Vehicle navigation methods, devices, electronic equipment and storage media

Abstract

This application provides a vehicle navigation method, apparatus, electronic device, and storage medium for use in in-vehicle scenarios. The method includes: presenting at least two lanes of a road and a vehicle traveling in the first lane of the road in a vehicle navigation interface; displaying first lane guidance information corresponding to a first navigation route in the at least two lanes; when the first lane guidance information indicates a switch from the first lane to the second lane and the vehicle deviates from its lane while traveling along the first lane, switching the first lane guidance information to second lane guidance information corresponding to the current lane, starting from the vehicle's current position; and switching the displayed second lane guidance information to third lane guidance information corresponding to the second navigation route while the vehicle is traveling based on the second lane guidance information. This application enables a more seamless navigation experience for users and improves navigation efficiency.

Description

Technical Field

[0001] This application relates to the field of vehicle networking technology, and in particular to a vehicle navigation method, device, electronic device and storage medium. Background Technology

[0002] With the rapid development of computer and communication technologies, vehicle navigation has been widely used in people's daily travel. Generally speaking, vehicle navigation mainly refers to calculating the navigation route based on the user's set starting point and destination, and guiding the user to drive the vehicle to the destination based on the navigation route.

[0003] Related technologies employ lane-level navigation routes to ensure accurate navigation for users. However, during vehicle operation, various factors (such as user errors or road construction blocking a lane) may cause the vehicle to deviate from the navigation route. These technologies, upon detecting deviation, immediately exit the current lane-level navigation route. Users then need to manually access the lane-level navigation again, resulting in navigation gaps, an uninterrupted user experience, and increased user intervention. Summary of the Invention

[0004] This application provides a vehicle navigation method, device, electronic device, and storage medium, which can make the user's navigation experience more consistent and improve navigation efficiency.

[0005] The technical solution of this application embodiment is implemented as follows:

[0006] This application provides a vehicle navigation method, including:

[0007] The vehicle navigation interface displays at least two lanes of the road, as well as vehicles traveling in the first lane of the road.

[0008] In the at least two lanes, display the first lane guidance information corresponding to the first navigation route;

[0009] While the vehicle is traveling along the first lane, when the first lane guidance information indicates a switch from the first lane to the second lane and the vehicle veers off course, the first lane guidance information is switched to the second lane guidance information corresponding to the current lane, starting from the current position of the vehicle.

[0010] While the vehicle is driving based on the second lane guidance information, the displayed second lane guidance information will be switched to the third lane guidance information corresponding to the second navigation route.

[0011] This application also provides a vehicle navigation device, including:

[0012] The presentation module is used to present, in the vehicle navigation interface, at least two lanes included in the road, and vehicles traveling in the first lane of the road;

[0013] The display module is used to display first lane guidance information corresponding to the first navigation route in the at least two lanes;

[0014] The first switching module is used to switch the first lane guidance information to the second lane guidance information corresponding to the current lane when the first lane guidance information indicates a switch from the first lane to the second lane and the vehicle deviates from the lane while the vehicle is traveling along the first lane.

[0015] The second switching module is used to switch the displayed second lane guidance information to the third lane guidance information corresponding to the second navigation route while the vehicle is driving based on the second lane guidance information.

[0016] In the above scheme, the display module is also used to display the lane change position from the first lane to the second lane in the at least two lanes presented;

[0017] Display first lane guidance information corresponding to the first navigation route, indicating the switch from the first lane to the second lane via the lane change location.

[0018] In the above scheme, when the number of lane change positions is at least two, the display module is also used to obtain vehicle driving parameters, which include at least one of the following: the vehicle's driving speed, the traffic flow of the second lane, the number of lanes between the first lane and the second lane, and the interval distance;

[0019] Based on the vehicle driving parameters, a recommended lane change position is selected from the at least two lane change positions;

[0020] Display first lane guidance information corresponding to the first navigation route, indicating the switch from the first lane to the second lane via the recommended lane change location.

[0021] In the above scheme, the device further includes:

[0022] A yaw detection module is used to obtain the vehicle's driving position in the first lane;

[0023] When it is determined, based on the driving position, that the vehicle cannot switch to the second lane through the lane change position, the vehicle is determined to be yawing.

[0024] In the above scheme, when the number of lane change positions is at least two, the yaw recognition module is further used to determine that the vehicle is yawing when it is determined, based on the driving position, that the vehicle cannot switch to the second lane through the latest lane change position among the at least two lane change positions.

[0025] The latest lane change position is the last lane change position located ahead of the vehicle among the at least two lane change positions.

[0026] In the above scheme, the device further includes:

[0027] The lane change position determination module is used to obtain vehicle driving parameters, which include at least one of the following: the vehicle's driving speed, the traffic flow in the second lane, the number of lanes between the first lane and the second lane, and the interval distance;

[0028] Based on the vehicle driving parameters, the latest lane change position is determined;

[0029] Between the vehicle's current position and the latest lane change position, at least one lane change position that is different from the latest lane change position is selected.

[0030] In the above solution, the presentation module is also used to present the navigation guidance function switch in the navigation settings interface;

[0031] In response to an activation command for the navigation guidance function switch, the navigation guidance function for the vehicle is activated;

[0032] The second switching module is further configured to, when the navigation guidance function for the vehicle is enabled, switch the first lane guidance information to the second lane guidance information corresponding to the current lane, starting from the current position of the vehicle.

[0033] In the above scheme, the first lane includes multiple driving segments of the same length. The display module is also used to determine the driving segment corresponding to the current position of the vehicle and to obtain multiple downstream driving segments of the driving segment in the direction of the vehicle's movement.

[0034] Select a target downstream driving segment from the plurality of downstream driving segments, and present second lane guidance information that starts from the current position of the vehicle and extends to the target downstream driving segment, in order to replace the first lane guidance information.

[0035] In the above scheme, the display module is also used to obtain the distance between the current position of the vehicle and the end position of the current driving segment of the vehicle;

[0036] When it is determined that the distance does not exceed the distance threshold, multiple downstream driving segments of the current driving segment of the vehicle in the direction of the vehicle's movement are obtained.

[0037] In the above scheme, the second switching module is also used to obtain the real-time position of the vehicle while it is driving according to the second lane guidance information;

[0038] Based on the real-time location and the target location, a second navigation route corresponding to the vehicle is generated, and the second navigation route replaces the first navigation route.

[0039] In the above scheme, the second switching module is further used to determine the current lane corresponding to the current position of the vehicle, and to determine the target lane that the vehicle is about to pass through corresponding to the current lane;

[0040] Based on the second navigation route, and the current lane and the target lane, generate third lane guidance information corresponding to the second navigation route, which guides you from the current lane to the target lane.

[0041] The displayed second lane guidance information corresponding to the current lane will be switched to the generated third lane guidance information corresponding to the second navigation route;

[0042] When the vehicle leaves the current lane, the above operation is repeated until it passes each fork in the second navigation route;

[0043] The target lane is located at each fork in the road in the direction of vehicle travel in the second navigation route.

[0044] In the above scheme, the second switching module is further configured to combine the second navigation route and determine the lane route corresponding to traveling from the current lane to the target lane based on the current lane and the target lane;

[0045] Based on the lane route, generate third lane guidance information corresponding to the second navigation route, which is to travel from the current lane to the target lane.

[0046] In the above scheme, the second switching module is further configured to determine, based on the current lane and the target lane, a driving route from the current lane to the target lane on the second navigation route, wherein the driving route includes multiple combinations of driving segments, and each combination of driving segments includes at least two parallel and adjacent driving segments.

[0047] From each driving segment included in the driving route, select the target driving segment that is traversed from the current lane to the target lane;

[0048] Based on the selected target driving segment, a lane route is generated to travel from the current lane to the target lane.

[0049] In the above scheme, when the number of lane routes is at least two, the second switching module is further used to obtain the lane driving parameters corresponding to each lane route, and select the target lane route from the at least two lane routes based on the lane driving parameters;

[0050] Based on the target lane route, generate third lane guidance information corresponding to the second navigation route, which is to travel from the current lane to the target lane.

[0051] In the above scheme, the presentation module is further used to locate the vehicle to obtain location information, query the electronic map according to the location information to obtain the first lane where the vehicle is located, and present the vehicle in the first lane;

[0052] Alternatively, the environment in which the vehicle is located can be visually recognized to obtain environmental visual information, the first lane in which the vehicle is located can be determined based on the environmental visual information, and the vehicle can be displayed in the first lane.

[0053] In the above scheme, the presentation module is also used to perform any one of the following processes:

[0054] Obtain the location information set for the vehicle;

[0055] The vehicle is subjected to positioning processing based on the Global Positioning System to obtain positioning information;

[0056] The vehicle is subjected to carrier phase differential positioning processing to obtain positioning information.

[0057] In the above solution, the display module is also used to display the first lane guide line corresponding to the first navigation route in the navigation mode;

[0058] The second switching module is also used to switch the navigation mode to cruise mode, and, starting from the current position of the vehicle, switch the first lane guide line to the second lane guide line corresponding to the current lane;

[0059] The second switching module is also used to switch the cruise mode to the navigation mode and switch the displayed second lane guide line to the third lane guide line corresponding to the second navigation route.

