Navigation methods, devices, computer storage media, and computer program products

Abstract

This application provides a navigation method, device, computer storage medium, and computer program product. The navigation method includes: acquiring the location and navigation route of a navigated object; determining the driving lane of the navigated object based on its location; determining the target lane connecting to the intersection ahead and the merging lane to enter the target lane, based on the location and navigation route, wherein the merging lane includes at least the driving lane; determining the safe merging area of ​​each merging lane based on the navigated object's driving speed, response time, and the merging end position of the merging lane; and guiding the navigated object based on its location, the safe merging area of ​​the merging lane, and its driving behavior. This guidance during lane merging achieves lane-level navigation, providing a more accurate and refined navigation guidance solution.

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 smart devices, many users rely on travel applications such as map navigation and ride-hailing apps when traveling. However, current navigation technologies are based on roads, i.e., road-level navigation. But most roads have two or more lanes, each supporting different driving directions. Road-level navigation is therefore rather coarse and lacks precision. Thus, providing more refined and accurate navigation solutions to improve travel safety remains a crucial issue that those skilled in the art need to continuously address and optimize. Summary of the Invention

[0003] 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.

[0004] According to a first aspect of the embodiments of this application, a navigation method is provided, comprising: obtaining the location of a navigable object and a navigation route; determining the driving lane of the navigable object based on the location of the navigable object; determining, based on the location of the navigable object and the navigation route, a target lane to be exited at an intersection ahead and a merging lane to be driven into the target lane, wherein the merging lane includes at least the driving lane; determining a safe merging area for each merging lane based on the driving speed, response time, and merging end position of the merging lane; and guiding the navigable object based on the location of the navigable object, the safe merging area of ​​the merging lane, and the driving behavior.

[0005] According to a second aspect of the embodiments of this application, a navigation device is provided, comprising: a navigation module for acquiring the location and navigation route of a navigated object; a lane positioning module for determining the driving lane of the navigated object based on the location of the navigated object; a lane connection module for determining, based on the location and navigation route of the navigated object, a target lane to be exited at an intersection ahead and a merging lane to be driven into the target lane, wherein the merging lane includes at least the driving lane; a merging module for determining a safe merging area for each merging lane based on the driving speed, response time, and merging end position of the merging lane; and a lane guidance module for guiding the navigated object based on the location of the navigated object, the safe merging area of ​​the merging lane, and driving behavior.

[0006] 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.

[0007] 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.

[0008] 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.

[0009] 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 of the navigated object, determine the driving lane of the navigated object; based on the location and navigation route of the navigated object, determine the target lane to be exited at the intersection ahead and the merging lane to be driven into the target lane, wherein the merging lane includes at least the driving lane; based on the driving speed, response time, and merging end position of the merging lane, determine the safe merging area of ​​each merging lane; based on the location of the navigated object, the safe merging area of ​​the merging lane, and driving behavior, guide the navigated object. Because the safe merging area of ​​the merging lane is determined, guidance is provided when merging between lanes, realizing lane-level navigation, providing more accurate prompts for when the navigated object should merge, avoiding users driving in the wrong direction due to insufficient time to merge, and providing a more accurate and refined navigation guidance solution. Attached Figure Description

[0010] 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.

[0011] Figure 1 A schematic diagram of a navigation method provided in Embodiment 1 of this application;

[0012] Figure 2 A flowchart of a navigation method provided in Embodiment 1 of this application;

[0013] Figure 3A A lane diagram provided in Embodiment 1 of this application;

[0014] Figure 3B This is another lane diagram provided in Embodiment 1 of this application;

[0015] Figure 4 A schematic diagram of a lane merging lane provided in Embodiment 1 of this application;

[0016] Figure 5 This is a schematic diagram of a safe lane-changing area provided in Embodiment 1 of this application;

[0017] Figure 6 This is a schematic diagram of a paralleling effect provided in Embodiment 1 of this application;

[0018] Figure 7A A schematic diagram of a navigation method provided in Embodiment 1 of this application;

[0019] Figure 7B A schematic diagram of a navigation method provided in Embodiment 1 of this application;

[0020] Figure 8 This is a structural block diagram of a navigation device provided in Embodiment 3 of this application;

[0021] Figure 9 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of this application. Detailed Implementation

[0022] 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.

