A route planning method, apparatus, device, and storage medium

Abstract

The present invention discloses a route planning method, device, equipment and storage medium. The method includes: generating an SD route according to the user's current location, destination location and SD map; obtaining a sequence of HD routes matching the SD route; generating a lane-level navigation route of the SD route according to the SD route and the sequence of HD routes. Through the technical solution of the present invention, the problem that the switching routes of SD navigation and lane-level navigation are different in the scenario where HD data coverage is incomplete is solved. The lane-level navigation route planned by the technical solution of the present invention is the same as the SD navigation route, and by reusing the planning result of SD navigation, the complexity and development cost of HD navigation route planning are greatly reduced.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of vehicles, and in particular, to a route planning method, apparatus, device, and storage medium. Background Art

[0002] In the development process of electronic maps, they can be divided into SD maps and HD maps according to map accuracy. Currently, mainstream navigation applications based on SD maps in the market all provide SDKs for third parties to use and have high-quality route planning results.

[0003] Currently, there are huge human costs in implementing lane-level route planning based on HD maps, and it is difficult to achieve the quality of SD routes in a short time for the planned routes. Therefore, existing HD navigation is still in the exploratory stage and there are no mature manufacturers providing SDKs. In addition, in scenarios where HD data coverage is incomplete, when switching between SD navigation and lane-level navigation, problems such as different routes after switching are likely to occur. Summary of the Invention

[0004] Embodiments of the present invention provide a route planning method, apparatus, device, and storage medium, which solve the problem of different routes when switching between SD navigation and lane-level navigation in scenarios where HD data coverage is incomplete. The lane-level navigation route planned by embodiments of the present invention based on the planning result of SD navigation and HD map data is the same as the SD navigation route, and by reusing the planning result of SD navigation, the complexity and development cost of HD navigation route planning are greatly reduced.

[0005] According to one aspect of the present invention, a route planning method is provided, including:

[0006] Generating an SD route according to the user's current location, destination location, and SD map;

[0007] Obtaining an HD route sequence matching the SD route;

[0008] Generating a lane-level navigation route of the SD route according to the SD route and the HD route sequence. According to another aspect of the present invention, a route planning apparatus is provided. The route planning apparatus includes:

[0009] An SD route generation module, configured to generate an SD route according to the user's current location, destination location, and SD map;

[0010] An HD route sequence acquisition module, configured to obtain an HD route sequence matching the SD route;

[0011] A lane-level navigation route generation module, configured to generate a lane-level navigation route of the SD route according to the SD route and the HD route sequence.

[0012] According to another aspect of the present invention, there is provided an electronic device, which includes:

[0013] at least one processor; and

[0014] a memory communicatively connected to the at least one processor; wherein,

[0015] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the route planning method according to any embodiment of the present invention.

[0016] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for implementing the route planning method according to any embodiment of the present invention when executed by a processor.

[0017] In the embodiments of the present invention, an SD route is generated based on the user's current location, the destination location, and the SD map; an HD route sequence matching the SD route is obtained; and a lane-level navigation route of the SD route is generated based on the SD route and the HD route sequence, thereby solving the problem that the switching routes between SD navigation and lane-level navigation are different in scenarios where HD data coverage is incomplete. The lane-level navigation route planned based on the planning result of SD navigation and HD map data in the embodiments of the present invention remains the same as the SD navigation route, which can support the integration of SD navigation from different manufacturers and lane-level navigation under HD maps, and by reusing the planning result of SD navigation, the complexity and development cost of HD navigation route planning are greatly reduced.

[0018] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 is a flowchart of a route planning method in an embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of a route in an embodiment of the present invention;

[0022] Figure 3 is another schematic diagram of a route in an embodiment of the present invention;

[0023] Figure 4 is a flowchart of another route planning method in an embodiment of the present invention;

[0024] Figure 5 is a schematic structural diagram of a route planning device in an embodiment of the present invention;

[0025] Figure 6 is a schematic structural diagram of an electronic device in an embodiment of the present invention. Detailed implementation manners

[0026] In order to enable those skilled in the art of the present technology to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used 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 the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including 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.