[0060] This application also provides an electronic device, including:

[0061] Memory, used to store executable instructions;

[0062] The processor is configured to execute executable instructions stored in the memory to implement the vehicle navigation method provided in the embodiments of this application.

[0063] This application also provides a computer-readable storage medium storing executable instructions, which, when executed by a processor, implement the vehicle navigation method provided in this application.

[0064] The embodiments of this application have the following beneficial effects:

[0065] The vehicle navigation interface displays at least two lanes of the road and vehicles traveling in the first lane. Within the at least two lanes, it shows the first lane guidance information corresponding to the first navigation route. While the vehicle is traveling in the first lane, if the first lane guidance information indicates a switch to the second lane and the vehicle deviates from its lane, the first lane guidance information is switched to the second lane guidance information corresponding to the current lane, starting from the vehicle's current position. While the vehicle is traveling based on the second lane guidance information, the displayed second lane guidance information is switched to the third lane guidance information corresponding to the second navigation route. Thus, the vehicle travels based on lane-level navigation. During the driving process guided by the first lane guidance information, if the vehicle deviates from the lane (i.e., does not change lanes accordingly) when the first lane guidance information indicates a lane change, it does not directly exit the current lane-level navigation or switch to non-lane-level road navigation as in related technologies. Instead, it first switches the first lane guidance information to the second lane guidance information corresponding to the current lane to achieve a transition in lane guidance information. Then, without the user's awareness, the second lane guidance information is switched to the third lane guidance information corresponding to the second navigation route. This achieves a smooth switch of lane guidance information for different routes in the vehicle navigation interface, making the user's navigation experience more consistent and improving navigation efficiency. Attached Figure Description

[0066] Figure 1 This is a schematic diagram of the architecture of the vehicle navigation system 100 provided in an embodiment of this application;

[0067] Figure 2 This is a schematic diagram of the structure of the electronic device 500 implementing the vehicle navigation method provided in the embodiments of this application;

[0068] Figure 3 This is a schematic flowchart of the vehicle navigation method provided in the embodiments of this application;

[0069] Figure 4 This is a schematic diagram of the vehicle navigation interface provided in an embodiment of this application;

[0070] Figure 5 This is a schematic diagram illustrating the presentation of the first lane guidance information provided in an embodiment of this application;

[0071] Figure 6 This is a schematic diagram illustrating the presentation of the first lane guidance information provided in an embodiment of this application;

[0072] Figure 7 This is a schematic diagram illustrating the presentation of the second lane guidance information provided in an embodiment of this application;

[0073] Figure 8 This is a schematic diagram of the process for enabling the navigation guidance function provided in the embodiments of this application;

[0074] Figure 9 This is a schematic diagram of the driving road segment provided in the embodiments of this application;

[0075] Figure 10 This is a flowchart illustrating the determination of lane guidance information for navigation routes provided in this application embodiment;

[0076] Figure 11 This is a schematic diagram of lane changing provided in an embodiment of this application;

[0077] Figure 12 This is a schematic diagram of the yaw processing flow provided in the embodiments of this application. Detailed Implementation

[0078] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0079] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0080] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0081] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0082] Before providing a further detailed description of the embodiments of this application, the nouns and terms involved in the embodiments of this application will be explained, and the nouns and terms involved in the embodiments of this application shall be interpreted as follows.

[0083] 1) Client: An application that runs on a terminal and provides various services, such as an instant messaging client or a video playback client.

[0084] 2) In response, used to indicate the conditions or states on which the operation performed depends. When the conditions or states on which it depends are met, one or more operations performed may be performed in real time or with a set delay. Unless otherwise specified, there is no restriction on the order in which the multiple operations are performed.

[0085] 3) Road: refers to the infrastructure in a transportation network that allows vehicles to pass. In the embodiments of this application, a road includes multiple lanes (also known as driving lanes or carriageways), for example, a road may include an overtaking lane, a fast lane, and a slow lane. The multiple lanes of a road are separated by lane markings, which are traffic facilities represented by lines on the road, and may include, for example, white dashed lines (allowing lane changes) and white solid lines (prohibiting lane changes).

[0086] 4) Navigation route: refers to the route calculated based on the set starting point and ending point, that is, starting from the starting point, passing through a series of roads, and finally reaching the destination. In the embodiments of this application, the navigation route may or may not distinguish between lanes. Lanes are distinguished by the lane guidance information corresponding to the navigation route. That is, the lane guidance information includes the suggested lanes for each road to be passed, which is lane-level navigation.

[0087] Based on the above explanation of the nouns and terms used in the embodiments of this application, the vehicle navigation system provided in the embodiments of this application is described below. See also Figure 1 , Figure 1 This is a schematic diagram of the architecture of the vehicle navigation system 100 provided in the embodiments of this application. In order to support an exemplary application, the terminal (terminal 400-1 is shown as an example) connects to the server 200 through the network 300. The network 300 can be a wide area network or a local area network, or a combination of the two, and uses wireless or wired links to realize data transmission.

[0088] A terminal (such as terminal 400-1) is used to present a vehicle navigation interface on a graphical interface 410 (graphical interface 410-1 is shown as an example), and in the vehicle navigation interface, presents at least two lanes of the road and a vehicle traveling in the first lane of the road; in the at least two lanes, displays the first lane guidance information corresponding to the first navigation route; and while the vehicle is traveling along the first lane, obtains the real-time location of the vehicle and sends it to the server 200.

[0089] Server 200 is used to receive the real-time position of a vehicle as it travels along the first lane from the terminal; when the first lane guidance information indicates a switch from the first lane to the second lane and the vehicle veers off course based on the real-time position, it generates second lane guidance information corresponding to the current lane, starting from the vehicle's current position, and returns the second lane guidance information to the terminal.

[0090] A terminal (such as terminal 400-1) is used to receive and switch the first lane guidance information to the second lane guidance information corresponding to the current lane;

[0091] Server 200 is also used to generate a second navigation route for the corresponding vehicle based on the second lane guidance information and the real-time location of the vehicle while driving along the first lane, and return it to the terminal.

[0092] The terminal (such as terminal 400-1) is also used to receive the second navigation route returned by the server 200; during the process of the vehicle driving based on the second lane guidance information, the displayed second lane guidance information is switched to the third lane guidance information corresponding to the second navigation route.

[0093] In practical applications, server 200 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The terminal (such as terminal 400-1) can be a smartphone, tablet, laptop, desktop computer, smart speaker, smart TV, smartwatch, in-vehicle terminal, etc., but is not limited to these. The terminal (such as terminal 400-1) and server 200 can be directly or indirectly connected via wired or wireless communication, which is not limited herein.

[0094] See Figure 2 , Figure 2 This is a schematic diagram of the electronic device 500 implementing the vehicle navigation method provided in an embodiment of this application. In practical applications, the electronic device 500 can be... Figure 1 The server or terminal shown is exemplified by electronic device 500. Figure 1Taking the terminal shown as an example, an electronic device implementing the vehicle navigation method of this application embodiment will be described. The electronic device 500 provided in this application embodiment includes: at least one processor 510, a memory 550, at least one network interface 520, and a user interface 530. The various components in the electronic device 500 are coupled together through a bus system 540. It is understood that the bus system 540 is used to realize the connection and communication between these components. In addition to a data bus, the bus system 540 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 2 The general labeled all buses as Bus System 540.

[0095] The processor 510 can be an integrated circuit chip with signal processing capabilities, such as a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0096] User interface 530 includes one or more output devices 531 that enable the presentation of media content, including one or more speakers and / or one or more visual displays. User interface 530 also includes one or more input devices 532, including user interface components that facilitate user input, such as a keyboard, mouse, microphone, touch screen display, camera, other input buttons and controls.

[0097] The memory 550 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid-state storage, hard disk drives, optical disk drives, etc. The memory 550 may optionally include one or more storage devices physically located away from the processor 510.

[0098] The memory 550 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), and the volatile memory may be random access memory (RAM). The memory 550 described in this application embodiment is intended to include any suitable type of memory.

[0099] In some embodiments, memory 550 is capable of storing data to support various operations, examples of which include programs, modules, and data structures or subsets or supersets thereof, as illustrated below.

[0100] Operating system 551 includes system programs for handling various basic system services and performing hardware-related tasks, such as the framework layer, core library layer, driver layer, etc., for implementing various basic business functions and handling hardware-based tasks;

[0101] The network communication module 552 is used to reach other computing devices via one or more (wired or wireless) network interfaces 520, exemplary network interfaces 520 including: Bluetooth, WiFi, and Universal Serial Bus (USB), etc.

[0102] Presentation module 553 is configured to enable the presentation of information (e.g., a user interface for operating peripheral devices and displaying content and information) via one or more output devices 531 (e.g., a display screen, a speaker, etc.) associated with user interface 530;

[0103] The input processing module 554 is used to detect and translate one or more user inputs or interactions from one or more input devices 532.

