Navigation method, device, computer storage medium and computer program product

Abstract

The embodiment of the application provides a navigation method, device, computer storage medium and computer program product, wherein the navigation method comprises the following steps: acquiring a positioning position and a navigation route of a navigated object; determining a driving lane of the navigated object based on the positioning position and the navigation route of the navigated object and preset lane-level road network data; determining a target lane connected to a road intersection to be exited by the navigated object and a merging lane to be driven for entering the target lane based on the positioning position and the navigation route of the navigated object, and the merging lane at least comprising the driving lane; determining a merging point of the merging lane according to the lane-level road network data and a response time; and judging whether the navigated object starts a merging action before the merging point of the merging lane, and if not, planning a new navigation route for the navigated object according to the positioning position of the navigated object. The route is replanned more timely, and a user can avoid missing a better driving route.

Description

Technical Field

[0001] This application relates to the field of navigation technology, and in particular to navigation methods, devices, computer storage media, and computer program products. Background Technology

[0002] With the development and widespread adoption of navigation technology, many users utilize it while driving. Navigation technology plans routes for users based on their input origin and destination, guiding them along the planned route while they are driving.

[0003] However, during driving, users may intentionally deviate from the planned route and choose alternative paths, or they may misunderstand the navigation guidance and take the wrong turn. Both situations can cause the vehicle to stray from the planned route, necessitating the creation of a new navigation route. However, due to the inherent lag in real-time positioning, by the time the system determines the vehicle has deviated from the navigation route, it may have already traveled a considerable distance. This results in the re-planned navigation route being prompted too late, potentially causing the user to miss some better routes. Summary of the Invention

[0004] In view of the above, embodiments of this application provide a navigation method, device, computer storage medium, and computer program product to solve some or all of the above problems.

[0005] According to a first aspect of the embodiments of this application, a navigation method is provided, comprising: acquiring the location and navigation route of a navigable object; determining the driving lane of the navigable object based on the location and navigation route of the navigable object and preset lane-level road network data; determining, based on the location and navigation route of the navigable object, a target lane connecting the intersection where the navigable object needs to exit and a merging lane that needs to be driven into the target lane, wherein the merging lane includes at least the driving lane; determining the merging point of the merging lane according to the lane-level road network data and response time; determining whether the navigable object starts merging before the merging point of the merging lane, and if not, planning a new navigation route for the navigable object based on the location of the navigable object.

[0006] According to a second aspect of the embodiments of this application, a navigation device is provided, comprising: an acquisition module, configured to acquire the location and navigation route of a navigated object; a lane module, configured to determine the driving lane of the navigated object based on the location and navigation route of the navigated object and preset lane-level road network data; and to determine, based on the location and navigation route of the navigated object, a target lane connecting the intersection where the navigated object needs to exit and a merging lane that needs to be driven into the target lane, wherein the merging lane includes at least the driving lane; a merging module, configured to determine the merging point of the merging lane based on the lane-level road network data and response time; and a navigation module, configured to determine whether the navigated object starts merging before the merging point of the merging lane, and if not, to plan a new navigation route for the navigated object based on its location.

[0007] According to a third aspect of the embodiments of this application, an electronic device is provided, including: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus; the memory is used to store at least one executable instruction, which causes the processor to perform an operation corresponding to the navigation method of the first aspect.

[0008] According to a fourth aspect of the embodiments of this application, a computer storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the navigation method as described in the first aspect.

[0009] According to a fifth aspect of the embodiments of this application, a computer program product is provided that, when executed by a processor, implements the navigation method as described in the first aspect.

[0010] The navigation method, device, computer storage medium, and computer program product provided in this application embodiment obtain the location and navigation route of the navigated object; based on the location and navigation route of the navigated object, and preset lane-level road network data, determine the driving lane of the navigated object; based on the location and navigation route of the navigated object, determine the target lane connecting the exit point to which the navigated object needs to be navigated and the merging lane to enter the target lane, wherein the merging lane includes at least the driving lane; determine the merging point of the merging lane according to the lane-level road network data and response time; determine whether the navigated object starts the merging action before the merging point of the merging lane, and if not, plan a new navigation route for the navigated object based on its location. By determining in advance whether the navigated object has missed the merging point and planning a new navigation route, the re-planning of the route is more timely, avoiding the user missing a better driving route. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0012] Figure 1 A schematic diagram of a navigation method provided in Embodiment 1 of this application;

[0013] Figure 2 A flowchart of a navigation method provided in Embodiment 1 of this application;

[0014] Figure 3A A lane diagram provided in Embodiment 1 of this application;

[0015] Figure 3B This is another lane diagram provided in Embodiment 1 of this application;

[0016] Figure 4 A schematic diagram of a lane merging lane provided in Embodiment 1 of this application;

[0017] Figure 5A A schematic diagram of a navigation method provided in Embodiment 1 of this application;

[0018] Figure 5B A schematic diagram of a navigation method provided in Embodiment 1 of this application;

[0019] Figure 6 This is a structural block diagram of a navigation device provided in Embodiment 2 of this application;

[0020] Figure 7 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of this application. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0022] The specific implementation of the embodiments of this application will be further described below with reference to the accompanying drawings.

