Navigation method, terminal, server, electronic device and storage medium

Abstract

Embodiments of the present application provide a navigation method, terminal, server, electronic device, and storage medium, relating to the field of map technology. The method comprises: displaying a navigation map, the navigation map including a navigation route for a navigation object; in response to the navigation object, operating according to the navigation route, being in a reminder scenario, displaying reminder content corresponding to the reminder scenario on the navigation map; the reminder scenario being determined based on a vehicle-to-everything (V2X) message; and the V2X message including road change information and the spatiotemporal information corresponding to the road change information. Embodiments of the present application can enrich the information content during driving navigation, improving driving safety and road traffic efficiency.

Description

Technical Field

[0001] The present application relates to the field of map technology, and more specifically, to a navigation method, device, electronic device, and storage medium. Background Art

[0002] The function of existing ordinary map navigation systems is mainly to combine auxiliary road information with static road structure information, such as road static information, road construction information, congestion information, water accumulation information, and weather, to provide navigation information for users such as drivers and pedestrians.

[0003] However, existing ordinary map navigation functions can only provide static road structure information, road construction information, weather, etc., and cannot provide real-time dynamic information such as road vehicles, pedestrians, obstacles, etc.

[0004] Existing V2X (vehicle-to-everything) technology typically provides dynamic information through specialized V2X vehicle-to-everything (V2X) equipment. However, due to the high price and maintenance costs of V2X equipment, V2X technology has yet to gain widespread adoption. Summary of the Invention

[0005] Embodiments of the present application provide a navigation method, terminal, server, electronic device, and storage medium that overcome the above-mentioned problems or at least partially solve the above-mentioned problems.

[0006] In a first aspect, a navigation method is provided, comprising:

[0007] Displaying a navigation map, wherein the navigation map includes a navigation route of a navigation object, so as to instruct the navigation object to act according to the navigation route;

[0008] In response to the navigation object being in a reminder scene, displaying reminder content corresponding to the reminder scene on the navigation map;

[0009] The reminder scenario is determined based on V2X messages collected by roadside equipment; the V2X messages include road change information and spatiotemporal information corresponding to the road change information.

[0010] As an optional manner, in response to the navigation object being in a reminder scene, displaying reminder content corresponding to the reminder scene on the navigation map includes:

[0011] Acquiring reminder content generated by the server in response to the navigation object being in the reminder scene;

[0012] The reminder content is superimposed on the navigation map to obtain a navigation map showing the reminder content.

[0013] As an optional manner, superimposing the reminder content on the navigation map to obtain a navigation map showing the reminder content includes:

[0014] Editing the base layer of the navigation map according to the static road information;

[0015] Editing the first layer of the navigation map according to the navigation route;

[0016] Edit the second layer of the navigation map according to the reminder content;

[0017] The first layer is superimposed on the upper layer of the base layer, and the second layer is superimposed on the upper layer of the first layer to obtain the navigation map.

[0018] In a second aspect, a navigation method is provided, comprising:

[0019] Obtaining V2X messages collected by roadside equipment, where the V2X messages include road change information and spatiotemporal information corresponding to the road change information;

[0020] When it is determined that the navigation object is in a reminder scene, generating reminder content corresponding to the reminder scene and pushing it to the navigation object;

[0021] The reminder scenario is determined based on the V2X message.

[0022] As an optional method, generating reminder content corresponding to the reminder scenario and pushing it to the navigation object includes:

[0023] Determining corresponding reminder content according to the reminder scene in which the navigation object is located, the reminder content including at least one of text and icon;

[0024] The reminder content is placed in a pre-configured information window using a map software development kit (SDK), and the information window is pushed to the navigation object.

[0025] As an optional method, the reminder content is placed in a pre-configured information window, which also includes:

[0026] Initialize an icon marker in the navigation map using the map SDK;

[0027] Register a callback function on the maker;

[0028] The callback function is used to write the reminder content into the information window in response to the navigation object being in the reminder scene.

[0029] As an optional method, the reminder content is placed in a pre-configured information window, which also includes:

[0030] Modify the MarkerOptions option of the map SDK to receive the V2X message sent by the roadside device through the MarkerOptions option.

[0031] As an optional method, placing the reminder content in a pre-configured information window further includes:

[0032] Set at least one of the stay time and animation effect of the information window in the navigation map.

[0033] As an optional method, determining whether the navigation object is in a reminder scene includes:

[0034] Acquiring spatiotemporal information of the navigation object;

[0035] Determine whether the navigation object is in a reminder scene according to the spatiotemporal information corresponding to the road change information and the spatiotemporal information of the navigation object.

[0036] As an optional manner, determining that the navigation object is in a reminder scene according to the spatiotemporal information corresponding to the road change information and the spatiotemporal information corresponding to the navigation object, the method further includes:

[0037] Determining that the spatiotemporal information corresponding to the road change information satisfies both temporal availability and spatial availability;

[0038] The spatial availability is used to indicate that the event corresponding to the road change information has an impact on the navigation object in the spatial dimension;

[0039] The time availability is used to indicate that the event corresponding to the road change information has an impact on the navigation object in the time dimension.

[0040] In a third aspect, an embodiment of the present application provides a terminal, including:

[0041] A route map display module, used to display a navigation map, wherein the navigation map includes a navigation route of a navigation object;

[0042] a reminder map display module, configured to display reminder content corresponding to the reminder scene on the navigation map in response to the navigation object acting according to the navigation route being in a reminder scene;

[0043] The reminder scenario is determined based on a V2X message; the V2X message includes road change information and spatiotemporal information corresponding to the road change information.

[0044] In a fourth aspect, an embodiment of the present application provides a server, including:

[0045] a message acquisition module, configured to acquire a V2X message, wherein the V2X message includes road change information and spatiotemporal information corresponding to the road change information;

[0046] A reminder information push module is used to generate reminder content corresponding to the reminder scene and push it to the navigation object when it is determined that the navigation object is in the reminder scene;

[0047] The reminder scenario is determined based on the V2X message.

[0048] In a fifth aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method provided in the first aspect are implemented.

[0049] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method provided in the first aspect.

[0050] In the seventh aspect, an embodiment of the present application provides a computer program, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. When the processor of a computer device reads the computer instructions from the computer-readable storage medium, the processor executes the computer instructions, so that the computer device performs the steps of implementing the method provided in the first aspect.

[0051] The navigation method, terminal, server, electronic device, and storage medium provided in the embodiments of the present application display a navigation map, wherein the navigation map includes a navigation route of a navigation object; in response to the navigation object being in a reminder scenario according to the navigation route, a reminder content corresponding to the reminder scenario is displayed on the navigation map; the V2X message includes road change information and spatiotemporal information corresponding to the road change information. Since the embodiments of the present application determine that the navigation object is in a warning scenario based on V2X messages collected by roadside equipment, the navigation object itself does not need to be installed with V2X vehicle equipment, which greatly saves the cost of obtaining V2X messages for car owners and contributes to the wider popularization of V2X technology. In addition, the warning information and navigation route are displayed simultaneously on the navigation map, avoiding the problem in the prior art that users can only choose to pay attention to one of the V2X messages and the navigation route, enriching the amount of information in the driving navigation process and improving the driving safety and road traffic efficiency of car owners. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments of the present application.

