Navigation method, device and system

Abstract

The present application discloses a navigation method, device, and system. Among them, the method includes: obtaining an image within the surrounding area where the object to be navigated travels; recognizing the image to obtain a target object in front of the object to be navigated and the lane where the target object is located, where the lane where the object to be navigated is located and the lane where the target object is located enter the same fork; outputting navigation information, where the navigation information is used to prompt the object to be navigated to follow the target object. The present application solves the technical problem that the guidance frequency and content of the navigation method in the related art for guiding navigation actions at a certain intersection node are relatively fixed and the flexibility is poor.

Description

Technical Field

[0001] This application relates to the field of traffic navigation. Specifically, it relates to a navigation method, device, and system. Background Art

[0002] Traditional navigation action guidance is based on the turning actions at a certain intersection node of the user's current route. For example, when it is detected that the user needs to make a right turn at the next intersection node, the user can be prompted to turn right at the next intersection. However, the guidance frequency and content of traditional navigation action guidance are relatively fixed, and the flexibility is poor.

[0003] In response to the above problems, no effective solution has been proposed yet. Summary of the Invention

[0004] Embodiments of this application provide a navigation method, device, and system to at least solve the technical problem that the guidance frequency and content of the navigation method for guiding navigation actions at a certain intersection node in related technologies are relatively fixed and the flexibility is poor.

[0005] According to one aspect of the embodiments of this application, a navigation method is provided, including: obtaining an image within the surrounding area where the object to be navigated travels; identifying the image to obtain a target object in front of the object to be navigated and the lane where the target object is located, where the lane where the object to be navigated is located and the lane where the target object is located enter the same fork; outputting navigation information, where the navigation information is used to prompt the object to be navigated to follow the target object.

[0006] According to one aspect of the embodiments of this application, a navigation method is provided, including: displaying an image within the surrounding area where the object to be navigated travels on an interaction interface; identifying the image and marking on the interaction interface a target object in front of the object to be navigated and the lane where the target object is located, where the lane where the object to be navigated is located and the lane where the target object is located enter the same fork; displaying navigation information on the interaction interface, where the navigation information is used to prompt the object to be navigated to follow the target object.

[0007] According to another aspect of the embodiments of this application, a navigation device is further provided, including: a first acquisition module for obtaining an image within the surrounding area where the object to be navigated travels; an identification module for identifying the image to obtain a target object in front of the object to be navigated and the lane where the target object is located, where the lane where the object to be navigated is located and the lane where the target object is located enter the same fork; an output module for outputting navigation information, where the navigation information is used to prompt the object to be navigated to follow the target object.

[0008] According to another aspect of the embodiments of the present application, a navigation device is further provided, including: a first display module, configured to display an image within the surrounding area of the object being navigated on an interaction interface; a first marking module, configured to identify the image and mark a target object in front of the object being navigated and the lane where the target object is located on the interaction interface, where the lanes of the object being navigated and the target object enter the same fork; a second display module, configured to display navigation information on the interaction interface, where the navigation information is used to prompt the object being navigated to follow the target object.

[0009] According to another aspect of the embodiments of the present application, a navigation system is further provided, including: an image recognition device, configured to obtain an image within the surrounding area of the object being navigated and identify the image to obtain a target object in front of the object being navigated and the lane where the target object is located, where the lanes of the object being navigated and the target object enter the same fork; a lane guiding module, configured to output navigation information, where the navigation information is used to prompt the object being navigated to follow the target object.

[0010] According to another aspect of the embodiments of the present application, a computer-readable storage medium is further provided. The computer-readable storage medium includes a stored program, where when the program runs, it controls the device where the computer-readable storage medium is located to execute the above navigation method.

[0011] According to another aspect of the embodiments of the present application, a mobile terminal is further provided, including: a memory and a processor, where the processor is configured to run a program stored in the memory, and when the program runs, it executes the above navigation method.

[0012] In the embodiments of the present application, after obtaining an image within the surrounding area of the object being navigated, the image can be recognized to determine a target object in front of the object being navigated and the lane where the target object is located, and navigation information for prompting the object being navigated to follow the target object is output, thereby achieving the purpose of following guidance. It is easy to notice that the image within the surrounding area of the object being navigated can be recognized in real time to determine a target object having the same driving direction as the object being navigated, that is, a target object entering the same fork at the front intersection node, and guiding the object being navigated to follow the target object, without the need for fixed-content and fixed-frequency broadcast guidance, thereby achieving the technical effects of improving guidance flexibility, facilitating user understanding, and reducing the thinking cost, and further solving the technical problem that the guidance frequency and content of the navigation method in the related art for guiding navigation actions at a certain intersection node are relatively fixed and the flexibility is poor. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0014] Figure 1 is a hardware structure block diagram of a computer terminal (or mobile device) for implementing a navigation method according to an embodiment of the present application;

[0015] Figure 2 is a flowchart of a navigation method according to an embodiment of the present application;

[0016] Figure 3a is a schematic diagram of a lane connection relationship with a unique destination road according to an embodiment of the present application;

[0017] Figure 3b is a schematic diagram of another lane connection relationship with a unique destination road according to an embodiment of the present application;

[0018] Figure 4a is a schematic diagram of a vehicle traveling on a lane with a unique destination road according to an embodiment of the present application;

[0019] Figure 4b is a schematic diagram of another vehicle traveling on a lane with a unique destination road according to an embodiment of the present application;

[0020] Figure 4c is a schematic diagram of yet another vehicle traveling on a lane with a unique destination road according to an embodiment of the present application;

[0021] Figure 5 is a flowchart of an alternative navigation method according to an embodiment of the present application;

[0022] Figure 6 is a flowchart of another navigation method according to an embodiment of the present application;

[0023] Figure 8 is a schematic diagram of a navigation device according to an embodiment of the present application;

[0024] Figure 7 is a schematic diagram of another navigation device according to an embodiment of the present application;

[0025] Figure 9 is a schematic diagram of a navigation system according to an embodiment of the present application;

[0026] Figure 10 is a schematic diagram of an alternative navigation system according to an embodiment of the present application;

[0027] Figure 11 is a structure block diagram of a computer terminal according to an embodiment of the present application. Detailed implementation manners

[0028] To enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned accompanying drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0030] First, some nouns or terms that appear in the process of describing the embodiments of this application are applicable to the following explanations:

[0031] Following guidance: Based on visual image perception, it can be recognized that the current vehicle and the vehicle ahead are in the same lane, and the following state is determined. Based on the judgment of the lane connectivity relationship of static high-precision data, the destination road of this lane at the front intersection node is unique. Through comprehensive judgment, that is, the destination roads of the current vehicle and the vehicle ahead at this intersection node are the same, and then navigation guidance can be carried out in the following guidance manner.

[0032] Lane connectivity relationship: It can represent the connectivity between lanes.

[0033] Embodiment 1

[0034] According to the embodiments of this application, a navigation method is also provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from here.