[0028] Embodiment 1

[0029] Figure 1 is a flowchart of a route planning method provided by an embodiment of the present invention. This embodiment is applicable to the situation of route planning. This method can be executed by the route planning device in the embodiment of the present invention, and the device can be implemented in a software and / or hardware manner, such as Figure 1 shown, and the method specifically includes the following steps:

[0030] S110, generate an SD route according to the user's current location, the destination location, and the SD map.

[0031] Among them, the current position of the user can be obtained by a positioning device. For example, the current position of the user can be obtained through GPS.

[0032] Among them, the SD map (Standard definition Map) does not include lane-level information. The HD map (High Definition Map) includes lane-level information, and the lane-level information is the lane information on the map, that is, the specific information of all lanes of a road. For example, it can be: the number of lanes included in the road, the lane type, and the passing relationship between lanes.

[0033] Among them, the current position of the user is the position where the user is located when searching for or selecting the end position in the SD navigation.

[0034] Among them, the end position can be the destination name input by the user or the destination name selected by the user. The way for the user to input the end position can be manual input or voice input. The embodiments of the present invention do not limit this.

[0035] Specifically, the method for generating the SD route according to the current position of the user, the end position, and the SD map can be: searching for or selecting the end position in the SD navigation, obtaining the current position of the user through the positioning device, and then initiating route calculation. After the route calculation is successful, the SD route is obtained.

[0036] S120. Obtain an HD route sequence matching the SD route.

[0037] Among them, the HD route sequence includes: the HD route corresponding to each shape point constituting the SD route, where the shape point is all the points constituting the SD route. The arrangement order of the HD routes in the HD route sequence is the same as the order of the shape points corresponding to the HD routes.

[0038] Specifically, the method for obtaining the HD route sequence matching the SD route can be: obtaining the shape points on the SD route; querying the HD database according to the shape points on the SD route to obtain the HD route corresponding to each shape point on the SD route; determining the HD route sequence matching the SD route according to the HD route corresponding to each shape point on the SD route.

[0039] S130. Generate a lane-level navigation route for the SD route according to the SD route and the HD route sequence.

[0040] Specifically, the method for generating the lane-level navigation route of the SD route according to the SD route and the HD route sequence may be: presetting a first setting order and a second setting order, traversing the HD route sequence according to the first setting order, determining the first passable lane corresponding to the current HD route according to the current HD route and the passable lane corresponding to the user's current position or the previous HD route, until the traversal is completed, and obtaining the first passable lane corresponding to each HD route in the HD route sequence; traversing the HD route sequence according to the second setting order, determining the second passable lane corresponding to the current HD route according to the current HD route, or the passable lanes corresponding to the current route and the next HD route, until the traversal is completed, and obtaining the second passable lane corresponding to each HD route in the HD route sequence; generating the lane-level navigation route of the SD route according to the first passable lane corresponding to each HD route and the second passable lane corresponding to each HD route. The method of generating the lane-level navigation route of the SD route according to the SD route and the HD route sequence can also be: determining the passable lane corresponding to each HD route in the HD route sequence according to the SD route and the HD route sequence, and generating the lane-level navigation route of the SD route according to the passable lane corresponding to each HD route in the HD route sequence.

[0041] It should be noted that, in order to improve route planning efficiency, the first setting order is preset to be from the first HD route to the last HD route in the HD route sequence, and the second setting order is from the last HD route to the first HD route in the HD route sequence.

[0042] Optionally, obtaining a HD route sequence matching the SD route includes:

[0043] Obtaining the shape points on the SD route;

[0044] According to the shape points on the SD route, the HD database is searched to obtain the HD route corresponding to each shape point on the SD route;

[0045] The HD route sequence matching the SD route is determined according to the HD route corresponding to each shape point on the SD route.

[0046] Among them, the shape points on the SD route include: maneuvering points and shape points other than maneuvering points, among which maneuvering points are shape points with guiding functions, and maneuvering points can be shape points at locations such as intersections, T-junctions, highway entrances and exits, and main and auxiliary road switching points.