[0023] The specific implementation of the embodiments of this application will be further described below with reference to the accompanying drawings.

[0024] Example 1

[0025] This application provides a navigation method in embodiment one, applied to an electronic device. For ease of understanding, the application scenario of the navigation method provided in embodiment one is described below. Figure 1 As shown, Figure 1 This is a schematic diagram of a navigation method provided in Embodiment 1 of this application. Figure 1The scenario shown includes an electronic device 101, a cloud 102, and a navigated object 103; the navigated object 103 is a vehicle as an example, and the electronic device 101 can be a device that executes the navigation method provided in Embodiment 1 of this application.

[0026] 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.

[0027] Cloud 102 can include various devices connected via a network, such as servers, relay devices, and end-to-end (D2D) devices.

[0028] Electronic device 101 can access a network, connect to the cloud via the network, and exchange data. In this application, the network includes a Local Area Network (LAN), a Wide Area Network (WAN), and mobile communication networks, such as the World Wide Web (WWW), Long Term Evolution (LTE) networks, 2G networks, 3G networks, and 5G networks. Of course, this is only an illustrative example and does not mean that this application is limited to this.

[0029] 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 2A flowchart of a navigation method provided in Embodiment 1 of this application, the method comprising the following steps:

[0030] Step 201: Obtain the location and navigation route of the object being navigated.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] Step 202: Determine the driving lane of the navigated object based on its location.

[0036] 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.

[0037] Here, lane-level road network data is explained. This data can be pre-acquired. For example, lane-level road network data is used to indicate the lane conditions of the target road segment where the navigated object is currently located. It should be noted that lane-level road network data can be obtained from network devices in the cloud, or it can be stored locally on the electronic device. For instance, the electronic device can send its location to the cloud, indicating the current location of the navigated object. The cloud then sends the corresponding lane-level road network data for the target road segment to the electronic device based on the location. Alternatively, the terminal device within the navigated object can send its location to the cloud, and the cloud can send lane-level road network data to the terminal device, which then forwards the data to the electronic device, or the cloud can send lane-level road network data to the electronic device.

[0038] It should be noted that lane-level road network data can include information on 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.

[0039] Based on the above description, the lane-level road network data of 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, as shown in Figure 3C, 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).

[0040] 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 ahead and the lane that needs to be merged into to enter the target lane.

[0041] 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). Here, two examples are given to illustrate how merging lanes are specifically determined.

[0042] 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.

[0043] 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 ahead. Then, it searches backwards along the road segment between the location and the intersection for the 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.

[0044] 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.

[0045] Step 204: Determine the safe lane-changing area for each lane based on the driving speed and response time of the navigated object and the lane-changing end position of the lane-changing lane.

[0046] It should be noted that the driving speed refers to the speed of the navigated object, the response time is the time to complete one lane change, and the lane change end position is the position where the lane change is completed. The lane change should be completed before the lane change end position. In this application, the safe lane change zone indicates the area where the navigated object can begin to change lanes. A lane change can be completed if it begins within the safe lane change zone; otherwise, it cannot be completed. For example, the safe lane change zone of a lane can be the area between the safe lane change position and the lower limit lane change position of that lane. The safe lane change position is the starting position for a safe lane change, and the lower limit lane change position is the latest starting position for a lane change. If a lane change has not begun before the lower limit lane change position, it cannot be completed. It should also be noted that the driving speed can change in real time, and the safe lane-changing area can be continuously calculated and adjusted based on the real-time driving speed. For example, the safe lane-changing area of ​​each lane can be determined based on the driving speed of the navigating object, the response time, and the lane-changing end position of the lane. This includes: adjusting the safe lane-changing area of ​​each lane in real time based on the response time, the lane-changing end position, and the changes in the driving speed of the navigating object.