[0035] The method embodiments provided by the embodiments of this application can be executed on a mobile terminal, a computer terminal or a similar computing device. Figure 1The following shows a hardware block diagram of a computer terminal (or mobile device) for implementing a navigation method. As Figure 1 shown, the computer terminal 10 (or mobile device 10) may include one or more processors 102 (shown as 102a, 102b, ……, 102n in the figure) (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may further include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply, and / or a camera. Those of ordinary skill in the art can understand that Figure 1 the structure shown is only illustrative and does not limit the structure of the above-mentioned electronic device. For example, the computer terminal 10 may further include more or fewer components than Figure 1 shown therein, or have a different configuration from Figure 1 that shown.

[0036] It should be noted that the above one or more processors 102 and / or other data processing circuits are generally referred to as "data processing circuits" herein. The data processing circuit may be embodied in whole or in part as software, hardware, firmware, or any combination thereof. In addition, the data processing circuit may be a single independent processing module, or be incorporated in whole or in part into any one of the other elements in the computer terminal 10 (or mobile device). As involved in the embodiments of the present application, the data processing circuit is used for processor control (such as the selection of a variable resistance terminal path connected to an interface).

[0037] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the navigation method in the embodiments of the present application. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, implements the above-mentioned navigation method. The memory 104 may include a high-speed random access memory, and may further include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely disposed relative to the processor 102, and these remote memories can be connected to the computer terminal 10 through a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0038] The transmission device 106 is used to receive or send data via a network. Specific examples of the above-mentioned network may include a wireless network provided by a communication provider of the computer terminal 10. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a Radio Frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0039] The display can be, for example, a touch-screen liquid crystal display (LCD), which enables the user to interact with the user interface of the computer terminal 10 (or mobile device).

[0040] It should be noted here that, in some alternative embodiments, the above-mentioned Figure 1 shown computer device (or mobile device) may include hardware elements (including circuits), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware elements and software elements. It should be pointed out that Figure 1 is only an example of a specific specific instance and is intended to illustrate the types of components that may exist in the above-mentioned computer device (or mobile device).

[0041] Under the above operating environment, the present application provides a navigation method as Figure 2 shown. Figure 2 is a flowchart of a navigation method according to an embodiment of the present application. As Figure 2 shown, the method may include the following steps:

[0042] Step S202, obtain an image within the surrounding area where the object to be navigated travels.

[0043] The object to be navigated in the above step may be a vehicle, a pedestrian, etc. In the embodiment of the present application, the object to be navigated is taken as the current vehicle for illustration. The surrounding area where the object to be navigated travels may be the front area of the object to be navigated, but is not limited thereto.

[0044] In an alternative embodiment, a navigation system including a visual sensor (such as a camera) may be installed on the object to be navigated, and the navigation system can collect images in front of the object to be navigated in real time.

[0045] Step S204, identify the image to obtain a target object in front of the object to be navigated and the lane where the target object is located, wherein the lane where the object to be navigated is located and the lane where the target object is located enter the same fork.

[0046] The target object in the above steps can be a target vehicle located in front of the current vehicle and moving in the same direction as the current vehicle, that is, along the lanes where the two vehicles are located, they can enter the same fork.

[0047] The fork in the above steps can refer to the fork at the intersection node in front of the current vehicle. For a certain intersection node, vehicles driving in different lanes can drive towards different forks, so as to drive in different directions. For example, at an intersection node, the current road has 3 lanes. The left lane allows driving towards the left fork, the middle lane allows driving towards the straight fork, and the right lane allows driving towards the straight fork and the right fork. Therefore, when the current vehicle drives in different lanes, the corresponding forks are different.

[0048] In an alternative embodiment, after capturing the image in front of the current vehicle, the lane dividing lines in front of the current vehicle can be recognized through visual recognition, and further compared with the lane dividing line information in the high-precision data to determine the lane in which the current vehicle is driving. In addition, other vehicles in front of the current vehicle can be recognized through visual recognition, and the lanes in which the other vehicles are driving can also be determined by recognizing the lane dividing lines around the other vehicles. After determining the lane in which the current vehicle is driving and the lane in which the vehicle in front is driving, if the current vehicle and the vehicle in front are in the same lane, it can be determined that the driving directions of the two vehicles are the same.

[0049] It should be noted that for some intersection nodes, different forks can be entered along the same lane, that is, driving in different directions. Even if the current vehicle and the vehicle in front are in the same lane, it is impossible to determine that the driving directions of the two vehicles are the same. For example, still taking the intersection as an example, if the current vehicle and the vehicle in front are both in the right lane, there is a possibility that the current vehicle goes straight and enters the straight fork, while the vehicle in front turns right and enters the right fork.

[0050] In order to accurately determine the target vehicle, it can first be judged whether the roads ahead of the lanes in which the current vehicle and the vehicle in front are driving at the intersection node in front are unique. If they are unique, it can be determined that the two vehicles can enter the same fork along the lanes where they are located, that is, the driving directions of the two vehicles are the same; if they are not unique, it cannot be determined that the two vehicles can enter the same fork along the lanes where they are located. For example, taking the road Figure 3a shown as an example, if the current vehicle and the vehicle in front are both driving in the 4th lane, it can be determined that the two vehicles can enter the same fork along the lanes where they are located. Taking the road Figure 3bTaking the road shown as an example, if both the current vehicle and the vehicle ahead are traveling in Lane 4, or the current vehicle is traveling in Lane 4 and the vehicle ahead is traveling in Lane 3, or the current vehicle is traveling in Lane 3 and the vehicle ahead is traveling in Lane 4, it can be determined that both vehicles can enter the same fork along the lanes where they are located.

[0051] Step S206, output navigation information, where the navigation information is used to prompt the object to be navigated to follow the target object.

[0052] The navigation information in the above steps can be image information, text information, etc. displayed on the display screen of the navigation system, or voice information broadcast through voice, for example, it can be "Please follow the vehicle ahead", but not limited to this.

[0053] For example, still taking the road shown as an example, if it is determined that both the current vehicle and the target vehicle are traveling in Lane 4, it can be determined that both the current vehicle and the target vehicle are driving into the fork in the right front direction. Therefore, it can be output "Please follow the vehicle ahead and drive in the right front direction". Still taking the road shown as an example, if both the current vehicle and the vehicle ahead are traveling in Lane 4, or the current vehicle is traveling in Lane 4 and the vehicle ahead is traveling in Lane 3, or the current vehicle is traveling in Lane 3 and the vehicle ahead is traveling in Lane 4, it can be determined that both the current vehicle and the target vehicle are driving into the fork in the right front direction. Therefore, it can be output "Please follow the vehicle ahead and drive in the right front direction". Figure 3a Figure 3b

[0054]

[0055] It should be noted that after outputting the navigation information prompting to travel according to the target vehicle, there is no need to perform navigation with fixed content and frequency.