[0023] Example 1

[0024] This application provides a navigation method in Embodiment 1, applied to an electronic device. For ease of understanding, the application scenarios of the navigation method provided in Embodiment 1 are described below, with reference to... Figure 1 As shown, Figure 1 This is a schematic diagram of a navigation method provided in Embodiment 1 of this application. Figure 1 The scenario shown includes an electronic device 101, a cloud 102, a navigated object 103, and a satellite 104; the navigated object 103 is a vehicle, for example, and the electronic device 101 can be a device that executes the navigation method provided in Embodiment 1 of this application.

[0025] Electronic device 101 can be a terminal device such as a smartphone, tablet computer, laptop computer, or in-vehicle terminal. It can also be a network device such as a server; this application does not limit the scope of the application. When electronic device 101 is a terminal device, it may include a display screen to show images or videos to the user, and it may also include a speaker to play audio to the user. Of course, this is merely an illustrative example and does not imply that this application is limited to these possibilities.

[0026] Cloud 102 can include various devices connected via a network, such as servers, relay devices, and end-to-end (D2D) devices.

[0027] Satellite 104 can locate the navigated object 103. Figure 1 The example shown is merely illustrative; the number of satellites 104 can be one or more, and this application does not impose any restrictions on this.

[0028] Electronic device 101 can access a network, connect to cloud 102 via the network, and interact with cloud 102 for data exchange. In this application, the network may include a local area network (LAN), a wide area network (WAN), or a mobile communication network, such as the World Wide Web (WWW), Long Term Evolution (LTE) network, 2G network, 3G network, 5G network, etc. Of course, this is only an illustrative example and does not mean that this application is limited to this.

[0029] Electronic device 101 can obtain the location and navigation route of the navigated object from the cloud 102; based on the location and navigation route of the navigated object, and preset lane-level road network data, it determines the driving lane of the navigated object; based on the location and navigation route of the navigated object, it determines the target lane connecting the exit point to the navigated object and the merging lane to enter the target lane, the merging lane including at least the driving lane; based on the lane-level road network data and response time, it determines the merging point of the merging lane; it determines whether the navigated object starts the merging action before the merging point of the merging lane, if not, it plans a new navigation route for the navigated object based on the location of the navigated object. Because it determines in advance whether the navigated object needs to replan the route and provides at least one new navigation route in advance, the replanning of the route is more timely, avoiding the user missing a better driving route.

[0030] Combination Figure 1 The scenario shown illustrates the navigation method provided in Embodiment 1 of this application. It should be noted that... Figure 1 This is merely one application scenario of the navigation method provided in Embodiment 1 of this application, and does not imply that the navigation method must be applied to... Figure 1 Optionally, the navigation method provided in this application embodiment can be applied to an electronic device, that is, the electronic device is the executing entity of the navigation method provided in this application embodiment. The electronic device can be a terminal device such as a smartphone, tablet computer, laptop computer, or vehicle terminal, or a network device such as a server. This application does not limit this. (Refer to...) Figure 2 As shown, Figure 2 A flowchart of a navigation method provided in Embodiment 1 of this application is shown. The method includes the following steps:

[0031] Step 201: Obtain the location and navigation route of the object being navigated.

[0032] The object being navigated can be a vehicle or a terminal device on a vehicle. The location is used to indicate the position determined by locating the object being navigated, and the navigation route is used to indicate the planned driving route for the object being navigated.

[0033] Location and navigation route can be generated by electronic devices or received from other devices. Here, we will take the object being navigated as an example and provide two examples for explanation.

[0034] Optionally, in the first example, the electronic device is a terminal device located on the object being navigated. The location and navigation route can be generated by the electronic device. For example, obtaining the location and navigation route of the object being navigated includes: determining the location of the electronic device as its location through satellite positioning and / or network positioning; detecting input operations to obtain input information; determining the destination of the object being navigated based on the input information; and generating a navigation route based on the location and destination. It should be noted that in the first example, the electronic device is a terminal device located on the object being navigated; therefore, the location of the electronic device can be used as the location of the object being navigated.

[0035] Optionally, in the second example, if the electronic device is not located within the navigated object, obtaining the navigation route includes receiving navigation routes and locations sent by other devices. For example, it could be receiving navigation routes and locations sent by network devices in the cloud; or it could be receiving navigation routes and locations sent by terminal devices within the navigated object. Of course, this is just an example.