[0104] In some embodiments, the vehicle navigation device provided in this application can be implemented in software. Figure 2 A vehicle navigation device 555 stored in memory 550 is shown. It may be software in the form of programs and plug-ins, including the following software modules: presentation module 5551, display module 5552, first switching module 5553 and second switching module 5554. These modules are logical and can therefore be arbitrarily combined or further divided according to the functions they implement. The functions of each module will be described below.

[0105] In other embodiments, the vehicle navigation device provided in this application can be implemented using a combination of hardware and software. As an example, the vehicle navigation device provided in this application can be a processor in the form of a hardware decoding processor, which is programmed to execute the vehicle navigation method provided in this application. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0106] Based on the above description of the vehicle navigation system and electronic device provided in the embodiments of this application, the vehicle navigation method provided in the embodiments of this application is described below. In some embodiments, the vehicle navigation method provided in the embodiments of this application may be implemented by a server or a terminal alone, or by a server and a terminal working together. The vehicle navigation method provided in the embodiments of this application is described below using a terminal implementation as an example.

[0107] See Figure 3 , Figure 3 This is a flowchart illustrating the vehicle navigation method provided in this application embodiment. The vehicle navigation method provided in this application embodiment includes:

[0108] Step 101: The terminal displays at least two lanes of the road and vehicles traveling in the first lane of the road in the vehicle navigation interface.

[0109] Here, the terminal can be a smartphone, tablet, or in-vehicle terminal. In practical applications, the terminal is equipped with a client for vehicle navigation. Running the client presents the vehicle navigation interface, which displays the multiple lanes of the road and the vehicles traveling in the first lane. Simultaneously, as the vehicle travels, the lanes and vehicles displayed on the navigation interface are updated in real-time based on the vehicle's location. In practice, a different road than the one currently in the vehicle can also be displayed to help users understand the surrounding road conditions.

[0110] As an example, see Figure 4 , Figure 4 This is a schematic diagram of a vehicle navigation interface provided in an embodiment of this application. Here, the vehicle navigation interface is a lane-level navigation interface, including road 1, road 2, and road 3, and each lane contained in each road. The vehicle is traveling in the first lane of road 2. Figure 4 (represented by the shape of a vehicle).

[0111] It is worth noting that, while displaying various results involved in vehicle navigation (such as roads, lanes, first lane, real-time location, etc.), corresponding prompts can also be output simultaneously in the form of text, voice or vibration, thereby improving navigation capabilities in multiple dimensions and achieving effective reminders.

[0112] In some embodiments, the terminal presents a vehicle traveling in the first lane of the road in the following ways: locating the vehicle to obtain location information, querying the electronic map based on the location information to obtain the first lane where the vehicle is located, and presenting the vehicle in the first lane; or, visually recognizing the environment where the vehicle is located to obtain environmental visual information, determining the first lane where the vehicle is located based on the environmental visual information, and presenting the vehicle in the first lane.

[0113] Here, two example methods for lane recognition processing are provided. The first method is to perform location processing on the vehicle to obtain location information, and then perform query processing on an electronic map (such as a high-precision map) based on the location information to obtain the road where the vehicle is located and the first lane of the vehicle on that road.

[0114] The second method involves acquiring images of the vehicle's surroundings, performing visual recognition processing on these images to obtain environmental visual information, and then determining the road the vehicle is on and its first lane within that road based on this information. Either of these methods can be flexibly applied to achieve lane recognition processing, depending on the specific application scenario.

[0115] In some embodiments, the terminal obtains positioning information by locating the vehicle in the following ways: performing any of the following processes: acquiring positioning information set for the vehicle; performing positioning processing on the vehicle based on the Global Positioning System to obtain positioning information; performing positioning processing on the vehicle based on carrier phase difference to obtain positioning information.

[0116] Here are three example methods for location processing. The first method is to obtain the location information set for the vehicle, such as the location information that can be manually set by the user. This method is suitable for scenarios with poor network or where automatic location is not possible.

[0117] The second method involves performing GPS-based positioning processing on the vehicle to obtain its location information. This method enables automatic positioning.

[0118] The third method is to perform carrier phase differential positioning processing on the vehicle to obtain positioning information. Carrier phase differential positioning, also known as Real Time Kinematic (RTK) positioning, can obtain high-precision positioning information and is suitable for scenarios with high accuracy requirements.

[0119] Step 102: In at least two lanes, display the first lane guidance information corresponding to the first navigation route.

[0120] Here, after the terminal displays the lanes and vehicles traveling in the lanes on the vehicle navigation interface, it displays the first lane guidance information corresponding to the first navigation route in at least two lanes. The first lane guidance information can be lane-level lane guidance information, such as lane guide lines, which indicates the lanes in the road; or road-level road guidance information, such as road guide lines, which only indicates the road the vehicle is traveling on and cannot indicate the lanes in the road. It is used to guide the vehicle from the current location to the target location, which can be the destination set by the user.

[0121] The first lane guidance information is the lane-level navigation information corresponding to the first navigation route. In practical applications, this lane-level navigation information can be obtained based on lane-level navigation technology. Lane-level navigation technology is highly accurate and can pinpoint exactly which lane the vehicle is currently traveling in and the lane it will soon be traveling in, rather than just providing a direction. For example, the navigation content of lane-level navigation can evolve from simply "turn left, turn right, go straight, or make a U-turn in 100 meters" to "please change lanes to the right to enter the right turn lane, and turn right in 50 meters ahead."

[0122] As an example, see Figure 5 , Figure 5 This is a schematic diagram illustrating the presentation of the first lane guidance information provided in this embodiment. Here, the vehicle navigation interface is a lane-level navigation interface, including Road 1, Road 2, and Road 3, and each lane contained in each road. Specifically, the vehicle is traveling in the first lane of Road 2. Figure 5 (Represented by vehicle shapes). Simultaneously, within the presented lanes, first lane guidance information corresponding to the first navigation route is displayed, indicating a switch from the first lane to the second lane. Figure 5 The second lane in road 3 shown.

[0123] Step 103: While the vehicle is traveling along the first lane, when the first lane guidance information indicates a switch from the first lane to the second lane and the vehicle deviates from its lane, the first lane guidance information is switched to the second lane guidance information corresponding to the current lane, starting from the vehicle's current position.

[0124] Here, as the vehicle travels along the first lane, the terminal updates the real-time position of the vehicle in the first lane in the vehicle navigation interface. When the first lane guidance information indicates a switch from the first lane to the second lane and the vehicle deviates from its lane, in this embodiment, the terminal can also present second lane guidance information starting from the vehicle's current position. Specifically, the terminal switches the first lane guidance information to the second lane guidance information corresponding to the vehicle's current lane, starting from the vehicle's current position. This second lane guidance information is used to be presented during the interval caused by replanning the navigation route after deviation, making the user's navigation experience more consistent.

[0125] In some embodiments, when the first lane guidance information indicates a switch from the first lane to the second lane, the terminal may display the first lane guidance information corresponding to the first navigation route in at least two lanes in the following manner: presenting the lane change position for switching from the first lane to the second lane in at least two lanes; and displaying the first lane guidance information corresponding to the first navigation route that indicates a switch from the first lane to the second lane via the lane change position.

[0126] Here, the terminal can display the lane change position from the first lane to the second lane in at least two lanes, thereby displaying first lane guidance information corresponding to the first navigation route, indicating the lane change position from the first lane to the second lane.

[0127] In some embodiments, when there are at least two lane change locations, the terminal can display first lane guidance information corresponding to the first navigation route, indicating a switch from the first lane to the second lane via the lane change location, in the following manner: obtaining vehicle driving parameters; selecting a recommended lane change location from at least two lane change locations based on the vehicle driving parameters; and displaying first lane guidance information corresponding to the first navigation route, indicating a switch from the first lane to the second lane via the recommended lane change location. The vehicle driving parameters include at least one of the following: vehicle speed, traffic flow in the second lane, the number of lanes between the first and second lanes, and the interval distance.

[0128] In practical applications, when there are at least two lane-change locations, a recommended lane-change location can be selected from these two locations to display lane guidance information corresponding to the first navigation route, indicating the switch from the first lane to the second lane via the recommended lane-change location. Specifically, vehicle driving parameters can be obtained, including at least one of the following: vehicle speed (real-time speed or average speed over a past period), traffic flow in the second lane (real-time traffic flow or average traffic flow over a past period), the number of lanes between the first and second lanes, and the interval distance. Then, based on the vehicle driving parameters, a recommended lane-change location is selected from the at least two locations to display lane guidance information corresponding to the first navigation route, indicating the switch from the first lane to the second lane via the recommended lane-change location.