[0056] Through the solution provided by the above embodiments of the present application, after obtaining the images in the surrounding area of the object to be navigated, the images can be recognized, the target object in front of the object to be navigated and the lane where the target object is located can be determined, and the navigation information prompting the object to be navigated to follow the target object can be output, so as to achieve the purpose of following guidance. It is easy to notice that the images in the surrounding area of the object to be navigated can be recognized in real time to determine the target object with the same driving direction as the object to be navigated, that is, the target object driving into the same fork at the front intersection node, and guide the object to be navigated to follow the target object, without the need to perform the broadcast guidance with fixed content and frequency, so as to achieve the technical effects of improving the flexibility of guidance, facilitating user understanding, and reducing the thinking cost, and further solve the technical problem that the guidance frequency and content of the navigation method in the related art for guiding the navigation action at a certain intersection node are relatively fixed and the flexibility is poor.

[0056] In the above embodiments of the present application, in step S204, identifying an image to obtain the lane where the target object is located includes: identifying the image to obtain lane dividing line data of the road where the object to be navigated is located; based on the positioning position information of the object to be navigated, obtaining the standard lane dividing line data of the lane of the road where the object to be navigated is located; comparing the lane dividing line with the standard lane dividing line data to determine the lane where the target object is located.

[0057] The standard lane dividing line data in the above steps may be information such as the number of lanes included in the lane-level data and the line type of each lane dividing line.

[0058] The positioning position information in the above steps may be determined by a satellite positioning module. For example, it may be determined by the Beidou Navigation System, but is not limited thereto.

[0059] In an alternative embodiment, since the standard lane dividing line data of the lanes of different roads is different, the standard lane dividing line data of the lane of the road where the current vehicle is located may be obtained through the positioning position information of the current vehicle, and the line type of the lane dividing line in front of the current vehicle may be directly determined through visual recognition based on the lane-level positioning principle, and by comparing it with the line type of each lane dividing line in the lane-level data, the lane in which each vehicle in front of the current vehicle is traveling can be determined.

[0060] In the above embodiments of the present application, in step S204, identifying an image to obtain the target object in front of the object to be navigated includes: obtaining the lane where the object to be navigated is located; identifying the image to obtain at least one object in front of the object to be navigated and the lane where at least one object is located; based on the lane where the object to be navigated is located and the lane where at least one object is located, determining the target object among at least one object.

[0061] In an alternative embodiment, the lane information of the lane in which the vehicle is currently traveling may be directly determined through visual recognition based on the lane-level positioning principle, or the vehicle may be positioned by a satellite positioning module to determine the lane information of the lane in which the vehicle is currently traveling. At the same time, the line type of the lane dividing line in front of the current vehicle may be directly determined through visual recognition based on the lane-level positioning principle, and by comparing it with the line type of each lane dividing line in the lane-level data, the lane in which each vehicle in front of the current vehicle is traveling can be determined. On this basis, the vehicle in front traveling in the same lane as the current vehicle can be determined as the target vehicle.

[0062] It should be noted that the method for determining the lane information of the current vehicle's driving lane is the same as that of the target vehicle's driving lane. Through the lane-level positioning principle, the lane line type of the lane dividing line in front of the current vehicle can be directly determined by visual recognition, and by comparing it with the lane line type of each lane dividing line in the lane-level data, the lane in which the current vehicle is driving can be determined. For example, on a certain road in the lane-level data, there are 4 lanes, and the lane dividing lines from left to right are "yellow solid line, white dotted line, white dotted line, white dotted line, yellow solid line". When it is determined by visual recognition that the lane lines in front of the vehicle from left to right are "white dotted line, white dotted line, white dotted line, yellow solid line", it can be determined that the current vehicle is driving in the 3rd lane from the left.

[0063] It should also be noted that if there are no other vehicles in the same lane as the current vehicle in front of the current vehicle, following guidance cannot be performed, and navigation can be carried out based on the traditional navigation action guidance method.

[0064] For example, taking the road Figure 4a shown as an example, by recognizing the image, it can be determined that both the lane in which the vehicle in front is driving and the lane in which the current vehicle is driving are the 4th lane. Then, it can be determined that the driving directions of both the vehicle in front and the current vehicle are towards the right front, that is, along the lanes where the two vehicles are located, they can enter the same fork. Therefore, it can be determined that the vehicle in front is the target vehicle.

[0065] Taking the road Figure 4b shown as an example, by recognizing the image, it can be determined that both the lane in which the vehicle in front is driving and the lane in which the current vehicle is driving are the 3rd lane. Then, it can be determined that the driving directions of both the vehicle in front and the current vehicle are towards the right front, that is, along the lanes where the two vehicles are located, they can enter the same fork. Therefore, it can be determined that the vehicle in front is the target vehicle.

[0066] In the above embodiments of the present application, based on the lane where the object to be navigated is located and the lanes where at least one object is located, determining the target object among at least one object includes: obtaining the lane connection relationship of the road where the object to be navigated is located; based on the lane connection relationship and the lane where the object to be navigated is located, determining the first fork entered along the lane where the object to be navigated is located; based on the lane connection relationship and the lanes where at least one object is located, determining at least one second fork entered along the lanes where at least one object is located; determining that the object corresponding to the second fork that is the same as the first fork among at least one second fork is the target object.

[0067] In an alternative embodiment, the lane connection relationships on different roads are different. Therefore, the lane connection relationship of the road where the current vehicle is located can be obtained. After determining the lane in which the current vehicle is traveling and the lanes in which each vehicle ahead is traveling, the fork that the current vehicle enters and the forks that each vehicle enters can be determined based on the lane connection relationship. Furthermore, the lanes that enter the same fork as the current vehicle can be determined as the target vehicles.

[0068] It should be noted that if the forks entered by all the vehicles ahead are different from the fork entered by the current vehicle, it is determined that there are no other vehicles traveling in the same direction as the current vehicle ahead, and following guidance cannot be performed. Navigation can be carried out based on the traditional navigation action guidance method.

[0069] For example, taking the road as shown in Figure 4a After obtaining the lane connection relationship of this road, if it is determined that the lane in which the vehicle ahead (shown as a dotted triangle) is traveling is Lane 4 and the lane in which the current vehicle (shown as a solid triangle) is traveling is also Lane 4, then based on the lane connection relationship, it can be determined that both the vehicle ahead and the current vehicle enter the fork at the upper right front. Furthermore, it can be determined that the vehicle ahead and the current vehicle enter the same fork, that is, the traveling directions of the two vehicles are the same. Therefore, it can be determined that this vehicle ahead is the target vehicle.

[0070] Taking the road as shown in Figure 4b After obtaining the lane connection relationship of this road, if it is determined that the lane in which the vehicle ahead (shown as a dotted triangle) is traveling is Lane 3 and the lane in which the current vehicle (shown as a solid triangle) is traveling is also Lane 3, then based on the lane connection relationship, it can be determined that both the vehicle ahead and the current vehicle enter the fork at the upper right front. Furthermore, it can be determined that the vehicle ahead and the current vehicle enter the same fork, that is, the traveling directions of the two vehicles are the same. Therefore, it can be determined that this vehicle ahead is the target vehicle.