[0053] Figure 1 A schematic diagram of the architecture of a navigation system provided in an embodiment of the present application;

[0054] Figure 2 A flowchart of a navigation method according to an embodiment of the present application;

[0055] Figure 3 A schematic diagram of a navigation map of a navigation object before and after a collision warning scene for a vulnerable traffic participant according to an embodiment of the present application;

[0056] Figure 4 A schematic diagram of a navigation map showing a navigation object before and after a green wave speed guidance scenario according to an embodiment of the present application;

[0057] Figure 5 This is a flowchart of a navigation method according to another embodiment of the present application;

[0058] Figure 6 This is an interactive diagram of the navigation method according to an embodiment of the present application;

[0059] Figure 7 This is an interactive diagram of the navigation method according to an embodiment of the present application;

[0060] Figure 8 A schematic diagram of the process of configuring the information window in the embodiment of the present application;

[0061] Figure 9 A schematic diagram of the structure of a terminal provided in an embodiment of the present application;

[0062] Figure 10 A schematic diagram of the structure of a server provided in an embodiment of the present application;

[0063] Figure 11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] The following describes embodiments of the present application in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0065] It will be understood by those skilled in the art that, unless expressly stated otherwise, the singular forms "a", "an" and "the" used herein may also include the plural forms. It should be further understood that the term "comprising" used in the specification of this application refers to the presence of features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, "connected" or "coupled" as used herein may include wireless connections or wireless couplings. The term "and / or" used herein includes all or any one of the units and all combinations of one or more associated listed items.

[0066] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0067] First, several terms involved in this application are introduced and explained:

[0068] 1) Road: refers to the infrastructure in a transportation network for vehicles to pass through. In the embodiments of the present application, a road includes multiple lanes (also known as driving lanes or roadways). For example, a road includes a passing lane, a fast lane, and a slow lane. The multiple lanes included in a road are separated by lane markings. Lane markings are traffic facilities represented by lines set on the road. For example, they may include white dashed lines (lane changes allowed) and white solid lines (lane changes prohibited).

[0069] 2) Navigation Route: This refers to the route calculated based on the set navigation start and destination, i.e., starting from the navigation start point and passing through a series of roads to finally reach the navigation destination. In the embodiments of the present application, the navigation route may include a suggested lane for each road to be traversed, or may not distinguish between lanes. Of course, it is also possible to distinguish between lanes on some roads and not distinguish between lanes on other roads.

[0070] 3) V2X: This includes vehicle-to-vehicle (V2V), vehicle-to-roadside equipment (V2I), and vehicle-to-pedestrian (V2P). These three V2X communication mechanisms provide drivers with intelligent services through mutual perception. These transmission facilities, such as vehicles, roadside equipment, or pedestrians, can use information sent by other vehicles or sensors to collect information about their surroundings and share this information to provide more intelligent services, such as collision warning or autonomous driving. These intelligent services can be divided into three categories:

[0071] The first is related to road safety, including: 1. When a vehicle detects that there is danger approaching, such as an obstacle ahead, it can promptly alert other vehicles; 2. The vehicle can inform other vehicles of its direction of travel to help the drivers of other vehicles make more accurate judgments; 3. When approaching an intersection, it can alert other vehicles; 4. When leaving the highway, it can alert other vehicles; 5. Reminders for temporary / sudden stops; 6. Reminders when the vehicle changes lanes; 7. Accident reporting; 8. Reminders from car drivers to pedestrians / cyclists on the roadside.

[0072] The second aspect is related to traffic efficiency, including helping to smooth traffic flow and taking effective measures to address congestion in real time. Authorities can flexibly implement traffic rules based on specific conditions, such as adjustable speed limits, variable signal cycles and flashing sequences, automatic traffic flow control at intersections, and clearing lanes for ambulances, fire trucks, and police vehicles.

[0073] Third, other applications include intelligent transportation, which can provide automated parking, navigation status, and road sign recognition. For law enforcement agencies like police, V2X facilitates monitoring, speeding warnings, restricted area management, and enforcement of stop orders. Through electronic payment, V2X makes the collection of tolls and parking fees faster and more convenient, alleviating traffic congestion and reducing the low-speed rear-end collisions that often occur near toll booths.

[0074] The navigation method, device, electronic device and computer-readable storage medium provided in this application are intended to solve the above-mentioned technical problems of the prior art and can be applied to fields such as mapping, navigation, autonomous driving, intelligent vehicle control, vehicle networking, intelligent transportation and cloud computing, such as intelligent transportation systems (ITS) and intelligent vehicle infrastructure cooperative systems (IVICS) in the transportation field.

[0075] Among them, the intelligent transportation system, also known as the Intelligent Transportation System (ITS), effectively integrates advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) into transportation, service control, and vehicle manufacturing, strengthening the connection between vehicles, roads, and users, thereby forming an integrated transportation system that ensures safety, improves efficiency, improves the environment, and saves energy. Based on the driving trajectory determination method provided in the embodiment of the present application, the actual driving trajectory of the vehicle can be accurately determined, thereby providing strong guarantees for transportation, service control, and other aspects.

[0076] Among them, the intelligent vehicle-road cooperative system, referred to as the vehicle-road cooperative system, is a development direction of the intelligent transportation system (ITS). The vehicle-road cooperative system adopts advanced wireless communication and new generation Internet technologies to implement all-round dynamic real-time information interaction between vehicles and roads, and carries out vehicle active safety control and road cooperative management based on the collection and integration of dynamic traffic information in all time and space, fully realizing the effective coordination of people, vehicles and roads, ensuring traffic safety, and improving traffic efficiency, thereby forming a safe, efficient and environmentally friendly road traffic system. The driving trajectory determination method provided in the embodiment of the present application can provide technical support for traffic safety and vehicle-road collaboration.

[0077] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0078] The driving trajectory determination method provided in the embodiments of the present application can be executed by a server or a terminal. The server can be an independent physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server providing cloud computing services. The terminal can be a smartphone, tablet computer, laptop computer, desktop computer, smart speaker, smart watch, in-vehicle terminal, smart TV, etc., and the specific method can be determined based on the actual application scenario requirements and is not limited here.

[0079] See also Figure 1 , Figure 1 FIG1 is a schematic diagram of the architecture of a navigation system 100 provided in an embodiment of the present application, comprising a detected object 101, a roadside sensing and computing unit 102, a roadside communication device 103, a terminal 104, and a server 105. The detected object 101 can be a vehicle or other object, such as a pedestrian or an animal. For ease of description, the following description uses a vehicle as an example.

[0080] The roadside communication device 103 can be any device with wireless transceiver function, including but not limited to: road side unit (RSU), intelligent vehicle, evolved NodeB (eNB), radio network controller (RNC), NodeB (NB), base station controller (BSC), base transceiver station (BTS), home base station (e.g., home evolved NodeB, or home NodeB, HNB), baseband unit (BBU), access point (AP) in wireless fidelity (WiFi) system, wireless relay node, wireless backhaul node, transmission point (TP) or transmission receiving point (TP) and reception point, TRP), etc., and can also be a gNB in a 5G, such as NR, system, or a transmission point (TRP or TP), one or a group of (including multiple antenna panels) antenna panels of a base station in a 5G system, or it can also be a network node constituting a gNB or a transmission point, such as a baseband unit (BBU), or a distributed unit (DU), etc.

