Navigation method and device

Abstract

A navigation method and apparatus are provided. The navigation method includes: obtaining location information of a starting location; obtaining a street view image within a predetermined range around the starting location; extracting visual features from the street view image; determining at least one landmark location based on the visual features; transmitting the location information of the at least one landmark location to a terminal device; determining a destination location from the at least one landmark location in response to a feedback signal from the terminal device; obtaining location information and a scene image of the destination location; determining navigation information based on the location information of the starting location and the location information of the destination location; and transmitting the navigation information and the scene image of the destination location to the terminal device.

Description

Technical Field

[0001] The present disclosure relates to the field of navigation technology. Background Art

[0002] Smart devices, such as smartphones, tablets, wearable devices, and in-vehicle smart terminals, are widely used in daily life. Besides entertainment applications, navigation is also a common function of these smart devices. The rapid development of smart devices in recent years has had a positive impact on navigation using these devices. Furthermore, with the advancement of communication technologies, particularly the advent of 5G mobile networks, users have higher demands for more precise and intelligent navigation. Summary of the Invention

[0003] According to one aspect of the present disclosure, a navigation method is provided. The navigation method includes: obtaining location information of a starting location; obtaining a street view image within a predetermined range around the starting location; extracting visual features from the street view image; determining at least one landmark location based on the visual features; transmitting the location information of the at least one landmark location to a terminal device; determining a destination location from the at least one landmark location in response to a feedback signal from the terminal device; obtaining location information and a scene image of the destination location; determining navigation information based on the location information of the starting location and the location information of the destination location; and transmitting the navigation information and the scene image of the destination location to the terminal device.

[0004] According to another aspect of the present disclosure, a navigation device is provided. The navigation device includes: a first acquisition unit configured to acquire location information of a starting location; a second acquisition unit configured to acquire a street view image within a predetermined range around the starting location; an extraction unit configured to extract visual features from the street view image; a first determination unit configured to determine at least one landmark location based on the visual features; a first sending unit configured to send the location information of the at least one landmark location to a terminal device; a second determination unit configured to determine an end location from the at least one landmark location in response to a feedback signal from the terminal device; a third acquisition unit configured to acquire location information and a scene image of the end location; the third determination unit configured to determine navigation information based on the location information of the starting location and the location information of the end location; and a second sending unit configured to send the navigation information and the scene image of the end location to the terminal device.

[0005] According to another aspect of the present disclosure, a navigation method is provided. The navigation method includes: transmitting location information of a starting location to a server; receiving location information of at least one landmark location from the server, the at least one landmark location being determined based on visual features extracted from a street view image within a predetermined range around the starting location; transmitting a feedback signal to the server, the feedback signal being used to determine a destination location from the at least one landmark location; receiving navigation information and a scene image of the destination location from the server; and outputting the navigation information and the scene image of the destination location.

[0006] According to another aspect of the present disclosure, a navigation device is provided. The navigation device includes: a third sending unit configured to send location information of a starting location to a server; a first receiving unit configured to receive location information of at least one landmark location from the server, the at least one landmark location being determined based on visual features extracted from a street view image within a predetermined range around the starting location; a fourth sending unit configured to send a feedback signal to the server, the feedback signal being used to determine a destination location from the at least one landmark location; a second receiving unit configured to receive navigation information and a scene image of the destination location from the server; and an output unit configured to output the navigation information and the scene image of the destination location.

[0007] According to another aspect of the present disclosure, a navigation device is provided, which includes: a processor and a memory storing a program, wherein the program includes instructions, and when the instructions are executed by the processor, the processor executes any one of the above navigation methods.

[0008] According to another aspect of the present disclosure, a vehicle is provided, comprising: any one of the above-mentioned navigation devices.

[0009] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing a program is provided, wherein the program includes instructions that, when executed by one or more processors, cause the one or more processors to perform any one of the above navigation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings illustrate exemplary embodiments and constitute a part of the specification. Together with the description of the specification, they serve to explain exemplary implementation of the embodiments. The illustrated embodiments are for illustrative purposes only and do not limit the scope of the claims. Throughout the drawings, the same reference numerals designate similar, but not necessarily identical, elements.