[0071] Taking the road as shown in Figure 4c After obtaining the lane connection relationship of this road, if it is determined that the lane in which the vehicle ahead (shown as a dotted triangle) is traveling is Lane 4 and the lane in which the current vehicle (shown as a solid triangle) is traveling is Lane 3, then based on the lane connection relationship, it can be determined that both the vehicle ahead and the current vehicle enter the fork at the upper right front. Furthermore, it can be determined that the vehicle ahead and the current vehicle enter the same fork, that is, the traveling directions of the two vehicles are the same. Therefore, it can be determined that this vehicle ahead is the target vehicle.

[0072] In the above embodiments of the present application, obtaining the lane connection relationship of the road where the object to be navigated is located includes: obtaining the road network topology data of the road where the object to be navigated is located based on the positioning position information of the object to be navigated; and determining the lane connection relationship based on the road network topology data.

[0073] The road network topology data in the above steps may refer to the connection relationship between each road in the entire road network, and specifically may include the connection relationship between each lane in the road.

[0074] In an alternative embodiment, the lane connection relationship may be determined based on the road network topology data.

[0075] In the above embodiments of the present application, before step S204 of identifying an image to obtain a target object in front of the object to be navigated and the lane where the target object is located, the method further includes: obtaining the lane where the object to be navigated is located; based on the positioning position information of the object to be navigated, obtaining the target lane range of the road where the object to be navigated is located, wherein driving into the above-mentioned fork along the lanes included in the target lane range; determining whether the lane where the object to be navigated is located is within the target lane range; if the lane where the object to be navigated is located is within the target lane range, then identifying an image to obtain a target object in front of the object to be navigated and the lane where the target object is located.

[0076] The target lane range in the above steps may be the range corresponding to the lanes driving into the same fork at the front intersection node. Within this range, according to the traffic rules and lane connection relationship, it can be determined that the vehicles driving within this range all drive into the same fork and cannot drive into other destination roads. For example, taking the road shown in Figure 3a as an example, the target lane range may be the 4th lane; taking the road shown in Figure 3b as an example, the target lane range may be the 3rd and 4th lanes.

[0077] It should be noted that the lane range with a unique destination road can be determined in advance by comparing according to the lane connection relationship. For example, the target lane range can be marked in green.

[0078] In an alternative embodiment, after obtaining the image in front of the current vehicle, first, based on the lane positioning principle, through visual recognition, the lane in which the current vehicle is driving may be identified, or, based on the positioning position information of the current vehicle, the lane in which the current vehicle is driving may be determined, and by determining whether the lane in which the current vehicle is driving is within the target lane range, it is determined whether the current vehicle is driving within the marked target lane range. If the current vehicle is driving within the marked target lane range, it may be further determined whether there is a target vehicle with the same destination road in front of the current vehicle. If so, it may be determined that the current vehicle can enter the following state and follow the vehicle in front.

[0079] In the above embodiments of the present application, obtaining the target lane range of the road where the object to be navigated is located includes: obtaining the lane connection relationship of the road where the object to be navigated is located; determining the target lane range based on the lane connection relationship.

[0080] In an alternative embodiment, high-precision data can be obtained, and the lanes entering the same fork can be determined based on the lane connectivity relationship in the high-precision data, so that the lanes in which the current vehicle and the vehicle ahead have the same driving direction can be determined.

[0081] The following will be combined with Figure 5 to illustrate a preferred embodiment of the present application. As Figure 5 shown, the method includes the following steps:

[0082] Step S52, mark the lane and lane range with a unique destination road based on the lane connectivity relationship of the static high-precision data.

[0083] Optionally, it can be judged according to the lane connectivity relationship that within the green-marked range, the destination road of the lane at the front intersection node is unique. Within the green-marked range, according to the traffic rules and connectivity relationship, the vehicle cannot enter other destination roads.

[0084] Step S54, identify that the current vehicle is driving in the above lane according to the lane positioning, and receive the following status notification.

[0085] Optionally, it is judged that the current vehicle is driving within the marked lane range, and the lane-level positioning module notifies whether it is in the following state, that is, the lane-level positioning module determines whether there is a target vehicle in front of the current vehicle with the same driving direction as the current vehicle. If so, it is determined to be in the following state; if not, it is determined not to be in the following state.

[0086] Step S56, create a following guide.

[0087] Optionally, when receiving the following status notification, a following broadcast can be created. For example, for the road as Figures 4a to 4c shown, the broadcast style can be "Follow the vehicle in front and drive right ahead".

[0088] Through the above steps, based on the lane connection relationship of the static high-precision data, more refined intersection scene judgment is achieved. Combined with the vehicle input of visual image recognition, the spatial relationship between the current vehicle and the front lane at a certain local intersection node is established, realizing a guiding method that is easy for users to understand and reduces the thinking cost. Moreover, after the following guide is carried out, there is no need to carry out the broadcast guide with fixed content and frequency.

[0089] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0090] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases, the former is a better implementation method. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc), and includes several instructions to enable a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of this application.

[0091] Embodiment 2

[0092] According to an embodiment of this application, a navigation method is also provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0093] Figure 6 is a flowchart of another navigation method according to an embodiment of this application. As Figure 6 shown, the method may include the following steps:

[0094] Step S602, display an image within the area around the driving of the object to be navigated on the interaction interface.

[0095] The interaction interface in the above steps can be the interface displayed on the touch screen of the vehicle, or the interface displayed on the touch screen of the navigation system installed on the vehicle. Among them, the user interacts with the interaction interface by means of voice or touch operation.

[0096] Step S604, recognize the image, and mark on the interaction interface the target object in front of the object to be navigated and the lane where the target object is located, where the vehicle drives along the lane where the object to be navigated is located and the lane where the target object is located into the same fork.

[0097] Step S606, display navigation information on the interaction interface, where the navigation information is used to prompt the object to be navigated to drive following the target object.

[0098] In the above embodiments of the present application, before step S604 of marking the target object in front of the object to be navigated and the lane where the target object is located on the interaction interface, the method further includes: recognizing an image to obtain lane dividing line data of the road where the object to be navigated is located; based on the positioning position information of the object to be navigated, obtaining standard lane dividing line data of the lane where the object to be navigated is located; comparing the lane dividing line with the standard lane dividing line data to determine the lane where the target object is located.

[0099] In the above embodiments of the present application, before step S604 of marking the target object in front of the object to be navigated and the lane where the target object is located on the interaction interface, the method further includes: obtaining the lane where the object to be navigated is located; recognizing an image to obtain at least one object in front of the object to be navigated and the lane where the at least one object is located; based on the lane where the object to be navigated is located and the lane where the at least one object is located, determining the target object among the at least one object.

[0100] In the above embodiments of the present application, determining the target object among the at least one object based on the lane where the object to be navigated is located and the lane where the at least one object is located includes: obtaining the lane connection relationship of the road where the object to be navigated is located; based on the lane connection relationship and the lane where the object to be navigated is located, determining the first fork where the object to be navigated enters along the lane; based on the lane connection relationship and the lane where the at least one object is located, determining at least one second fork where the at least one object enters along the lane; determining that the object corresponding to the second fork that is the same as the first fork among the at least one second forks is the target object.