[0047] In a specific example, a request string is generated based on the shape points on the SD route, and a request is sent to the server. After receiving the request, the server obtains the HD route corresponding to each shape point on the SD route by matching the shape points on the SD route in the HD database.

[0048] Specifically, the method for determining the HD route sequence matched by the SD route according to the HD routes corresponding to each shape point on the SD route can be: sorting the HD routes corresponding to each shape point according to the relationship between the shape points and the connectivity relationship of the HD routes to obtain the HD route sequence matched by the SD route. For example, if shape point A is after shape point B, then the HD route corresponding to shape point A in the HD route sequence is after the HD route corresponding to shape point B.

[0049] Optionally, generating the lane-level navigation route of the SD route according to the SD route and the HD route sequence includes:

[0050] Traversing the HD route sequence in the first set order, and determining the first passable lane corresponding to the current HD route according to the current HD route and the passable lanes corresponding to the user's current position or the previous HD route until the traversal ends, to obtain the first passable lane corresponding to each HD route in the HD route sequence;

[0051] Traversing the HD route sequence in the second set order, and determining the second passable lane corresponding to the current HD route according to the current HD route, or the passable lanes corresponding to the current route and the next HD route until the traversal ends, to obtain the second passable lane corresponding to each HD route in the HD route sequence;

[0052] Generating the lane-level navigation route of the SD route according to the first passable lane corresponding to each HD route and the second passable lane corresponding to each HD route.

[0053] Among them, the first set order can be to start traversing from the first HD route in the HD route sequence until after obtaining the first passable lane corresponding to the last HD route in the HD route sequence, the traversal ends.

[0054] Among them, the second set order can be to start traversing from the last HD route in the HD route sequence until after obtaining the first passable lane corresponding to the first HD route in the HD route sequence, the traversal ends.

[0055] Specifically, traverse the HD route sequence in the first set order. According to the current HD route, determine the first passable lane corresponding to the current HD route based on the current position of the user or the passable lanes corresponding to the previous HD route. Until the traversal ends, the way to obtain the first passable lane corresponding to each HD route in the HD route sequence can be: traverse the HD route sequence in the first set order. If the current HD route is the first HD route in the HD route sequence, then determine the first passable lane corresponding to the current HD route according to the current position of the user and the current HD route. If the current HD route is not the first HD route in the HD route sequence, then determine the first passable lane corresponding to the current HD route according to the current HD route and the passable lanes corresponding to the previous HD route. Until the traversal ends, obtain the first passable lane corresponding to each HD route in the HD route sequence.

[0056] Specifically, traverse the HD route sequence in the second set order. According to the current HD route, or determine the second passable lane corresponding to the current HD route based on the current route and the passable lanes corresponding to the next HD route. Until the traversal ends, the way to obtain the second passable lane corresponding to each HD route in the HD route sequence can be: traverse the HD route sequence in the second set order. If the current HD route is the last HD route in the HD route sequence, then determine the second passable lane corresponding to the current HD route according to the passable lanes corresponding to the current HD route. If the current HD route is not the last HD route in the HD route sequence, then determine the second passable lane corresponding to the current HD route according to the current route and the passable lanes corresponding to the next HD route. Until the traversal ends, obtain the second passable lane corresponding to each HD route in the HD route sequence.

[0057] Specifically, the way to generate the lane-level navigation route of the SD route according to the first passable lane corresponding to each HD route and the second passable lane corresponding to each HD route can be: determine the intersection of the first passable lane corresponding to each HD route and the second passable lane corresponding to each HD route as the target lane corresponding to each HD route; generate the lane-level navigation route of the SD route according to the SD route and the target lane corresponding to each HD route.

[0058] Optionally, determining the first passable lane corresponding to the current HD route according to the current HD route and the current position of the user includes:

[0059] If the current HD route is the first HD route in the HD route sequence, then determine the current lane according to the current position of the user;

[0060] Determine the first mergeable lane corresponding to the current lane according to the current HD route, where the current lane can change lanes to the first mergeable lane;

[0061] Determine the first passable lane corresponding to the current HD route by using the current lane and the first mergeable lane corresponding to the current lane.

