar objects and not necessarily for describing a specific sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of orderly or inverse order, depending upon the circumstances. The term "and / or" in the present application is merely used to represent an association between associated objects, and it is possible that three relationships exist, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In addition, the character " / " in the present application generally represents an "or" relationship between the associated objects. Furthermore, the terms "include" and "have" and any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device that includes a list of steps or modules as an example does not have to be limited to those steps or modules, but can include other steps or modules that are not expressly listed or inherent to such process, method, product or device. The naming or numbering of steps in the present application does not mean that the steps in the method flow must be executed in the time / logical order indicated by the naming or numbering, and the named or numbered flow steps can be executed in a different order according to the technical purpose to be achieved, as long as the same or similar technical effects can be achieved. The division of modules in the present application is a logical division, and in actual application, there can be another division manner, for example, multiple modules can be combined or integrated in another system, or some features can be ignored or not executed, in addition, the coupling or direct coupling or communication connection between the displayed or discussed modules can be through some ports, and the indirect coupling or communication connection between the modules can be electrical or other similar forms, which are not limited in the present application. Furthermore, the modules or sub-modules described as separate components can or can not be physically separated, and can or can not be physical modules, or can be distributed to multiple circuit modules, and part or all of the modules can be selected according to actual needs to achieve the purpose of the present application.

Claims

1. A navigation method characterized by, The method comprises: obtaining a navigation request, the navigation request comprising position information of a starting point of a vehicle and position information of a destination; when the vehicle starts, performing navigation planning on the vehicle according to the position information of the starting point, the position information of the destination, and a heading direction of the vehicle, wherein the heading direction is determined according to a driving track stored before the navigation request is obtained, the driving track being a driving track stored before the navigation request is obtained and having a preset distance from a current position of the vehicle, the driving track comprising N track points, the track points being used to represent position information of the vehicle, and N being a positive integer; the method further comprises: determining the heading direction according to curvatures of the N track points; when a speed of the vehicle is detected to be less than a third preset value, obtaining steering wheel turning angle information; determining a compensation direction according to the steering wheel turning angle information, a wheelbase, a time length, and a speed, the time length being a time length required for the vehicle to stop from when the speed of the vehicle is detected to be less than the third preset value, and the speed being a real-time speed of the vehicle; updating the heading direction determined by the curvatures of the N track points according to the compensation direction.

2. The navigation method of claim 1, wherein, the navigation planning on the vehicle according to the position information of the starting point, the position information of the destination, and the heading direction comprises: determining a first navigation direction according to the position information of the starting point and the position information of the destination; performing navigation planning on the vehicle according to an included angle, the included angle being an included angle between the first navigation direction and the heading direction.

3. The navigation method of claim 2, wherein, the navigation planning on the vehicle according to the included angle comprises: when the included angle is within a first preset range, sending a prompt message, the prompt message being used to instruct the vehicle to make a U-turn.

4. The navigation method of claim 2, wherein, the navigation planning on the vehicle according to the included angle comprises: when the included angle is within a second preset range, sending a prompt message, the prompt message being used to instruct the vehicle to make a left turn or a right turn.

5. The navigation method of claim 2, wherein, the navigation planning on the vehicle according to the included angle comprises: when the included angle is within a third preset range, sending a prompt message, the prompt message being used to instruct the vehicle to travel according to the first navigation direction.

6. The navigation method according to any one of claims 1 to 5, characterized in that, the determination of the heading direction according to the curvatures of the N track points comprises: when a curvature change rate of the N track points is not greater than a first preset value, determining the heading direction according to any two track points in the N track points.

7. The navigation method according to any one of claims 1 to 5, characterized by, the determination of the heading direction according to the curvatures of the N track points comprises: when the curvature change rate of the N track points is greater than the first preset value, determining the heading direction according to the curvature change rate of the N track points and a speed of the vehicle.

8. The navigation method according to any one of claims 1 to 7, characterized in that, the obtaining of the N track points according to the driving track comprises: determining a plurality of track points according to the driving track; According to a preset condition, M trajectory points in the plurality of trajectory points are deleted to obtain the N trajectory points, the preset condition includes one or more of a first preset condition and a second preset condition, the first preset condition is that curvatures of the M trajectory points are greater than a second preset value, and the second preset condition is that gears of a vehicle corresponding to the M trajectory points are neutral gears, where M is a positive integer, and N is a positive integer.

9. A mobile terminal, characterized by The mobile terminal comprises: An acquisition module is configured to acquire a navigation request, the navigation request comprising position information of a starting point and position information of a destination; A communication module is configured to send an instruction to a vehicle or a navigation module of the vehicle in response to the navigation request, the instruction being used to instruct the vehicle or the navigation module of the vehicle to send vehicle head direction information, and further configured to receive the vehicle head direction information sent by the vehicle or the navigation module of the vehicle, the vehicle head direction information being determined according to a stored driving trajectory, and the vehicle head direction information being used to determine a vehicle head direction of the vehicle; A navigation module is configured to perform navigation planning for the vehicle according to the position information of the starting point, the position information of the destination and the vehicle head direction information when the vehicle starts; The communication module is further configured to receive compensation direction information of the vehicle, the compensation direction information being used to update the vehicle head direction, and the compensation direction information comprising steering wheel information, wheelbase, time length and speed, the steering wheel information being steering wheel angle information acquired when the vehicle detects that a speed of the vehicle is less than a third preset value, the time length being a time length required for the vehicle to stop from when the vehicle detects that the speed of the vehicle is less than the third preset value, and the speed being a real-time speed of the vehicle.