[0101] In the above embodiments of the present application, obtaining the lane connection relationship of the road where the object to be navigated is located includes: based on the positioning position information of the object to be navigated, obtaining the road network topology data of the road where the object to be navigated is located; based on the road network topology data, determining the lane connection relationship.

[0102] In the above embodiments of the present application, before step S604 of marking the target object in front of the object to be navigated and the lane where the target object is located on the interaction interface, the method further includes: obtaining the lane where the object to be navigated is located; marking the target lane range of the road where the object to be navigated is located on the interaction interface, where the fork is entered along the lane included in the target lane range; determining whether the lane where the object to be navigated is located is within the target lane range; if the lane where the object to be navigated is located is within the target lane range, then recognize the image and mark the target object in front of the object to be navigated and the lane where the target object is located on the interaction interface.

[0103] In the above embodiments of the present application, marking the target lane range of the road where the object to be navigated is located on the interaction interface includes: obtaining the lane connection relationship of the road where the object to be navigated is located; and marking the target lane range on the interaction interface based on the lane connection relationship.

[0104] It should be noted that the preferred implementation schemes involved in the above embodiments of the present application are the same as the schemes, application scenarios, and implementation processes provided in Embodiment 1, but are not limited to the schemes provided in Embodiment 1.

[0105] Embodiment 3

[0106] According to an embodiment of the present application, there is also provided a navigation device for implementing the above navigation method, as Figure 7 shown. The device 700 includes: a first acquisition module 702, an identification module 704, and an output module 706.

[0107] Among them, the first acquisition module 702 is used to acquire an image within the surrounding area where the object to be navigated travels; the identification module 704 is used to identify the image to obtain a target object in front of the object to be navigated and the lane where the target object is located, where the lane where the object to be navigated is located and the lane where the target object is located lead into the same fork; the output module 706 is used to output navigation information, where the navigation information is used to prompt the object to be navigated to follow the target object to travel.

[0108] Here, it should be noted that the above first acquisition module 702, identification module 704, and output module 706 correspond to steps S202 to S206 in Embodiment 1. The functions realized by the three modules and the corresponding steps have the same examples and application scenarios, but are not limited to the content disclosed in the above Embodiment 1. It should be noted that the above modules, as part of the device, can run in the computer terminal 10 provided in Embodiment 1.

[0109] In the above embodiments of the present application, the identification module 704 includes: a first identification unit, which is used to identify the image to obtain the lane separation line data of the road where the object to be navigated is located; a first acquisition unit, which is used to acquire the standard lane separation line data of the lane where the object to be navigated is located based on the positioning position information of the object to be navigated; and a first determination unit, which is used to compare the lane separation line with the standard lane separation line data to determine the lane where the target object is located.

[0110] In the above embodiments of the present application, the identification module 704 includes: a second acquisition unit, which is used to acquire the lane where the object to be navigated is located; a second identification unit, which is used to identify the image to obtain at least one object in front of the object to be navigated and the lane where at least one object is located; and a second determination unit, which is used to determine the target object among at least one object based on the lane where the object to be navigated is located and the lane where at least one object is located.

[0111] In the above embodiments of the present application, the second determination unit includes: an acquisition subunit, configured to acquire the lane connection relationship of the road where the object to be navigated is located; a first determination subunit, configured to determine a first fork along the lane where the object to be navigated is located based on the lane connection relationship and the lane where the object to be navigated is located; a second determination subunit, configured to determine at least one second fork along the lane where at least one object is located based on the lane connection relationship and the lane where at least one object is located; a third determination subunit, configured to determine that the object corresponding to the second fork that is the same as the first fork among the at least one second forks is the target object.

[0112] In the above embodiments of the present application, the acquisition subunit is further configured to acquire the road network topology data of the road where the object to be navigated is located based on the positioning position information of the object to be navigated, and determine the lane connection relationship based on the road network topology data.

[0113] In the above embodiments of the present application, the apparatus further includes: a second acquisition module, configured to acquire the lane where the object to be navigated is located; a third acquisition module, configured to acquire the target lane range of the road where the object to be navigated is located based on the positioning position information of the object to be navigated, wherein the fork described above is entered along the lanes included in the target lane range; a judgment module, configured to judge whether the lane where the object to be navigated is located is within the target lane range; the recognition module is further configured to recognize an image to obtain the target object in front of the object to be navigated and the lane where the target object is located if the lane where the object to be navigated is located is within the target lane range.

[0114] In the above embodiments of the present application, the third acquisition module includes: an acquisition unit, configured to acquire the lane connectivity relationship of the road where the object to be navigated is located; a determination unit, configured to determine the target lane range based on the lane connectivity relationship.

[0115] It should be noted that the preferred implementation schemes involved in the above embodiments of the present application are the same as the schemes, application scenarios, and implementation processes provided in Embodiment 1, but are not limited to the schemes provided in Embodiment 1.

[0116] Embodiment 4

[0117] According to an embodiment of the present application, there is also provided a navigation apparatus for implementing the above navigation method, as Figure 8 shown, the apparatus 800 includes: a first display module 802, a first marking module 804, and a second display module 806.

[0118] During this period, the first display module 802 is used to display an image within the area around the driving path of the object to be navigated on the interaction interface; the first marking module 804 is used to identify the image and mark on the interaction interface the target object in front of the object to be navigated and the lane where the target object is located, where the lanes where the object to be navigated and the target object are located lead into the same fork; the second display module 806 is used to display navigation information on the interaction interface, where the navigation information is used to prompt the vehicle, i.e., the object to be navigated, to follow the target object for driving.

[0119] It should be noted here that the above first display module 802, first marking module 804, and second display module 806 correspond to steps S602 to S606 in Embodiment 2. The functions realized by the three modules and the corresponding steps have the same examples and application scenarios, but are not limited to the content disclosed in the above Embodiment 1. It should be noted that the above modules, as part of the device, can run in the computer terminal 10 provided in Embodiment 1.

[0120] In the above embodiments of the present application, the device further includes: a first recognition module, which is used to recognize an image to obtain lane separation line data of the road where the object to be navigated is located; a first acquisition module, which is used to acquire standard lane separation line data of the lane of the road where the object to be navigated is located based on the positioning location information of the object to be navigated; a first determination module, which is used to compare the lane separation line with the standard lane separation line data to determine the lane where the target object is located.

[0121] In the above embodiments of the present application, the device further includes: a second acquisition module, which is used to acquire the lane where the object to be navigated is located; a second recognition module, which is used to recognize an image to obtain at least one object in front of the object to be navigated and the lane where the at least one object is located; a second determination module, which is used to determine the target object among the at least one object based on the lane where the object to be navigated is located and the lane where the at least one object is located.

[0122] In the above embodiments of the present application, the second determination module includes: an acquisition unit, which is used to acquire the lane connection relationship of the road where the object to be navigated is located; a first determination unit, which is used to determine, based on the lane connection relationship and the lane where the object to be navigated is located, the first fork that the object to be navigated enters along its lane; a second determination unit, which is used to determine, based on the lane connection relationship and the lane where at least one object is located, at least one second fork that the at least one object enters along its lane; a third determination unit, which is used to determine that the object corresponding to the second fork that is the same as the first fork among the at least one second forks is the target object.