[0062] Among them, the number of the first mergeable lanes corresponding to the current lane can be one or multiple, and the embodiments of the present invention do not limit this.

[0063] Specifically, the method for determining the first mergeable lane corresponding to the current lane according to the current HD route may be: obtain all lanes of the current HD route. If the current lane can change lanes to lane A in all lanes of the current HD route, then determine lane A as the first mergeable lane corresponding to the current lane.

[0064] Optionally, determining the first passable lane corresponding to the current HD route according to the passable lanes corresponding to the current HD route and the previous HD route includes:

[0065] If the current HD route is not the first HD route in the HD route sequence, then determine the first lane set of the current HD route according to the longitudinal lanes of the passable lanes corresponding to the previous HD route;

[0066] Determine the second mergeable lane corresponding to the first lane set according to the current HD route and the first lane set of the current HD route, where the lanes in the first lane set can change lanes to the second mergeable lane;

[0067] Determine the first lane set of the current HD route and the second mergeable lane corresponding to the first lane set as the first passable lane corresponding to the current HD route.

[0068] Among them, the longitudinal lanes of the passable lanes corresponding to the previous HD route are the lanes having a longitudinal connection relationship with the passable lanes corresponding to the previous HD route. As Figure 2 shown, Figure 2 the longitudinal lane of lane 1 is lane 2, the longitudinal lane of lane 3 is lane 4, and the longitudinal lane of lane 5 is lane 6.

[0069] Specifically, the second mergeable lanes corresponding to the first lane set are determined according to the current HD route and the first lane set of the current HD route. For example, all lanes of the current HD route can be obtained. If lane B in the first lane set can change lanes to lane C in all lanes of the current HD route, and if lane D in the first lane set can change lanes to lane E in all lanes of the current HD route, then lane C and lane E are determined as the second mergeable lanes corresponding to the first lane set.

[0070] Optionally, determining the second passable lanes corresponding to the current HD route according to the current HD route includes:

[0071] If the current HD route is the last HD route in the HD route sequence, then all lanes of the last HD route are determined as the second passable lanes corresponding to the current HD route.

[0072] Specifically, if the current HD route is the last HD route in the HD route sequence, then all lanes of the last HD route are determined as the second passable lanes corresponding to the current HD route. For example, if the last HD route in the HD route sequence corresponds to lane 7, lane 8, and lane 9, then lane 7, lane 8, and lane 9 are determined as the second passable lanes corresponding to the current HD route.

[0073] Optionally, determining the second passable lanes corresponding to the current HD route according to the current route and the passable lanes corresponding to the next HD route includes:

[0074] If the current HD route is not the last HD route in the HD route sequence, then obtain the second lane set where the current HD route can pass through to the passable lanes corresponding to the next HD route;

[0075] Determine the third mergeable lanes corresponding to the second lane set according to the current HD route and the second lane set of the current HD route, where the third mergeable lanes can change lanes to the lanes in the second lane set;

[0076] Determine the second lane set of the current HD route and the second mergeable lanes corresponding to the second lane set as the second passable lanes corresponding to the current HD route.

[0077] Specifically, the method for obtaining the second lane set of the passable lanes corresponding to the next HD route that the current HD route can lead to may be: obtaining the lane types and shape point types of all lanes of the current HD route, and determining the second lane set of the passable lanes corresponding to the next HD route that the current HD route can lead to according to the lane types and shape point types of all lanes of the current HD route. Among them, the method for obtaining the shape point type may be: pre-obtaining maneuver point information and determining the shape point type according to the maneuver point information.

[0078] Specifically, if the current HD route is not the last HD route in the HD route sequence, the method for obtaining the second lane set of the passable lanes corresponding to the next HD route that the current HD route can lead to may be: if the current HD route is not the last HD route in the HD route sequence, obtain the lane types of all lanes of the current HD route, the shape point type corresponding to the current HD route, and determine the second lane set of the passable lanes corresponding to the next HD route that the current HD route can lead to according to the lane types and shape point types of all lanes of the current HD route. For example, it can be, as Figure 3 described, the shape point type corresponding to Road2 is a left-turn shape point, and the only lane in Road2 that can lead to Road3 is lane 1 (lane 1 corresponding to Road2 is a left-turn lane, lane 2 is a straight-through lane, and lane 3 is a right-turn lane).

