Lane navigation path generation method and device, driving control method and device

Abstract

The present disclosure relates to a lane navigation path generation method and device, and a driving control method and device. The lane navigation path generation method comprises: obtaining a road navigation path and a map file comprising lane attribute information and road attribute information; determining a road sequence corresponding to the road navigation path based on the road attribute information of the map file; determining a lane satisfying a driving rule in the road sequence based on the lane attribute information in the map file; and determining a lane navigation path corresponding to the road navigation path by using the lane satisfying the driving rule. The present disclosure can obtain a lane-level navigation path simply and conveniently.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent control technology, and in particular to a lane navigation path generation method and apparatus, and a driving control method and apparatus. Background Technology

[0002] A crucial module in autonomous driving is the navigation module. The navigation module provides smart mobile devices with driving routes and specific lane information, which the devices rely on for decision-making and planning.

[0003] For urban roads or highways, there may be multiple lanes on the same stretch of road, so driving intelligent mobile devices requires precise lane selection. Summary of the Invention

[0004] This disclosure proposes a technical solution for intelligent control.

[0005] According to one aspect of this disclosure, a lane navigation path generation method is provided, comprising:

[0006] Obtain road navigation routes and map files containing lane attribute information and road attribute information;

[0007] Based on the road attribute information of the map file, the road sequence corresponding to the road navigation path is determined;

[0008] Based on the lane attribute information in the map file, determine the lanes in the road sequence that meet the driving rules;

[0009] By utilizing lanes that meet driving rules, a lane navigation path corresponding to the road navigation path is determined.

[0010] According to a second aspect of this disclosure, a driving control method is provided, comprising:

[0011] Determine the road navigation route based on the input information;

[0012] Using any one of the lane navigation path generation methods described in the first aspect, determine the lane navigation path corresponding to the road navigation path;

[0013] The driving control of the smart mobile device is based on the lane navigation path.

[0014] According to a third aspect of this disclosure, a lane navigation path generation apparatus is provided, comprising:

[0015] The acquisition module is used to acquire road navigation paths and map files containing lane attribute information and road attribute information;

[0016] The road sequence determination module is used to determine the road sequence corresponding to the road navigation path based on the road attribute information of the map file;

[0017] The lane determination module is used to determine the lanes that meet the driving rules in the road sequence based on the lane attribute information in the map file.

[0018] The lane navigation path generation module is used to determine the lane navigation path corresponding to the road navigation path by utilizing lanes that meet the driving rules.

[0019] According to a fourth aspect of this disclosure, a driving control device is provided, comprising:

[0020] The road navigation path determination module is used to determine the road navigation path based on the input information;

[0021] A generation module is used to determine the lane navigation path corresponding to the road navigation path using the lane navigation path generation method described in any one of the first aspects.

[0022] The control module is used to control the driving of the smart mobile device based on the lane navigation path.

[0023] According to a fifth aspect of this disclosure, an electronic device (computer device) is provided, comprising:

[0024] processor;

[0025] Memory used to store processor-executable instructions;

[0026] The processor is configured to invoke instructions stored in the memory to execute the method described in any of the first aspects, or to execute the method described in the second aspect.

[0027] According to a sixth aspect of this disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the method described in any one of the first aspects, or implement the method described in the second aspect.

[0028] In this embodiment, the acquired map file and road navigation path can be used to determine the road sequence corresponding to the road navigation path. Furthermore, by combining the lane attribute information between lanes marked in the map file, lanes that meet the driving rules are selected, and the lane navigation path corresponding to the road navigation path is determined using these lanes. This eliminates the need to mark the connection relationships between lanes in the map file, significantly reducing marking costs. It also allows for convenient deriving of the corresponding lane navigation path based on the road navigation path, facilitating driving control.

[0029] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure.

[0030] Other features and aspects of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0031] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the specification, serve to illustrate the technical solutions of this disclosure.

[0032] Figure 1 A flowchart illustrating a lane navigation path generation method according to an embodiment of the present disclosure is shown.

[0033] Figure 2 This diagram illustrates the structure of each lane within a road according to an embodiment of the present disclosure.

[0034] Figure 3 This diagram shows a flowchart of step S20 in a lane navigation path generation method according to an embodiment of the present disclosure;

[0035] Figure 4 A schematic diagram of a road sequence in a lane navigation path generation method according to an embodiment of the present disclosure is shown;

[0036] Figure 5 This diagram illustrates the determination of lane turning information in a lane navigation path generation method according to an embodiment of the present disclosure.

[0037] Figure 6 This diagram shows a flowchart of step S40 in a lane navigation path generation method according to an embodiment of the present disclosure;

[0038] Figure 7 A flowchart of a driving control method according to an embodiment of the present disclosure is shown;

[0039] Figure 8 This diagram shows a block diagram of a lane navigation path generation apparatus according to an embodiment of the present disclosure;

[0040] Figure 9 A block diagram of an electronic device 800 according to an embodiment of the present disclosure is shown;

[0041] Figure 10 A block diagram of another electronic device 1900 implemented according to this disclosure is shown. Detailed Implementation

[0042] Various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0043] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0044] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0045] Furthermore, to better illustrate this disclosure, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that this disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this disclosure.

[0046] The execution entity of the lane navigation path generation method in this disclosure embodiment can be a data processing device. For example, the lane navigation path generation method can be executed by a terminal device, a server, or other processing devices. The terminal device can be a user equipment (UE), mobile device, user terminal, terminal, cellular phone, cordless phone, personal digital assistant (PDA), handheld device, computing device, in-vehicle device, wearable device, etc. The server can be a cloud server or a local server. In some possible implementations, the lane navigation path generation method can be implemented by a processor calling computer-readable instructions stored in memory.