[0011] Figure 1 is a flowchart illustrating a navigation method performed by a server according to an exemplary embodiment;

[0012] Figure 2is a flowchart illustrating a navigation method performed by a terminal device according to an exemplary embodiment;

[0013] Figure 3 is a flowchart illustrating a navigation method performed by a terminal device according to another exemplary embodiment;

[0014] Figure 4 is a block diagram illustrating a navigation device according to an exemplary embodiment;

[0015] Figure 5 is a block diagram illustrating a navigation device according to another exemplary embodiment; and

[0016] Figure 6 is a schematic diagram of an application scenario of a motor vehicle according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0017] In this disclosure, unless otherwise specified, the use of terms such as "first" and "second" to describe various elements is not intended to limit the positional relationship, temporal relationship, or importance relationship of these elements. Such terms are only used to distinguish one element from another. In some examples, the first element and the second element may refer to the same instance of the element, while in some cases, based on the context of the description, they may also refer to different instances.

[0018] The terms used in the descriptions of the various examples described in this disclosure are for the purpose of describing specific examples only and are not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the element may be one or more. In addition, the term "and / or" used in this disclosure encompasses any one and all possible combinations of the listed items.

[0019] In conventional navigation methods, only the destination location and navigation information are provided. If the user is not particularly familiar with the surrounding road conditions and street scenes, it may be difficult for the user to determine whether he or she has reached the destination based solely on the location information of the destination.

[0020] Figure 1 1 is a flow chart illustrating a navigation method performed by a server according to an exemplary embodiment. The server may be an online server or a cloud server.

[0021] In step S101, the server responds to a user request, such as a request input by a user using a terminal device such as a smartphone, tablet computer, wearable device, e-book reader, or in-vehicle communication device, to obtain location information of the user's starting location (i.e., the location of the terminal device). For example, the location information of the starting location can be obtained based on the current GNSS positioning of the terminal device or an address manually input by the user.

[0022] In step S103, the server obtains street view images within a pre-set range around the starting location. For example, street view images within a range of 50 meters, 100 meters, or 200 meters around the starting location may be obtained. The street view images may specifically include location information for temporary parking spaces and fixed parking spaces. The street view images may be pre-stored on the server, where they may be captured by a professional surveying and mapping vehicle. Alternatively, the street view images may be captured by the user's terminal device, as will be described in more detail below.

[0023] In step S105, the server extracts visual features from the acquired street view image. Visual features include, for example, shape features, color features, texture features, and spatial relationship features.

[0024] In step S107, the server determines at least one landmark location based on the visual features. The at least one landmark location can be, for example, any of the following: outdoor billboards, road signs, bus stop signs; natural landscapes, such as large plants; buildings, such as banks and hospitals; commercial signs, such as signs of shops and large shopping malls; roads, and the parking spaces mentioned above.

[0025] In step S109, the server sends the location information of the at least one landmark location to the user's terminal device. The user can view their current location and the at least one landmark location, for example, on the display screen of the terminal device. The user can provide feedback on the terminal device via a keyboard, touch screen, or voice, reflecting the user's preferred location among the at least one landmark location.

[0026] In step S111 , the server determines an end point location from at least one landmark location in response to a feedback signal from the user. The end point location generally corresponds to a preferred location selected by the user.

[0027] In step S113, the server obtains the location information of the end point and the scene image. The scene image can also be an image collected by a professional surveying and mapping vehicle and pre-stored in the server.

[0028] In step S115 , the server determines navigation information according to the position information of the starting position and the position information of the ending position.

[0029] In step S117 , the server sends the navigation information and the scene image of the destination location to the user's terminal device.

[0030] Figure 2 is a flowchart illustrating a navigation method performed by a terminal device according to an exemplary embodiment.

[0031] In step S201, the terminal device sends the location information of the starting location to the server. After receiving the location information of the starting location, the server extracts visual features from the street view image within a predetermined range around the starting location to determine at least one landmark location and sends the location information of the at least one landmark location to the terminal device.

[0032] In step S203, the terminal device receives location information of at least one landmark location from the server. After viewing the location information of at least one landmark location through the display device of the terminal device, the user inputs a feedback signal reflecting the user's preferred location among the at least one landmark location.

[0033] In step S205, the terminal device sends a feedback signal to the server. In response to the feedback signal, the server determines the destination location from at least one landmark location and generates navigation information based on the location information of the starting and ending locations. Furthermore, the server obtains a scene image of the destination location and sends this scene image along with the navigation information to the terminal device.

[0034] In step S207, the terminal device receives the scene image and navigation information sent by the server, and outputs the scene image and navigation information through a display device.