[0036] Step 202: Based on the location and navigation route of the navigated object, as well as the preset lane-level road network data, determine the driving lane of the navigated object.

[0037] It should be noted that the driving lane of the navigated object is the lane in which the navigated object is located. When the positioning is lane-level positioning, the driving lane of the navigated object can be determined based on the positioning of the navigated object; when the positioning is road-level positioning, the driving lane of the navigated object is determined based on the positioning of the navigated object and the lane-level road network data.

[0038] Optionally, the navigation route can be described as follows: In one implementation, the electronic device is a terminal device located on the navigated object. Obtaining the second navigation route may include: determining the location of the electronic device through satellite positioning and / or network positioning; detecting input operations to obtain input information; determining the destination of the navigated object based on the input information; and generating a navigation route based on the location and destination. Because the electronic device is a terminal device located on the navigated object, the location of the electronic device can be used as the location of the navigated object. In another implementation, the electronic device is not located within the navigated object. Obtaining the navigation route may include: receiving a navigation route sent by another device. For example, it could be receiving a navigation route sent by a network device in the cloud; or it could be receiving a navigation route sent by a terminal device within the navigated object. Of course, this is only an illustrative example and does not mean that this application is limited to this.

[0039] Optionally, the lane-level road network data can be obtained from a network device in the cloud, or it can be stored locally on the electronic device; this application does not impose any limitations on this. For example, the electronic device can send its location to the cloud, and the cloud can send the corresponding lane-level road network data for the target road segment to the electronic device based on the location. Alternatively, a terminal device within the navigation target can locate its position in the cloud, and the cloud can send lane-level road network data to the terminal device, which can then forward the data to the electronic device, or the cloud can send lane-level road network data to the electronic device.

[0040] It should be noted that lane-level road network data can include data for at least one lane. In this embodiment, a lane can be a segment of road with the same lane characteristics. Lane characteristics can include: lane type, lane edge line type, etc. For example, lane type can include: bus lane, carpool lane, non-motorized vehicle lane, tidal flow lane, left turn lane, right turn lane, straight lane, reversible lane, entrance lane, exit lane, passenger lane, overtaking lane, truck lane, emergency lane, etc.; lane edge line type can include: white single solid line, white single dashed line, white dashed and solid line, yellow single dashed line, yellow single solid line, yellow double dashed line, yellow dashed and solid line, yellow double solid line, guide zone edge line, etc. Among them, carpool lane refers to a lane that can only travel when the number of passengers reaches a certain number, tidal flow lane refers to a lane that adjusts its direction of travel according to residents' travel patterns, and reversible lane refers to a lane that sets the intersection turning type according to travel patterns (i.e., changing between straight, left turn, and right turn types according to travel patterns). Of course, this is only an illustrative description of lane characteristics and does not mean that this application is limited to this. Here, it is used as an example. Figure 3A and Figure 3B The following example further illustrates the meaning of the lane in the embodiments of this application. For example, such as... Figure 3A As shown, Figure 3A This is a lane diagram provided in Embodiment 1 of this application. Figure 3A The road segment shown contains three types of lanes: passenger lanes, overtaking lanes, and freight lanes. The passenger lanes consist of two lanes, lane a and lane b. Lane a has a single dashed left line and a single solid right line. Although lane b is also a passenger lane and is connected to lane a, lane b has a single dashed left line and a single dashed right line. Therefore, lane a and lane b are divided into two different lanes because of their different right lines. For example... Figure 3B As shown, Figure 3BThe diagram illustrates two roads at an intersection. The left road contains one lane, which is always for straight-ahead traffic and its characteristics remain unchanged, thus it is considered a single lane. The right road contains two lanes, lane c and lane d. Lane c is the straight-ahead lane, but near the intersection, it becomes a straight-ahead plus right-turn lane. Therefore, the straight-ahead plus right-turn lane near the intersection is divided into a single lane d. Of course, this is merely an illustrative example of lane division and does not imply that this application is limited to this.

[0041] Based on the above explanation, the lane-level road network data for the target road segment can include the number of parallel lanes in the target road segment (i.e., the number of lanes in the conventional sense), the type of each lane, the edge line type of each lane, and the connection relationship between parallel lane groups. It should be noted that the connection relationship between parallel lane groups can include merging (e.g., four lanes becoming three lanes), separating (e.g., three lanes becoming four lanes), and continuity (i.e., no lane merging or separating occurs).

[0042] It should be noted that satellite positioning is sometimes not very accurate. It cannot accurately pinpoint which lane the navigated object is in or its exact location. To clarify the location of the navigated object in the target lane, two examples are provided here. Of course, these are only illustrative examples of how to obtain the location and do not mean that this application is limited to this.