[0047] Optionally, in one embodiment, the response time includes a safe response time and a lower limit response time, wherein the safe response time is greater than the lower limit response time; determining the safe merging area for each merging lane based on the driving speed of the navigated object, the response time, and the merging end position of the merging lane includes: determining the safe merging position for each merging lane based on the driving speed of the navigated object, the safe response time, and the merging end position of the merging lane, wherein the safe response time is used to indicate the safe time required for the navigated object to perform one merging operation; determining the lower limit merging position for each merging lane based on the driving speed of the navigated object, the lower limit response time, and the merging end position of the merging lane, wherein the lower limit response time is used to indicate the shortest time required for the navigated object to perform one merging operation; and defining the area between the safe merging position and the lower limit merging position of each merging lane as the safe merging area. For example, as shown... Figure 5 As shown, Figure 5 This is a schematic diagram of a safe lane-changing area provided in Embodiment 1 of this application. When a user begins to change lanes within the safe lane-changing area, it can be considered that the user has completed the lane change and that it is a safe operation. The safe lane-changing area can be displayed to provide the user with a more intuitive and clear prompt, thereby enhancing the effect of lane guidance.

[0048] It should be noted that both the safe lane-changing position and the lower limit lane-changing position are lane-changing positions, indicating the starting position for merging. In this application, the navigated object completing the lane change, or rather, the user controlling the navigated object to complete the lane change, requires a certain amount of time from the user's initiation to the end of the lane change, and may also be affected by factors such as the number of vehicles in adjacent lanes and their speeds. Therefore, the lane-changing end position, i.e., the position where the user should complete the lane change, is determined first. If the navigated object exceeds the lane-changing end position, lane change cannot proceed. Based on the navigated object's speed and the response time required for the user to merge, the distance the navigated object travels during the user's response time can be calculated. Based on the distance traveled by the navigated object and the lane-changing end position, the user's starting position for merging can be calculated as the lane-changing position. Prompting the user at the lane-changing position allows sufficient time for the user to complete the lane-changing operation. The safe lane-changing position is calculated based on the safe response time, and the lower limit lane-changing position is calculated based on the lower limit response time. Here, two specific application scenarios are given for explanation.

[0049] Optionally, in the first application scenario, the safe lane-changing distance is calculated based on the speed of the navigated object and the safe response time. The safe lane-changing position is then determined based on the safe lane-changing distance and the lane-changing end position. The safe lane-changing distance is the distance traveled by the navigated object during a single lane change, within the safe response time. The safe response time can be understood as the time required for a user to safely complete a lane change, including the user's reaction time upon hearing the prompt, the user's observation time of road conditions, the time for the user to manipulate the navigated object to change lanes, and the user's relaxation time after completing the lane change. Therefore, the safe lane-changing position determined based on the safe response time allows the user sufficient time to change lanes, improving driving safety. It should be noted that the safe response time (also called the safety response period) can be dynamically adjusted, weighted according to factors such as weather and road conditions. For example, better weather conditions are more conducive to vehicle driving, resulting in lower weather parameters and a shorter safe response time; higher traffic volume is less conducive to lane changes, resulting in higher road condition parameters and a longer safe response time. Of course, the safety response time can also be adjusted based on user data and different lane types. For example, historical information on a user's lane-changing time can be collected, including the time spent merging between different lanes. The safety response time required for a user to merge between different lanes can be calculated according to lane type, and different safety response times can be set for different lane types. Alternatively, historical information on the lane-changing time of multiple users can be collected, and the safety response time required for a user to complete a lane change can be determined based on a large amount of user data. Of course, this is just an example and does not mean that this application is limited to this.