[0123] In the above embodiments of the present application, the acquisition unit is further used to acquire the road network topology data of the road where the object to be navigated is located based on the positioning location information of the object to be navigated, and determine the lane connection relationship based on the road network topology data.

[0124] In the above embodiments of the present application, the device further includes: a second acquisition module configured to acquire the lane where the object to be navigated is located; a second marking module configured to mark the target lane range of the road where the object to be navigated is located on the interaction interface, wherein the lanes included in the target lane range are within the target lane range of the road where the object to be navigated is located, and drive into the above-mentioned fork along the lanes included in the target lane range; a judgment module configured to judge whether the lane where the object to be navigated is located is within the target lane range; the first marking module is further configured to, if the lane where the object to be navigated is located is within the target lane range, identify the image and mark the target object in front of the object to be navigated and the lane where the target object is located on the interaction interface.

[0125] In the above embodiments of the present application, the second marking module includes: an acquisition unit configured to acquire the lane connection relationship of the road where the object to be navigated is located; a first marking unit configured to mark the target lane range on the interaction interface based on the lane connection relationship.

[0126] It should be noted that the preferred implementation schemes involved in the above embodiments of the present application are the same as the schemes, application scenarios, and implementation processes provided in Embodiment 1, but are not limited to the schemes provided in Embodiment 1.

[0127] Embodiment 5

[0128] According to an embodiment of the present application, there is also provided a navigation system, as Figure 9 shown, including: an image recognition device 92 and a lane guidance module 94.

[0129] Wherein, the image recognition device 92 is configured to acquire an image within the surrounding area of the object to be navigated during driving and identify the image to obtain the target object in front of the object to be navigated and the lane where the target object is located, and drive into the same fork along the lane where the object to be navigated is located and the lane where the target object is located; the lane guidance module 94 is configured to output navigation information, wherein the navigation information is used to prompt the object to be navigated to follow the target object for driving.

[0130] In the above embodiments of the present application, the image recognition device includes: an image recognition module configured to recognize the image to obtain the lane separation line data of the road where the object to be navigated is located; a lane positioning module configured to acquire the standard lane separation line data of the lane where the object to be navigated is located based on the positioning position information of the object to be navigated, and compare the lane separation line with the standard lane separation line data to determine the lane where the target object is located.

[0131] In the above embodiments of the present application, the system further includes: a data module configured to obtain the lane where the object to be navigated is located; the lane positioning module is further configured to identify an image to obtain at least one object in front of the object to be navigated and the lane where the at least one object is located, and determine a target object among the at least one object based on the lane where the object to be navigated is located and the lane where the at least one object is located.

[0132] In the above embodiments of the present application, the data module is further configured to obtain the lane connection relationship of the road where the object to be navigated is located, determine a first bifurcation based on the lane connection relationship and the lane where the object to be navigated is located, determine at least one second bifurcation that is entered along the lane where the at least one object is located based on the lane connection relationship and the lane where the at least one object is located, and determine that the object corresponding to the second bifurcation that is the same as the first bifurcation among the at least one second bifurcations is the target object.

[0133] In the above embodiments of the present application, the data module is further configured to obtain road network topology data of the road where the object to be navigated is located based on the positioning location information of the object to be navigated; the lane guidance module is further configured to determine the lane connection relationship based on the road network topology data.

[0134] In the above embodiments of the present application, the data module is further configured to obtain the lane where the object to be navigated is located; the lane guidance module is further configured to obtain a target lane range of the road where the object to be navigated is located based on the positioning location information of the object to be navigated, where the above-mentioned bifurcation is entered along the lane included in the target lane range; the lane positioning module is further configured to determine whether the lane where the object to be navigated is located is within the target lane range. If the lane where the object to be navigated is located is within the target lane range, then identify the image to obtain the target object in front of the object to be navigated and the lane where the target object is located.

[0135] In the above embodiments of the present application, the data module is further configured to obtain the lane connectivity relationship of the road where the object to be navigated is located; the lane guidance module is further configured to determine the target lane range based on the lane connectivity relationship.

[0136] Next, in conjunction with Figure 10 a preferred embodiment of the present application will be described in detail. As Figure 10 shown, the navigation system may include: high-precision data (i.e., the above-mentioned data module), lane-level guidance module (i.e., the above-mentioned lane guidance module), lane-level positioning module (i.e., the above-mentioned lane positioning module), and image recognition module. The system can execute as Figure 5The navigation method shown, where high-precision data can provide lane-level data, including key attributes such as lane type, lane edges, and lane connection relationships; the image recognition module can provide image recognition capabilities, can identify the lane where the vehicle is located based on the image, and also provides recognition results of elements such as vehicles and signs, so that the vehicle in front in the same lane can be determined; the lane-level positioning module can, according to the lane recognition result provided by the image recognition module, combine the verification of static lane-level data and the positioning algorithm strategy to provide a high-confidence lateral lane positioning result, and at the same time transmit the following state of the image recognition to the lane-level guidance module; the lane-level guidance module can identify the lane and its lane range that can determine the unique destination road according to the lane connectivity relationship. When the vehicle is driving in this lane range and receives the following state from the lane-level positioning module, it triggers following guidance.

[0137] It should be noted that the preferred implementation schemes involved in the above embodiments of the present application are the same as the schemes, application scenarios, and implementation processes provided in Embodiment 1, but are not limited to the schemes provided in Embodiment 1.

[0138] Embodiment 6

[0139] An embodiment of the present application can provide a computer terminal, and this computer terminal can be any one of the computer terminal devices in a computer terminal group. Optionally, in this embodiment, the above computer terminal can also be replaced with a terminal device such as a mobile terminal.

[0140] Optionally, in this embodiment, the above computer terminal can be located in at least one of multiple network devices in a computer network.

[0141] In this embodiment, the above computer terminal can execute the program code of the following steps in the navigation method: obtain an image within the surrounding area where the object to be navigated travels; recognize the image to obtain a target object in front of the object to be navigated and the lane where the target object is located, where the lane where the object to be navigated is located and the lane where the target object is located enter the same fork; output navigation information, where the navigation information is used to prompt the object to be navigated to follow the target object to travel.

[0142] Optionally, Figure 11 is a structural block diagram of a computer terminal according to an embodiment of the present application. As Figure 11 shown, this computer terminal A may include: one or more (only one is shown in the figure) processors 1102, and a memory 1104.

[0143] Among them, the memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the navigation method and device in the embodiments of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, to implement the above navigation method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some instances, the memory may further include a memory remotely provided with respect to the processor, and these remote memories may be connected to the terminal A through a network. Examples of the above network include but are not limited to the Internet, enterprise intranet, local area network, mobile communication network, and combinations thereof.