[0081] The roadside sensing and computing unit 102 obtains V2X messages (such as speed, location, etc.) from the detected object 101 and sends them to the roadside communication device 103. The roadside communication device 103 further broadcasts the V2X messages to the server 105. The terminal 104 sends a navigation request to the server 105, and the server 105 provides navigation services to the terminal 104 (including providing a navigation map, which displays the real-time location of the navigation object where the terminal 104 is located and the navigation route). Based on the real-time location of the navigation object and the V2X message, if the navigation object is determined to be in a reminder scenario, the reminder content is superimposed on the navigation map. It should be understood that the roadside sensing and computing unit and the roadside communication device in the embodiments of the present application are collectively referred to as roadside devices, that is, devices located on the side of the road that can collect and transmit V2X messages.

[0082] See Figure 2 , which exemplarily shows a flowchart of a navigation method according to an embodiment of the present application. The method can be executed on the terminal side. Specifically, the method includes:

[0083] S101: Display a navigation map, where the navigation map includes a navigation route of a navigation object, to instruct the navigation object to act according to the navigation route.

[0084] It should be noted that the navigation map in the embodiments of this application can be a standard-definition map. Due to their higher accuracy, high-precision maps are often used in the field of autonomous driving. At the same time, existing V2X technology is also mostly used in testing scenarios in the field of autonomous driving and has not yet been popularized in navigation scenarios for manual driving. Standard-definition maps, on the other hand, are not suitable for autonomous driving and can only serve human drivers. The embodiments of this application integrate V2X messages into standard-definition maps, laying an important foundation for improving driving safety and driving experience at this stage.

[0085] S102: In response to the navigation object moving according to the navigation route being in a reminder scene, display reminder content on the navigation map.

[0086] The reminder scenarios and content in this embodiment are determined based on V2X messages, which are generated by a roadside sensing and computing unit (located on the roadside or on other vehicles with V2X message collection and transmission capabilities). This means that this embodiment does not require navigation objects to configure V2X messaging equipment, significantly reducing the cost for vehicle owners to experience V2X technology.

[0087] The V2X message in the embodiment of the present application includes road change information and the time and space information corresponding to the road change information. When the perception and calculation unit perceives the road change information, the road change information and the time and space information corresponding to the road change information can be sent to the server, so that the server obtains the road change information and the corresponding time and space information.

[0088] The road change information includes one or more of the following information: obstacle information, road dynamic change information, and the spatiotemporal information includes one or more of the following: time corresponding to the road change information, and area corresponding to the road change information.

[0089] The spatiotemporal information corresponding to the road change information can be understood as the time corresponding to when the information on the road changes, or the area corresponding to the change information when the information on the road changes.

[0090] For example, an abnormal obstacle appears on road 1 at time T. In this case, the spatiotemporal information corresponding to the road change information is time T. In other words, the time corresponding to the change in the road information is time T.

[0091] For example, an abnormal obstacle appears in area a of road 1. In this case, the spatiotemporal information corresponding to the road change information is area a. In other words, when the information on the road changes, the area corresponding to the change information is area a.

[0092] Optionally, in some embodiments, the road change information also includes vehicle posture change information. In the embodiments of the present application, the vehicle posture change information is not specifically limited. For example, the vehicle posture change information may include turning information of the vehicle on a curved road. In another example, the vehicle posture change information may include information about the vehicle's avoidance maneuvers in the presence of an obstacle. In another example, the vehicle posture change information may include collision information of a violent collision.

[0093] In an embodiment of the present application, the vehicle can obtain obstacle information, vehicle posture change information, and road dynamic change information through sensors installed on the vehicle.

[0094] For example, vehicle #1 can use a camera installed on the vehicle to obtain information about obstacles, vehicle position changes, and dynamic road changes. Another example is that vehicle #1 can use a millimeter-wave radar installed on the vehicle to obtain information about obstacles, vehicle position changes, and dynamic road changes. Another example is that vehicle #1 can use a lidar installed on the vehicle to obtain information about obstacles, vehicle position changes, and dynamic road changes.

[0095] In the embodiments of the present application, the road dynamic change information is not specifically limited. For example, the road dynamic change information may be that a vehicle on the road has stopped. Another example is that a pedestrian is moving in front of the vehicle.

[0096] The reminder scenarios of the embodiment of this application may include the following 9 scenarios:

[0097] 1. Collision reminder scenario for vulnerable traffic participants. Vulnerable traffic participants can include pedestrians, bicycles, electric bicycles, etc. Collision reminder for vulnerable traffic participants means that when the main vehicle is in motion and there is a risk of collision with surrounding vulnerable traffic participants, a reminder will be issued.

[0098] See Figure 3 , which exemplarily shows a schematic diagram of a navigation map before and after a navigation object in an embodiment of the present application is in a vulnerable traffic participant collision warning scenario. As shown in the figure, before the warning scenario, the navigation map displays a navigation route 201 and necessary guidance text 202. When a pedestrian crosses the road in front of the navigation object moving according to the navigation route 201, the navigation object is determined to be in the warning scenario based on the V2X message. At this time, the navigation map further displays reminder content 203 reminding the navigation object to pay attention to the pedestrian. The reminder content 203 includes text and images, thereby vividly and intuitively reminding the navigation object. In addition, the embodiment of the present application can also add a voice reminder to remind the navigation object to pay attention to pedestrians in front to avoid collisions.

[0099] 2. Forward collision warning scenario: When a vehicle carrying a mobile terminal is driving in a lane and there is a risk of rear-end collision with a vehicle in the same lane directly in front of it, the vehicle will be warned.

[0100] 3. In the emergency braking reminder scenario, when the host vehicle is traveling on the road at a certain distance from the remote vehicle ahead, and the remote vehicle performs an emergency brake, this information is broadcast via short-range wireless communication. The host vehicle detects the remote vehicle's emergency braking state and, if it determines that the event is related to the host vehicle, issues a reminder to the host vehicle.

[0101] 4. Blind Spot Reminder / Lane Change Assist scenario: When a vehicle traveling in the same direction as the host vehicle in the adjacent lane appears in the host vehicle's blind spot, the host vehicle will be reminded. When the host vehicle is preparing to change lanes (such as activating the turn signal), if a vehicle traveling in the same direction in the adjacent lane is in or about to enter the host vehicle's blind spot, the host vehicle will be reminded.

[0102] 5. In the abnormal vehicle alert scenario, when a remote vehicle turns on its fault warning lights while driving, the external broadcast message will display "Fault Warning Lights On". The host vehicle will identify the vehicle as an abnormal vehicle based on the received message content. Alternatively, the host vehicle will determine that the remote vehicle is stationary or slow (significantly slower than other surrounding vehicles) based on the remote vehicle's broadcast message and identify it as an abnormal vehicle. If the identified abnormal vehicle may affect the host vehicle's route, the host vehicle will be alerted.

[0103] 6. In the intersection collision warning scenario, when the main vehicle is approaching an intersection and there is a risk of collision with a vehicle traveling sideways, the main vehicle will be warned.

[0104] 7. Left turn assist scenario: When the main vehicle is turning left at an intersection and there is a risk of collision with an oncoming vehicle, the main vehicle will be reminded.

[0105] 8. Emergency vehicle alert scenario: When the main vehicle is driving, it receives an emergency vehicle alert (V2X message) and gives way to fire trucks, ambulances, police cars or other emergency call vehicles.

[0106] 9. In the green wave speed guidance scenario, when the main vehicle approaches a signal-controlled intersection and receives road data and real-time signal light status data (V2X messages), the speed guidance application will provide the driver with a recommended speed range so that the vehicle can pass through the signal intersection economically and comfortably (without stopping or waiting).