[0129] As an example, see Figure 6 , Figure 6 This is a schematic diagram illustrating the presentation of the first lane guidance information provided in this embodiment. Here, the vehicle navigation interface is a lane-level navigation interface, including Road 1, Road 2, and Road 3, and each lane contained in each road. Specifically, the vehicle is traveling in the first lane of Road 2. Figure 6 (represented by the shape of a vehicle). For example... Figure 6 As shown in Figure A, there are three lane-changing positions within the presented lanes, including the recommended lane-changing position M; as shown... Figure 6 As shown in Figure B, the instruction shows the switch from the first lane to the second lane via the recommended lane change position. Figure 6 The first lane guidance information for the second lane in road 3 shown in Figure B.

[0130] In some embodiments, the terminal may determine whether the vehicle is veerging as follows: obtain the vehicle's driving position in the first lane; when it is determined based on the driving position that the vehicle cannot switch to the second lane by changing lanes, the vehicle is veerging.

[0131] In practical applications, the terminal obtains the vehicle's real-time position in the first lane. When it is determined based on this position that the vehicle cannot switch to the second lane via a lane change location, the vehicle is considered to have veered off course. This allows for timely detection of lane deviations, enabling the rapid provision of new navigation routes to the user after a deviation, thus improving the user experience.

[0132] In some embodiments, when there are at least two lane change locations, the terminal can determine vehicle yaw in the following manner: when it is determined, based on the driving position, that the vehicle cannot switch to the second lane through the latest lane change location among the at least two lane change locations, the vehicle is determined to be yawed; wherein, the latest lane change location is the last lane change location located ahead of the vehicle among the at least two lane change locations.

[0133] In some embodiments, the at least two lane change locations are determined by performing the following operations: acquiring vehicle driving parameters; determining the latest lane change location based on the vehicle driving parameters; and selecting at least one lane change location that is different from the latest lane change location between the vehicle's current location and the latest lane change location. The vehicle driving parameters include at least one of the following: vehicle speed, traffic flow in the second lane, the number of lanes between the first and second lanes, and the interval distance.

[0134] For example, the latest lane-changing position for switching from the first lane to the second lane can be determined based on at least one of the following: the vehicle's driving speed (real-time driving speed or average driving speed over a past period), the traffic flow in the second lane (real-time traffic flow or average traffic flow over a past period), and the interval parameter between the first lane and the second lane. The interval parameter includes at least one of the number of interval lanes and the interval distance.

[0135] The latest lane change distance is negatively correlated with driving speed, traffic flow, and lane spacing parameters. This latest lane change distance refers to the distance between the vehicle's real-time position and the position where the last lane change should occur. For example, the faster the vehicle's speed, the less likely it is to change lanes, and the shorter the latest lane change distance. When the traffic flow in the second lane is high, it is less likely to switch to the second lane, and the shorter the latest lane change distance. When the lane spacing parameter is large, it takes more time to switch to the second lane, and the shorter the latest lane change distance.

[0136] Based on the determined latest lane-change position, at least one lane-change position can be selected between the vehicle's real-time position and the latest lane-change position, different from the latest lane-change position. For example, selection can be performed intermittently according to a set selection distance to ensure that the distance between adjacent lane-change positions is equal to the selected distance. Of course, in this embodiment, the latest lane-change position can also be used as the only determined lane-change position. Through the above methods, the accuracy of the determined lane-change position can be improved, achieving effective prompting.

[0137] In some embodiments, when the first lane includes multiple driving segments of equal length, the terminal can switch the first lane guidance information to the second lane guidance information corresponding to the current lane by taking the vehicle's current position as the starting point in the following manner: determining the driving segment corresponding to the vehicle's current position, and obtaining multiple downstream driving segments of the driving segment in the vehicle's forward direction; obtaining the segment parameters of each downstream driving segment, and selecting a target number of target downstream driving segments from the multiple downstream driving segments based on the segment parameters; determining the end position of the segment corresponding to the target number of target downstream driving segments, and generating the second lane guidance information based on the connecting line between the vehicle's current position and the end position of the segment; presenting the second lane guidance information starting from the vehicle's current position and extending to the end position of the target downstream driving segment to replace the first lane guidance information.

[0138] In some embodiments, the terminal may obtain multiple downstream road segments in the direction of vehicle travel by: obtaining the distance between the current position of the vehicle and the end position of the current road segment in which the vehicle is currently located; and when it is determined that the distance does not exceed a distance threshold, obtaining multiple downstream road segments in the direction of vehicle travel of the current road segment in which the vehicle is currently located.

[0139] Here, while the vehicle is traveling in the first lane, if the lane guidance information indicates a switch from the first lane to the second lane and the vehicle veers off course, the driving segment corresponding to the vehicle's current position is determined, and the distance between the vehicle's current position and the end point of that driving segment is obtained. If this distance does not exceed a distance threshold (e.g., 2 kilometers), multiple downstream driving segments in the vehicle's direction of travel are obtained. This avoids the problem of wasting processing resources due to real-time acquisition of downstream driving segments.

[0140] Furthermore, a target downstream driving segment is selected from these multiple downstream driving segments. Specifically, the segment parameters of each downstream driving segment can be obtained. These parameters can include segment attributes, such as whether it is an extended lane or a diverging lane, and can also include segment shape, such as whether the segment shape indicates that the driving segment is a straight lane and whether the directional difference between the end of the current driving segment and the start of the downstream driving segment is less than a difference threshold. In actual implementation, based on segment attributes, non-extended and non-diverging target downstream driving segments can be prioritized, i.e., straight downstream driving segments can be selected; or based on segment shape, target downstream driving segments where the directional difference between the end of the current driving segment and the start of the downstream driving segment is less than a difference threshold and whose shape is closer to straight driving can be prioritized. Here, the number of target downstream driving segments selected can be multiple or one. In actual implementation, the number of target downstream driving segments can be preset as a target number, so that the target number of target downstream driving segments can be selected during the selection process.

[0141] After determining the target number of downstream driving segments, the endpoint of the target number of downstream driving segments is further determined. Then, the connecting line between the current position of the vehicle and the endpoint of the segment can be used as the second lane guidance information. This presents the second lane guidance information, which starts from the current position of the vehicle and extends to the endpoint of the downstream driving segment, replacing the first lane guidance information.

[0142] As an example, see Figure 7 , Figure 7 This is a schematic diagram illustrating the presentation of second lane guidance information provided in an embodiment of this application. Here, as... Figure 7 As shown in Figure A, the lane guidance information corresponding to the first navigation route indicates a switch from the first lane to the second lane, and also shows the latest lane change position; as shown in Figure A. Figure 7 As shown in Figure B, when the terminal is driving in the first lane, it misses the latest lane change position and is determined to have deviated from the course. At this time, the first lane guidance information corresponding to the first navigation route is replaced with the second lane guidance information corresponding to the current lane. The second lane guidance information starts from the current position of the vehicle and extends to the downstream target driving section of the driving section where the vehicle is located.

[0143] In some embodiments, the terminal can enable the navigation guidance function for the vehicle in the following ways: presenting a navigation guidance function switch in the navigation settings interface; enabling the navigation guidance function for the vehicle in response to the enable command for the navigation guidance function switch; and correspondingly, when the navigation guidance function for the vehicle is enabled, switching the first lane guidance information to the second lane guidance information corresponding to the current lane, starting from the current position of the vehicle.

[0144] In practical applications, the terminal can provide a navigation guidance function switch to enable or disable the navigation guidance function. When an enable command for the navigation guidance function switch is received, the navigation guidance function for the vehicle is activated; at this time, if the vehicle deviates from its lane, the first lane guidance information is switched to the second lane guidance information corresponding to the current lane, starting from the vehicle's current position.

[0145] As an example, see Figure 8 , Figure 8 This is a schematic diagram of the navigation guidance function activation process provided in this application embodiment. Here, the terminal presents the navigation guidance function switch 81 in the navigation settings interface 80; in response to the activation command for the navigation guidance function switch, the navigation guidance function for the vehicle is activated, that is, the navigation guidance function switch 81 is changed from the off state to the on state.

[0146] Step 104: While the vehicle is driving based on the second lane guidance information, the displayed second lane guidance information will be switched to the third lane guidance information corresponding to the second navigation route.

[0147] The first navigation route and the second navigation route are used to guide the vehicle to the target location.

[0148] Here, after the vehicle veers off course, a new navigation route needs to be provided for the vehicle, namely the second navigation route mentioned above. Both the second navigation route and the first navigation route are used to guide the vehicle to the target location.

[0149] Meanwhile, as the vehicle travels based on the second lane guidance information, the displayed second lane guidance information will be switched to the third lane guidance information corresponding to the second navigation route. This third lane guidance information can be lane-level lane guidance information, such as lane guide lines, which means that the lane guidance information can indicate the lanes in the road; or road-level road guidance information, such as road guide lines, which means that the road guidance information only indicates the road on which the vehicle is traveling and cannot indicate the lanes in the road.

[0150] In some embodiments, the terminal may generate a second navigation route by: obtaining the real-time location of the vehicle while it is traveling in accordance with the second lane guidance information; generating a second navigation route for the corresponding vehicle based on the real-time location and the target location; and replacing the first navigation route with the second navigation route.