[0035] According to the above-mentioned navigation method disclosed in the present invention, the destination position is selected from a number of landmark positions. Since the landmark positions are relatively conspicuous iconic buildings or other objects, the destination position selected from the landmark positions also has a corresponding conspicuous sign, which makes it easier for users to judge the destination when using navigation, especially when they are close to the destination. In addition, due to the limitation of navigation accuracy, when the user is already relatively close to the destination, especially in the last few dozen meters, the navigation map on the terminal device often can no longer display the positional relationship between the user and the destination particularly accurately, so the navigation information of the traditional navigation method at this time often cannot correctly guide the user to reach the destination smoothly. According to the navigation method disclosed in the present invention, the scene image of the destination position is displayed on the user's terminal device, which is more conducive to the user using navigation to identify the destination.

[0036] The navigation method according to the present disclosure can be applied to a variety of scenarios. Most simply, navigation that simply ends at a certain landmark location can utilize the navigation method according to the present disclosure. In addition, the navigation method according to the present disclosure will be further elaborated below in conjunction with the scenario of passengers calling a taxi. However, those skilled in the art should know that the navigation method is not limited to the above-mentioned scenarios. For example, the navigation method according to the present disclosure can also be used in the application of drone express delivery. In addition, the navigation method can also be combined with existing real-time communication software for users holding different (vehicle-mounted) terminals to meet.

[0037] In the case of a passenger requesting a ride, when a user (passenger) places a request through a ride-hailing app, the app will ask the user to enter a pickup location, or the app will use the terminal device's positioning function to determine the user's current location as the pickup location. During the ride-hailing process, if the user's location is not suitable for pickup, or the assigned vehicle cannot find the user, the driver and the user will typically communicate through the app or mobile communication (such as a phone call) to agree on a suitable pickup location. With the development of autonomous vehicles, driverless taxis have become available. Driverless taxis without drivers make it impossible for passengers to communicate with the driver to agree on a pickup location. After a passenger places a request, if the selected pickup location is complex, they may have difficulty finding their requested vehicle, resulting in a poor ride experience. Furthermore, the driverless taxi may be unable to reach the selected pickup location due to, for example, parking restrictions. In this case, if the passenger cannot contact the driverless taxi, they have no choice but to cancel the order.

[0038] In scenarios involving driverless taxis, applying the navigation method according to the present invention can avoid the aforementioned inconveniences and make it easier for passengers to connect with driverless taxis. When a passenger needs a taxi, they use their terminal device (e.g., a smartphone) to send a taxi request with a starting location. This starting location is the passenger's current location, such as a shop on a commercial street. Furthermore, the navigation method according to the present invention requires acquiring street view images within a predetermined range around the starting location. As mentioned above, these street view images can be captured by a professional mapping vehicle and pre-stored on an online or cloud server. However, it is also conceivable that, if the terminal device has a camera function, the street view images can be acquired using the terminal device's camera. In this case, the passenger is required to activate the terminal device's camera function and capture the surrounding street view. Compared to images captured by a professional mapping vehicle and pre-stored on an online or cloud server, the advantage of having the terminal device capture street view images is that the angle of the image generally corresponds to the user's field of view, which facilitates the user's identification of objects in the street view image, as some objects appear different when viewed from different angles. The identified objects can later be used as landmarks to guide passengers to their destination.

[0039] Next, visual features are extracted from the street view image, especially the shape features, color features, texture features, and spatial relationship features mentioned above. Then, the visual features are compared to determine the location of at least one landmark, such as a landmark building on a commercial street or near a bus stop.