[0050] Optionally, in the second application scenario, the lower limit lane-changing distance is calculated based on the driving speed of the navigated object and the lower limit response time. The lower limit lane-changing position of the lane-changing lane is then determined based on the lower limit lane-changing distance and the lane-changing end position. Optionally, the safe response time is greater than the lower limit response time, and the lower limit lane-changing position is closer to the lane-changing end position than the safe lane-changing position. The lower limit response time can be understood as the time required for a user to quickly complete a lane change. If it is less than the lower limit response time, it can be determined that the user cannot complete the lane change. Therefore, the lower limit lane-changing position determined based on the lower limit response time is the latest position where the user can begin to change lanes. If the user has not started to change lanes after the lower limit lane-changing position, it can be determined that the user cannot complete the lane change, further improving driving safety.

[0051] Step 205: Based on the location of the navigated object, the safe lane-changing area of ​​the lane, and the driving behavior, guide the navigated object.

[0052] Optionally, in one implementation, taking the electronic device as the terminal device as an example, guiding the navigated object may include providing lane-changing reminders via voice or image when the navigated object enters the safe lane-changing area. It should be noted that, considering the two application scenarios in step 204, if the safe lane-changing area includes a safe lane-changing position and a lower limit lane-changing position, prompts can be given at both the safe lane-changing position and the lower limit lane-changing position.

[0053] Alternatively, in another implementation, assuming the electronic device is not the terminal device, the method further includes: the electronic device sending a prompt message to the terminal device, so that the terminal device provides a lane-changing reminder via voice or image when the navigated object enters the safe lane-changing area. Of course, this is merely an illustrative example.

[0054] Optionally, by combining the two implementation methods mentioned above, lane-change reminders can be provided when the navigated object enters the safe lane-change area and during the lane-change process. In one application scenario, the navigated object is guided based on its location, the safe lane-change area of ​​the lane, and its driving behavior. This includes: determining when the navigated object reaches the safe lane-change position of the lane-change area based on its location, the safe lane-change area of ​​the lane, and its driving behavior, and then providing a lane-change reminder.

[0055] In another application scenario, the navigable object is guided based on its lane-changing behavior. It should be noted that driving behavior may involve various lane-changing scenarios; for example, such as... Figure 6 As shown, the lane-changing status of the navigated object can include: changing lanes in the opposite direction, having already changed lanes, and continuing to travel along the driving lane. Changing lanes in the opposite direction means the navigated object is changing lanes in the opposite direction to the lane change direction towards the intersection (or target lane); having already changed lanes means the navigated object has completed the lane change; continuing to travel along the driving lane means the navigated object has not changed lanes. Lane-changing status can be detected by electronic equipment or sent from the vehicle's onboard equipment to the electronic equipment.

[0056] Combination Figure 6 The following are three specific examples illustrating the lane-changing situations:

[0057] Optionally, in the first example, guidance is provided to the navigated object based on its location, the safe merging zone of the merging lane, and its driving behavior. This includes: determining if the navigated object has exceeded the safe merging position of the merging lane but has not yet merged, and then issuing a merging reminder. The frequency and intensity of reminders can be increased if the navigated object exceeds the safe merging position but has not taken any merging action.

[0058] Optionally, in the second example, guidance is provided to the navigated object based on its location, the safe lane-changing area of ​​the lane, and its driving behavior. This includes determining if the navigated object's direction deviates from the direction towards the target lane, but has not reached the lower limit for lane-changing, and then issuing a lane-changing reminder. If the navigated object's direction deviates from the direction towards the target lane, it indicates that the navigated object has made an incorrect lane change and may be driving in the wrong direction. In this case, the frequency and intensity of the reminders can be increased; for example, a strong, loud voice announcement, or a voice announcement accompanied by an alarm.