[0043] Optionally, in the first example, obtaining the location of the navigated object includes: acquiring a lane image of the navigated object during its current driving process, and determining the driving lane of the navigated object based on the lane image; correcting the positioning of the navigated object on the electronic map based on the driving lane to obtain the location. In the first example, by combining the real-time acquired lane image, the driving lane of the navigated object can be determined. For example, it can be determined which lane the navigated object is in from left to right, or which lane it is in from right to left. This allows the determination of the target lane where the navigated object is located. Then, by combining satellite positioning, the positioning of the navigated object on the electronic map is corrected to obtain the location. Combining real-time lane image and satellite positioning methods results in more accurate positioning of the target vehicle.

[0044] Optionally, in the second example, the electronic device can be a terminal device located within the navigated object. Obtaining the location of the navigated object includes: acquiring network signals from at least one base station; and correcting the location of the navigated object on an electronic map based on the network signals from at least one base station to obtain the location. In the second example, the electronic device is a terminal device located within the navigated object; therefore, the position of the electronic device can represent the position of the navigated object. When the electronic device moves within the navigated object, it can receive network signals from at least one base station. Since the positions of base stations are fixed, the position of the electronic device can be determined by the network signals received from the base stations. Combined with satellite positioning, the accurate location of the navigated object can be determined on the electronic map. The second example combines base station and satellite positioning for more accurate positioning of the electronic device, thereby determining the accurate location of the navigated object and making the positioning of the navigated object more precise.

[0045] The location can be obtained periodically, for example, once every 1 second, once every 5 seconds, or once every 0.5 seconds. This application does not limit the length of a period.

[0046] Step 203: Based on the location of the navigated object and the navigation route, determine the target lane that the navigated object needs to exit at the intersection and the merging lane that it needs to enter the target lane.

[0047] A merging lane must include at least a driving lane. There can be one or more merging lanes, and each merging lane must include at least a driving lane. A merging lane can be a lane between a driving lane and a target lane (a merging lane can include both the driving lane and / or the target lane). Two examples are provided here to illustrate how merging lanes are specifically determined.

[0048] Optionally, in the first example, based on the location of the navigated object and the navigation route, the target lane connecting to the intersection ahead of the navigated object and the merging lane required to enter the target lane are determined. This includes: determining the intersection ahead of the navigated object based on the location of the navigated object and the road-level navigation route; loading lane-level road network data between the location and the intersection; and determining the target lane connecting to the intersection ahead of the navigated object and the merging lane required to enter the target lane based on the lane connection relationships in the loaded lane-level road network data. Using lane-level road network data, merging lanes can be determined more accurately, further improving navigation accuracy.

[0049] Optionally, in the second example, based on the location of the navigated object and the navigation route, determining the target lane to which the navigated object needs to exit the intersection and the merging lane to enter the target lane includes: determining the target lane to which the navigated object needs to exit the intersection based on the location of the navigated object and the navigation route; and finding and determining multiple merging lanes from the target lane to the driving lane, starting from the target lane and moving along the direction from the target lane to the driving lane. For example, such as... Figure 4 As shown, Figure 4 This is a schematic diagram of a lane-merging system provided in Embodiment 1 of this application. It determines that the navigated object needs to exit an intersection. Then, it searches backwards along the road segment between the location and the intersection for a target lane connecting to the destination. This process continues until all lane-merging lanes are identified. Alternatively, the search can proceed from the intersection towards the location, or vice versa. By determining the lanes traversed along the navigated object's path between the location and the intersection, lanes are identified as lane-merging lanes, conforming to vehicle driving rules and ensuring that no lanes traversed by the navigated object are missed.

[0050] It should be noted that the first and second examples can be combined. Specifically, based on the location of the navigated object and the road-level navigation route, the intersection to be exited ahead of the navigated object is determined; lane-level road network data between the location and the intersection is loaded; based on the lane connection relationships in the loaded lane-level road network data, the target lane connecting to the intersection is determined; and starting from the target lane, multiple merging lanes from the target lane to the driving lane are found and determined along the direction from the target lane to the driving lane. Of course, this is merely an illustrative example.

[0051] Step 204: Determine the merging point of the merging lane based on lane-level road network data and response time.

[0052] Optionally, in one embodiment, determining the merging point of the merging lane based on lane-level road network data and response time includes: determining the merging end position of the merging lane based on lane-level road network data and the driving speed of the navigated object; and determining the merging point of the merging lane based on the merging end position, the driving speed of the navigated object, and the response time. Specifically, determining the merging point of the merging lane based on the merging end position, the driving speed of the navigated object, and the response time includes: calculating the merging distance required for the navigated object to complete the merging based on the response time and the driving speed of the navigated object; and determining the merging point of the merging lane based on the merging distance and the merging end position.