[0040] First, the street view image is divided into multiple regions. The visual features of each region are compared with those of adjacent regions. When the difference in the comparison exceeds a pre-set threshold, the region is identified as a landmark. For example, the region may have distinct color features, such as a brightly colored sign or building that stands out from the surroundings; or distinct shape features, such as a uniquely shaped building or sculpture. Alternatively, the visual features are matched against pre-set models, and the degree of match between each region's visual features and the pre-set models is determined. When the degree of match exceeds a pre-set threshold, the region is identified as a landmark. Pre-set models include commercial signs (such as store signs and billboards), road signs (such as street signs and bus stop signs), and natural landmarks (such as large plants). When the degree of match between a region's visual features and the aforementioned models reaches a threshold, the region is considered to contain landmark scenes corresponding to the model, which are easily recognizable to passengers. Regarding the division of the street view image in these two methods for determining landmark locations, the following division methods can be considered: the street view image can be evenly divided into multiple regions according to a predetermined size, or the street view image can be divided into multiple regions according to visual features. Evenly dividing the street view image according to a predetermined size is relatively simple, but there is the problem of dividing a complete landmark into several regions, making its visual features less obvious. Division according to visual features, on the other hand, is more complex to process, but the resulting regions are more reasonable and more conducive to the subsequent step of determining the location of at least one landmark. For example, division according to visual features is particularly suitable for the aforementioned method of matching with a model, because the regions divided according to visual features are more likely to correspond to a complete landmark, making it easier to obtain an ideal matching result when matching such regions with the model. After determining the location of at least one landmark, the location information of the at least one landmark location is displayed to the user via a display device of the terminal device. According to some embodiments, a scene image of the at least one landmark location is also obtained and transmitted to the terminal device along with the location information. In this way, the user can intuitively see the images of various landmark locations in the street view image displayed on the terminal device, and select the desired boarding location (destination location) from at least one landmark location based on the image. The user can input the boarding location of their choice on the terminal device through buttons, touch screen, voice, etc., for example, by clicking on the scene image of the landmark location displayed on the touch screen to make a selection. According to the method disclosed in the present invention, the destination location is determined based on the user's selection, and the location information and scene image of the destination location are obtained. Then, navigation information is determined based on the location information of the starting location and the location information of the destination location, and the navigation information and the scene image of the destination location are output by the terminal device.In order to make it easier for users to identify the destination location when searching for it, a scene image of the destination location can be superimposed on the destination location in the navigation information. In this way, when the user approaches the destination location, he can refer to the scene image to find it, making it easier to find the destination location. In addition, the user can also use augmented reality (AR) technology to find the destination location. Specifically, in the process of moving from the starting position to the destination location, especially when the destination location is close, the user uses the camera device of the terminal device to capture a real-time image. According to some embodiments, after receiving the real-time image captured by the terminal device, the server compares the captured real-time image with the scene image of the destination location, determines the destination location in the real-time image, and identifies the destination location in the real-time image. By sending the scene image that identifies the destination location back to the terminal device, the user can get a prompt on his terminal device that he is close to the destination. The above method can also be used to compare the captured real-time image with the scene image of the destination location: extract the visual features in the real-time image and the visual features of the scene image of the destination location, and compare the visual features in the real-time image with the visual features of the scene image of the destination location; or use the visual features of the scene image of the destination location as a model to match the visual features in the real-time image. Once the matching degree exceeds a threshold, it is considered that the destination location appears in the real-time image, and the destination location is identified. The user can switch between the above two navigation methods at will in the process of navigating to the destination location using the terminal device. In some embodiments, when starting navigation, the user uses map navigation to reach the vicinity of the destination location according to the route planned by the navigation information, and then turns on the AR mode to determine the destination location by comparing the captured real-time image with the scene image of the destination location.

[0041] Figure 3 Another embodiment of the navigation method according to the present disclosure is shown. Figure 1 In addition to the steps already described, there is also a step of modifying the location information and / or scene image of the end point based on the feedback information of another terminal device. Except for steps S314A to S314B, the other steps S301-S317 correspond to Figure 1 The same steps are not explained in detail here. Figure 3As can be seen in Figure 3, after obtaining the location information and scene image of the destination (step S313), the server will send the obtained location information and scene image of the destination to another terminal device (step S314A). For example, in the aforementioned application scenario involving a passenger requesting a ride, the location information and scene image of the destination can be sent to the driverless taxi that accepts the order. The driverless taxi plans a route based on the starting and ending locations and drives to the destination. If the destination (the passenger's selected boarding location) is currently unsuitable for parking (for example, because all parking spaces are occupied), or if parking is possible but the scene image of the destination is found to be inconsistent (for example, because data in the online server or cloud server is not updated in a timely manner), the driverless taxi sends a feedback signal to the server. The feedback signal may include new location information and / or new scene image. Based on the feedback signal sent by the driverless taxi, if the server determines that the current location information and / or scene image of the destination needs to be changed, it will modify it (step S314B). It then determines navigation information based on the (modified) location information of the destination and sends the navigation information and the (modified) scene image of the destination to the user's terminal device. If the server judges that the position information and the scene image of the terminal position do not need to be revised, then directly determine the navigation information and send the navigation information and the scene image of the terminal position to the user's terminal device. At this, the steps of this judgment and revision can be performed by the terminal device equally.