[0151] In practical applications, the terminal obtains the real-time location of the vehicle while it is driving according to the second lane guidance information, and then generates a second navigation route for the corresponding vehicle based on the real-time location and the target location, and then replaces the first navigation route with the second navigation route.

[0152] In some embodiments, the terminal can switch the displayed second lane guidance information to the third lane guidance information corresponding to the second navigation route in the following manner: determine the current lane corresponding to the vehicle's current position, and determine the target lane corresponding to the current lane that the vehicle is about to pass through; combine the second navigation route, and based on the current lane and the target lane, generate the third lane guidance information corresponding to the second navigation route for driving from the current lane to the target lane; switch the displayed second lane guidance information corresponding to the current lane to the generated third lane guidance information corresponding to the second navigation route; when the vehicle leaves the current lane, the above operation is repeated until the vehicle passes each fork in the second navigation route; wherein, the target lane is located at each fork in the second navigation route in the direction of the vehicle's forward movement.

[0153] Here, when the terminal generates the third lane guidance information corresponding to the second navigation route, it can generate it in segments. That is, it can divide the route into segments according to each fork in the road in the direction of the vehicle's travel. The segment is the current road where the vehicle is currently located and the target lane of the fork in the road that it is about to pass. This generates the third lane guidance information for the second navigation route from the current lane to the target lane. Then, when the vehicle leaves the current lane and reaches the target lane, the target lane is taken as the current lane, and the lane of the next fork in the road is taken as the target lane. The process of generating the third lane guidance information from the current lane to the target lane is repeated until the vehicle passes each fork in the second navigation route, thus obtaining the third lane guidance information for the second navigation route.

[0154] Meanwhile, during the process of generating the third lane guidance information corresponding to the second navigation route in segments, the second lane guidance information corresponding to the current lane will be switched to the generated third lane guidance information corresponding to the second navigation route.

[0155] In some embodiments, the terminal can combine the second navigation route and the current lane and target lane to generate third lane guidance information corresponding to the second navigation route, which is for driving from the current lane to the target lane, in the following manner: combining the second navigation route and the current lane and target lane, determining the lane route corresponding to driving from the current lane to the target lane; and generating third lane guidance information corresponding to the second navigation route, which is for driving from the current lane to the target lane, based on the lane route.

[0156] In practical applications, the terminal can determine a navigation route from the current lane to the target lane based on a second navigation route. Then, based on this route, it can determine the lanes involved and the individual driving segments within each lane. Finally, based on these lanes and segments, it can generate a lane route from the current lane to the target lane. Finally, based on this lane route, it generates third lane guidance information corresponding to the second navigation route, showing the route from the current lane to the target lane.

[0157] In some embodiments, the terminal can determine a lane route from the current lane to the target lane based on the current lane and the target lane by combining a second navigation route in the following manner: determining a driving route from the current lane to the target lane on the second navigation route based on the current lane and the target lane, wherein the driving route includes multiple combinations of driving segments, and each combination of driving segments includes at least two parallel and adjacent driving segments; selecting the target driving segment passed through from the current lane to the target lane from each driving segment included in the driving route; and generating the lane route corresponding to the driving route from the current lane to the target lane based on the selected target driving segment.

[0158] Here, based on the current lane and the target lane, a driving route is determined on the second navigation route, from the current lane to the target lane. This driving route includes multiple combinations of driving segments, each combination containing at least two parallel and adjacent driving segments. For details, see [link to documentation]. Figure 9 The driving route is SD-Link, which includes two driving segment combinations, LaneGroup0 and LaneGroup1. LaneGroup0 consists of two parallel and adjacent segments, Lane0 and Lane1, while LaneGroup1 consists of two parallel and adjacent segments, Lane2 and Lane3. Then, based on factors such as whether the driving segments are passable and whether lane changes are possible, the target driving segment is selected from the driving segments included in the driving route to travel from the current lane to the target lane. Based on the selected target driving segment, the lane route corresponding to traveling from the current lane to the target lane is generated.

[0159] In some embodiments, when there are at least two lane routes, the terminal can generate third lane guidance information corresponding to the second navigation route and driving from the current lane to the target lane based on the lane routes in the following manner: obtaining lane driving parameters corresponding to each lane route, and selecting the target lane route from at least two lane route information based on the lane driving parameters; and generating third lane guidance information corresponding to the second navigation route and driving from the current lane to the target lane based on the target lane route.

[0160] Here, when at least two lane routes are determined, a target lane route can be selected from these at least two lane routes. Specifically, the target lane route can be selected based on parameters such as vehicle speed, traffic volume in the lanes involved in the lane route, the number of lanes between each lane when a lane change occurs, and the interval distance. This allows for the selection of the lane route with the lowest or least travel cost, such as the lane route with the shortest travel time or the lane route with the shortest travel distance. Then, based on the target lane route, third lane guidance information corresponding to the second navigation route is generated, showing the route from the current lane to the target lane.

[0161] In some embodiments, the terminal may display the first lane guidance information corresponding to the first navigation route in the following manner: displaying the first lane guidance line corresponding to the first navigation route in navigation mode;

[0162] Accordingly, the terminal can switch the first lane guidance information to the second lane guidance information corresponding to the current lane in the following way: switch the navigation mode to cruise mode, and start from the current position of the vehicle, switch the first lane guidance line to the second lane guidance line corresponding to the current lane;

[0163] Accordingly, the terminal can switch the displayed second lane guidance information to the third lane guidance information of the corresponding second navigation route in the following way: switch the cruise mode to the navigation mode and switch the displayed second lane guidance line to the third lane guidance line of the corresponding second navigation route.

[0164] Here, in navigation mode, the terminal displays the first lane guide line corresponding to the first navigation route; see details below. Figure 5 When the terminal switches the first lane guidance information to the second lane guidance information corresponding to the current lane, the navigation mode needs to be switched to cruise mode, and the first lane guidance line needs to be switched to the second lane guidance line corresponding to the current lane, starting from the vehicle's current position. See details in [link to documentation]. Figure 6 Furthermore, when the terminal switches the displayed second lane guidance information to the third lane guidance information corresponding to the second navigation route, the terminal switches the cruise mode to the navigation mode and switches the displayed second lane guidance line to the third lane guidance line corresponding to the second navigation route.

[0165] Applying the above embodiments of this application, the vehicle navigation interface presents at least two lanes of the road and a vehicle traveling in the first lane of the road; in the at least two lanes, first lane guidance information corresponding to the first navigation route is displayed; while the vehicle is traveling along the first lane, when the first lane guidance information indicates a switch from the first lane to the second lane and the vehicle deviates, the first lane guidance information is switched to the second lane guidance information corresponding to the current lane, starting from the vehicle's current position; while the vehicle is traveling based on the second lane guidance information, the displayed second lane guidance information is switched to the third lane guidance information corresponding to the second navigation route; thus, the vehicle travels based on lane-level navigation. When a vehicle is driving under the guidance of the first lane guidance information, if the first lane guidance information indicates a lane change and the vehicle deviates (i.e., does not make the corresponding lane change), it does not directly exit the current lane-level navigation or switch to non-lane-level road navigation as in related technologies. Instead, it first switches the first lane guidance information to the second lane guidance information corresponding to the current lane to achieve a transition of lane guidance information. Then, without the user's awareness, the second lane guidance information is switched to the third lane guidance information corresponding to the second navigation route. This achieves a smooth switch of lane guidance information for different routes in the vehicle navigation interface, making the user's navigation experience more consistent and improving navigation efficiency.

[0166] The following describes an exemplary application of the embodiments of this application in a real-world application scenario.

[0167] Navigation systems in related technologies determine whether a user has deviated from the planned route by comparing the vehicle's position coordinates with the coordinates of the planned route. Upon detecting a deviation, the system immediately exits the current lane-level navigation route. This means that deviation is only detected when the vehicle has already strayed a certain distance from the navigation route, preventing timely switching to a new route. Furthermore, the immediate exit from the current lane-level navigation route after deviation detection creates a navigation gap, negatively impacting the user experience.

[0168] Based on this, this application provides a vehicle navigation method to at least solve the aforementioned problems. In the vehicle navigation method provided in this application, the system detects whether the vehicle is deviating from its lane in real time based on a high-precision map. Specifically, if the vehicle has traveled past the latest lane-changing position, meaning it can no longer change lanes to the target lane, the navigation system determines that the vehicle has deviated. At this time, the system switches from the current navigation mode to cruise mode and generates a lane-level navigation route for the vehicle. Specifically, after the vehicle deviates, the navigation system generates a lane-level virtual guide line (i.e., the aforementioned second lane guidance information) according to the "first topology" (i.e., the generation logic of the lane-level navigation route in the case of deviation). Simultaneously, the vehicle's deviation data is uploaded to the cloud, and the cloud generates a new navigation route (i.e., the aforementioned second navigation route) and sends it to the user terminal (such as an in-vehicle terminal, mobile terminal, etc.). The terminal regenerates a new lane-level navigation route (i.e., the aforementioned third lane guidance information) based on the new navigation route and switches to the generated new lane-level navigation route. This effectively bridges the navigation gap that occurs when switching navigation routes during deviation.