[0053] When a user initiates a lane change, the process from the start to the end of the lane change takes time and may be affected by factors such as the number and speed of vehicles in adjacent lanes. The response time can include a lower limit response time, indicating the shortest time required for the user to complete a lane change. This time is set under the premise of ensuring driving safety. Based on the speed of the navigated vehicle and the response time required for the user to change lanes, the distance the navigated vehicle travels within the response time can be calculated. Based on the distance traveled by the navigated vehicle and the lane change ending position, the user's starting position for the lane change can be calculated as the lane change point. If the navigated vehicle begins to change lanes when it reaches the lane change point, it means the user must complete the lane change within the response time. If the navigated vehicle has passed the lane change point in its direction of travel, it means that even with the fastest operating speed, the user cannot safely complete the lane change at the ending position. Therefore, the lane change point represents the latest position where the navigated vehicle can begin to change lanes; exceeding the lane change point indicates that the navigated vehicle has deviated from the pre-set navigation route. The merge point can be the starting position of a no-merge zone in the direction of travel of the navigating object. If the location of the navigating object is in a no-merge zone and the no-merge zone is outside the second navigation route, the current location of the navigating object can also be determined as the merge point. Of course, this is just an example and does not mean that this application is limited to this.

[0054] Step 205: Determine whether the navigable object begins its lane-changing action before the lane-changing point. If not, plan a new navigation route for the navigable object based on its location.

[0055] There are several reasons why the minion wave action might not begin before the lane merge point. Here, we will provide two specific examples to illustrate this:

[0056] Optionally, in the first example, determining whether the navigated object started the lane-changing action before the lane-changing point of the lane-changing lane includes: if the navigated object has traveled past the lane-changing point of the lane-changing lane, then it is determined that the navigated object did not start the lane-changing action before the lane-changing point of the lane-changing lane.

[0057] Optionally, in the second example, determining whether the navigated object started the lane-changing action before the lane-changing point of the lane-changing lane includes: if the navigated object enters an area where it cannot change lanes to the side of the target lane, then it is determined that the navigated object did not start the lane-changing action before the lane-changing point of the lane-changing lane.

[0058] Based on the examples above, the lane-change point can include a location where the navigated object cannot initiate a lane change in the direction of travel of the target lane (the intersection of the dashed and solid lines on the lane edge). When the navigated object passes the lane-change point, it is determined that it has left the second navigation route, and a new navigation route is obtained. For example, if the navigated object changes lanes in a direction different from the planned direction, after the navigated object changes lanes from lane 1 to lane 2, the new lane 2 is used as the target lane to recalculate the lane-change point. If lane 2 prohibits lane changes, the location where the navigated object changed lanes is used as the lane-change point, and the navigated object is determined to have left the second navigation route, and a new navigation route is obtained. Of course, this is just an illustrative example; these situations all involve the navigated object not initiating a lane-change action before the lane-change point.

[0059] The new navigation route includes a route replanned based on the location of the navigated object and its destination. Since the merge point indicates the starting point for the navigated object to merge, if it fails to merge beyond the merge point, it can be determined that the navigated object cannot safely complete the merge, and thus it has deviated from the pre-set second navigation route. Based on the navigated object's location and destination, at least one new navigation route is replanned. Compared to route planning after the navigated object deviates from the second navigation route, replanning the route when the navigated object has passed the merge point is more timely. By determining the navigated object's inability to merge before its location leaves the second navigation route, and replanning the route earlier, the user avoids missing good routes and also avoids situations where the user is caught off guard after the route is replanned, allowing more time for route switching.

[0060] Optionally, if the electronic device is a terminal device located within the navigated object, the method further includes: determining the travel time of each new navigation route based on the lane-level road network data; displaying at least one of the new navigation routes planned for the navigated object and their travel times, and prompting the user to switch navigation routes. This allows for timely display of replanned routes to the user, facilitating vehicle driving.

[0061] based on Figure 1 The scene shown and Figure 2 The navigation method shown here will be further explained in detail with two specific application scenarios.