[0144] The processor can call the information and application programs stored in the memory through the transmission device to execute the following steps: obtaining an image within the surrounding area where the object to be navigated travels; recognizing the image to obtain a target object in front of the object to be navigated and the lane where the target object is located, wherein the lane where the object to be navigated is located and the lane where the target object is located enter the same fork; outputting navigation information, where the navigation information is used to prompt the object to be navigated to follow the target object to travel.

[0145] Optionally, the above processor may further execute the program code of the following steps: recognizing the image to obtain the lane separation line data of the road where the object to be navigated is located; based on the positioning position information of the object to be navigated, obtaining the standard lane separation line data of the lane where the object to be navigated is located; comparing the lane separation line with the standard lane separation line data to determine the lane where the target object is located.

[0146] Optionally, the above processor may further execute the program code of the following steps: obtaining the lane where the object to be navigated is located; recognizing the image to obtain at least one object in front of the object to be navigated and the lane where at least one object is located; based on the lane where the object to be navigated is located and the lane where at least one object is located, determining the target object among at least one object.

[0147] Optionally, the above processor may further execute the program code of the following steps: obtaining the lane connection relationship of the road where the object to be navigated is located; based on the lane connection relationship and the lane where the object to be navigated is located, determining the first fork entered along the lane where the object to be navigated is located; based on the lane connection relationship and the lane where at least one object is located, determining at least one second fork entered along the lane where at least one object is located; determining that the object corresponding to the second fork that is the same as the first fork among at least one second fork is the target object.

[0148] Optionally, the above-mentioned processor may also execute the program code of the following steps: obtaining road network topology data of the road where the object to be navigated is located based on the positioning location information of the object to be navigated; determining lane connection relationships based on the road network topology data.

[0149] Optionally, the above-mentioned processor may also execute the program code of the following steps: obtaining the lane where the object to be navigated is located; obtaining the target lane range of the road where the object to be navigated is located based on the positioning location information of the object to be navigated, wherein driving into the above-mentioned fork along the lanes included in the target lane range; determining whether the lane where the object to be navigated is located is within the target lane range; if the lane where the object to be navigated is located is within the target lane range, then recognizing an image to obtain a target object in front of the object to be navigated and the lane where the target object is located.

[0150] Optionally, the above-mentioned processor may also execute the program code of the following steps: obtaining the lane connectivity relationship of the road where the object to be navigated is located; determining the target lane range based on the lane connectivity relationship.

[0151] The processor may call the information and application programs stored in the memory through the transmission device to execute the following steps: displaying an image within the surrounding area where the object to be navigated is traveling on the interaction interface; recognizing the image and marking on the interaction interface the target object in front of the object to be navigated and the lane where the target object is located, wherein driving into the same fork along the lane where the object to be navigated is located and the lane where the target object is located; displaying navigation information on the interaction interface, where the navigation information is used to prompt the object to be navigated to follow the target object.

[0152] By adopting the embodiment of the present application, a navigation solution is provided. By recognizing the image in front of the vehicle in real time, a target object traveling in the same direction as the object to be navigated is determined, that is, a target object with the same destination road at the intersection node in front, and the object to be navigated is guided to follow the target object, without the need for fixed content and frequency of broadcast guidance, thereby achieving the technical effects of improving the flexibility of guidance, facilitating user understanding, and reducing the thinking cost, and further solving the technical problem that the guidance frequency and content of the navigation method in the related art for guiding navigation actions at a certain intersection node are relatively fixed and the flexibility is poor.

[0153] Those of ordinary skill in the art can understand that Figure 11 the structure shown is only for illustration, and the computer terminal may also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a handheld computer, and a mobile Internet device (Mobile Internet Devices, MID), a PAD and other terminal devices. Figure 11 It does not limit the structure of the above-mentioned electronic device. For example, computer terminal A may further include more Figure 11more or fewer components (such as network interfaces, display devices, etc.) shown in the figure, or having a configuration different from that shown in Figure 11 the figure shown.

[0154] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium. The storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disc, etc.

[0155] Embodiment 7

[0156] The embodiments of the present application further provide a storage medium. Optionally, in this embodiment, the above storage medium may be used to store the program code executed by the navigation method provided in the above embodiment.

[0157] Optionally, in this embodiment, the above storage medium may be located in any one of the computer terminals in the computer terminal group in the computer network, or in any one of the mobile terminals in the mobile terminal group.

[0158] Optionally, in this embodiment, the storage medium is set to store program code for performing the following steps: obtaining an image within the surrounding area where the object to be navigated travels; recognizing the image to obtain a target object in front of the object to be navigated and the lane where the target object is located, where the object to be navigated and the target object enter the same fork along their respective lanes; outputting navigation information, where the navigation information is used to prompt the object to be navigated to follow the target object.

[0159] Optionally, the above storage medium is further set to store program code for performing the following steps: recognizing the image to obtain lane separation line data of the road where the object to be navigated is located; based on the positioning position information of the object to be navigated, obtaining the standard lane separation line data of the lane where the object to be navigated is located; comparing the lane separation line with the standard lane separation line data to determine the lane where the target object is located.

[0160] Optionally, the above storage medium is further set to store program code for performing the following steps: obtaining the lane where the object to be navigated is located; recognizing the image to obtain at least one object in front of the object to be navigated and the lane where the at least one object is located; based on the lane where the object to be navigated is located and the lane where the at least one object is located, determining the target object among the at least one object.

[0161] Optionally, the above storage medium is further configured to store program code for performing the following steps: obtaining the lane connection relationship of the road where the object to be navigated is located; determining a first fork along the lane where the object to be navigated is located based on the lane connection relationship and the lane where the object to be navigated is located; determining at least one second fork along the lane where at least one object is located based on the lane connection relationship and the lane where at least one object is located; determining that the object corresponding to the second fork that is the same as the first fork among the at least one second forks is the target object.

[0162] Optionally, the above storage medium is further configured to store program code for performing the following steps: obtaining the road network topology data of the road where the object to be navigated is located based on the positioning position information of the object to be navigated; determining the lane connection relationship based on the road network topology data.

[0163] Optionally, the above storage medium is further configured to store program code for performing the following steps: obtaining the lane where the object to be navigated is located; obtaining the target lane range of the road where the object to be navigated is located based on the positioning position information of the object to be navigated, wherein the above-mentioned fork is entered along the lane included in the target lane range; determining whether the lane where the object to be navigated is located is within the target lane range; if the lane where the object to be navigated is located is within the target lane range, then identifying an image to obtain the target object in front of the object to be navigated and the lane where the target object is located.

[0164] Optionally, the above storage medium is further configured to store program code for performing the following steps: obtaining the lane connectivity relationship of the road where the object to be navigated is located; determining the target lane range based on the lane connectivity relationship.

[0165] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps: displaying an image of the area around the driving of the object to be navigated on the interaction interface; identifying the image and marking the target object in front of the object to be navigated and the lane where the target object is located on the interaction interface, wherein the same fork is entered along the lane where the object to be navigated is located and the lane where the target object is located; displaying navigation information on the interaction interface, where the navigation information is used to prompt the object to be navigated to follow the target object for driving.