[0059] Optionally, in the third example, guidance is provided to the navigated object based on its location, the safe merging zone of the merging lane, and its driving behavior. This includes determining that the navigated object has merged into the target lane but has not yet reached it, and issuing a lane-merging reminder when it reaches the safe merging zone of its current lane. During multiple lane merges, it's possible to mistakenly believe a complete merge is complete before reaching the target lane, leading to an incorrect direction. Therefore, continuous reminders can be provided until the target lane is reached to prevent wrong turns. It should be noted that the frequency of reminders can be reduced once the navigated object has merged.

[0060] The lane change reminders are based on the real-time lane change situation of the navigating object, which is more in line with the real-time situation. It will not annoy users by playing the reminders too many times, nor will it cause the navigating object to drive in the wrong direction if the user makes a wrong lane change. The prompts are more accurate and better meet the user's needs.

[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, the object being navigated to can be a vehicle, such as... Figure 7A As shown, Figure 7A This is a schematic diagram of a navigation method provided in Embodiment 1 of this application. Figure 1 Based on the scenario shown, Figure 7AThe system adds satellite 104 and terminal device 105, with satellite 104 used for positioning. It should be noted that users can locate the vehicle via the in-vehicle terminal device 105 or via an onboard terminal installed in the vehicle. For example, terminal device 105 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, positioning the smartphone via satellite 104 is equivalent to positioning the vehicle. Figure 7A In this system, electronic device 101 acts as a server on the network side. Terminal device 105 obtains its location via satellite 104 and / or cloud 102. This location indicates the position of terminal device 105. Terminal device 105 transmits its location, the destination of the navigated object, and the driving speed of the navigated object to electronic device 101. Electronic device 101 retrieves lane-level road network data for the corresponding target road segment from cloud 102 based on the location. Based on the lane-level road network data and the destination, electronic device 101 determines the target lane that the navigated object needs to exit at and the merging lane that needs to be used to enter the target lane. Based on the navigated object's driving speed, response time, and the merging end position of the merging lane, it determines the safe merging area for each merging lane. Electronic device 101 guides the navigated object based on its location, safe merging area, and driving behavior. Specifically, electronic device 101 can generate prompts and send them to terminal device 105. Terminal device 105 plays the prompts via voice or image when the navigated object reaches the merging position, prompting the user to merge.

[0063] Optionally, in the second application scenario, such as Figure 7B As shown, Figure 7B This is a schematic diagram of a navigation method provided in Embodiment 1 of this application. Figure 1 Based on the scenario shown, Figure 7B Satellite 104 has been added for positioning. It should be noted that... Figure 7B In this context, electronic device 101 is a terminal device, and it can be a terminal device within the navigated object, enabling vehicle positioning. Electronic device 101 can generate input information based on input operations, determine the starting point and destination of the navigated object based on the input information, and transmit the starting point and destination to cloud 102. Cloud 102 generates a navigation route based on the starting point and destination and sends the navigation route back to electronic device 101. Figure 7BIn this process, electronic device 101 obtains its location through the network of satellite 104 and / or cloud 102. The location is used to indicate the position of terminal device 105. Terminal device 105 transmits the location to cloud 102 and obtains lane-level road network data of the corresponding target road segment from cloud 102. 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 speed of the navigated object, and this application does not limit this. Electronic device 101 determines the target lane that the navigated object needs to exit at the intersection ahead and the merging lane that needs to be used to enter the target lane based on the location of the navigated object, the navigation route, and the lane-level road network data. Based on the driving speed, response time, and merging end position of the merging lane of the navigated object, electronic device 101 determines the safe merging area. Electronic device 101 guides the navigated object based on its location, safe merging area, and driving behavior.

[0064] The navigation method provided in this application obtains the location and navigation route of the navigated object; determines the driving lane of the navigated object based on its location; determines the target lane to be exited at the intersection ahead and the merging lane to be entered into the target lane based on the location and navigation route, wherein the merging lane includes at least the driving lane; determines the safe merging area of ​​each merging lane based on the driving speed, response time, and the merging end position of the merging lane; and guides the navigated object based on its location, the safe merging area of ​​the merging lane, and its driving behavior. Because the safe merging area of ​​the merging lane is determined, guidance is provided when merging between lanes, achieving lane-level navigation. This provides more accurate prompts on when the navigated object should merge, preventing users from driving in the wrong direction due to insufficient time to merge, and providing a more accurate and refined navigation guidance solution.