[0047] Figure 1 A flowchart illustrating a lane navigation path generation method according to an embodiment of the present disclosure is shown, such as... Figure 1 As shown, the lane navigation path generation method includes:

[0048] S10: Obtain the road navigation path and a map file containing lane attribute information and road attribute information;

[0049] In some possible implementations, the map file can be a map file pre-configured in the device, or it can be a map file independently designed by those skilled in the art based on the embodiments of this disclosure. The map file can be any map file capable of realizing road-level path navigation, and the map file can also include location information of different points. At the same time, the map file in the embodiments of this disclosure can be marked with road attribute information and lane attribute information, wherein the road attribute information includes the location of each road, the road name (road sign), and the connection relationship between roads, and the lane attribute information includes the lane location, the lane identification symbol, and the identification value, wherein the identification symbol is used to indicate the driving direction of the lane, and the identification value is used to distinguish the location of each lane. Figure 2 This diagram illustrates the structure of lanes within a road according to an embodiment of the present disclosure. The road includes lanes for two directions of travel, divided by a central reference line. The upper three lanes are for left-hand traffic, and the lower three lanes are for right-hand traffic. Lanes for left-hand traffic are identified by positive numbers, and lanes for right-hand traffic by negative numbers. For example, the upper three lanes can be identified by "+" (not shown here), and the lower three lanes by "-". The corresponding identification values ​​can be, for example, "1", "2", and "3" as described above. The closer a lane is to the reference line, the smaller its identification value. This is merely an illustrative example, and the present disclosure does not specifically limit the road and lane attribute information in the map file. In other embodiments, lane attributes may also include lane line type information, such as whether the lanes are separated by solid or dashed lines.

[0050] In some possible implementations, the road navigation path is road-level navigation information, which can represent the road-level travel route between two locations (road-level navigation path). That is, the road navigation path can be the road information traversed from the starting point to the destination. The road navigation path can determine the road connection relationship between the starting point and the destination. For example, the road navigation path from point A to point B can be road R1-R2-R3. In addition, the road navigation path can include multiple navigation points, which constitute the travel route between the starting point and the destination location, and this travel route corresponds to the road navigation path.

[0051] In some possible implementations, obtaining a road navigation path may include generating a navigation path between the start and end points using the map file, based on the received start and end points. Alternatively, the generated road navigation path may be received directly from another device; this disclosure does not specifically limit this approach.

[0052] In addition, the map file in this embodiment of the disclosure can be a high-precision map, such as a device-readable map file that includes lane information.

[0053] S20: Based on the road attribute information of the map file, determine the road sequence corresponding to the road navigation path;

[0054] In some possible implementations, given a road navigation path, the roads corresponding to the navigation path can be determined based on the location information of each navigation point in the map file, forming a lane sequence corresponding to the navigation path. This road sequence can represent a directed sequence of roads corresponding to each navigation point in the navigation path. Each road can have a corresponding road identifier, which may include the road name or other identifiers that can uniquely associate each road, such as road-i, road-j, etc., but this disclosure does not specifically limit this. The aforementioned road sequence can be formed by determining the road identifiers corresponding to each navigation point.

[0055] In some possible implementations, after obtaining the lane sequence corresponding to the road navigation path, turning information between each road can be further determined. This turning information may include at least one of going straight, turning left, turning right, and making a U-turn. The turning information of two adjacent roads can be determined by the relationship between them.

[0056] S30: Based on the lane attribute information in the file, determine the lanes in the road sequence that meet the driving rules;

[0057] In some possible implementations, different roads or regions have different driving rules. This embodiment of the disclosure can configure corresponding driving rules for different location information. These driving rules can be stored on a server or other device. The corresponding driving rules can be requested by sending location information. Alternatively, the driving rules of this embodiment can be associated with and stored in a map file. Different driving rules can be configured within different location ranges, and the driving rules corresponding to that location information can be obtained through real-time collected location information. Furthermore, the driving rules of this embodiment of the disclosure can include traffic rules, such as different traffic rules for driving on the left or right. In other implementations, the driving rules can also include driving habit information, which can be information such as the driver's preferences, habits, and experience when driving the vehicle, such as preferred driving speeds and lanes. This driving habit information can be information received through an input interface or data learned from real-time collected driving data (speed, road surface images, etc.). In other implementations, other rule information that can be used as control conditions for driving parameters can also be used as the driving rules of this embodiment of the disclosure.

[0058] Once the driving rules are obtained, the lanes that meet the driving rules can be determined accordingly.

[0059] S40: Using lanes that meet the driving rules, determine the lane navigation path corresponding to the road navigation path.

[0060] In some possible implementations, lane navigation paths can be formed using lanes that meet driving rules within a defined road sequence. The lane navigation path is lane-level navigation information, including navigation information for controlling the driving lanes of smart mobile devices. For example, the linking relationships between lanes can be determined using lanes that meet driving rules, thereby forming the lane navigation path.

[0061] Based on the above configuration, this embodiment of the present disclosure can conveniently use road navigation paths and map files to determine the road sequence corresponding to the road navigation path, and can determine the lanes that meet the driving rules in each road in the road sequence according to the driving rules. Furthermore, by using the lanes that meet the driving rules and the lane attribute information, the lane navigation path corresponding to the road navigation path can be determined. This embodiment of the present disclosure does not require marking a large amount of link data between lanes in the map file, and can conveniently and accurately determine lane-level navigation information.