[0107] See Figure 4, which exemplarily shows a schematic diagram of a navigation map of a navigation object in an embodiment of the present application before and after a green wave speed guidance scenario. As shown in the figure, before the reminder scenario, the navigation map displays a navigation route 201 and necessary guidance text 202. When the navigation object moving according to the navigation route 201 is about to enter and / or enters a green wave road, a reminder content 204 guiding the navigation object to travel at the green wave speed is further displayed on the navigation map. The reminder content 204 includes at least one of text and graphics, thereby vividly and intuitively reminding the navigation object. In addition, the embodiment of the present application can also add a voice reminder to remind the driver that the green wave speed of the current green wave road is 60km / h, and recommends that the driver maintain this speed.

[0108] See also Figure 5 , which exemplarily shows a flowchart of a navigation method according to another embodiment of the present application. The method is applied to a server, such as a cloud computing center server. As shown in the figure, the method includes:

[0109] S201. Obtain a V2X message collected by a roadside device, where the V2X message includes road change information and spatiotemporal information corresponding to the road change information.

[0110] Specifically, the cloud computing center (also referred to as the central cloud) of the embodiment of the present application can receive V2X messages sent by roadside equipment through a preset V2X message interface and, based on the V2X messages from the roadside equipment, provide V2X message services to navigation objects that do not have V2X vehicle equipment. The V2X messages of the embodiment of the present application include road change information and the corresponding spatiotemporal information. When the roadside perception and computing unit perceives the road change information, it can transmit the road change information and the corresponding spatiotemporal information to the central cloud via the roadside communication equipment, thereby allowing the central cloud to obtain the road change information and the corresponding spatiotemporal information.

[0111] The road change information includes one or more of the following information: obstacle information, road dynamic change information, and the spatiotemporal information includes one or more of the following: time corresponding to the road change information, and area corresponding to the road change information.

[0112] The spatiotemporal information corresponding to the road change information can be understood as the time corresponding to when the information on the road changes, or the area corresponding to the change information when the information on the road changes.

[0113] For example, an abnormal obstacle appears on road 1 at time T. In this case, the spatiotemporal information corresponding to the road change information is time T. In other words, the time corresponding to the change in the road information is time T.

[0114] For example, an abnormal obstacle appears in area a of road 1. In this case, the spatiotemporal information corresponding to the road change information is area a. In other words, when the information on the road changes, the area corresponding to the change information is area a.

[0115] Optionally, in some embodiments, the road change information also includes vehicle posture change information. In the embodiments of the present application, the vehicle posture change information is not specifically limited. For example, the vehicle posture change information may include turning information of the vehicle on a curved road. In another example, the vehicle posture change information may include information about the vehicle's avoidance maneuvers in the presence of an obstacle. In another example, the vehicle posture change information may include collision information of a violent collision.

[0116] In an embodiment of the present application, the vehicle can also obtain obstacle information, vehicle posture change information, and road dynamic change information through sensors installed on the vehicle.

[0117] S202: When it is determined that the navigation object is in a reminder scene, generate reminder content corresponding to the reminder scene and push it to the navigation object.

[0118] The central cloud of the embodiment of the present application can provide navigation services for the navigation object. Specifically, the central cloud first obtains the starting position and the ending position of the navigation object.

[0119] The starting and ending locations can be obtained in at least one of the following ways:

[0120] The first one is that the navigation object is installed with a positioning component, which is used to locate the position of the navigation object. The navigation object uses the position provided by the positioning component as the navigation starting position.

[0121] The second method is that the user manually inputs the starting location to the central cloud, and the central cloud obtains the starting location of the navigation.

[0122] The third type is that the user determines the starting position by clicking on the electronic map provided by the central cloud, and the central cloud obtains the starting position of the navigation. Electronic maps, also known as digital maps, are maps that are stored and viewed digitally using computer technology. It should be noted that the electronic map in the embodiment of the present application may be a standard-definition map. High-precision maps are often used in the field of autonomous driving due to their high precision. At the same time, existing V2X technology is also mostly used in test scenarios in the field of autonomous driving and has not been popularized to conventional traffic scenarios and vehicles. However, standard-definition maps are not suitable for the field of autonomous driving and can only serve human drivers. The embodiment of the present application integrates V2X messages into standard-definition maps, laying an important foundation for improving the driving safety and driving experience of ordinary drivers at this stage.

[0123] The method for obtaining the end point location includes at least one of the following two methods:

[0124] First, the user manually inputs the destination location into the central cloud, and the central cloud obtains the destination location of the navigation.

[0125] Second, the user determines the destination location by clicking on the electronic map provided by the central cloud, and the central cloud obtains the destination location of the navigation.

[0126] The central cloud obtains the navigation route based on the starting and ending locations.

[0127] Optionally, the user can specify planning conditions for the navigation route planned by the central cloud based on their needs. The central cloud then plans the navigation route based on the user's planning conditions and the acquired starting and ending locations. The navigation route planned by the terminal includes the starting and ending locations, and the route displayed by the navigation route meets the user's needs.

[0128] Optionally, the planning condition includes that the planned route must satisfy any one of the principles of high-speed priority, toll avoidance, congestion avoidance, and no high-speed use.

[0129] The expressway priority principle requires the terminal to prioritize expressways when planning navigation routes. The toll avoidance principle requires the terminal to prioritize routes that do not charge tolls. The congestion avoidance principle requires the terminal to prioritize routes that avoid areas prone to or where traffic congestion has already occurred. The no-expressway principle requires the terminal to prioritize routes other than expressways.

[0130] It should be understood that when the navigation route of the navigation object is determined, the navigation route can be pushed to the navigation object, and the navigation object can superimpose the navigation route based on the static road information stored in itself to obtain a navigation map including the navigation route for the navigation object to act on.

[0131] When providing navigation services to navigation objects, the central cloud of the embodiment of the present application can obtain the location of the navigation object in real time. At the same time, the central cloud can also obtain V2X messages from roadside equipment through a preset V2X interface. Therefore, when the navigation object is determined to be in a reminder scene based on the real-time location of the navigation object and the V2X message, the central cloud further determines the reminder content corresponding to the reminder scene and pushes it to the navigation object. It should be understood that the embodiment of the present application can cancel the display of the reminder content after the navigation object leaves the reminder scene or after a preset time period after displaying the reminder content, and redisplay the navigation map including the navigation route and real-time location, so that the user can more focusedly act according to the navigation route.

[0132] The navigation method of the embodiment of the present application obtains V2X messages including road change information and spatiotemporal information corresponding to the road change information, and determines a navigation route of a navigation object. When it is determined that the navigation object, which is moving according to the navigation route, is in a reminder scenario (determined according to the V2X message), reminder content corresponding to the reminder scenario is generated and pushed to the navigation object for display. The user can intuitively obtain navigation information and real-time reminder information from the navigation map in a timely manner, overcoming the problem in the prior art that users can only pay attention to one of navigation information and V2X messages, thereby improving driving safety and efficiency.

[0133] Based on the above embodiments, as an optional embodiment, the embodiment of the present application generates reminder content, including:

[0134] S301: Determine corresponding reminder content according to the reminder scene in which the navigation object is located, where the reminder content includes at least one of text and icon;

[0135] In the embodiment of the present application, corresponding reminder content can be set in advance for different reminder scenarios.