[0065] Example 2

[0066] Based on the method described in Embodiment 1 above, Embodiment 3 of this application provides a navigation device for executing the method described in Embodiment 1 above, with reference to... Figure 8 As shown, the navigation device 30 includes: a navigation module 301, a lane positioning module 302, a lane connection module 303, a lane merging module 304, and a lane guidance module 305.

[0067] Navigation module 301 is used to obtain the location of the navigated object and the navigation route;

[0068] Lane positioning module 302 is used to determine the driving lane of the navigated object based on the positioning location of the navigated object;

[0069] The lane connection module 303 is used to determine the target lane that the navigating object needs to exit at the intersection ahead and the merging lane that needs to be driven into the target lane based on the location of the navigating object and the navigation route. The merging lane includes at least the driving lane.

[0070] The lane-changing module 304 is used to determine the safe lane-changing area for each lane based on the driving speed and response time of the navigated object and the lane-changing end position of the lane.

[0071] The lane guidance module 305 is used to guide the navigated object based on its location, the safe lane-changing area, and driving behavior.

[0072] Optionally, the lane-changing module 304 is used to determine the safe lane-changing position of each lane based on the driving speed of the navigated object, the safe response time, and the lane-changing end position of the lane; to determine the lower limit lane-changing position of each lane based on the driving speed of the navigated object, the lower limit response time, and the lane-changing end position of the lane; and to define the area between the safe lane-changing position and the lower limit lane-changing position of each lane as the safe lane-changing area.

[0073] Optionally, the lane guidance module 305 is used to determine when the navigated object reaches the safe lane-changing position based on the location of the navigated object, the safe lane-changing area of ​​the lane-changing lane, and the driving behavior, and then provide a lane-changing reminder.

[0074] Optionally, the lane guidance module 305 is used to determine, based on the location of the navigated object, the safe lane-changing area of ​​the lane, and the driving behavior, if the navigated object has exceeded the safe lane-changing position but has not changed lanes, to provide a lane-changing reminder.

[0075] Optionally, the lane guidance module 305 is used to determine, based on the location of the navigable object, the safe lane-changing area of ​​the lane, and the driving behavior, when the driving direction of the navigable object deviates from the direction of driving towards the target lane, but has not reached the lower limit lane-changing position, and to provide a lane-changing reminder.

[0076] Optionally, the lane guidance module 305 is used to connect the safe lane-changing areas sequentially from the driving lane to the target lane to obtain a lane-level navigation route; and to guide the navigated object based on the location of the navigated object, the lane-level navigation route, and the driving behavior.

[0077] The lane-changing module 304 is used to adjust the safe lane-changing area of ​​each lane in real time based on the response time, the end position of the lane-changing lane, and the changes in the speed of the navigated object.

[0078] The lane connection module 303 is used to determine the intersection that needs 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 the lane-level road network data between the positioning location and the intersection; determine the target lane that connects to the intersection that needs to be exited in front of the navigated object according to the lane connection relationship in the loaded lane-level road network data; and find and determine 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.

[0079] The navigation device provided in this application embodiment obtains the location and navigation route of the navigated object; based on the location of the navigated object, 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 to be connected to the intersection ahead of the navigated object and the merging lane to be driven into the target lane, the merging lane including at least the driving lane; based on the driving speed, response time, and the merging end position of the merging lane, it determines the safe merging area of ​​each merging lane; based on the location of the navigated object, the safe merging area of ​​the merging lane, and the driving behavior, it guides the navigated object. Because the safe merging area of ​​the merging lane is determined, guidance is provided when merging between lanes, realizing lane-level navigation, providing more accurate prompts for when the navigated object should merge, avoiding users not having enough time to merge and driving in the wrong direction, providing a more accurate and refined navigation guidance solution.