[0062] The embodiments of this disclosure are described in detail below with reference to the accompanying drawings. In the case of a map file and a road navigation path, the embodiments of this disclosure can determine the road sequence corresponding to the road navigation path in the map file. The road navigation path can consist of multiple navigation points, each corresponding to a specific road. For example, each navigation point in the embodiments of this disclosure can be represented in the form of location information, or each navigation point can be assigned a unique navigation point identifier, and each navigation point identifier can be associated with the location information corresponding to the navigation point, thereby facilitating the determination of the location corresponding to each navigation point. The navigation point identifier can be such as 1, 2, 3, etc., but this is not intended as a specific limitation of this disclosure.

[0063] The following example illustrates how navigation points are represented using location information. Location coordinates can represent longitude and latitude. For instance, navigation points along a navigation path can be a sequence of equally spaced GPS points. Each GPS point records the longitude and latitude along the navigation route. The location information of the navigation points allows us to determine the corresponding roads in the map file, forming a road sequence.

[0064] Figure 3 The flowchart illustrates step S20 of a lane navigation path generation method according to an embodiment of the present disclosure. The step of determining the road sequence corresponding to the road navigation path based on the road attribute information of the map file may include:

[0065] S21: Based on the location of the navigation point in the road navigation path in the map file and the road attribute information in the map file, determine the road identifier corresponding to the navigation point, wherein the road attribute information includes the road identifier corresponding to the location information;

[0066] In some possible implementations, such as the multiple navigation points in the road navigation path described in the above embodiments, multiple navigation points may have corresponding location information, such as longitude and latitude. Based on this location information, the embodiments of this disclosure can determine the road corresponding to each navigation point in the map file, that is, the road where the navigation point is located. The road attribute information in the map file may include a road identifier corresponding to each location information. This road identifier is used to distinguish different roads. The road identifier may include a road name or other identifiers that can identify road segments; this disclosure does not specifically limit this. Correspondingly, the road identifier corresponding to the road attribute information can be determined using the location information in the navigation path.

[0067] In one example, a road navigation path may include navigation points a1, a2, a3…a10, each associated with corresponding location information. Based on this location information, the road identifier corresponding to each navigation point within the road attribute information of the map file can be determined. For example, the determined road identifiers could be: road1, road1, road1, road2, road2, road3, road3, road3, road3, road3. This allows the determination of the road identifier corresponding to each navigation point.

[0068] S22: Based on the determined road identifier, obtain the road sequence corresponding to the road navigation path.

[0069] In some possible implementations, after determining the road signs corresponding to each navigation point in the road navigation line, a road sequence corresponding to the road navigation path can be further determined. This road sequence can represent a directed sequence formed by road signs along the forward direction of the navigation line. Where adjacent navigation points correspond to the same road signs, these road signs can be merged to obtain the final road sequence.

[0070] As in the example above, the resulting road sequence can be represented as road1—road2—road3. Each road identifier in the resulting road sequence can correspond to a specific navigation point.

[0071] In some possible implementations, navigation points in the road navigation path may be located within turning areas. Embodiments of this disclosure can skip navigation points within these turning areas during the process of determining the road sequence. Embodiments of this disclosure can first determine whether turning areas exist in the road navigation path, and then determine the road sequence based on the presence or absence of turning areas. Turning areas include turning intersections and / or turning curves. The road attribute information in the map file may include information about whether turning areas exist between adjacent road markers, and may also include the type and identifier of the corresponding turning area, which is used to uniquely identify a turning area.

[0072] Specifically, when it is determined that there are no turning areas between road signs corresponding to the road navigation path, the deduplication results of all road signs can be used to form a road sequence. Conversely, when it is determined that there are turning areas in the road navigation path, a first navigation point located within the turning area and a second navigation point located outside the turning area can be identified. Using the position of the first navigation point in the map file, the intersection sign corresponding to the first navigation point is determined, and using the position of the second navigation point in the map file, the road sign corresponding to the second navigation point is determined. Based on the deduplication results of the intersection sign corresponding to the first navigation point and the road sign corresponding to the second navigation point, the road sequence corresponding to the road navigation path is determined.

[0073] In this embodiment of the disclosure, navigation points within the turning area can be referred to as first navigation points, and navigation points outside the turning area can be referred to as second navigation points. Specifically, it can be determined whether a navigation point in the road navigation path belongs to the first or second navigation point, thus identifying which navigation points are first navigation points and which are second navigation points.

[0074] This involves using road attribute information from the map file to determine the road markers and turning area markers corresponding to each navigation point. Then, based on the deduplication results of the turning area markers corresponding to the first navigation point and the road markers corresponding to the second navigation point, a road sequence can be formed according to the direction of travel along the road navigation path. Figure 4 This diagram illustrates a road sequence in a lane navigation path generation method according to an embodiment of the present disclosure. The road sequence clearly identifies the roads and intersections where navigation points are located, facilitating subsequent processing.

[0075] In some possible implementations, given a road sequence, turning information between adjacent roads can be determined based on the navigation paths between them. Each road in the road sequence may correspond to a navigation line vector. As described in the above embodiments, each road identifier corresponds to one road, and each road identifier may correspond to a corresponding navigation point (at least two navigation points) in the road navigation path. The navigation line vector corresponding to each road identifier can be determined using at least two navigation points from the navigation points corresponding to each road identifier.

[0076] In one example, two navigation points can be selected from the navigation points corresponding to each road sign. The navigation line vector can be determined using the vector formed between the position information of these two navigation points. The selected navigation points can be randomly selected, or two navigation points can be selected from an initial preset number of navigation points, or from a final preset number of navigation points, where the preset number is greater than or equal to 2, according to the direction of travel of the road navigation path. The above method is not intended to limit the embodiments of this disclosure. The above method provides a simple and convenient way to determine the navigation line vector corresponding to a road sign.

[0077] In another example, linear fitting can be performed on the navigation points corresponding to each road sign. The location information of each navigation point is used for linear fitting, and the navigation line vector can be determined based on the fitting result. The linear fitting method can include least squares, or other methods can be used; this disclosure does not impose specific limitations. This method can improve the accuracy of the navigation line vector.