[0079] Specifically, determine the third mergeable lanes corresponding to the second lane set according to the current HD route and the second lane set of the current HD route. For example, it can be: obtain all lanes of the current HD route. If lane Y in all lanes of the current HD route can change lanes to lane X in the second lane set, and if lane W in all lanes of the current HD route can change lanes to lane Z in the second lane set, then determine lane X and lane Z as the third mergeable lanes corresponding to the second lane set.

[0080] It should be noted that when judging whether lanes can pass through each other, lane types and shape point types need to be considered. When judging whether lanes can change lanes, lane line types need to be considered. For example, solid lines cannot change lanes, dashed lines can change lanes, double solid lines cannot change lanes, etc.

[0081] Optionally, generating the lane-level navigation route of the SD route according to the first passable lanes corresponding to each HD route and the second passable lanes corresponding to each HD route includes:

[0082] Determine the intersection of the first passable lanes corresponding to each HD route and the second passable lanes corresponding to each HD route as the target lane corresponding to each HD route;

[0083] Generate a lane-level navigation route for the SD route based on the SD route and the target lanes corresponding to each HD route.

[0084] Specifically, determine the intersection of the first passable lane corresponding to each HD route and the second passable lane corresponding to each HD route as the target lane corresponding to each HD route. For example, if the first passable lanes corresponding to HD route 1 are lanes 1, 2, and 3, and the second passable lane corresponding to HD route 1 is lane 1, then lane 1 is determined as the target lane corresponding to HD route 1.

[0085] Specifically, the method for generating a lane-level navigation route for the SD route based on the SD route and the target lanes corresponding to each HD route can be: determine the correspondence between each shape point on the SD route and the target lanes corresponding to each HD route according to the correspondence between each shape point on the SD route and each HD route, and fuse the target lanes corresponding to each HD route with the SD route according to the correspondence between each shape point on the SD route and the target lanes corresponding to each HD route to obtain a lane-level navigation route for the SD route.

[0086] In a specific example, as Figure 3 shown, when traversing the HD route sequence in the first set order, from Road1→Road2→Road3, the first drivable lanes corresponding to Road1 are lanes 7, 8, and 9. When traversing the HD route sequence in the first set order, the first drivable lanes corresponding to Road2 are lanes 1, 2, and 3. When traversing the HD route sequence in the second set order, the second drivable lanes corresponding to Road3 are lanes 4, 5, and 6. It is determined that the only lane in Road2 that can drive to the lanes in Road3 is lane 1, and the second drivable lane corresponding to Road2 is lane 1. Take the intersection of the first drivable lanes corresponding to Road2, which are lanes 1, 2, and 3, and the second drivable lane corresponding to Road2, which is lane 1, to obtain the target lane as lane 1.

[0087] The embodiment of the present invention adds lane data to the planning result, so as to support the fusion of SD navigation of different manufacturers and lane-level navigation under HD maps. And it can solve the problem that the routes are different when switching between SD navigation and lane-level navigation in scenarios where HD data coverage is incomplete.

[0088] In another specific example, as Figure 4 shown, the route planning process includes the following steps:

[0089] Step 1: After receiving the HDRoad sequence at the vehicle end, send the HDRoad sequence to the HD navigation module.

[0090] Step 2: After receiving the HDRoad sequence, the HD navigation module determines the current lane based on the user's current location, and calculates the lanes that can be merged from the current lane with the current lane as the reference. These lanes are used as the passable lanes for the first HDRoad.

[0091] Step 3: Continuously determine whether there is a next HDRoad. If so, determine the next HDRoad as the current HDRoad. First, calculate the passable lanes on the current HDRoad based on the longitudinal connection relationship of the passable lanes corresponding to the previous HDRoad of the current HDRoad. Secondly, calculate the lanes that can be changed to based on the left-right lane change relationship of the passable lanes on the previously calculated HDRoad, thus completing the calculation of the forward passable lanes on the HDRoad. If not, end the current loop and enter Step 4.