[0169] The following explains the terms used in the embodiments of this application, including:

[0170] 1) Standard Definition Map (SD map): Cannot represent lane-level information. 2) High Definition Map (HD map): Represents lane-level information. 3) Lane: A lane in HD data. 4) LaneGroup: A group of horizontally adjacent lanes. 5) SD Link: A section of standard definition road; compared to high definition data, it has lower precision and cannot represent lane information.

[0171] like Figure 9 As shown, Figure 9 This is a schematic diagram of a driving segment provided in an embodiment of this application. Here, an SD Link includes two driving segment combinations LaneGroup (LaneGroup0 and LaneGroup1), and each LaneGroup includes two sub-lanes (i.e., the driving segment mentioned above), wherein LaneGroup0 includes Lane0 and Lane1; LaneGroup1 includes Lane2 and Lane3.

[0172] The following section will first describe the vehicle navigation method provided in this application from the product perspective. The main application scenarios of the vehicle navigation method provided in this application include: when a user is using the navigation system, they may deviate from the lane-level route planned by the navigation system for various reasons. In this case, the navigation system needs to replan the route for the user based on their current lane and replace the original planned route (i.e., the first navigation route) with the new route (i.e., the second navigation route mentioned above), allowing the user to correct their direction of travel in a timely manner after deviating from the planned route.

[0173] In practical applications, the user enters the navigation system, inputs destination and other information, and begins driving according to the SD route planned by the navigation system (i.e., the first navigation route mentioned above). The navigation system calculates the lane-level route (i.e., the first lane guidance information mentioned above) based on the planned SD route. If a lane change is required, the navigation system will plan the recommended lane change position and the latest lane change position. When the navigation system detects that the user's vehicle has passed the latest lane change position, and the user's vehicle cannot change to the target lane, it determines that the user has deviated from the course. The navigation switches to cruise mode and re-detects the path forward from the lane where the vehicle is currently located, calculating the lane-level route (i.e., the second lane guidance information mentioned above) until a new available target lane appears. At the same time, the navigation system uploads the location information and destination to the cloud, and the cloud calculates a new route (i.e., the second navigation route mentioned above) and sends it to the navigation system. After receiving the new route, the navigation system re-plans the lane-level route (i.e., the third lane guidance information mentioned above) based on the user's current location information, switches the cruise mode back to navigation mode, and replaces the virtual guide line in cruise mode with the new planned route.

[0174] See Figure 7 If a user's vehicle has passed the latest lane change point and is unable to enter the planned route, the navigation system will switch from navigation mode to cruise mode and re-detect the route from the lane where the vehicle is located.

[0175] The vehicle navigation method provided in this application will now be described from a technical perspective.

[0176] First, obtain the current lane and the target lane, and generate a lane-level path.

[0177] Specifically, 1) First, an SD Link-level route is planned in the cloud based on the origin and destination, and the target lanes at each fork in the road are calculated in the cloud. This route information is then sent to the user's device. 2) After receiving the route information, the user's device generates a lane-level path based on the current lane calculated by location and the target lanes at the forks in the route. The calculation considers factors such as lane passability and lane changeability. 3) If the distance from the current lane to the nearest target lane is relatively short, the lane-level route between the target lane and the next target lane is calculated, until a certain distance, such as 2km, is reached.

[0178] See Figure 10 , Figure 10 This is a flowchart illustrating the determination of lane guidance information for a navigation route provided in this application embodiment, including:

[0179] Step 201: Determine the target lane that is closest to the vehicle's current position.

[0180] Step 202: Form "current lane + target lane".

[0181] Step 203: Forward LaneGroup Topology: Calculate the LaneGroup path on the planned route based on the current lane and the target lane.

[0182] Step 204: Backward Lane Topology: Based on the LaneGroup results above, calculate all lane-level paths from the target lane to the starting lane, taking into account factors such as whether the lane is passable and whether it can be changed.

[0183] Step 205: Select the route with the lowest lane change cost from all routes originating from the backward lane topology.

[0184] Step 206: Was the calculation successful? If yes, proceed to step 207; otherwise, proceed to step 209.

[0185] Step 207: Collect lane-level routes.

[0186] Step 208: Update the current lane and the target lane: Set the target lane as the current lane, set the next target lane as the target lane, and return to step 202.

[0187] Step 209: Yaw logic.

[0188] Second, based on lane marking information, detect whether the user's vehicle is veering off course.

[0189] Specifically, according to the above method, when the route from the current lane to the target lane cannot be calculated based on lane-level topology rules (possibly due to solid lines preventing lane changes, or the user taking an alternative route, etc.), it is determined to be a deviation. This solution can promptly identify user deviation behavior and considers lane topology and lane change information, resulting in high accuracy. Figure 11 As shown, Figure 11 This is a lane-changing diagram provided in an embodiment of this application. The planned route starts from direction B on the right front. When the user is at position A and misses the latest lane-changing position, it will be judged as yaw.

[0190] Third, after veerging off course, the navigation switches to cruise mode and re-detects the path forward in the lane where the vehicle is located until a new route is generated in the cloud.

[0191] Specifically, after yaw, the target lane becomes invalid, and cruise mode is activated. The system then begins probing forward along the vehicle's current lane, identifying lane-level paths the user is more likely to take. Intuitively, this involves identifying the lane the user is more likely to travel straight; this is referred to as the "first topology" method in this scheme. The scheme is as follows: Figure 12 As shown, Figure 12 This is a schematic diagram of the yaw processing flow provided in the embodiments of this application, including:

[0192] Step 301: Initialize the lane-level path to the current lane.

[0193] Step 302: Determine if the processing distance exceeds 2km. If yes, proceed to step 303; otherwise, proceed to step 304.

[0194] Step 303: End.

[0195] Step 304: Obtain all downstream lanes of the current lane [].

[0196] Step 305: Following the "first topology" method, select the lane that is closer to going straight.

[0197] Specifically, it includes: Step 3051: Select based on attributes: Prioritize downstream non-extended, non-diverting lanes, i.e., select straight lanes;

[0198] Step 3052: Select based on shape: Prioritize lanes whose direction at the end of the current lane is less different from the direction at the beginning of the downstream lane, i.e., lanes whose shape is closer to a straight lane.

[0199] Step 306: Collect lanes in the new topology.

[0200] Step 307: Set the lane selected in "First Topology" as the current lane.

[0201] Fourth, after yaw, the positioning parameters are uploaded to the cloud to generate a new planned route.

[0202] Specifically, after veerging off course, the vehicle's current location information will be uploaded to the cloud. The cloud will then plan a new SD Link-level route, calculate the target lane for each fork in the road, and send the new route information to the user.

[0203] Fifth, the cloud sends the route information back to the vehicle, replacing the original planned route. The user then plans a new lane-level navigation route based on the new route and target lane.

[0204] By applying the above embodiments of this application, the gap caused by replanning the route and switching the original planned route when yawing can be bridged, making the user experience more consistent, avoiding user anxiety caused by untimely switching, and the yawing detection is more accurate based on the lane-level topology method.

[0205] The following description continues to illustrate the exemplary structure of the vehicle navigation device 555 provided in the embodiments of this application as a software module. In some embodiments, such as... Figure 2 As shown, the software modules stored in the vehicle navigation device 555 in the memory 550 may include:

[0206] Presentation module 5551 is used to present, in the vehicle navigation interface, at least two lanes included in the road, and vehicles traveling in the first lane of the road;

[0207] Display module 5552 is used to display first lane guidance information corresponding to the first navigation route in the at least two lanes;

[0208] The first switching module 5553 is used to switch the first lane guidance information to the second lane guidance information corresponding to the current lane when the first lane guidance information indicates a switch from the first lane to the second lane and the vehicle veers off course during the process of the vehicle traveling along the first lane.

[0209] The second switching module 5554 is used to switch the displayed second lane guidance information to the third lane guidance information corresponding to the second navigation route during the process of the vehicle driving based on the second lane guidance information.

[0210] In some embodiments, the display module 5552 is further configured to display, among the at least two lanes presented, the lane change position from the first lane to the second lane;

[0211] Display first lane guidance information corresponding to the first navigation route, indicating the switch from the first lane to the second lane via the lane change location.

[0212] In some embodiments, when the number of lane change locations is at least two, the display module 5552 is further configured to acquire vehicle driving parameters, which include at least one of the following: the vehicle's driving speed, the traffic flow in the second lane, the number of lanes between the first lane and the second lane, and the interval distance.

[0213] Based on the vehicle driving parameters, a recommended lane change position is selected from the at least two lane change positions;

[0214] Display first lane guidance information corresponding to the first navigation route, indicating the switch from the first lane to the second lane via the recommended lane change location.

[0215] In some embodiments, the apparatus further includes:

[0216] A yaw detection module is used to obtain the vehicle's driving position in the first lane;

[0217] When it is determined, based on the driving position, that the vehicle cannot switch to the second lane through the lane change position, the vehicle is determined to be yawing.