[0042] Figure 4 4 is a block diagram illustrating a navigation device according to an exemplary embodiment. The navigation device 400 includes:

[0043] A first acquiring unit 401 is configured to acquire location information of a starting location;

[0044] The second acquisition unit 402 is configured to acquire a street view image within a preset range around the starting position;

[0045] An extraction unit 403 is configured to extract visual features from the street view image;

[0046] A first determining unit 404 is configured to determine a location of at least one landmark based on the visualization feature;

[0047] A first sending unit 405 is configured to send location information of at least one landmark location to a terminal device;

[0048] A second determining unit 406 is configured to determine an end point location from at least one landmark location in response to a user feedback signal;

[0049] The third acquiring unit 407 is configured to acquire the location information of the end point and the scene image;

[0050] A third determining unit 408 is configured to determine navigation information according to the position information of the starting position and the position information of the ending position; and

[0051] The second sending unit 409 is configured to send the navigation information and the scene image of the destination location to the terminal device.

[0052] In addition, although specific functions have been discussed above with reference to specific module units, it should be noted that the functions of the various module units discussed herein can be divided into multiple module units, and / or at least some functions of multiple module units can be combined into a single module unit. The specific module unit discussed herein performing an action includes the specific module unit itself performing the action, or alternatively the specific module unit calling or otherwise accessing another component or module unit that performs the action (or performing the action together with the specific module unit). Therefore, the specific module unit performing an action can include the specific module unit itself that performs the action and / or the specific module unit calling or otherwise accessing another module unit that performs the action. For example, the first acquisition unit 401, the second acquisition unit 402, and the third acquisition unit 407 described above can be combined into a single module unit in some embodiments.

[0053] More generally, various techniques may be described herein in the general context of software hardware elements or program modules. Figure 4 The various modules described can be implemented in hardware or in hardware in combination with software and / or firmware. For example, these modules can be implemented as computer program code / instructions, which are configured to be executed in one or more processors and stored in a computer-readable storage medium. Alternatively, these modules can be implemented as hardware logic / circuits. For example, in some embodiments, one or more of the extraction unit 403, the first determination unit 404, the second determination unit 406, and the third determination unit 408 can be implemented together in a system on a chip (SoC). The SoC can include an integrated circuit chip (which includes a processor (e.g., a central processing unit (CPU), a microcontroller, a microprocessor, a digital signal processor (DSP)), a memory, one or more communication interfaces, and / or one or more components in other circuits), and can optionally execute the received program code and / or include embedded firmware to perform functions.

[0054] Figure 5 FIG. 1 is a block diagram illustrating a navigation apparatus according to another exemplary embodiment. The navigation apparatus may be a terminal device or a part of a terminal device.

[0055] The navigation device 500 includes:

[0056] The third sending unit 501 is configured to send the location information of the starting position to the server;

[0057] A first receiving unit 502 is configured to receive location information of at least one landmark location from a server, where the at least one landmark location is determined based on visual features extracted from a street view image within a predetermined range around a starting location;

[0058] The fourth sending unit 503 is configured to send a feedback signal to the server, where the feedback signal is used to determine the end point location from the at least one landmark location;

[0059] The second receiving unit 504 is configured to receive navigation information and a scene image of the destination location from the server; and

[0060] The output unit 505 is configured to output navigation information and a scene image of the destination location.

[0061] As mentioned above, although the navigation method according to the present disclosure has been introduced in conjunction with the application scenario of passengers calling a taxi, the navigation method is not limited to this application scenario. The terminal device is not just a smartphone, the terminal device can also be a vehicle-mounted terminal. In this case, the above navigation method may be used for navigation during the merging process of a user driving a motor vehicle with a vehicle-mounted terminal and an unmanned vehicle (such as a drone for express delivery). The following is combined with Figure 6 The method is further illustrated by a schematic diagram of an application scenario of a motor vehicle of the exemplary embodiment shown.

[0062] Figure 6 1 shows a schematic diagram of an application scenario including a motor vehicle 2010 and a communication and control system for the motor vehicle 2010. It should be noted that, Figure 6 The structure and function of the vehicle 2010 shown are only an example. According to specific implementation forms, the vehicle of the present disclosure may include Figure 6 One or more of the structure and functionality of the vehicle 2010 is shown.