[0136] For example, for the collision reminder scenario of vulnerable traffic participants, the corresponding reminder content can be to pay attention to pedestrians ahead. For the forward collision reminder scenario, the corresponding reminder content can be to pay attention to rear-end collisions. For the emergency braking scenario, the corresponding reminder content can be to pay attention to emergency braking. For the blind spot reminder / lane change assistance scenario, the corresponding reminder content can be to pay attention to moving objects in the blind spot at XX position / direction. For the abnormal vehicle reminder scenario, the corresponding reminder content can be to pay attention to abnormal vehicles at XX position / direction. For the collision reminder scenario of a poor intersection, the corresponding expected content can be to pay attention to vehicles at the left-turn intersection. For the emergency vehicle manifestation scenario, the corresponding reminder content can be to pay attention to avoid emergency vehicles. For the green wave speed guidance scenario, the corresponding reminder content can be the speed value of the green wave speed.

[0137] It should be understood that since different reminder contents display different information, the display style and size may be different. Therefore, the embodiment of the present application can pre-create corresponding icons according to different reminder contents. Users can know the reminder content more quickly by browsing the icons than by browsing the text.

[0138] S302: Using a map software development kit (SDK), place the reminder content in a pre-configured information window, and push the information window to the navigation object.

[0139] The reminder content of the embodiment of the present application is set in the information window (InfoWindow). By adding the information window to the navigation map, a navigation map including the navigation route and reminder content is obtained. Specifically, the embodiment of the present application can set the information window as the second layer, and set the navigation route as the first layer, and set the second layer above the first layer. By overlaying layers, a navigation map including the navigation route and reminder content is obtained.

[0140] Based on the above embodiments, as an optional embodiment, the reminder content is placed in a pre-configured information window, which also includes:

[0141] Initialize a marker in the navigation map using the map SDK.

[0142] A callback function is registered in the marker tag, and the callback function is used to write the reminder content into an information window in response to the navigation object being in a reminder scene, and add the information window to the navigation map.

[0143] It should be noted that markers are used to mark locations on a map. In the prior art, markers are often used to indicate user locations, vehicle locations, store locations, and anything else with location attributes. This embodiment of the application uses point markers for reminder content, fully leveraging the functionality provided by existing map SDKs and reducing the amount of code development. Furthermore, by registering a callback function on the marker, the callback function monitors whether the navigation object is in the reminder scenario, thus facilitating the integration of V2X messaging and existing map SDKs. This makes it easier for traditional front-end developers to get started, and the development and learning threshold is low.

[0144] The Marker tag in this application includes the following attributes:

[0145] Position: The latitude and longitude values of the location marked on the navigation map. This attribute is required.

[0146] Title, the title of the Marker.

[0147] Snippet, content marked by Marker.

[0148] Draggable, Marker indicates whether it is draggable.

[0149] Visible, whether the Marker is visible.

[0150] Alpha, the transparency of the Marker.

[0151] Taking the scenario of pedestrians crossing the road as an example, the position of the pedestrian when crossing the road is determined through V2X messages, and the position is recorded in the Position attribute. The Title can be intuitively set to the appearance of a vulnerable traffic participant. The Snippet can be set to text content such as pedestrians crossing the road, and corresponding pictures can also be added. The Draggable attribute can be set to be draggable, so that when the location of the reminder content on the map blocks important information such as intersections, the user can drag the reminder content to solve the problem. Visible can indicate whether the reminder content is visible. The embodiment of the present application can further add a counter attribute to the attributes of the marker, so that when the reminder scene is triggered, the reminder content is set to visible, and a timer is set. When the timer returns to zero, the reminder content is set to invisible. The specific value of Alpha can be 0-100. By setting a specific value, the transparency of the reminder content can be achieved. The higher the transparency, the clearer the information in the next layer can be seen.

[0152] The Marker functionality provided by the Map SDK consists of two main components: a point (commonly known as a Marker) and an information window (commonly known as an InfoWindow) that floats above the point. In the prior art, Map SDKs encapsulate trigger events for Markers and InfoWindow, such as click events, long press events, and drag events, all of which are manually triggered by the user. This embodiment of the application registers a callback function on the marker, which triggers the corresponding event.

[0153] The triggering event of the embodiment of the present application is that the navigation object is in a reminder scene. When the server receives a V2X message and determines that the navigation object is in a reminder scene, the message that the navigation object is in the reminder scene can be sent to the callback function. The callback function writes the reminder content into the information window and sends it to the terminal. The terminal side calls the map SDK and adds the information window with the reminder content to the navigation map. The terminal can then display the navigation map with the reminder content and the navigation route.

[0154] The InfoWindow in this embodiment of the application can only display two attributes of the Marker object: the title and the snippet. Specifically, the title can be set to the text corresponding to the reminder scenario, and the snippet can be set to the specific reminder content. The Map SDK provides a default InfoWindow style. Calling the showInfoWindow() and hideInfoWindow() methods of the Marker class can control the display and hiding of the InfoWindow.

[0155] After changing the title and snippet properties of the Marker, calling showInfoWindow() again can update the InfoWindow display content. This embodiment of the application can set different tiele and snippet properties for different reminder scenarios. When the callback function responds to the navigation object being in the reminder scenario, it updates the properties of the Marker mark according to the reminder scenario and then writes the reminder content corresponding to the reminder content into the information window.

[0156] Therefore, when the navigation object leaves one reminder scene and enters another reminder scene, by changing the title and snippet attributes corresponding to the other reminder scene, the reminder content corresponding to the other reminder scene can be displayed when the information window is called, thereby improving the efficiency of generating reminder content.

[0157] Based on the above embodiments, as an optional embodiment, the reminder content is placed in a pre-configured information window, which also includes:

[0158] Modify the MarkerOptions option of the map SDK so that the map SDK receives the V2X message sent by the roadside device.

[0159] It should be noted that the MarkerOptions option is an option in the map SDK for receiving external information. In order to establish communication between the roadside device and the server, the embodiment of this application updates the existing MarkerOptions option of the map SDK so that the map SDK can receive the V2X message sent by the roadside device through the MarkerOptions option. Then, the server obtains the V2X message through the map SDK and can process the V2X message, such as determining whether the navigation object in motion is in a reminder scene. Figure 6 , which exemplarily shows an interactive diagram of the navigation method of an embodiment of the present application. As shown in the figure, the roadside device 210 collects and sends V2X messages, and the server 310 receives the V2X messages through the MarkerOptions option 330 in the map SDK 320. The server 310 further obtains the real-time position and navigation route of the navigation object 410. By integrating the real-time position, navigation route and V2X message of the navigation object 410, if it is determined that the navigation object 410 is in a reminder scene, the callback function 350 registered in the Marker tag 340 updates the properties of the Marker 340 according to the reminder scene, so that the reminder content of the updated Marker 340 corresponds to the reminder scene, and writes the reminder content into the information window 350. The server 310 places the information window 350 in the navigation map, obtains the navigation map including the information window and the navigation route, and sends the navigation map to the navigation object 410.

[0160] See Figure 7 , which exemplarily shows an interactive schematic diagram of a navigation method according to another embodiment of the present application, such as Figure 7 As shown, first, the roadside device sends a V2X message to the server through the MarkerOptions option in the map SDK. After receiving the V2X message, the server combines the spatiotemporal information of the navigation object sent by the field terminal, and the scene judgment module determines whether the navigation object is in the reminder scene. If it is in the reminder scene, the information that the navigation object is in the reminder scene is sent to the Marker tag. The callback function in the Marker tag responds to the information and writes the reminder content corresponding to the reminder sleeve into the information window. The server pushes the information window to the terminal through the Marker tag, and the terminal loads the information window onto the navigation map to obtain the navigation map including the reminder content.