[0092] Step 4: Use all the lanes of the last HDRoad as the passable lanes on the last HDRoad.

[0093] Step 5: Continuously determine whether there is a previous HDRoad. If so, determine the previous HDRoad as the current HDRoad, and continuously calculate the lanes that the current HDRoad can pass through to the next HDRoad. After calculating the passable lanes, calculate the lanes that can be changed to the passable lanes based on the lane change relationship between other lanes on the current HDRoad and add them to the candidate set.

[0094] Step 6: For the same HDRoad, take the union of the forward calculated passable lanes and the reverse calculated passable lanes to obtain the passable lanes on the final HD route.

[0095] The technical solution of this embodiment generates an SD route according to the user's current location, the destination location, and the SD map; obtains an HD route sequence matching the SD route; and generates a lane-level navigation route for the SD route according to the SD route and the HD route sequence, solving the problem that the switching routes of SD navigation and lane-level navigation are different in scenarios where HD data coverage is incomplete. The lane-level navigation route planned by the embodiment of the present invention based on the planning result of SD navigation and HD map data remains the same as the SD navigation route, can support the integration of SD navigation from different manufacturers and lane-level navigation under HD maps, and greatly reduces the complexity and development cost of HD navigation route planning by reusing the planning result of SD navigation.

[0096] Embodiment 2

[0097] Figure 5A schematic structural diagram of a route planning device provided by an embodiment of the present invention. This embodiment is applicable to the situation of route planning. The device can be implemented in software and / or hardware, and the route planning device can be integrated into any device that provides route planning functions, such as Figure 5 As shown, the route planning device specifically includes: an SD route generation module 210, an HD route sequence acquisition module 220, and a lane-level navigation route generation module 230.

[0098] Among them, the SD route generation module 210 is used to generate an SD route according to the user's current location, the end location, and the SD map;

[0099] The HD route sequence acquisition module 220 is used to acquire an HD route sequence matching the SD route;

[0100] The lane-level navigation route generation module 230 is used to generate a lane-level navigation route of the SD route according to the SD route and the HD route sequence.

[0101] The above product can execute the method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the executed method.

[0102] The technical solution of this embodiment solves the problem that the switching routes of SD navigation and lane-level navigation are different in the scenario where HD data coverage is incomplete by generating an SD route according to the user's current location, the end location, and the SD map; acquiring an HD route sequence matching the SD route; and generating a lane-level navigation route of the SD route according to the SD route and the HD route sequence. The lane-level navigation route planned by the embodiment of the present invention based on the planning result of SD navigation and HD map data remains the same as the SD navigation route, which can support the integration of SD navigation from different manufacturers and lane-level navigation under HD maps, and by reusing the planning result of SD navigation, the complexity and development cost of HD navigation route planning are greatly reduced.

[0103] Embodiment Three

[0104] Figure 6 A schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0105] As shown Figure 6 in FIG. 1, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0106] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0107] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the route planning method.

[0108] In some embodiments, the route planning method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the route planning method described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the route planning method by any other suitable means (e.g., by means of firmware).

[0109] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0110] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0111] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0112] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input received from the user can be in any form (including acoustic input, voice input, or tactile input).

[0113] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0114] A computing system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0115] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0116] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A route planning method, characterized in that, it includes: generating an SD route according to the user's current location, the destination location, and the SD map; obtaining an HD route sequence matching the SD route; generating a lane-level navigation route of the SD route according to the SD route and the HD route sequence; wherein, generating the lane-level navigation route of the SD route according to the SD route and the HD route sequence includes: traversing the HD route sequence in a first set order, and determining the first passable lane corresponding to the current HD route according to the current HD route and the passable lanes corresponding to the user's current location or the previous HD route until the traversal ends, to obtain the first passable lane corresponding to each HD route in the HD route sequence; traversing the HD route sequence in a second set order, and determining the second passable lane corresponding to the current HD route according to the current HD route, or the passable lanes corresponding to the current route and the next HD route until the traversal ends, to obtain the second passable lane corresponding to each HD route in the HD route sequence; generating a lane-level navigation route of the SD route according to the first passable lane corresponding to each HD route and the second passable lane corresponding to each HD route.