[0078] In some possible implementations, after obtaining the navigation line vectors corresponding to road signs, turning information between adjacent roads can be further determined based on the relationship between the navigation line vectors corresponding to two adjacent road signs. Specifically, the angle between the navigation line vectors corresponding to two adjacent roads can be used to determine whether a turn is needed.

[0079] In one example, the angle between the navigation line vectors corresponding to any two road signs in the road sequence can be obtained. If the angle between the two navigation line vectors is less than an angle threshold, the turning information between the two road signs can be determined to be straight. The method for determining the angle between two navigation line vectors can include... Where θ represents the angle between the navigation line vectors, and a and b represent the two navigation line vectors respectively. Furthermore, the angle threshold can be a preset value, such as less than 30 degrees, but this disclosure does not specifically limit it.

[0080] Furthermore, if the angle between two navigation line vectors is greater than or equal to an angle threshold, the turning direction can be further determined based on these two navigation line vectors. Specifically, if the product of the navigation line vectors corresponding to two adjacent roads is greater than a product threshold, the turning information between the two adjacent roads is determined to be a turn in a first direction; if the product of the navigation line vectors corresponding to the two adjacent roads is less than or equal to a product threshold, the turning information between the two adjacent roads is determined to be a turn in a second direction. The first direction and the second direction are different directions. For example, the first direction could be the right, and the second direction could be the left. Figure 5 This diagram illustrates the determination of lane turning information in a lane navigation path generation method according to an embodiment of the present disclosure. v1 and v2 represent navigation line vectors between two adjacent lanes. Turning information can be determined by the product of v1 and v2. The product threshold can be zero, allowing for convenient determination of the turning direction based on the positive or negative value of the product result.

[0081] Based on the above embodiments, it is convenient and accurate to determine the road sequence and the turning information between adjacent roads in the road sequence according to the location information of each navigation point in the map file in the road navigation path.

[0082] Having obtained the turning information between each road in the road sequence, it is possible to further determine the applicable lanes in the road and the lane navigation paths corresponding to the link relationships between lanes.

[0083] The step of determining lanes that meet the driving rules in a road sequence based on lane attribute information in a map file may include: using the identification symbols corresponding to the lanes marked in the map file to determine the lanes that meet the driving rules in a road sequence.

[0084] In some possible implementations, as described in the above embodiments, corresponding lane identifiers can be assigned to each lane in the road in the map file. These lane identifiers can include identifier symbols and identifier values, where the identifier symbol can indicate the direction of travel for the lane, and the identifier value can be used to identify the lane's position within the road. For example... Figure 2 As shown, different identifiers can be assigned to the lanes on both sides of the reference line, such as the first identifier "+" and the second identifier "-", where "+" is ignored and not shown. This disclosure embodiment...

[0085] Since existing traffic rules differ for left-hand and right-hand driving, this embodiment of the disclosure can determine the driving rules before executing step S30. For example, based on the location information of each navigation point in the road navigation path, a request can be made to the server to determine the driving rules for that location area. This location area may require either left-hand or right-hand driving rules. If left-hand driving is permitted, the driving rule is determined as the first driving rule. If right-hand driving is permitted, the driving rule is determined as the second driving rule. The first and second driving rules are different, with the first rule specifying regulations for left-hand driving and the second rule specifying regulations for right-hand driving.

[0086] Given defined driving rules, lanes within the roads corresponding to the road navigation path that conform to those rules can be identified. Specifically, under left-hand traffic rules, lanes marked with a first identifier can be identified as lanes conforming to the first driving rule; and under right-hand traffic rules, lanes marked with a second identifier can be identified as lanes conforming to the second driving rule. In other words, this embodiment of the disclosure can utilize lane identifiers marked in a map file to determine lanes within a road sequence that conform to the driving rules. It is simple and convenient.

[0087] In addition, to further reduce the amount of data to be processed, this disclosure can also identify non-motorized lanes as lanes that do not meet the driving rules. Since there can be non-motorized lanes on both sides of the lane, a third identifier can be assigned to the non-motorized lane in the lane attribute information in the map file. By excluding the non-motorized lane corresponding to the third identifier, the lane information that meets the driving rules can be further reduced, the accuracy of lane connection relationships can be improved, and the safety of driving control can be improved at the same time.

[0088] If a lane that meets the driving rules is determined, step S40 can be executed to determine the lane navigation path corresponding to the road navigation path using the lane that meets the driving rules. Figure 6 A flowchart illustrating step S40 of a lane navigation path generation method according to an embodiment of the present disclosure is shown. As described in the above embodiments, in addition to obtaining a road sequence, this embodiment can also obtain turning information between adjacent roads in the road sequence. This embodiment can determine a lane navigation path based on lanes that meet driving rules and the turning information.

[0089] like Figure 6 As shown, determining the lane navigation path corresponding to the road navigation path using lanes that meet driving rules and the steering information includes:

[0090] S41: Using the turning information between adjacent roads in the road sequence, determine the priority of lanes that meet the driving rules;

[0091] In some possible implementations, the identification values ​​of lanes that meet the driving rules can be obtained first from the lane attribute information of the map file. Based on the identification values ​​and the turning information between lanes, the priority of the lanes can be determined.

[0092] Specifically, when the turning information between two adjacent roads is a turn in the first direction, the priority of each lane in the two adjacent roads is determined according to the direct proportion of the lane identification values ​​in the two adjacent roads; when the turning information between two adjacent roads is a turn in the second direction, the priority of each lane in the two adjacent roads is determined according to the inverse proportion of the lane identification values ​​in the two adjacent roads. That is, in this embodiment of the disclosure, when the turning information between two adjacent lanes is a left turn, the larger the lane identification value, the lower the priority of that lane; conversely, when the turning information between two adjacent lanes is a right turn, the larger the lane identification value, the higher the priority of that lane.