[0166] The serial numbers of the above embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0167] In the above embodiments of the present application, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0168] In several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the couplings, direct couplings, or communication connections shown or discussed with each other can be through some interfaces. The indirect couplings or communication connections of units or modules can be in electrical or other forms.

[0169] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0170] In addition, in each embodiment of this application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0171] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of this application. The aforementioned storage medium includes: various media such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0172] The above are only the preferred embodiments of this application. It should be noted that for those of ordinary skill in the art, without departing from the principle of this application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of this application.

Claims

1. A navigation method, comprising: acquiring an image within the surrounding area where the object to be navigated travels; identifying the image to obtain a target object in front of the object to be navigated and the lane where the target object is located, wherein if there is a unique destination road at the front intersection node for the lane where the object to be navigated and the target object are located, it is determined to drive into the same fork along the lane where the object to be navigated is located and the lane where the target object is located; outputting navigation information, wherein the navigation information is used to prompt the object to be navigated to follow the target object for travel.

2. The method according to claim 1, wherein, identifying the image to obtain the lane where the target object is located includes: identifying the image to obtain lane dividing line data of the road where the object to be navigated is located; based on the positioning position information of the object to be navigated, obtaining standard lane dividing line data of the lane of the road where the object to be navigated is located; comparing the lane dividing line with the standard lane dividing line data to determine the lane where the target object is located.

3. The method according to claim 1, wherein, identifying the image to obtain a target object in front of the object to be navigated includes: acquiring the lane where the object to be navigated is located; identifying the image to obtain at least one object in front of the object to be navigated and the lane where the at least one object is located; based on the lane where the object to be navigated is located and the lane where the at least one object is located, determining the target object among the at least one object.

4. The method according to claim 3, wherein, based on the lane where the object to be navigated is located and the lane where the at least one object is located, determining the target object among the at least one object includes: acquiring the lane connection relationship of the road where the object to be navigated is located; based on the lane connection relationship and the lane where the object to be navigated is located, determining the first fork that the object to be navigated drives into along its lane; based on the lane connection relationship and the lane where the at least one object is located, determining at least one second fork that the at least one object drives into along its lane; determining that the object corresponding to the second fork that is the same as the first fork among the at least one second forks is the target object.

5. The method according to claim 4, wherein, acquiring the lane connection relationship of the road where the object to be navigated is located includes: based on the positioning position information of the object to be navigated, acquiring the road network topology data of the road where the object to be navigated is located; based on the road network topology data, determining the lane connection relationship.

6. The method according to claim 1, wherein, before identifying the image to obtain a target object in front of the object to be navigated and the lane where the target object is located, the method further includes: acquiring the lane where the object to be navigated is located; based on the positioning position information of the object to be navigated, acquiring the target lane range of the road where the object to be navigated is located, wherein drive into the fork along the lanes included in the target lane range; judging whether the lane where the object to be navigated is located is within the target lane range; If the lane where the object to be navigated is located is within the target lane range, identify the image to obtain the target object and the lane where the target object is located.

7. The method according to claim 6, wherein, obtaining the target lane range of the road where the object to be navigated is located includes: obtaining the lane connection relationship of the road where the object to be navigated is located; determining the target lane range based on the lane connection relationship.

8. A navigation method, including: displaying an image of the area around the travel of the object to be navigated on an interaction interface; identifying the image, and marking on the interaction interface the target object in front of the object to be navigated and the lane where the target object is located, wherein if the lanes where the object to be navigated and the target object are located have a unique destination road at the front intersection node, it is determined to drive into the same fork along the lane where the object to be navigated is located and the lane where the target object is located; displaying navigation information on the interaction interface, wherein the navigation information is used to prompt the object to be navigated to follow the target object for travel.

9. The method according to claim 8, wherein, before marking on the interaction interface the target object in front of the object to be navigated and the lane where the target object is located, the method further includes: identifying the image to obtain the lane separator line data of the road where the object to be navigated is located; obtaining the standard lane separator line data of the lane of the road where the object to be navigated is located based on the positioning position information of the object to be navigated; comparing the lane separator line with the standard lane separator line data to determine the lane where the target object is located.

10. A navigation device, including: a first acquisition module for acquiring an image of the area around the travel of the object to be navigated; an identification module for identifying the image to obtain the target object in front of the object to be navigated and the lane where the target object is located, wherein if the lanes where the object to be navigated and the target object are located have a unique destination road at the front intersection node, it is determined to drive into the same fork along the lane where the object to be navigated is located and the lane where the target object is located; an output module for outputting navigation information, wherein the navigation information is used to prompt the object to be navigated to follow the target object for travel.

11. The device according to claim 10, wherein, the identification module includes: a first identification unit for identifying the image to obtain the lane separator line data of the road where the object to be navigated is located; a first acquisition unit for obtaining the standard lane separator line data of the lane of the road where the object to be navigated is located based on the positioning position information of the object to be navigated; a first determination unit for comparing the lane separator line with the standard lane separator line data to determine the lane where the target object is located.

12. A navigation device, including: a first display module for displaying an image of the area around the travel of the object to be navigated on an interaction interface; A first marking module, configured to identify the image, and mark a target object in front of the navigation object and the lane where the target object is located on the interaction interface, wherein if the lanes where the navigation object and the target object are located have a unique destination road at the front intersection node, it is determined to drive into the same fork along the lane where the navigation object is located and the lane where the target object is located; A second display module, configured to display navigation information on the interaction interface, wherein the navigation information is used to prompt the navigation object to follow the target object for driving.

13. The apparatus according to claim 12, wherein, the apparatus further includes: A first recognition module, configured to recognize the image to obtain lane dividing line data of the road where the navigation object is located; A first acquisition module, configured to acquire standard lane dividing line data of the lane of the road where the navigation object is located based on the positioning position information of the navigation object; A first determination module, configured to compare the lane dividing line with the standard lane dividing line data to determine the lane where the target object is located.

14. A navigation system, including: An image recognition device, configured to acquire an image in the surrounding area of the navigation object during driving, and recognize the image to obtain a target object in front of the navigation object and the lane where the target object is located, wherein if the lanes where the navigation object and the target object are located have a unique destination road at the front intersection node, it is determined to drive into the same fork along the lane where the navigation object is located and the lane where the target object is located; A lane guiding module, configured to output navigation information, wherein the navigation information is used to prompt the navigation object to follow the target object for driving.

15. The system according to claim 14, wherein, the image recognition device includes: An image recognition module, configured to recognize the image to obtain lane dividing line data of the road where the navigation object is located; A lane positioning module, configured to acquire standard lane dividing line data of the lane of the road where the navigation object is located based on the positioning position information of the navigation object, and compare the lane dividing line with the standard lane dividing line data to determine the lane where the target object is located.

16. A computer-readable storage medium, the computer-readable storage medium includes a stored program, wherein, when the program runs, it controls the device where the computer-readable storage medium is located to execute the navigation method according to any one of claims 1 to 9.

17. A mobile terminal, including: A memory and a processor, the processor is used to run the program stored in the memory, wherein when the program runs, it executes the navigation method according to any one of claims 1 to 9.

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