[0062] Optionally, in the first application scenario, such as Figure 5A As shown, Figure 5A This is a schematic diagram of a navigation method provided in Embodiment 1 of this application. Figure 1Based on the scenario shown, Figure 5A The system adds a base station 105 and a terminal device 106. It should be noted that users can locate the vehicle using the terminal device 106 inside the vehicle. For example, the terminal device 106 can be a smartphone. When a user carries a smartphone while driving / riding in the vehicle, because the smartphone and vehicle are in the same state of motion, the smartphone can be located via satellite 104, which is equivalent to locating the vehicle. Figure 5A In this system, electronic device 101 acts as a server on the network side. Electronic device 101 can plan a navigation route for the navigated object based on the location and destination transmitted by terminal device 106. Electronic device 101 can obtain a location by using the network of satellite 104 and / or cloud 102, which indicates the position of terminal device 106. Terminal device 106 transmits the location and the driving speed of the navigated object to electronic device 101. Electronic device 101 obtains corresponding lane-level road network data from cloud 102 based on the location. Based on the location, navigation route, and lane-level road network data, electronic device 101 determines the driving lane of the navigated object. Based on the location and navigation route of the navigated object, it determines the target lane connecting the exit point and the merging lanes required to enter the target lane. Based on the lane-level road network data, response time, and driving speed, it determines the merging point of the merging lanes. Figure 5A In this example, cloud device 102 receives the location sent by terminal device 106, determines the lane-changing point, and transmits the lane-changing point to electronic device 101. This does not mean that this application is limited to this. Electronic device 101 can also receive the location obtained by terminal device 106 based on satellite 104 and base station 105. Terminal device 106 can periodically send the location to electronic device 101 in real time. When electronic device 101 has not started the lane-changing action before determining the lane-changing point of the navigable object based on the location, it generates a new navigation route and sends the new navigation route to terminal device 106. Terminal device 106 displays the new navigation route to the user through a display screen.

[0063] Optionally, in the second application scenario, such as Figure 5B As shown, Figure 5B This is a schematic diagram of a navigation method provided in Embodiment 1 of this application. Figure 1 Based on the scenario shown, Figure 5A Base station 105 has been added. It should be noted that... Figure 5B In this context, electronic device 101 is a terminal device, and electronic device 101 can be a terminal device within the navigated object, enabling vehicle positioning. Figure 5BIn this system, electronic device 101 obtains its location through a network of satellite 104 and / or cloud 102. Electronic device 101 transmits the location to cloud 102 and retrieves corresponding lane-level road network data from cloud 102. Electronic device 101 can also generate input information based on input operations, determine the destination of the navigated object based on the input information, and plan a navigation route based on the location and destination. Electronic device 101 can also determine the driving speed of the navigated object based on continuous positioning; of course, it can also directly detect the driving speed of the navigated object, and this application does not impose any limitations on this. Based on the location and navigation route of the navigated object, and the preset lane-level road network data, electronic device 101 determines the driving lane of the navigated object. Based on the location and navigation route of the navigated object, it determines the target lane connecting the exit point to which the navigated object needs to be navigated and the merging lane to enter the target lane. Based on the lane-level road network data and response time, it determines the merging point of the merging lane. Figure 5B In this example, cloud 102 determines the parallel connection point based on information transmitted by electronic device 101, and then transmits the parallel connection point to electronic device 101. This does not mean the application is limited to this; electronic device 101 can also receive network signals sent by base station 105, and obtain its location based on the network signals from base station 105 and satellite 104. Figure 5B In the process, the navigated object changes lanes in the opposite direction and enters a no-lane-changing zone. After the navigated object changes lanes in the opposite direction, the target lane becomes the leftmost lane. At this time, because the current location of the navigated object is in a no-lane-changing zone, a new navigation route is generated and displayed to the user before the navigated object begins to change lanes at the lane change point.

[0064] Of course, this is just an example of two specific application scenarios to illustrate the navigation method, and does not mean that this application is limited to this.

[0065] The navigation method provided in this application embodiment obtains the location and navigation route of the navigated object; based on the location and navigation route of the navigated object, and preset lane-level road network data, determines the driving lane of the navigated object; based on the location and navigation route of the navigated object, determines the target lane connecting the exit point to which the navigated object needs to be navigated and the merging lane to enter the target lane, wherein the merging lane includes at least the driving lane; based on the lane-level road network data and response time, determines the merging point of the merging lane; determines whether the navigated object starts the merging action before the merging point of the merging lane, and if not, plans a new navigation route for the navigated object based on its location. By determining in advance whether the navigated object has missed the merging point and planning a new navigation route, the re-planning of the route is more timely, avoiding the user missing a better driving route.

[0066] Example 2

[0067] Based on the method described in Embodiment 1 above, Embodiment 2 of this application provides a navigation device for executing the method described in Embodiment 1 above, with reference to... Figure 6 As shown, the navigation device 60 includes: an acquisition module 601, a lane module 602, a lane merging module 603, and a navigation module 604.

[0068] The acquisition module 601 is used to acquire the location and navigation route of the navigated object;

[0069] The lane module 602 is used to determine the driving lane of the navigated object based on the location and navigation route of the navigated object and the preset lane-level road network data; and to determine the target lane connecting the navigated object to the exit of the intersection and the merging lane to enter the target lane based on the location and navigation route of the navigated object, wherein the merging lane includes at least the driving lane.