[0093] S42: Determine the lane navigation path corresponding to the lane navigation path by utilizing the priority of lanes that meet the driving rules.

[0094] Given a defined priority order for lanes on each road, the link relationships between the lanes with the highest priority can be identified as the lane link relationships corresponding to the lane navigation path, thereby generating the lane navigation path based on the defined lane link relationships.

[0095] For example, roadi and roadj are two adjacent road identifiers in a road sequence, where each road can have two lanes that meet the driving rules, and the lane identifier values ​​can be 1 and 2. If the direction between roadi and roadj is a left turn, then the lane with road identifier 1 has the highest priority; if the direction between roadi and roadj is a right turn, then the lane with road identifier 2 has the highest priority.

[0096] Additionally, if the turning information between two roads is straight, the lane with the highest priority on the preceding road can be identified as the highest priority lane between the two roads.

[0097] The above embodiments can easily and conveniently determine the road sequence corresponding to the navigation point, the turning information between roads, and the connection relationship between lanes in the corresponding roads.

[0098] To clearly illustrate the embodiments of this disclosure, the process of the embodiments of this disclosure is described below with examples. In the case of a road navigation path, the embodiments of this disclosure can utilize a configured map file to obtain the road sequence corresponding to the road navigation path. Specifically, for each navigation point, the road ID of that navigation point in the map file is searched. If the navigation point is located within an intersection, these points can be skipped. Then, all the queried road IDs are merged to finally obtain the road sequence Road_i->Road_j->Road_k, while simultaneously saving the navigation point information corresponding to each road segment. For example... Figure 4 The diagram shows the resulting road sequence. Each road and intersection can be assigned a corresponding identifier; for example, Navigationline represents the road navigation path, road i, Road j, and Road k can represent road identifiers, and Junction1 and Junction2 can represent intersection identifiers.

[0099] Given a road sequence, the turning information between adjacent roads can be further determined. This involves iterating through each road in the sequence and, for each road segment, obtaining the navigation line vector of that road based on its corresponding navigation point on the road navigation path. Figure 5 The vectors v1 and v2 are used to determine the angle between them. If the angle is less than a certain threshold (angle threshold), it is considered to be going straight. Otherwise, the sign of the cross product of the two vectors determines whether to turn left or right.

[0100] Having obtained the turning information, it is possible to further determine the lanes that meet the driving rules and obtain the lane navigation path formed by the lane link relationships. In this embodiment of the disclosure, the lane attribute information in the map file can assign corresponding identifiers and identifier values ​​to the lanes, combined with... Figure 2On the reference line, lane identifiers are positive on the left and negative on the right. Lanes are filtered according to left-hand or right-hand traffic rules to obtain those that meet the rules. For example, under right-hand traffic rules, lanes with positive IDs are filtered out, while lanes with negative IDs are retained. Non-motorized vehicle lanes can also be filtered out. Then, the remaining lanes are sorted based on turning information. Under right-hand traffic rules, if it's a left turn, the lane with the smallest absolute value is selected as the main lane (highest priority lane); if it's a right turn, the lane with the largest absolute value is selected as the main lane. This process is repeated for each road segment to obtain the final lane link table. Table 1 shows a lane link table obtained according to a possible embodiment of this disclosure, where the first column represents the road ID, the second column represents the priority lane (Lane ID prior), and the third column can represent other lanes (Lane ID others). This embodiment can also provide alternative lanes, whose priority can be determined according to the obtained lane priority order. As shown in Table 1, the road sequence obtained from the road navigation path can be:

[0101] The sequence `road_5_2—road_5_1—road_1_1—road_1_2—road_2—road-3—road_4_1—road_4_2--road_5_3—road_5_2` corresponds to the preferred lane identifiers for each road as: -2, -3, -1, -1, -1, -1, -1, -1, -1, -1. The third column also lists other available lanes. Through this configuration, lane-level navigation paths can be easily obtained using the preferred lanes on each road.

[0102] Table 1

[0103] RoadID LaneID Prior Laned others road_5_2 -2 road_5_1 -3 -2 road_1_1 -1 road_1_2 -1 road_2 -1 road_3 -1 road_4_1 -1 road_4_2 -1 road_5_3 -2 -1 road_5_2 -2 -1

[0104] In summary, the embodiments of this disclosure can utilize the acquired map file and road navigation path to determine the road sequence corresponding to the road navigation path, and further utilize driving rules to determine the lanes that meet the driving rules in each road of the sequence. Combining the attribute information between lanes marked in the map file and the lanes that meet the driving rules, the lane navigation path corresponding to the road navigation path can be determined. Notably, it eliminates the need to mark the link relationships between lanes in the map file, significantly reducing annotation costs, and allows for convenient deriving of the corresponding lane-level navigation path from the road-level navigation path, facilitating driving control.

[0105] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0106] It is understood that the various method embodiments mentioned above in this disclosure can be combined with each other to form combined embodiments without violating the principle and logic. Due to space limitations, this disclosure will not elaborate further.

[0107] In addition, this disclosure also provides a driving control method, a road navigation path generation device, an electronic device, a computer-readable storage medium, and a program, all of which can be used to implement any of the lane navigation path generation methods provided in this disclosure. The corresponding technical solutions and descriptions are described in the corresponding records in the method section and will not be repeated here.