[0080] Example 3

[0081] Based on the method described in Embodiment 1 above, Embodiment 4 of this application provides an electronic device for executing the method described in Embodiment 1 above, with reference to... Figure 9 As shown, Figure 9 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of this application. The specific embodiments of this application do not limit the specific implementation of the electronic device.

[0082] like Figure 9 As shown, the electronic device may include: a processor 402, a communications interface 404, a memory 406, and a communications bus 408.

[0083] in:

[0084] The processor 402, communication interface 404, and memory 406 communicate with each other via communication bus 408.

[0085] Communication interface 404 is used to communicate with other electronic devices such as terminal devices or servers.

[0086] The processor 402 is used to execute program 410, specifically the relevant steps in the above method embodiments.

[0087] Specifically, program 410 may include program code that includes computer operation instructions.

[0088] Processor 402 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.

[0089] Memory 406 is used to store program 410. Memory 406 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0090] Specifically, program 410 can be used to cause processor 402 to execute any of the methods in the aforementioned embodiment 1.

[0091] The specific implementation of each step in program 410 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.

[0092] The electronic device provided in this application embodiment acquires the location and navigation route of the navigated object; determines the driving lane of the navigated object based on its location; determines the target lane to be exited at the intersection ahead and the merging lane to be entered into the target lane based on the location and navigation route, wherein the merging lane includes at least the driving lane; determines the safe merging area of ​​each merging lane based on the driving speed, response time, and the merging end position of the merging lane; and guides the navigated object based on its location, the safe merging area of ​​the merging lane, and its driving behavior. Because the safe merging area of ​​the merging lane is determined, guidance is provided when merging between lanes, achieving lane-level navigation. This provides more accurate prompts on when the navigated object should merge, preventing users from driving in the wrong direction due to insufficient time to merge, and providing a more accurate and refined navigation guidance solution.

[0093] Example 5

[0094] Based on the method described in Embodiment 1 above, Embodiment 5 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.

[0095] Example 6

[0096] Based on the method described in Embodiment 1 above, Embodiment 6 of this application provides a computer program product that, when executed by a processor, implements the method described in Embodiment 1.

[0097] 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.

[0098] 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. When the software or computer code is accessed and executed by the computer, processor, or hardware, the navigation methods described herein are implemented. Furthermore, when a general-purpose computer accesses the 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.

[0099] 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.

[0100] 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 position and a navigation route of a navigated object; determining a driving lane of the navigated object based on the positioning position of the navigated object; determining a target lane to be connected by the navigated object in front of a road intersection and a merging lane to be driven by the navigated object to enter the target lane based on the positioning position and the navigation route of the navigated object, the merging lane comprising at least the driving lane; determining a safe merging area of each merging lane according to a driving speed of the navigated object, a response time, and a merging end position of the merging lane, wherein the safe merging area is an area between a safe merging position and a lower limit merging position of the merging lane, the safe merging position being a starting position for safe merging, and the lower limit merging position being a starting position for the latest merging; guiding the navigated object based on the positioning position of the navigated object, the safe merging area of the merging lane, and a driving behavior.

2. The method of claim 1, wherein, The response time comprises a safe response time and a lower limit response time, the safe response time being greater than the lower limit response time; and the determination of the safe merging area of each merging lane according to the driving speed of the navigated object, the response time, and the merging end position of the merging lane comprises: determining a safe merging position of each merging lane according to the driving speed of the navigated object, the safe response time, and the merging end position of each merging lane; determining a lower limit merging position of each merging lane according to the driving speed of the navigated object, the lower limit response time, and the merging end position of each merging lane; and determining the safe merging area as an area between the safe merging position and the lower limit merging position of each merging lane.