[0218] In some embodiments, when the number of lane change locations is at least two, the yaw recognition module is further configured to determine that the vehicle is yawing when, based on the driving position, it is determined that the vehicle cannot switch to the second lane through the latest lane change location among the at least two lane change locations.

[0219] The latest lane change position is the last lane change position located ahead of the vehicle among the at least two lane change positions.

[0220] In some embodiments, the apparatus further includes:

[0221] The lane change position determination module is used to obtain vehicle driving parameters, which include at least one of the following: the vehicle's driving speed, the traffic flow in the second lane, the number of lanes between the first lane and the second lane, and the interval distance;

[0222] Based on the vehicle driving parameters, the latest lane change position is determined;

[0223] Between the vehicle's current position and the latest lane change position, at least one lane change position that is different from the latest lane change position is selected.

[0224] In some embodiments, the presentation module 5551 is further configured to present a navigation guidance function switch in the navigation settings interface;

[0225] In response to an activation command for the navigation guidance function switch, the navigation guidance function for the vehicle is activated;

[0226] The second switching module 5554 is further configured to, when the navigation guidance function for the vehicle is enabled, switch the first lane guidance information to the second lane guidance information corresponding to the current lane, starting from the current position of the vehicle.

[0227] In some embodiments, the first lane includes multiple driving segments of equal length. The display module 5552 is further configured to determine the driving segment corresponding to the current position of the vehicle and obtain multiple downstream driving segments of the driving segment in the direction of the vehicle's movement.

[0228] Select a target downstream driving segment from the plurality of downstream driving segments, and present second lane guidance information that starts from the current position of the vehicle and extends to the target downstream driving segment, in order to replace the first lane guidance information.

[0229] In some embodiments, the display module 5552 is further configured to obtain the distance between the current position of the vehicle and the end position of the current road segment in which the vehicle is traveling;

[0230] When it is determined that the distance does not exceed the distance threshold, multiple downstream driving segments of the current driving segment of the vehicle in the direction of the vehicle's movement are obtained.

[0231] In some embodiments, the second switching module 5554 is further configured to obtain the real-time position of the vehicle while it is traveling in accordance with the second lane guidance information;

[0232] Based on the real-time location and the target location, a second navigation route corresponding to the vehicle is generated, and the second navigation route replaces the first navigation route.

[0233] In some embodiments, the second switching module 5554 is further configured to determine the current lane corresponding to the current position of the vehicle, and to determine the target lane that the vehicle is about to pass through corresponding to the current lane;

[0234] Based on the second navigation route, and the current lane and the target lane, generate third lane guidance information corresponding to the second navigation route, which guides you from the current lane to the target lane.

[0235] The displayed second lane guidance information corresponding to the current lane will be switched to the generated third lane guidance information corresponding to the second navigation route;

[0236] When the vehicle leaves the current lane, the above operation is repeated until it passes each fork in the second navigation route;

[0237] The target lane is located at each fork in the road in the direction of vehicle travel in the second navigation route.

[0238] In some embodiments, the second switching module 5554 is further configured to combine the second navigation route and determine the lane route corresponding to traveling from the current lane to the target lane based on the current lane and the target lane;

[0239] Based on the lane route, generate third lane guidance information corresponding to the second navigation route, which is to travel from the current lane to the target lane.

[0240] In some embodiments, the second switching module 5554 is further configured to determine, based on the current lane and the target lane, a driving route from the current lane to the target lane on the second navigation route, wherein the driving route includes multiple combinations of driving segments, and each combination of driving segments includes at least two parallel and adjacent driving segments.

[0241] From each driving segment included in the driving route, select the target driving segment that is traversed from the current lane to the target lane;

[0242] Based on the selected target driving segment, a lane route is generated to travel from the current lane to the target lane.

[0243] In some embodiments, when the number of lane routes is at least two, the second switching module 5554 is further configured to obtain lane driving parameters corresponding to each lane route, and select a target lane route from the at least two lane routes based on the lane driving parameters.

[0244] Based on the target lane route, generate third lane guidance information corresponding to the second navigation route, which is to travel from the current lane to the target lane.

[0245] In some embodiments, the presentation module 5551 is further configured to locate the vehicle to obtain location information, query the electronic map based on the location information to obtain the first lane where the vehicle is located, and present the vehicle in the first lane.

[0246] Alternatively, the environment in which the vehicle is located can be visually recognized to obtain environmental visual information, the first lane in which the vehicle is located can be determined based on the environmental visual information, and the vehicle can be displayed in the first lane.

[0247] In some embodiments, the presentation module 5551 is further configured to perform any of the following processes:

[0248] Obtain the location information set for the vehicle;

[0249] The vehicle is subjected to positioning processing based on the Global Positioning System to obtain positioning information;

[0250] The vehicle is subjected to carrier phase differential positioning processing to obtain positioning information.

[0251] In some embodiments, the display module 5552 is further configured to display a first lane guide line corresponding to the first navigation route in the navigation mode;

[0252] The second switching module 5554 is also used to switch the navigation mode to cruise mode, and to switch the first lane guide line to the second lane guide line corresponding to the current lane, starting from the current position of the vehicle.

[0253] The second switching module 5554 is also used to switch the cruise mode to the navigation mode and switch the displayed second lane guide line to the third lane guide line corresponding to the second navigation route.

[0254] Applying the above embodiments of this application, the vehicle navigation interface presents at least two lanes of the road and a vehicle traveling in the first lane of the road; in the at least two lanes, first lane guidance information corresponding to the first navigation route is displayed; while the vehicle is traveling along the first lane, when the first lane guidance information indicates a switch from the first lane to the second lane and the vehicle deviates, the first lane guidance information is switched to the second lane guidance information corresponding to the current lane, starting from the vehicle's current position; while the vehicle is traveling based on the second lane guidance information, the displayed second lane guidance information is switched to the third lane guidance information corresponding to the second navigation route; thus, the vehicle travels based on lane-level navigation. When a vehicle is driving under the guidance of the first lane guidance information, if the first lane guidance information indicates a lane change and the vehicle deviates (i.e., does not make the corresponding lane change), it does not directly exit the current lane-level navigation or switch to non-lane-level road navigation as in related technologies. Instead, it first switches the first lane guidance information to the second lane guidance information corresponding to the current lane to achieve a transition of lane guidance information. Then, without the user's awareness, the second lane guidance information is switched to the third lane guidance information corresponding to the second navigation route. This achieves a smooth switch of lane guidance information for different routes in the vehicle navigation interface, making the user's navigation experience more consistent and improving navigation efficiency.

[0255] This application embodiment also provides an electronic device, the electronic device comprising:

[0256] Memory, used to store executable instructions;

[0257] The processor is configured to execute executable instructions stored in the memory to implement the vehicle navigation method provided in the embodiments of this application.

[0258] This application also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the vehicle navigation method provided in this application.

[0259] This application also provides a computer-readable storage medium storing executable instructions, which, when executed by a processor, implement the vehicle navigation method provided in this application.

[0260] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EP ROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or it may be a variety of devices including one or any combination of the above-mentioned memories.

[0261] In some embodiments, executable instructions may take the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0262] As an example, executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple collaborating files (e.g., files that store one or more modules, subroutines, or code sections).

[0263] As an example, executable instructions can be deployed to execute on a single computing device, or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network.

[0264] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and scope of this application are included within the scope of protection of this application.

Claims

1. A vehicle navigation method characterized by comprising: The method comprises: presenting, in a vehicle navigation interface, at least two lanes included in a road, and a vehicle traveling in a first lane of the road; displaying, in the at least two lanes, first lane guide information corresponding to a first navigation route in a navigation mode; during the vehicle traveling along the first lane, when the first lane guide information indicates switching from the first lane to a second lane and the vehicle deviates, switching the navigation mode to a cruising mode, and generating second lane guide information extending from a current position of the vehicle to an end position of a target downstream travel segment of a travel segment where the vehicle is located; and switching the first lane guide information to the second lane guide information corresponding to a current lane, the second lane guide information being used for presentation during an interval time caused by re-planning a second navigation route after the vehicle deviates; during the vehicle traveling based on the second lane guide information, switching the cruising mode to the navigation mode, and switching the displayed second lane guide information to third lane guide information corresponding to a second navigation route, the first navigation route and the second navigation route being used to guide the vehicle to travel to a target position.

2. The method of claim 1, wherein, The displaying, in the at least two lanes, first lane guide information corresponding to a first navigation route in a navigation mode comprises: presenting, in the presented at least two lanes, a lane change position from the first lane to the second lane; displaying first lane guide information corresponding to the first navigation route in a navigation mode, indicating switching from the first lane to the second lane via the lane change position.