[0108] Figure 7 A flowchart of a driving control method according to an embodiment of the present disclosure is shown, such as... Figure 7 As shown, the driving control method may include:

[0109] S100: Determines the road navigation route based on input information;

[0110] In some possible implementations, the driving control method can be applied to any mobile device (smart mobile device) to control the movement and driving of the mobile device. The mobile device can be an electric vehicle, a toy car, a smart robot, etc., and this disclosure does not specifically limit it.

[0111] In some possible implementations, an information input device, such as a touchscreen, can be configured on a mobile device. The information input device receives the starting point and destination, and the map file can determine the road navigation path between the starting point and destination based on this input information. Alternatively, the information input device can also receive road navigation paths transmitted from other devices. This disclosure does not specifically limit the method of obtaining the road navigation path.

[0112] S200: Using the lane navigation path generation method, determine the lane navigation path corresponding to the road navigation path;

[0113] In some possible implementations, given a road navigation path, the lane navigation path generation method described above in the embodiments of this disclosure can be used to obtain the lane navigation path corresponding to the road navigation path.

[0114] S300: Perform driving control on the intelligent mobile device based on the lane navigation path.

[0115] Once a lane navigation path is obtained, control of the smart mobile device can be performed according to the lane navigation path. This embodiment of the present disclosure can obtain the location information of the smart mobile device, and determine the lane that the smart mobile device should currently travel in based on the location information and the lane navigation path, thereby controlling the smart mobile device to travel in the determined lane, and can also output lane prompt information.

[0116] In addition, this disclosure also provides a lane navigation path generation device. Figure 8 A block diagram of a lane navigation path generation apparatus according to an embodiment of the present disclosure is shown, such as Figure 8 As shown, the device includes:

[0117] Module 10 is used to acquire road navigation paths and map files containing lane attribute information and road attribute information;

[0118] The road sequence determination module 20 is used to determine the road sequence corresponding to the road navigation path based on the road attribute information of the map file;

[0119] The lane determination module 30 is used to determine the lanes that meet the driving rules in the road sequence based on the lane attribute information in the map file.

[0120] The lane navigation path generation module 40 is used to determine the lane navigation path corresponding to the road navigation path by using lanes that meet the driving rules.

[0121] In some possible ways, the road sequence determination module is also used for:

[0122] Based on the location of the navigation point in the road navigation path in the map file, and the road attribute information in the map file, the road identifier corresponding to the navigation point is determined, and the road attribute information includes the road identifier corresponding to the location information;

[0123] Based on the determined road identifiers, the road sequence corresponding to the road navigation path is determined.

[0124] In some possible ways, the road sequence determination module is used to:

[0125] Using the map file, determine the turning areas in the road navigation path, where the turning areas include intersections and / or turning curves;

[0126] In response to the absence of the turning area in the road navigation path, the road sequence is determined using the deduplication results of the road identifiers corresponding to each navigation point in the road navigation path.

[0127] In some possible ways, the road sequence determination module is also used for:

[0128] In response to the existence of a turning area in the road navigation path, a first navigation point located within the turning area and a second navigation point located outside the turning area are determined in the road navigation path, wherein the turning area includes intersections and / or turning curves;

[0129] Using the location of the first navigation point in the map file, the turning area identifier corresponding to the first navigation point is determined, and using the location of the second navigation point in the map file, the road identifier corresponding to the second navigation point is determined;

[0130] Based on the deduplication results of the turning area identifier corresponding to the first navigation point and the road identifier corresponding to the second navigation point, the road sequence corresponding to the navigation path is determined.

[0131] In some possible ways, the lane determination module is further configured to determine the driving rule as a first driving rule based on the left-hand driving traffic rule before determining the lanes that meet the driving rules in the road sequence based on the lane attribute information in the map file;

[0132] Based on the traffic rule of driving on the right, the driving rule is determined to be the second driving rule, which is different from the first driving rule and the second driving rule.

[0133] In some possible ways, the lane determination module is also used for:

[0134] Using the lane identification symbols marked in the map file, lanes in the road sequence that meet the driving rules are determined.

[0135] In some possible ways, the road sequence determination module is further configured to: determine turning information between adjacent roads in the road sequence based on road identifiers in the road sequence;

[0136] The lane navigation path generation module is further configured to: determine the lane navigation path corresponding to the road navigation path using lanes that meet driving rules and the steering information.

[0137] In some possible ways, the road sequence determination module is also used for:

[0138] Based on the location of the navigation point corresponding to the road sign in the road sequence in the map file, determine the navigation line vector corresponding to the road sign;

[0139] Based on the navigation line vectors corresponding to adjacent road signs in the road sequence, the turning information between adjacent roads corresponding to the adjacent road signs is determined.

[0140] In some possible ways, the road sequence determination module is also used for:

[0141] Based on the positions of at least two navigation points corresponding to the road sign in the road sequence in the map file, the navigation line vector corresponding to the road sign is determined.

[0142] In some possible ways, the road sequence determination module is further configured to perform the determination of turning information between adjacent roads corresponding to adjacent road identifiers based on the navigation line vectors corresponding to adjacent road identifiers in the road sequence, including at least one of the following methods:

[0143] In response to the fact that the included angle between the navigation line vectors corresponding to the adjacent road signs is less than an angle threshold, the turning information between the adjacent roads corresponding to the adjacent road signs is determined to be straight.

[0144] In response to the fact that the product of the navigation line vectors corresponding to the adjacent road signs is greater than the product threshold, the turning information between the adjacent roads corresponding to the adjacent road signs is determined to be a turn in the first direction.

[0145] In response to the product of the navigation line vectors corresponding to the adjacent road signs being less than or equal to a product threshold, the turning information between the adjacent roads corresponding to the adjacent road signs is determined to be a turn in the second direction.