2. The method according to claim 1, characterized in that, obtaining an HD route sequence matching the SD route includes: obtaining the shape points on the SD route; querying the HD database according to the shape points on the SD route to obtain the HD route corresponding to each shape point on the SD route; determining the HD route sequence matching the SD route according to the HD route corresponding to each shape point on the SD route.

3. The method according to claim 1, characterized in that, determining the first passable lane corresponding to the current HD route according to the current HD route and the user's current location includes: if the current HD route is the first HD route in the HD route sequence, determining the current lane according to the user's current location; determining the first mergeable lane corresponding to the current lane according to the current HD route, where the current lane can change lanes to the first mergeable lane; determining the current lane and the first mergeable lane corresponding to the current lane as the first passable lane corresponding to the current HD route.

4. The method according to claim 1, characterized in that, determining the first passable lane corresponding to the current HD route according to the current HD route and the passable lanes corresponding to the previous HD route includes: if the current HD route is not the first HD route in the HD route sequence, determining the first lane set of the current HD route according to the longitudinal lanes of the passable lanes corresponding to the previous HD route; determining the second mergeable lane corresponding to the first lane set according to the current HD route and the first lane set of the current HD route, where the lanes in the first lane set can change lanes to the second mergeable lane; determining the first lane set of the current HD route and the second mergeable lane corresponding to the first lane set as the first passable lane corresponding to the current HD route.

5. The method according to claim 1, wherein, determining a second passable lane corresponding to the current HD route according to the current HD route includes: if the current HD route is the last HD route in the HD route sequence, determining all lanes of the last HD route as the second passable lane corresponding to the current HD route.

6. The method according to claim 1, wherein, determining a second passable lane corresponding to the current HD route according to the passable lanes corresponding to the current route and the next HD route includes: if the current HD route is not the last HD route in the HD route sequence, obtaining a second lane set that the current HD route can pass through to the passable lanes corresponding to the next HD route; determining a third mergeable lane corresponding to the second lane set according to the current HD route and the second lane set of the current HD route, wherein the third mergeable lane can change lanes to the lanes in the second lane set; determining the second lane set of the current HD route and the second mergeable lane corresponding to the second lane set as the second passable lane corresponding to the current HD route.

7. The method according to claim 1, wherein, generating a lane-level navigation route of the SD route according to the first passable lane corresponding to each HD route and the second passable lane corresponding to each HD route includes: determining the intersection of the first passable lane corresponding to each HD route and the second passable lane corresponding to each HD route as the target lane corresponding to each HD route; generating a lane-level navigation route of the SD route according to the SD route and the target lane corresponding to each HD route.

8. A route planning device, wherein, comprising: an SD route generation module, configured to generate an SD route according to the user's current location, the end location, and the SD map; an HD route sequence acquisition module, configured to acquire an HD route sequence matching the SD route; a lane-level navigation route generation module, configured to generate a lane-level navigation route of the SD route according to the SD route and the HD route sequence; the lane-level navigation route generation module is specifically configured to: traverse the HD route sequence in a first set order, and determine the first passable lane corresponding to the current HD route according to the current HD route and the passable lanes corresponding to the user's current location or the previous HD route until the traversal ends, so as to obtain the first passable lane corresponding to each HD route in the HD route sequence; traverse the HD route sequence in a second set order, and determine the second passable lane corresponding to the current HD route according to the current HD route, or the passable lanes corresponding to the current route and the next HD route until the traversal ends, so as to obtain the second passable lane corresponding to each HD route in the HD route sequence; generate a lane-level navigation route of the SD route according to the first passable lane corresponding to each HD route and the second passable lane corresponding to each HD route.

9. An electronic device, wherein, the electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, enables the at least one processor to execute the route planning method according to any one of claims 1-7.

10. A computer-readable storage medium characterized in that The computer-readable storage medium stores computer instructions for causing a processor to implement the route planning method according to any one of claims 1-7 when executed.

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