[0063] Motor vehicle 2010 may include sensors 2110 for sensing its surroundings. Sensors 2110 may include one or more of the following: ultrasonic sensors, millimeter-wave radar, laser radar (LiDAR), visual cameras, and infrared cameras. Different sensors offer varying levels of detection accuracy and range. Ultrasonic sensors can be installed around the vehicle, leveraging the strong directionality of ultrasonic waves to measure the distance of external objects from the vehicle. Millimeter-wave radars can be installed at the front, rear, or other locations of the vehicle, leveraging the properties of electromagnetic waves to measure the distance of external objects from the vehicle. LiDARs can be installed at the front, rear, or other locations of the vehicle, detecting object edges and shapes for object recognition and tracking. Due to the Doppler effect, radar devices can also measure changes in the speed of the vehicle and moving objects. Cameras can be installed at the front, rear, or other locations of the vehicle. Visual cameras can capture real-time information about the vehicle's interior and exterior and present it to the driver and / or passengers. Furthermore, by analyzing the images captured by the visual cameras, information such as traffic light indications, intersection conditions, and the operating status of other vehicles can be obtained. Infrared cameras can capture objects in night vision conditions. According to some embodiments, obtaining a street view image within a preset range around the starting location may be achieved by using a user's terminal device (ie, a camera of the motor vehicle 2010 ).

[0064] Motor vehicle 2010 may also include an output device 2120. Output device 2120 may include, for example, a display and speakers to present various outputs or instructions. Furthermore, the display may be implemented as a touch screen, thereby also detecting input in various ways. A graphical user interface may be presented on the touch screen, allowing the user to access and control corresponding controls. According to some embodiments, output device 2120 may be used to display location information of at least one landmark location, as well as navigation information and a scene image of the destination location. Furthermore, the user may select a desired destination location from the at least one landmark location via the touch screen.

[0065] The motor vehicle 2010 may also include one or more controllers 2130. The controller 2130 may include a processor, such as a central processing unit (CPU) or a graphics processing unit (GPU), or other specialized processor, that communicates with various types of computer-readable storage devices or media. The computer-readable storage devices or media may include any non-transitory storage device. A non-transitory storage device may be any storage device that is non-transitory and can enable data storage, and may include, but is not limited to, a disk drive, optical storage device, solid-state memory, floppy disk, flexible disk, hard disk, magnetic tape, or any other magnetic medium, an optical disk or any other optical medium, read-only memory (ROM), random access memory (RAM), cache memory, and / or any other memory chip or cartridge, and / or any other medium from which a computer can read data, instructions, and / or code. Some of the data in the computer-readable storage devices or media represents executable instructions used by the controller 2130 to control the vehicle. The controller 2130 may include an autonomous driving system for automatically controlling various actuators in the vehicle. The autonomous driving system is configured to control the powertrain, steering system, and braking system of the motor vehicle 2010 via multiple actuators in response to input from multiple sensors 2110 or other input devices to control acceleration, steering, and braking, respectively, without requiring human intervention or with limited human intervention. Some processing functions of the controller 2130 can be implemented through cloud computing. For example, some processing can be performed using an onboard processor while other processing can be performed using computing resources in the cloud. According to some embodiments, a graphics processing unit can be used to extract visual features from street view images, and a central processing unit can be used to determine navigation information based on the starting and ending locations.

[0066] The motor vehicle 2010 also includes a communication device 2140. The communication device 2140 includes a satellite positioning module capable of receiving satellite positioning signals from satellites 2012 and generating coordinates based on these signals. The communication device 2140 also includes a module for communicating with a mobile communication network 2013, which can implement any suitable communication technology, such as GSM / GPRS, CDMA, LTE, and other current or developing wireless communication technologies (such as 5G technology). The communication device 2140 can also have a vehicle-to-everything (V2X) module, which is configured to implement vehicle-to-vehicle (V2V) communication with other vehicles 2011 and vehicle-to-infrastructure (V2I) communication with infrastructure. In addition, the communication device 2140 may also have a module configured to communicate with the user terminal 2014 (including but not limited to a smartphone, tablet computer, or a wearable device such as a watch) by, for example, using a wireless local area network or Bluetooth according to the IEEE 802.11 standard. Utilizing the communication device 2140, the motor vehicle 2010 can access the online server 215 or the cloud server 216 via the wireless communication system. The online server or the cloud server is configured to provide corresponding data processing, data storage, and data transmission services for the motor vehicle. In some embodiments, the street view images within a predetermined range around the starting position and the scene images at the end position are stored in the online server 2015 or the cloud server 2016, and the communication device 2140 is required to wirelessly access and obtain the above images.