10. The mobile terminal of claim 9, wherein, The navigation module is specifically configured to: determine a first navigation direction according to the position information of the starting point and the position information of the destination; and perform navigation planning for the vehicle according to an included angle between the first navigation direction and the vehicle head direction.

11. The mobile terminal of claim 10, wherein, The navigation module is specifically configured to: when the included angle is within a first preset range, send a prompt message, the prompt message being used to instruct the vehicle to make a U-turn.

12. The mobile terminal of claim 10, wherein, The navigation module is specifically configured to: when the included angle is within a second preset range, send a prompt message, the prompt message being used to instruct the vehicle to make a left turn or a right turn.

13. The mobile terminal of claim 10, wherein, The navigation module is specifically configured to: when the included angle is within a third preset range, send a prompt message, the prompt message being used to instruct the vehicle to travel according to the first navigation direction.

14. The mobile terminal according to any one of claims 9 to 13, characterized by The driving trajectory is a driving trajectory of a preset distance from a current position of the vehicle, the driving trajectory comprises N trajectory points, the trajectory points being used to represent position information of the vehicle, and the vehicle head direction information comprising curvatures of the N trajectory points.

15. A navigation device characterized by The mobile terminal comprises: A first acquisition module is configured to acquire a navigation request, the navigation request comprising position information of a starting point of a vehicle and position information of a destination; The navigation module is configured to plan a navigation for the vehicle according to the position information of the starting point, the position information of the destination and a vehicle heading direction when the vehicle starts, the vehicle heading direction being determined according to a driving track stored before the navigation request is acquired; The driving track is a driving track stored before the navigation request is acquired and having a preset distance from a current position of the vehicle, and the navigation device further comprises a second acquisition module and a processing module. The second acquisition module is configured to acquire N track points according to the driving track, the track points being used to represent position information of the vehicle, and N being a positive integer. The processing module is configured to determine the vehicle heading direction according to curvatures of the N track points acquired by the second acquisition module. The navigation device further comprises a third acquisition module configured to acquire steering wheel turning angle information when a speed of the vehicle is detected to be less than a third preset value. The processing module is further configured to determine a compensation direction according to the steering wheel turning angle information, a wheel base, a time length and the speed, the time length being a time length required for the vehicle to stop after the speed of the vehicle is detected to be less than the third preset value, and the speed being a real-time speed of the vehicle. The processing module is further configured to update the vehicle heading direction determined according to the curvatures of the N track points according to the compensation direction.

16. The navigation device of claim 15, wherein, The navigation module is specifically configured to: determine a first navigation direction according to the position information of the starting point and the position information of the destination; and plan a navigation for the vehicle according to an included angle, the included angle being between the first navigation direction and the vehicle heading direction.

17. The navigation device of claim 16, wherein, The navigation module is specifically configured to: when the included angle is within a first preset range, send a prompt message, the prompt message being used to instruct the vehicle to make a U-turn.

18. The navigation device of claim 16, wherein, The navigation module is specifically configured to: when the included angle is within a second preset range, send a prompt message, the prompt message being used to instruct the vehicle to make a left turn or a right turn.

19. The navigation device of claim 16, wherein, The navigation module is specifically configured to: when the included angle is within a third preset range, send a prompt message, the prompt message being used to instruct the vehicle to travel according to the first navigation direction.

20. The navigation device of any of claims 15 to 19, wherein, The processing module is specifically configured to: when a curvature change rate of the N track points is not greater than a first preset value, determine the vehicle heading direction according to any two track points in the N track points.

21. The navigation device of any one of claims 15 to 19, wherein, The processing module is specifically configured to: when the curvature change rate of the N track points is greater than the first preset value, determine the vehicle heading direction according to the curvature change rate of the N track points and the speed of the vehicle.

22. The navigation device of any one of claims 15 to 19, wherein the second acquisition module is specifically configured to determine a plurality of track points according to the driving track. The processing module is specifically configured to perform deletion processing on M trajectory points in the plurality of trajectory points according to a preset condition to obtain the N trajectory points, the preset condition includes one or more of a first preset condition and a second preset condition, the first preset condition is that curvatures of the M trajectory points are greater than a second preset value, the second preset condition is that gears of vehicles corresponding to the M trajectory points are neutral gears, M is a positive integer, and N is a positive integer.

23. A navigation device characterized by A processor is included, the processor and a memory are coupled, the memory stores program instructions, and the program instructions stored in the memory realize the method in any one of claims 1 to 8 when executed by the processor. 24.A computer readable storage medium comprising a program which when run on a computer causes the computer to perform the method of any one of claims 1 to 8.

25. An intelligent automobile, characterized by The intelligent vehicle includes a processing circuit and a storage circuit, and the processing circuit and the storage circuit are configured to perform the method in any one of claims 1 to 8.

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