[0070] The lane-merging module 603 is used to determine the merge point of the merging lane based on lane-level road network data and response time.

[0071] The navigation module 604 is used to determine whether the navigated object starts its lane-changing action before the lane-changing point of the lane-changing lane. If not, it plans a new navigation route for the navigated object based on the object's location.

[0072] Optionally, the navigation module 604 is used to determine that the navigated object has not started the lane-changing action before the lane-changing point when the navigated object has traveled past the lane-changing point of the lane-changing lane.

[0073] Optionally, the navigation module 604 is used to determine that the navigated object has not started a lane-changing action before the lane-changing point in the lane-changing lane when the navigated object enters an area where it cannot change lanes to the side of the target lane.

[0074] Optionally, the lane-changing module 603 is used to determine the lane-changing end position of the lane-changing lane based on lane-level road network data and the driving speed of the navigated object; and to determine the lane-changing point of the lane-changing lane based on the lane-changing end position, the driving speed of the navigated object, and the response time.

[0075] Optionally, the lane-changing module 603 is used to calculate the lane-changing distance required for the navigated object to complete the lane-changing based on the response time and the driving speed of the navigated object; and to determine the lane-changing point of the lane-changing lane based on the lane-changing distance and the lane-changing end position.

[0076] Optionally, the lane module 602 is used to determine the intersection to be exited in front of the navigated object based on the positioning location of the navigated object and the road-level navigation route; load lane-level road network data between the positioning location and the intersection; and determine the target lane connected to the intersection to be exited in front of the navigated object and the merging lane to be driven into the target lane according to the lane connection relationship in the loaded lane-level road network data.

[0077] Optionally, the navigation module 604 is also used to determine the travel time of each new navigation route based on lane-level road network data; display at least one new navigation route planned for the navigable object and its travel time, and prompt the user to switch navigation routes.

[0078] The navigation device provided in this application embodiment obtains the location and navigation route of the navigated object; based on the location and navigation route of the navigated object, and preset lane-level road network data, it determines the driving lane of the navigated object; based on the location and navigation route of the navigated object, it determines the target lane connecting the exit point to which the navigated object needs to be navigated and the merging lane to enter the target lane, wherein the merging lane includes at least the driving lane; based on the lane-level road network data and response time, it determines the merging point of the merging lane; it determines whether the navigated object starts the merging action before the merging point of the merging lane, and if not, it plans a new navigation route for the navigated object based on the location of the navigated object. By determining in advance whether the navigated object has missed the merging point and planning a new navigation route, the re-planning of the route is more timely, avoiding the user missing a better driving route.

[0079] Example 3

[0080] Based on the method described in Embodiment 1 above, Embodiment 3 of this application provides an electronic device for executing the method described in Embodiment 1 above, with reference to... Figure 7 As shown, Figure 7 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of this application. The specific embodiments of this application do not limit the specific implementation of the electronic device.

[0081] like Figure 7 As shown, the electronic device may include: a processor 702, a communications interface 704, a memory 706, and a communications bus 708.

[0082] in:

[0083] The processor 702, communication interface 704, and memory 706 communicate with each other via communication bus 708.

[0084] Communication interface 704 is used to communicate with other electronic devices such as terminal devices or servers.

[0085] The processor 702 is used to execute program 710, specifically the relevant steps in the above method embodiments.

[0086] Specifically, program 710 may include program code that includes computer operation instructions.

[0087] The processor 702 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The electronic device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0088] Memory 706 is used to store program 710. Memory 706 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0089] Specifically, program 710 can be used to cause processor 702 to execute any of the methods in the aforementioned embodiment 1.

[0090] The specific implementation of each step in program 710 can be found in the corresponding steps and units described in the above navigation method embodiments, and will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the devices and modules described above can be referred to the corresponding process descriptions in the foregoing method embodiments, and will not be repeated here.

[0091] The electronic device provided in this application embodiment acquires the location and navigation route of the navigated object; based on the location and navigation route of the navigated object, and preset lane-level road network data, determines the driving lane of the navigated object; based on the location and navigation route of the navigated object, determines the target lane connecting the exit point to which the navigated object needs to be navigated and the merging lane to enter the target lane, wherein the merging lane includes at least the driving lane; based on the lane-level road network data and response time, determines the merging point of the merging lane; determines whether the navigated object starts the merging action before the merging point of the merging lane, and if not, plans a new navigation route for the navigated object based on its location. By determining in advance whether the navigated object has missed the merging point and planning a new navigation route, the re-planning of the route is more timely, avoiding the user missing a better driving route.