3. The method of claim 2, wherein, When the number of lane change positions is at least two, the displaying first lane guide information corresponding to the first navigation route in a navigation mode, indicating switching from the first lane to the second lane via the lane change position, comprises: obtaining vehicle travel parameters, the vehicle travel parameters comprising at least one of the following: travel speed of the vehicle, traffic volume of the second lane, number of interval lanes and interval distance between the first lane and the second lane; based on the vehicle travel parameters, selecting a recommended lane change position from the at least two lane change positions; displaying first lane guide information corresponding to the first navigation route in a navigation mode, indicating switching from the first lane to the second lane via the recommended lane change position.

4. The method of claim 2, wherein, The method further comprises: obtaining a travel position of the vehicle in the first lane; when it is determined, based on the travel position, that the vehicle cannot switch to the second lane via the lane change position, determining that the vehicle deviates.

5. The method of claim 4, wherein, When the number of lane change positions is at least two, the determining that the vehicle deviates when it is determined, based on the travel position, that the vehicle cannot switch to the second lane via the lane change position, comprises: when it is determined, based on the travel position, that the vehicle cannot switch to the second lane via the latest lane change position among the at least two lane change positions, it is determined that the vehicle deviates; The latest lane-changing position is the last lane-changing position in the at least two lane-changing positions located in front of the vehicle.

6. The method of claim 5, wherein, The method further includes: The at least two lane-changing positions are determined by performing the following operations: Obtaining vehicle driving parameters, the vehicle driving parameters including at least one of the following: driving speed of the vehicle, traffic volume of the second lane, number of interval lanes between the first lane and the second lane, and interval distance; Based on the vehicle driving parameters, determining the latest lane-changing position; Selecting at least one lane-changing position between the current position of the vehicle and the latest lane-changing position, which is different from the latest lane-changing position.

7. The method of claim 1, wherein, The method further includes: Presenting a navigation guidance function switch in a navigation setting interface; In response to an opening instruction for the navigation guidance function switch, opening the navigation guidance function for the vehicle. The switching of the navigation mode to the cruise mode includes: When the navigation guidance function for the vehicle is opened, switching the first lane guide information to second lane guide information corresponding to the current lane, with the current position of the vehicle as the starting point.

8. The method of claim 1, wherein, The first lane includes a plurality of driving sections with the same length, and the generation of the second lane guide information extending from the current position of the vehicle to the target downstream driving section of the vehicle includes: Determining the driving section corresponding to the current position of the vehicle, and obtaining a plurality of downstream driving sections of the driving section in the advancing direction of the vehicle; Selecting a target downstream driving section from the plurality of downstream driving sections, and presenting second lane guide information extending from the current position of the vehicle to the end position of the target downstream driving section to replace the first lane guide information.

9. The method of claim 8, wherein, The obtaining of the plurality of downstream driving sections of the driving section in the advancing direction of the vehicle includes: Obtaining the distance between the current position of the vehicle and the end position of the driving section where the vehicle is currently located; When it is determined that the distance does not exceed a distance threshold, obtaining a plurality of downstream driving sections of the driving section where the vehicle is currently located in the advancing direction of the vehicle.

10. The method of claim 8, wherein, The selecting of the target downstream driving section from the plurality of downstream driving sections includes: Obtaining section parameters of each downstream driving section, the section parameters including at least one of section attributes and section shapes; Based on the section parameters, selecting a target number of target downstream driving sections from the plurality of downstream driving sections.

11. The method of claim 10, wherein, After the selecting of the target downstream driving section from the plurality of downstream driving sections, the method further includes: Determining the end positions of the target number of target downstream driving sections; Based on the connection line between the current position of the vehicle and the end positions, generating the second lane guide information.

12. The method of claim 1, wherein, Before the switching of the displayed second lane guide information to third lane guide information corresponding to the second navigation route, the method further includes: Obtaining the real-time position of the vehicle during driving according to the second lane guide information; Based on the real-time position and the target position, a second navigation route corresponding to the vehicle is generated, and the second navigation route is used to replace the first navigation route.

13. The method of claim 1, wherein, The second lane guide information displayed is switched to third lane guide information corresponding to the second navigation route, including: A current lane corresponding to the current position of the vehicle is determined, and a target lane corresponding to the current lane and to be driven through is determined; Based on the current lane and the target lane, third lane guide information corresponding to the second navigation route and from the current lane to the target lane is generated in combination with the second navigation route; The second lane guide information corresponding to the current lane displayed is switched to the third lane guide information corresponding to the second navigation route generated; When the vehicle drives out of the current lane, the step of generating the third lane guide information from the current lane to the target lane is repeatedly executed until each branch intersection in the second navigation route is driven through. The target lane is located at each branch intersection in the second navigation route in the direction of the vehicle.

14. The method of claim 13, wherein, The step of generating the third lane guide information from the current lane to the target lane in combination with the second navigation route based on the current lane and the target lane, includes: Based on the current lane and the target lane, a lane route from the current lane to the target lane is determined in combination with the second navigation route; Based on the lane route, third lane guide information corresponding to the second navigation route and from the current lane to the target lane is generated.

15. The method of claim 14, wherein, The step of determining the lane route from the current lane to the target lane in combination with the second navigation route based on the current lane and the target lane, includes: According to the current lane and the target lane, a driving route from the current lane to the target lane on the second navigation route is determined, and the driving route includes a plurality of driving route segment combinations, and each driving route segment combination includes at least two parallel and adjacent driving route segments; A target driving route segment from the current lane to the target lane is selected from each driving route segment included in the driving route; Based on the selected target driving route segment, a lane route from the current lane to the target lane is generated.

16. The method of claim 14, wherein, When the number of the lane routes is at least two, the step of generating the third lane guide information corresponding to the second navigation route and from the current lane to the target lane based on the lane route, includes: Lane driving parameters corresponding to each lane route are obtained, and a target lane route is selected from the at least two lane routes based on the lane driving parameters; Based on the target lane route, third lane guide information corresponding to the second navigation route and from the current lane to the target lane is generated.

17. The method of claim 1, wherein, The vehicle driving in the first lane of the road, includes: The vehicle is positioned to obtain positioning information, the positioning information is inquired in an electronic map to obtain a first lane where the vehicle is located, and the vehicle is presented in the first lane; Or, the environment where the vehicle is located is visually recognized to obtain environmental visual information, the first lane where the vehicle is located is determined according to the environmental visual information, and the vehicle is presented in the first lane.

18. The method of claim 17, wherein, The positioning of the vehicle obtains the positioning information, and includes: Any one of the following processing is performed: Obtaining positioning information set for the vehicle; Performing global positioning system-based positioning processing on the vehicle to obtain positioning information; Performing carrier phase difference-based positioning processing on the vehicle to obtain positioning information.

19. A vehicle navigation device characterized by comprising: The device includes: A presentation module configured to present, in a vehicle navigation interface, at least two lanes included in a road and a vehicle traveling in a first lane of the road; A display module configured to display, in the at least two lanes, first lane guide information corresponding to a first navigation route in a navigation mode; A first switching module configured to, when the first lane guide information indicates switching from the first lane to a second lane and the vehicle deviates during the vehicle traveling along the first lane, switch the navigation mode to a cruising mode, generate second lane guide information extending from a current position of the vehicle to a road segment end position of a target downstream road segment of the vehicle, and switch the first lane guide information to the second lane guide information corresponding to a current lane, the second lane guide information being used for presentation during an interval time caused by re-planning a second navigation route after the vehicle deviates; A second switching module configured to, when the vehicle travels based on the second lane guide information, switch the cruising mode to the navigation mode, and switch the displayed second lane guide information to third lane guide information corresponding to a second navigation route, the first navigation route and the second navigation route being used to guide the vehicle to travel to a target position.

20. The apparatus of claim 19, wherein, The first lane includes a plurality of travel road segments with the same length; The display module is further configured to determine a travel road segment corresponding to the current position of the vehicle, and obtain a plurality of downstream travel road segments of the travel road segment in a forward direction of the vehicle; A target downstream travel road segment is selected from the plurality of downstream travel road segments, and second lane guide information extending from the current position of the vehicle to the target downstream travel road segment is presented to replace the first lane guide information.

21. The apparatus of claim 20, wherein, The display module is further configured to obtain a distance between the current position of the vehicle and an end position of a travel road segment where the vehicle is currently located; When it is determined that the distance does not exceed a distance threshold, a plurality of downstream travel road segments of the travel road segment where the vehicle is currently located in the forward direction of the vehicle are obtained.

22. The apparatus of claim 20, wherein, The second switching module is further configured to obtain a real-time position of the vehicle during traveling according to the second lane guide information. Based on the real-time position and the target position, a second navigation route corresponding to the vehicle is generated, and the first navigation route is replaced by the second navigation route.

23. An electronic device, comprising: The electronic device comprises: a memory for storing executable instructions; a processor for executing the executable instructions stored in the memory to implement the vehicle navigation method according to any one of claims 1 to 18.

24. A computer-readable storage medium, characterized in that, The executable instructions stored in the memory are executed to implement the vehicle navigation method according to any one of claims 1 to 18.

25. A computer program product comprising computer instructions, characterized in that, The computer instructions are executed by the processor to implement the vehicle navigation method according to any one of claims 1 to 18.

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