[0161] Based on the above embodiments, as an optional embodiment, placing the reminder content in a pre-configured information window further includes:

[0162] Set at least one of the stay time and animation effect of the information window in the navigation map.

[0163] By setting the duration for the information window to remain on the navigation map, it will automatically stop displaying after a preset period of time. This allows users to stop paying attention to the reminder and focus more on the navigation route. Setting animation effects can help users focus on the reminder content on the navigation map, allowing them to take timely measures to avoid danger.

[0164] The embodiment of the present application does not impose any specific limitation on the length of the dwell time, and different dwell times can be set according to different reminder scenarios. The embodiment of the present application does not impose any specific limitation on the specific style of the animation effect, for example, it can be flashing at a certain frequency, displayed alternately in different colors, etc.

[0165] See Figure 8 , which exemplarily shows a flow chart of configuring an information window in an embodiment of the present application, as shown in the figure, including:

[0166] 1. Create a marker icon

[0167] Specifically, you can set the position of the marker in the navigation map, which can be expressed in code:

[0168] LatLng position=new LatLng(40.011313,116.391907); / /

[0169] Marker marker=mTencentMap.addMarker(new MarkerOptions(position));

[0170] In the above code, (40.011313,116.391907) represents the position of the marker in the navigation map, and the second line of code indicates that a new marker has been created in Tencent Maps.

[0171] 2. Initialize the V2X interface by modifying the Marker Options option of the map software development kit SDK

[0172] This embodiment of the application also defines the use of the Map SDK's MarkerOptions to set a V2X interface to receive V2X messages. This embodiment of the application can initialize different V2X interfaces to receive V2X messages corresponding to different alert scenarios. For example, an emergency vehicle V2X interface can be set to specifically receive V2X messages from emergency vehicles (including but not limited to fire trucks, police cars, ambulances, etc.). In response to the V2X interface receiving the V2X message, the central cloud opens an information window.

[0173] Specifically, it can be expressed by the following code:

[0174] / / Configure the graphics and text windows of the V2X message reminder through MarkerOptions

[0175] LatLng position = new LatLng(39.908710,116.397499);

[0176] MarkerOptions options=new MarkerOptions(position);

[0177] options.infoWindowEnable(false); / / Default is true

[0178] options.title("Special Vehicle Reminder") / / When the cloud backend receives a V2X message during navigation, the current text content is displayed

[0179] .snippet("Be careful to avoid the ambulance on the right") / / Pop up a specific text warning on the navigation interface

[0180] .icon(BitmapDescriptorFactory.fromResource(R.drawable.marker)); / / Set the icon for special vehicle avoidance

[0181] mMarker=mTencentMap.addMarker(options);

[0182] 3. Modify the properties of the information window

[0183] The properties of the information window can include display duration, animation effects, etc. After creating the Marker, if necessary, you can modify the properties of the information window through the marker. The specific code is as follows:

[0184] Animation animation=new AlphaAnimation(0.7f,0f);

[0185] animation.setDuration(2000); mCustomMarker.setAnimation(animation); mCustomMarker.startAnimation();

[0186] The first line of code sets the display style of the information window, where (0.7f, 0f) is an identifier of a preset display style, and the 2000 in the second line of code indicates that the display duration is 2000 milliseconds.

[0187] 4. Open the information window

[0188] As can be seen from the above embodiment, when the navigation object is in the reminder scene, the information window is pushed to the terminal, and the terminal loads the information window on the navigation map. The specific code is as follows:

[0189] / / Enable V2X message reminder function

[0190] mMarker.setInfoWindowEnable(true);

[0191] 5. After the preset time of opening the information window, it is necessary to determine whether to close the information window. If it is determined to close the information window, the terminal can close the information window according to the following code:

[0192] / / Disable the V2X message reminder function

[0193] mMarker.setInfoWindowEnable(false);

[0194] 6. If it is determined that the information window is not closed, the reminder content in the information window can be removed first, so that the information window becomes a blank information window. In addition, after closing the information window in step 5, if a reminder for a certain scene is no longer needed, the Marker corresponding to the reminder scene can be removed. The specific code is as follows:

[0195] mMarker.remove();

[0196] Based on the above embodiments, as an optional embodiment, determining that the navigation object moving according to the navigation route is in a reminder scene includes:

[0197] Acquiring spatiotemporal information of the navigation object's actions according to the navigation route;

[0198] According to the spatiotemporal information corresponding to the road change information and the spatiotemporal information corresponding to the navigation object, it is determined that the navigation object is in a reminder scene.

[0199] It should be noted that when determining whether a navigation object is in a warning scenario, the present embodiment of the present invention combines the navigation object's real-time spatiotemporal information with the spatiotemporal information of the road change information in the V2X message. The concept of spatiotemporal information indicates that the judgment process not only considers spatial relationships but also temporal relationships.

[0200] Taking the green wave speed guidance scenario as an example, whether it is possible to drive at the green wave speed is closely related to the road condition, which is related to time information. For example, during rush hour in the morning and evening, traffic is congested and the road is usually not a green wave road. Therefore, when determining whether the navigation object handles the reminder scenario, not only spatial information but also time information should be considered.

[0201] Based on the above embodiments, as an optional embodiment, determining that the navigation object is in a reminder scene based on the spatiotemporal information corresponding to the road change information and the spatiotemporal information corresponding to the navigation object further includes:

[0202] Determining that the spatiotemporal information corresponding to the road change information satisfies both temporal availability and spatial availability;

[0203] Among them, the spatial availability is used to indicate that the event corresponding to the road change information affects the navigation object in the spatial dimension; for example, when the navigation object is moving forward, if road change information of a pedestrian crossing the road occurs behind the navigation object, since the location corresponding to the road change information will not affect the driving of the navigation object, although the pedestrian crossing the road is a scene that should be reminded, this road change information does not meet the spatial availability, and therefore, it will not be determined that the navigation object is in a reminder scene.

[0204] It should be understood that, in addition to road change information occurring in areas the navigation subject has already traveled, spatial availability may also be violated for road change information occurring on the navigation route but at a distance from the navigation subject. For example, if a pedestrian crosses the road several kilometers away from the navigation subject on the navigation route, the navigation subject is too far away to affect the pedestrian's current actions and, therefore, will not be determined to be in a warning scenario.

[0205] Temporal availability indicates the time-dependent impact of the event corresponding to the road change information on the navigation object. For example, in the case of an abnormal vehicle alert, if a fire truck passes by a road before the navigation object enters it, the fire truck has already entered the road, meaning the road change information occurred before the navigation object arrived at the road. Therefore, the fire truck will not affect the navigation object's actions and the navigation object will not be considered to be in a warning scenario.

[0206] Based on the above embodiments, as an optional embodiment, in response to the navigation object being in a reminder scene, the terminal displays reminder content corresponding to the reminder scene on the navigation map, including:

[0207] Acquiring reminder content generated by the server in response to the navigation object being in the reminder scene;

[0208] The reminder content is superimposed on the navigation map to obtain a navigation map showing the reminder content.