[0146] In some possible ways, the lane navigation path generation module is also used for:

[0147] Using the turning information between adjacent roads in the road sequence, the priority of lanes that meet the driving rules is determined;

[0148] By utilizing the priority of lanes that meet the driving rules, a lane navigation path corresponding to the road navigation path is determined.

[0149] In some possible ways, the lane navigation path generation module is also used for:

[0150] Based on the lane attribute information in the map file, determine the identification value of the lane that meets the driving rules;

[0151] Based on the turning information between adjacent roads in the road sequence and the identification value of each lane in the corresponding road, the priority of the lane that meets the driving rules is determined.

[0152] In some possible ways, the lane navigation path generation module is also used for:

[0153] In response to turning information between adjacent roads, the lanes in the two adjacent roads are prioritized according to the inverse proportion of the lane identification values ​​in the two adjacent roads.

[0154] In response to turning information between adjacent roads, which indicates a turn in the second direction, the priority of each lane in the two adjacent roads is determined according to the direct proportion of the lane identification values ​​in the two adjacent roads.

[0155] In response to the turning information between adjacent roads indicating straight travel, it is determined that each lane in the adjacent roads has the same priority.

[0156] In some possible ways, the lane navigation path generation module:

[0157] The lane with the highest priority among the lanes that meet the driving rules is determined as the lane that constitutes the lane navigation path.

[0158] According to a fourth aspect of this disclosure, a driving control device is provided, comprising:

[0159] The road navigation path determination module is used to determine the road navigation path based on the input information;

[0160] A generation module is used to determine the lane navigation path corresponding to the road navigation path using the lane navigation path generation method described in any one of the first aspects.

[0161] The control module is used to control the driving of the smart mobile device based on the lane navigation path.

[0162] According to a fifth aspect of this disclosure, an electronic device is provided, comprising:

[0163] processor;

[0164] Memory used to store processor-executable instructions;

[0165] The processor is configured to invoke instructions stored in the memory to execute the method described in any of the first aspects, or to execute the method described in the second aspect.

[0166] According to a sixth aspect of this disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the method described in any one of the first aspects, or implement the method described in the second aspect.

[0167] In some embodiments, the functions or modules of the apparatus provided in this disclosure can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0168] This disclosure also proposes a computer-readable storage medium storing computer program instructions that, when executed by a processor, implement the above-described method. The computer-readable storage medium may be a non-volatile computer-readable storage medium.

[0169] This disclosure also proposes an electronic device, including: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured as described above.

[0170] Electronic devices can be provided as terminals, servers, or other forms of devices.

[0171] Figure 9 A block diagram of an electronic device 800 according to an embodiment of the present disclosure is shown. For example, the electronic device 800 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, or other terminal.

[0172] Reference Figure 9 The electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.

[0173] Processing component 802 typically controls the overall operation of electronic device 800, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the methods described above. Furthermore, processing component 802 may include one or more modules to facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.

[0174] Memory 804 is configured to store various types of data to support the operation of electronic device 800. Examples of this data include instructions for any application or method operating on electronic device 800, contact data, phonebook data, messages, pictures, videos, etc. Memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0175] Power supply component 806 provides power to various components of electronic device 800. Power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 800.

[0176] Multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 808 includes a front-facing camera and / or a rear-facing camera. When the electronic device 800 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0177] Audio component 810 is configured to output and / or input audio signals. For example, audio component 810 includes a microphone (MIC) configured to receive external audio signals when electronic device 800 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 804 or transmitted via communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

[0178] I / O interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0179] Sensor assembly 814 includes one or more sensors for providing state assessments of various aspects of electronic device 800. For example, sensor assembly 814 can detect the on / off state of electronic device 800, the relative positioning of components such as the display and keypad of electronic device 800, changes in position of electronic device 800 or a component of electronic device 800, the presence or absence of user contact with electronic device 800, orientation or acceleration / deceleration of electronic device 800, and temperature changes of electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 814 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0180] Communication component 816 is configured to facilitate wired or wireless communication between electronic device 800 and other devices. Electronic device 800 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 816 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 816 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0181] In an exemplary embodiment, the electronic device 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0182] In an exemplary embodiment, a non-volatile computer-readable storage medium is also provided, such as a memory 804 including computer program instructions that can be executed by a processor 820 of an electronic device 800 to perform the above-described method.

[0183] Figure 10 A block diagram of another electronic device 1900 according to an embodiment of the present disclosure is shown. For example, electronic device 1900 may be provided as a server. (Refer to...) Figure 10The electronic device 1900 includes a processing component 1922, which further includes one or more processors, and memory resources represented by memory 1932 for storing instructions, such as application programs, that can be executed by the processing component 1922. The application programs stored in memory 1932 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processing component 1922 is configured to execute instructions to perform the methods described above.

[0184] Electronic device 1900 may also include a power supply component 1926 configured to perform power management of electronic device 1900, a wired or wireless network interface 1950 configured to connect electronic device 1900 to a network, and an input / output (I / O) interface 1958. Electronic device 1900 can operate on an operating system stored in memory 1932, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, or similar.

[0185] In an exemplary embodiment, a non-volatile computer-readable storage medium is also provided, such as a memory 1932 including computer program instructions that can be executed by a processing component 1922 of an electronic device 1900 to perform the above-described method.

[0186] This disclosure can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this disclosure.

[0187] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0188] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0189] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.