[0067] In addition, the motor vehicle 2010 also includes Figure 6 The powertrain, steering system, braking system, etc. used to realize the driving function of the motor vehicle are not shown.

[0068] Although the embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it should be understood that the above-mentioned methods, systems and devices are merely exemplary embodiments or examples, and the scope of the present invention is not limited by these embodiments or examples, but is only limited by the claims after authorization and their equivalents. Various elements in the embodiments or examples may be omitted or replaced by their equivalents. In addition, the steps may be performed in an order different from that described in this disclosure. Further, the various elements in the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced by equivalent elements that appear after this disclosure.

Claims

1. A navigation method, comprising: Get the location information of the starting position; Acquire a street view image within a preset range around the starting position; extracting visual features from the street view image; determining at least one landmark location based on the visualization feature; sending the location information of the at least one landmark location to a terminal device; determining an end point position from the at least one landmark position in response to a feedback signal from the terminal device; Acquiring location information and scene images of the end point; determining navigation information according to the position information of the starting position and the position information of the ending position; and sending the navigation information and the scene image of the destination location to the terminal device, The navigation method further includes: before determining the navigation information, sending the location information and the scene image of the destination location to another terminal device; and in response to feedback information from the other terminal device, modifying the location information of the destination location and / or the scene image of the destination location, wherein the feedback information is a feedback signal including the new location information and / or the new scene image. Wherein, in the case where it is determined based on the feedback information that the position information and / or the scene image of the end position needs to be changed, the position information of the end position and / or the scene image of the end position are modified; in the case where the position information of the end position is modified, navigation information is determined based on the modified position information of the end position; in the case where the scene image of the end position is modified, the navigation information and the modified scene image of the end position are sent to the terminal device of the user; The navigation information and the scene image of the destination location are output by the terminal device of the user for the user to find the destination location.

2. The navigation method according to claim 1, further comprising: After sending the navigation information and the scene image of the destination location to the terminal device, the real-time image taken by the terminal device is received, and the destination location is determined in the real-time image by comparing the real-time image taken by the terminal device with the scene image of the destination location, and information related to the destination location is sent to the terminal device.

3. The navigation method according to claim 1 or 2, further comprising: After determining the at least one landmark position, a scene image of the at least one landmark position is acquired, and the scene image of the at least one landmark position and the position information of the at least one landmark position are sent to the terminal device.

4. The navigation method according to claim 1 or 2, wherein: Determining the location of at least one landmark based on the visualization feature includes: Comparing the visual features, wherein the street view image is divided into a plurality of regions, and the visual features of each region are compared with the visual features of regions adjacent to the region; and In response to the compared difference being greater than a preset threshold, the area is determined as a landmark location.

5. The navigation method according to claim 1 or 2, wherein: Determining the location of at least one landmark based on the visualization feature includes: Matching the visual features with a pre-defined model, wherein the street view image is divided into a plurality of regions and a degree of matching between the visual features of each region and the pre-defined model is determined; and In response to the matching degree being greater than a preset threshold, the area is determined as a landmark location.

6. The navigation method according to claim 1 or 2, wherein: The user includes a passenger who calls a taxi, the navigation method is used in an application scenario where a passenger calls a taxi, and the other terminal device includes an unmanned taxi that accepts an order; or The user includes a user driving a motor vehicle with a vehicle-mounted terminal, the navigation method is used for navigation during a merging process between the user driving the motor vehicle with the vehicle-mounted terminal and an unmanned vehicle, and the other terminal device includes the unmanned vehicle.

7. The navigation method according to claim 1 or 2, wherein: The location information of the starting location is acquired in response to a request from the terminal device, the request from the terminal device including a request to dispatch an unmanned mobile device.