[0209] Specifically, superimposing the reminder content on the navigation map to obtain a navigation map showing the reminder content includes:

[0210] S401, editing the base layer of the navigation map according to the static road information;

[0211] Static road information includes but is not limited to the name, width, number of lanes and direction of each road in the area, traffic intersections, lane directions at traffic intersections, roadside building heights, building types, traffic lights, etc.

[0212] S402: Edit the first layer of the navigation map according to the navigation route.

[0213] The first layer information of the embodiment of the present application may include map elements. The map elements here may include a first element and a second element. The first element may include a navigation road associated with the navigation route information, and the second element may include auxiliary information associated with the navigation route information (e.g., buildings, parks, structures, secondary roads, etc.). The embodiment of the present application may achieve the purpose of highlighting intersections by changing the map display style corresponding to the map elements.

[0214] For example, embodiments of the present application can change the color scheme of the basemap layer in the navigation scene to reduce the information interference caused by secondary information to the navigation user, including but not limited to lightening or not displaying the basemap color of secondary routes, buildings around navigation intersections, etc. In addition, embodiments of the present application can also enhance the display of primary information, including but not limited to widening the lanes of the navigation road associated with the navigation route information, highlighting the basemap color scheme of the navigation road, and using highlighted colors to display the boundary between the lane of the navigation road being traveled and the parallel lane, thereby strengthening the boundary between the parallel lanes.

[0215] S403: Edit the second layer of the navigation map according to the reminder content.

[0216] The second layer information of the embodiment of the present application may include a reminder element, and the reminder element may include a third element and a fourth element, wherein the third element is text information, for example, in a collision reminder scenario involving vulnerable traffic, the text information is to be careful of pedestrians, and the fourth element is an icon.

[0217] S404: Overlay the first layer on the upper layer of the base layer, and overlay the second layer on the upper layer of the first layer to obtain the navigation map.

[0218] It should be noted that since the second layer is superimposed on the first layer, the embodiment of the present application can set the transparency of the second layer before superposition so that the display of the reminder content does not affect the display of the navigation route. In addition, the reminder content can also be set at the edge of the second layer and the navigation route can be displayed in the center of the first layer. In this way, when superimposing, the reminder content can be avoided from blocking the navigation route.

[0219] The embodiment of the present application provides a terminal, such as Figure 9 As shown, the terminal may include: a route map display module 301 and a reminder map display module 302, specifically:

[0220] The route map display module 301 is used to display a navigation map, wherein the navigation map includes a navigation route of a navigation object, so as to instruct the navigation object to act according to the navigation route;

[0221] The reminder map display module 302 is configured to display reminder content corresponding to the reminder scene on the navigation map in response to the navigation object being in the reminder scene;

[0222] The reminder scenario is determined based on a V2X message from a roadside device; the V2X message includes road change information and spatiotemporal information corresponding to the road change information.

[0223] The terminal provided in the embodiment of the present application specifically executes the above-mentioned method embodiment process. For details, please refer to the content of the above-mentioned navigation method terminal side embodiment, which will not be repeated here. The terminal provided in the embodiment of the present application displays a navigation map, and the navigation map includes a navigation route of the navigation object; in response to the navigation object acting according to the navigation route being in a reminder scene (determined based on the V2X message), the reminder content corresponding to the reminder scene is displayed on the navigation map; the V2X message includes road change information and the spatiotemporal information corresponding to the road change information, avoiding the problem in the prior art that users can only choose one of the V2X message and the navigation route to pay attention to, enriching the amount of information in the driving navigation process, and improving the driver's driving safety and road traffic efficiency.

[0224] The embodiment of the present application provides a server, such as Figure 10 As shown, the server may include: a message acquisition module 401 and a reminder information push module 402, specifically:

[0225] A message acquisition module 401 is configured to acquire V2X messages collected by a drive test device, wherein the V2X messages include road change information and spatiotemporal information corresponding to the road change information;

[0226] The reminder information push module 402 is used to generate reminder content and push it to the navigation object when it is determined that the navigation object is in a reminder scene;

[0227] The reminder scenario is determined based on the V2X message.

[0228] The server provided in the embodiment of the present application specifically executes the process of the above-mentioned method embodiment. For details, please refer to the content of the above-mentioned navigation method server-side embodiment, which will not be repeated here. The server provided in the embodiment of the present application obtains V2X messages including road change information and spatiotemporal information corresponding to the road change information, and determines the navigation route of the navigation object. When it is determined that the navigation object acting according to the navigation route is in a reminder scenario, it generates reminder content corresponding to the reminder scenario and pushes it to the navigation object for display. Because the embodiment of the present application determines that the navigation object is in a warning scenario based on V2X messages collected by roadside equipment, the navigation object does not need to install V2X vehicle equipment itself, which greatly saves the cost of obtaining V2X messages for vehicle owners and promotes the wider popularization of V2X technology. In addition, the warning information and navigation route are displayed simultaneously on the navigation map, allowing users to intuitively obtain navigation information and real-time reminder information from the navigation map in a timely manner. This overcomes the problem in the prior art that users can only pay attention to one of navigation information and V2X messages, thereby improving driving safety and efficiency.

[0229] An embodiment of the present application provides an electronic device, which includes: a memory and a processor; at least one program stored in the memory and, when executed by the processor, can achieve the following compared to the prior art: by displaying a navigation map, the navigation map including a navigation route of a navigation object; in response to the navigation object, which is moving according to the navigation route, being in a reminder scenario, displaying reminder content corresponding to the reminder scenario on the navigation map; the V2X message including road change information and spatiotemporal information corresponding to the road change information. Since the embodiment of the present application determines that the navigation object is in a warning scenario based on V2X messages collected by roadside equipment, the navigation object itself does not need to be installed with a V2X vehicle-mounted device, greatly saving the cost of obtaining V2X messages for vehicle owners and contributing to the wider popularization of V2X technology. In addition, the warning information and the navigation route are simultaneously displayed on the navigation map, avoiding the problem in the prior art where users can only choose to focus on one of the V2X message and the navigation route. This enriches the amount of information in the driving navigation process and improves the driving safety and road traffic efficiency of vehicle owners.

[0230] In an alternative embodiment, an electronic device is provided, such as Figure 11 As shown, Figure 11 The electronic device 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004. It should be noted that in actual applications, the number of transceivers 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present application.

[0231] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0232] Bus 4002 may include a path for transmitting information between the above components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. Bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 11 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0233] The memory 4003 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0234] The memory 4003 is used to store application code for executing the solution of the present application, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the application code stored in the memory 4003 to implement the content shown in the above method embodiment.

[0235] The present embodiment provides a computer-readable storage medium having a computer program stored thereon. When executed on a computer, the computer is enabled to execute the corresponding contents of the aforementioned method embodiment. Compared to the prior art, a navigation map is displayed, wherein the navigation map includes a navigation route of a navigation object; in response to the navigation object being in a warning scenario according to the navigation route, a reminder content corresponding to the reminder scenario is displayed on the navigation map; and the V2X message includes road change information and spatiotemporal information corresponding to the road change information. Because the present embodiment determines that the navigation object is in a warning scenario based on V2X messages collected by roadside equipment, the navigation object itself does not need to be installed with a V2X vehicle-mounted device, significantly reducing the cost of obtaining V2X messages for vehicle owners and promoting the wider popularization of V2X technology. Furthermore, the simultaneous display of warning information and navigation routes on the navigation map avoids the problem in the prior art where users can only choose to focus on either V2X messages or navigation routes. This enriches the amount of information during driving navigation and improves driving safety and road traffic efficiency.