[0190] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0191] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0192] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0193] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0194] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technical improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for generating lane navigation paths, characterized in that, include: Obtain road navigation routes and map files containing lane attribute information and road attribute information; Based on the road attribute information of the map file, determine the road sequence corresponding to the road navigation path and the turning information between adjacent roads in the road sequence; Based on the lane attribute information in the map file, determine the lanes in the road sequence that meet the driving rules; Using lanes that meet driving rules and the steering information, a lane navigation path corresponding to the road navigation path is determined; The step of determining the road sequence corresponding to the road navigation path based on the road attribute information of the map file includes: In response to the existence of a turning area in the road navigation path, a first navigation point located within the turning area and a second navigation point located outside the turning area are determined in the road navigation path, wherein the turning area includes intersections and / or turning curves; Using the location of the first navigation point in the map file, the turning area identifier corresponding to the first navigation point is determined, and using the location of the second navigation point in the map file, the road identifier corresponding to the second navigation point is determined; Based on the deduplication results of the turning area identifier corresponding to the first navigation point and the road identifier corresponding to the second navigation point, the road sequence corresponding to the navigation path is determined.

2. The method according to claim 1, characterized in that, The step of determining the road sequence corresponding to the road navigation path based on the road attribute information of the map file includes: Based on the location of the navigation point in the road navigation path in the map file, and the road attribute information in the map file, the road identifier corresponding to the navigation point is determined, and the road attribute information includes the road identifier corresponding to the location information; Based on the determined road identifiers, the road sequence corresponding to the road navigation path is determined.

3. The method according to claim 1 or 2, characterized in that, The step of determining the road sequence corresponding to the road navigation path based on the road attribute information of the map file includes: Using the map file, determine the turning areas in the road navigation path, where the turning areas include intersections and / or turning curves; In response to the absence of the turning area in the road navigation path, the road sequence is determined using the deduplication results of the road identifiers corresponding to each navigation point in the road navigation path.

4. The method according to any one of claims 1-3, characterized in that, Before determining the lanes in the road sequence that meet the driving rules based on the lane attribute information in the map file, the method further includes: In response to the traffic rule of driving on the left, the driving rule is determined to be the first driving rule; In response to the traffic rule of driving on the right, the driving rule is determined to be a second driving rule, which is different from the first driving rule and the second driving rule; And / or, The step of determining the lanes in the road sequence that meet the driving rules based on the lane attribute information in the map file includes: Using the lane identification symbols marked in the map file, lanes in the road sequence that meet the driving rules are determined.

5. The method according to claim 3 or 4, characterized in that, Determining the turning information between adjacent roads in the road sequence includes: Based on the road identifiers in the road sequence, the turning information between adjacent roads in the road sequence is determined.

6. The method according to claim 5, characterized in that, Determining turning information between adjacent roads in the road sequence based on road identifiers includes: Based on the location of the navigation point corresponding to the road sign in the road sequence in the map file, determine the navigation line vector corresponding to the road sign; Based on the navigation line vectors corresponding to adjacent road signs in the road sequence, the turning information between adjacent roads corresponding to the adjacent road signs is determined.

7. The method according to claim 6, characterized in that, Determining the turning information between adjacent roads corresponding to adjacent road identifiers based on the navigation line vectors corresponding to adjacent road identifiers in the road sequence includes at least one of the following methods: In response to the fact that the included angle between the navigation line vectors corresponding to the adjacent road signs is less than an angle threshold, the turning information between the adjacent roads corresponding to the adjacent road signs is determined to be straight. In response to the fact that the product of the navigation line vectors corresponding to the adjacent road signs is greater than the product threshold, the turning information between the adjacent roads corresponding to the adjacent road signs is determined to be a turn in the first direction. In response to the product of the navigation line vectors corresponding to the adjacent road signs being less than or equal to a product threshold, the turning information between the adjacent roads corresponding to the adjacent road signs is determined to be a turn in the second direction.

8. The method according to claim 6, characterized in that, The step of determining the lane navigation path corresponding to the road navigation path using lanes that meet driving rules and the steering information includes: Using the turning information between adjacent roads in the road sequence, the priority of lanes that meet the driving rules is determined; By utilizing the priority of lanes that meet the driving rules, a lane navigation path corresponding to the road navigation path is determined.

9. A driving control method, characterized in that, include: Determine the road navigation route based on the input information; Using the lane navigation path generation method according to any one of claims 1-8, determine the lane navigation path corresponding to the road navigation path; The driving control of the smart mobile device is based on the lane navigation path.

10. A lane navigation path generation device, characterized in that, include: The acquisition module is used to acquire road navigation paths and map files containing lane attribute information and road attribute information; The road sequence determination module is used to determine the road sequence corresponding to the road navigation path and the turning information between adjacent roads in the road sequence based on the road attribute information of the map file. The lane determination module is used to determine the lanes that meet the driving rules in the road sequence based on the lane attribute information in the map file. The lane navigation path generation module is used to determine the lane navigation path corresponding to the road navigation path by using lanes that meet driving rules and the steering information. The road sequence determination module is used for: In response to the existence of a turning area in the road navigation path, a first navigation point located within the turning area and a second navigation point located outside the turning area are determined in the road navigation path, wherein the turning area includes intersections and / or turning curves; Using the location of the first navigation point in the map file, the turning area identifier corresponding to the first navigation point is determined, and using the location of the second navigation point in the map file, the road identifier corresponding to the second navigation point is determined; Based on the deduplication results of the turning area identifier corresponding to the first navigation point and the road identifier corresponding to the second navigation point, the road sequence corresponding to the navigation path is determined.

11. A driving control device, characterized in that, include: The road navigation path determination module is used to determine the road navigation path based on the input information; A generation module is used to determine the lane navigation path corresponding to the road navigation path using the lane navigation path generation method according to any one of claims 1-8; The control module is used to control the driving of the smart mobile device based on the lane navigation path.

12. A computer device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to: execute the lane navigation path generation method according to any one of claims 1 to 8, or execute the driving control method according to claim 9.

13. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the computer program instructions are executed by the processor, they implement the lane navigation path generation method according to any one of claims 1 to 8, or the driving control method according to claim 9.

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