8. A navigation device comprising: A first acquiring unit is configured to acquire location information of a starting location; a second acquiring unit configured to acquire a street view image within a preset range around the starting position; an extraction unit configured to extract visual features from the street view image; a first determining unit configured to determine at least one landmark position based on the visualization feature; a first sending unit, configured to send the location information of the at least one landmark location to a terminal device; a second determining unit, configured to determine an end point position from the at least one landmark position in response to a feedback signal from the terminal device; a third acquiring unit, configured to acquire the location information and the scene image of the end point; a third determining unit, configured to determine navigation information according to the position information of the starting position and the position information of the ending position; as well as The second sending unit is configured to send the navigation information and the scene image of the end point to the terminal device, Before determining the navigation information, the location information and scene image of the destination location are sent to another terminal device, and in response to feedback information from the other terminal device, the location information of the destination location and / or the scene image of the destination location are modified, wherein the feedback information is a feedback signal including the new location information and / or the new scene image. Wherein, in the case where it is determined based on the feedback information that the position information and / or the scene image of the end position needs to be changed, the position information of the end position and / or the scene image of the end position are modified; in the case where the position information of the end position is modified, navigation information is determined based on the modified position information of the end position; in the case where the scene image of the end position is modified, the navigation information and the modified scene image of the end position are sent to the terminal device of the user; The navigation information and the scene image of the destination location are output by the terminal device of the user for the user to find the destination location.

9. A navigation device comprising: processor, and A memory storing a program, the program comprising instructions which, when executed by the processor, cause the processor to perform the navigation method according to any one of claims 1 to 7.

10. A navigation method, comprising: Send the location information of the starting position to the server; receiving location information of at least one landmark location from the server, the at least one landmark location being determined based on visual features extracted from a street view image within a predetermined range around the starting location; sending a feedback signal to the server, wherein the feedback signal is used to determine an end point position from the at least one landmark position; receiving navigation information and a scene image of the destination location from the server; and Output the navigation information and the scene image of the destination position, The navigation information is determined by the server. Before determining the navigation information, the server sends the location information and scene image of the destination location to another terminal device. In response to feedback information from the other terminal device, the server modifies the location information of the destination location and / or the scene image of the destination location. The feedback information is a feedback signal including the new location information and / or the new scene image. wherein, in a case where it is determined based on the feedback information that the position information and / or the scene image of the end position needs to be changed, the position information of the end position and / or the scene image of the end position are modified; in a case where the position information of the end position is modified, the navigation information is determined based on the modified position information of the end position; in a case where the scene image of the end position is modified, receiving the navigation information and the scene image of the end position from the server includes receiving the navigation information and the modified scene image of the end position from the server, and outputting the navigation information and the scene image of the end position includes outputting the navigation information and the modified scene image of the end position; The navigation method is executed by a terminal device, and the navigation information and the scene image of the destination position are output by the user's terminal device for the user to find the destination position.

11. The navigation method according to claim 10, further comprising: The scene image of the landmark location is superimposed and displayed on the street view image within a preset range around the starting location.

12. A navigation device comprising: a third sending unit, configured to send location information of the starting location to a server; a first receiving unit configured to receive location information of at least one landmark location from the server, wherein the at least one landmark location is determined based on visual features extracted from a street view image within a predetermined range around the starting location; a fourth sending unit, configured to send a feedback signal to the server, wherein the feedback signal is used to determine an end point position from the at least one landmark position; a second receiving unit, configured to receive navigation information and a scene image of the destination location from the server; as well as an output unit configured to output the navigation information and a scene image of the destination location, The navigation device is a terminal device or a part of the terminal device. The navigation information is determined by the server. Before determining the navigation information, the server sends the location information and scene image of the destination location to another terminal device. In response to feedback information from the other terminal device, the server modifies the location information of the destination location and / or the scene image of the destination location. The feedback information is a feedback signal including the new location information and / or the new scene image. wherein, in a case where it is determined based on the feedback information that the position information and / or the scene image of the end position needs to be changed, the position information of the end position and / or the scene image of the end position are modified; in a case where the position information of the end position is modified, the navigation information is determined based on the modified position information of the end position; in a case where the scene image of the end position is modified, receiving the navigation information and the scene image of the end position from the server includes receiving the navigation information and the modified scene image of the end position from the server, and outputting the navigation information and the scene image of the end position includes outputting the navigation information and the modified scene image of the end position; The output navigation information and the scene image of the destination location are output by the user's terminal device for the user to find the destination location.

13. A navigation device comprising: processor, and A memory storing a program, the program comprising instructions which, when executed by the processor, cause the processor to perform the navigation method according to claim 10 or 11.

14. A vehicle comprising: A navigation device as claimed in claim 12 or 13.

15. A non-transitory computer-readable storage medium storing a program, the program comprising instructions which, when executed by one or more processors, cause the one or more processors to perform the navigation method according to any one of claims 1 to 7 or 10 to 11.

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