[0236] The present invention provides a computer program comprising computer instructions stored in a computer-readable storage medium. When a processor of a computer device reads the computer instructions from the computer-readable storage medium, the processor executes the computer instructions, causing the computer device to perform the method described in the aforementioned embodiment. Compared to the prior art, a navigation map is displayed, wherein the navigation map includes a navigation route of a navigation object; in response to the navigation object, which is moving according to the navigation route, being in a warning scenario, a reminder corresponding to the reminder scenario is displayed on the navigation map; and the V2X message includes road change information and spatiotemporal information corresponding to the road change information. Because the present invention determines that the navigation object is in a warning scenario based on V2X messages collected by roadside equipment, the navigation object itself does not need to be installed with a V2X vehicle-mounted device, significantly reducing the cost of obtaining V2X messages for vehicle owners and promoting the wider popularization of V2X technology. Furthermore, the simultaneous display of warning information and navigation routes on the navigation map avoids the problem in the prior art where users can only choose to focus on either V2X messages or navigation routes. This enriches the information content during driving navigation and improves driving safety and road traffic efficiency.

[0237] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0238] The above are only some of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A navigation method, characterized in that: Applied to a vehicle-mounted terminal that does not have a V2X vehicle-mounted device, the method includes: Displaying a navigation map, wherein the navigation map includes a navigation route of a navigation object, so as to instruct the navigation object to act according to the navigation route; In response to the navigation object being in a reminder scene, displaying reminder content corresponding to the reminder scene on the navigation map; The reminder scenario is determined based on V2X messages collected by roadside equipment; the V2X messages include road change information and spatiotemporal information corresponding to the road change information; The navigation map showing the reminder content corresponding to the reminder scenario is generated by the server in the following way: Determining corresponding reminder content according to the reminder scene in which the navigation object is located, the reminder content including at least one of text and icon; Initialize a marker in the navigation map using the map SDK; Editing information related to the reminder scene and reminder content in various attributes of the marker tag, and registering a callback function in the marker tag; the callback function is used to write the reminder content corresponding to the reminder scene into the information window in response to the navigation object being in the reminder scene; The reminder content is placed in a pre-configured information window using the map SDK.

2. The navigation method according to claim 1, wherein: In response to the navigation object being in the reminder scene, displaying reminder content corresponding to the reminder scene on the navigation map includes: Acquiring reminder content generated by the server in response to the navigation object being in the reminder scene; The reminder content is superimposed on the navigation map to obtain a navigation map showing the reminder content.

3. The navigation method according to claim 2, wherein: The step of superimposing the reminder content on the navigation map to obtain a navigation map displaying the reminder content includes: Editing the base layer of the navigation map according to the static road information; Editing the first layer of the navigation map according to the navigation route; Edit the second layer of the navigation map according to the reminder content; The first layer is superimposed on the upper layer of the base layer, and the second layer is superimposed on the upper layer of the first layer to obtain the navigation map.

4. A navigation method, characterized in that: Applied to a server, the method includes: Obtaining V2X messages collected by roadside equipment, where the V2X messages include road change information and spatiotemporal information corresponding to the road change information; When it is determined that the navigation object is in a reminder scenario, generating reminder content corresponding to the reminder scenario and pushing it to the navigation object; wherein the reminder scenario is determined based on the V2X message; The generating of reminder content corresponding to the reminder scenario and pushing the reminder content to the navigation object includes: Determining corresponding reminder content according to the reminder scene in which the navigation object is located, the reminder content including at least one of text and icon; Use the map SDK to initialize the marker in the navigation map; Editing information related to the reminder scene and reminder content in various attributes of the marker tag; registering a callback function in the marker tag; the callback function is used to write the reminder content corresponding to the reminder scene into the information window in response to the navigation object being in the reminder scene; The reminder content is placed in a pre-configured information window using a map software development kit (SDK), and the information window is pushed to the navigation object.

5. The navigation method according to claim 4, characterized in that: Placing the reminder content in a pre-configured information window may also include: Modify the MarkerOptions option of the map SDK to receive the V2X message sent by the roadside device through the MarkerOptions option.

6. The navigation method according to claim 4, characterized in that: Placing the reminder content in a pre-configured information window further includes: Set at least one of the stay time and animation effect of the information window in the navigation map.

7. The navigation method according to claim 4, characterized in that: The determining that the navigation object is in the reminder scene includes: Acquiring spatiotemporal information of the navigation object; According to the spatiotemporal information corresponding to the road change information and the spatiotemporal information of the navigation object, it is determined that the navigation object is in a reminder scene.

8. The navigation method according to claim 7, characterized in that: The step of determining that the navigation object is in a reminder scene according to the spatiotemporal information corresponding to the road change information and the spatiotemporal information corresponding to the navigation object further includes: Determining that the spatiotemporal information corresponding to the road change information satisfies both temporal availability and spatial availability; The spatial availability is used to indicate that the event corresponding to the road change information has an impact on the navigation object in the spatial dimension; The time availability is used to indicate that the event corresponding to the road change information has an impact on the navigation object in the time dimension.

9. A vehicle-mounted terminal, characterized in that: The terminal does not have V2X vehicle equipment, including: a route map display module, configured to display a navigation map, wherein the navigation map includes a navigation route of a navigation object, so as to instruct the navigation object to act according to the navigation route; a reminder map display module, configured to display reminder content corresponding to the reminder scene on the navigation map in response to the navigation object being in the reminder scene; The reminder scenario is determined based on V2X messages collected by roadside equipment; the V2X messages include road change information and spatiotemporal information corresponding to the road change information; The navigation map showing the reminder content corresponding to the reminder scenario is generated by the server in the following way: Determining corresponding reminder content according to the reminder scene in which the navigation object is located, the reminder content including at least one of text and icon; Initialize a marker in the navigation map using the map SDK; Editing information related to the reminder scene and reminder content in various attributes of the marker tag, and registering a callback function in the marker tag; the callback function is used to write the reminder content corresponding to the reminder scene into the information window in response to the navigation object being in the reminder scene; The reminder content is placed in a pre-configured information window using the map SDK.

10. A server, characterized in that: include: a message acquisition module, configured to acquire V2X messages collected by roadside equipment, wherein the V2X messages include road change information and spatiotemporal information corresponding to the road change information; A map push module, configured to generate reminder content corresponding to the reminder scenario and push the reminder content to the navigation object when determining that the navigation object is in the reminder scenario; Wherein, the reminder scenario is determined based on the V2X message; The map push module generates reminder content corresponding to the reminder scenario and pushes it to the navigation object, including: Determining corresponding reminder content according to the reminder scene in which the navigation object is located, the reminder content including at least one of text and icon; Use the map SDK to initialize the marker in the navigation map; Editing information related to the reminder scene and reminder content in various attributes of the marker tag; registering a callback function in the marker tag; the callback function is used to write the reminder content corresponding to the reminder scene into the information window in response to the navigation object being in the reminder scene; The reminder content is placed in a pre-configured information window using a map software development kit (SDK), and the information window is pushed to the navigation object.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the navigation method according to any one of claims 1 to 8 are implemented.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the steps of the navigation method according to any one of claims 1 to 8.

13. A computer program, characterized in that The computer program includes computer instructions, which are stored in a computer-readable storage medium. When a processor of a computer device reads the computer instructions from the computer-readable storage medium, the processor executes the computer instructions, causing the computer device to perform the steps of the navigation method as described in any one of claims 1 to 8.

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