[0092] Example 4

[0093] Based on the method described in Embodiment 1 above, Embodiment 4 of this application provides a computer storage medium storing a computer program thereon, which, when executed by a processor, implements the method described in Embodiment 1.

[0094] Example 5

[0095] Based on the method described in Embodiment 1 above, Embodiment 5 of this application provides a computer program product that, when executed by a processor, implements the method described in Embodiment 1.

[0096] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0097] The methods described in the embodiments of this application can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code downloaded over a network that is originally stored in a remote recording medium or a non-transitory machine-readable medium and will be stored in a local recording medium. Thus, the methods described herein can be processed by software stored on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., RAM, ROM, flash memory, etc.) capable of storing or receiving software or computer code that, when accessed and executed by the computer, processor, or hardware, implements the navigation methods described herein. Furthermore, when a general-purpose computer accesses code used to implement the navigation methods shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the navigation methods shown herein.

[0098] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application.

[0099] The above embodiments are only used to illustrate the embodiments of this application, and are not intended to limit the embodiments of this application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this application, and the patent protection scope of the embodiments of this application should be defined by the claims.

Claims

1. A navigation method, comprising: obtaining a positioning location and a navigation route of a navigated object; determining a driving lane of the navigated object based on the positioning location and the navigation route of the navigated object and preset lane-level road network data; determining a target lane for the navigated object to exit a road intersection and a merging lane for the navigated object to drive into the target lane based on the positioning location and the navigation route of the navigated object, the merging lane comprising at least the driving lane; determining a merging point of the merging lane according to the lane-level road network data and a response time, the response time indicating a length of time required for a user to complete a merging operation once; judging whether the navigated object starts a merging operation before the merging point of the merging lane, and if not, planning a new navigation route for the navigated object according to the positioning location of the navigated object.

2. The method of claim 1, wherein, The judging whether the navigated object starts a merging operation before the merging point of the merging lane comprises: if the navigated object drives beyond the merging point of the merging lane, determining that the navigated object does not start a merging operation before the merging point of the merging lane.

3. The method of claim 1, wherein, The judging whether the navigated object starts a merging operation before the merging point of the merging lane comprises: if the navigated object drives into an area that cannot merge to a side of the target lane, determining that the navigated object does not start a merging operation before the merging point of the merging lane.

4. The method of claim 1, wherein, The determining the merging point of the merging lane according to the lane-level road network data and the response time comprises: determining a merging end position of the merging lane according to the lane-level road network data and a driving speed of the navigated object; determining the merging point of the merging lane according to the merging end position, the driving speed of the navigated object and the response time.

5. The method of claim 4, wherein, The determining the merging point of the merging lane according to the merging end position, the driving speed of the navigated object and the response time comprises: calculating a merging distance required for the navigated object to complete a merging operation according to the response time and the driving speed of the navigated object; determining the merging point of the merging lane according to the merging distance and the merging end position.

6. The method of claim 1, wherein, The determining the target lane for the navigated object to exit a road intersection and the merging lane for the navigated object to drive into the target lane based on the positioning location and the navigation route of the navigated object comprises: determining a road intersection to be exited in front of the navigated object based on the positioning location and a road-level navigation route of the navigated object; loading lane-level road network data between the positioning location and the road intersection; determining a target lane connected to the road intersection to be exited in front of the navigated object and a merging lane for the navigated object to drive into the target lane according to a lane connection relationship in the loaded lane-level road network data.

7. The method according to any one of claims 1 to 6, wherein, The method further comprises: determining a driving time of each new navigation route according to the lane-level road network data; displaying at least one new navigation route planned for the navigated object and the driving time, and prompting a user to switch a navigation route. 8.A navigation device, comprising: an obtaining module configured to obtain a positioning location and a navigation route of a navigated object; a lane module configured to determine a driving lane of the object to be navigated based on the positioning location and the navigation route of the object to be navigated and preset lane-level road network data; a merging module configured to determine a merging point of the merging lane according to the lane-level road network data and a response time, the response time indicating a length of time required for a user to complete one merging operation; a navigation module configured to determine whether the object to be navigated starts a merging operation before the merging point of the merging lane, and if not, plan a new navigation route for the object to be navigated according to the positioning location of the object to be navigated. a processor, a memory, a communication interface and a communication bus, the processor, the memory and the communication interface being capable of communicating with each other through the communication bus; 9. An electronic device comprising: the memory is configured to store at least one executable instruction, and the executable instruction is configured to enable the processor to perform operations corresponding to the navigation method according to any one of claims 1-7. 10.A computer storage medium, having stored thereon a computer program, which, when executed by a processor, implements the navigation method according to any one of claims 1-7. 11.A computer program product, which, when executed by a processor, implements the navigation method according to any one of claims 1-7. ​

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