3. The method of claim 2, wherein, The guiding of the navigated object based on the positioning position of the navigated object, the safe merging area of the merging lane, and the driving behavior comprises: determining a merging reminder when the navigated object reaches the safe merging position of the merging lane according to the positioning position of the navigated object, the safe merging area of the merging lane, and the driving behavior.

4. The method of claim 2, wherein, The guiding of the navigated object based on the positioning position of the navigated object, the safe merging area of the merging lane, and the driving behavior comprises: determining a merging reminder when the navigated object has exceeded the safe merging position of the merging lane but has not merged according to the positioning position of the navigated object, the safe merging area of the merging lane, and the driving behavior.

5. The method of claim 2, wherein, The guiding of the navigated object based on the positioning position of the navigated object, the safe merging area of the merging lane, and the driving behavior comprises: determining a merging reminder when the driving direction of the navigated object deviates from the direction of the target lane but has not reached the lower limit merging position according to the positioning position of the navigated object, the safe merging area of the merging lane, and the driving behavior.

6. The method of claim 2, wherein, The guiding of the navigated object based on the positioning position of the navigated object, the safe merging area of the merging lane, and the driving behavior comprises: According to the positioning position of the navigated object, the safe merging area of the merging lane, and the driving behavior, it is determined that the navigated object has merged to one side of the target lane but not reached the target lane, and a merging reminder is given when the navigated object reaches the safe merging area of the merging lane where the navigated object is located.

7. The method of claim 2, wherein, The guiding of the navigated object based on the positioning position of the navigated object, the safe merging area of the merging lane, and the driving behavior includes: The safe merging areas are sequentially connected in the order from the driving lane to the target lane to obtain a lane-level navigation route; The guiding of the navigated object based on the positioning position of the navigated object, the lane-level navigation route, and the driving behavior.

8. The method of claim 1, wherein, The determination of the safe merging area of each merging lane according to the driving speed of the navigated object, the response time, and the merging end position of the merging lane includes: The safe merging area of each merging lane is adjusted in real time based on the response time, the merging end position of the merging lane, and the change of the driving speed of the navigated object.

9. The method of claim 1, wherein, The determination of the target lane to be exited from the intersection in front of the navigated object and the merging lane to be driven into the target lane based on the positioning position and the navigation route of the navigated object includes: The intersection in front of the navigated object to be exited is determined based on the positioning position and the road-level navigation route of the navigated object; Lane-level road network data between the positioning position and the intersection is loaded; The target lane connected with the intersection in front of the navigated object to be exited is determined according to the lane connection relationship in the loaded lane-level road network data, and a plurality of merging lanes from the target lane to the driving lane are determined in the direction from the target lane to the driving lane.

10. A navigation device, comprising: a navigation module configured to acquire a positioning position and a navigation route of a navigated object; a lane positioning module configured to determine a driving lane of the navigated object based on the positioning position of the navigated object; a lane connection module configured to determine a target lane connected with an intersection in front of the navigated object to be exited and a merging lane to be driven into the target lane based on the positioning position and the navigation route of the navigated object, the merging lane at least including the driving lane; a merging module configured to determine a safe merging area of each merging lane according to a driving speed of the navigated object, a response time, and a merging end position of the merging lane, wherein the safe merging area is an area between a safe merging position and a lower limit merging position of the merging lane, the safe merging position being a starting position for safe merging, and the lower limit merging position being a starting position for the latest merging; a lane guiding module configured to guide the navigated object based on the positioning position of the navigated object, the safe merging area of the merging lane, and a driving behavior.

11. An electronic device comprising: a processor, a memory, a communication interface, and a communication bus, the processor, the memory, and the communication interface being in communication with each other through the communication bus; The memory is configured to store at least one executable instruction, which causes the processor to perform operations corresponding to the navigation method according to any one of claims 1-9.

12. 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 1-9.

13. A computer program product, which, when executed by a processor, implements the navigation method according to any one of claims 1-9.

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