Method, device and electronic device for generating navigation turning information

Abstract

The present application relates to a method, device and electronic device for generating navigation steering information. The method comprises: obtaining a number of path points of a navigation route; vectorizing a number of path points along the direction of travel of the navigation route to obtain a vector set; finding at least one steering vector group from the vector set; finding two target vectors in front and behind of at least one steering vector group; calculating the angle α between the two target vectors, and determining the steering information of the road where the target vector located behind the steering vector group is located according to the size of the angle α. The solution provided by the present application can generate steering information in real time and quickly, reduce navigation costs, and improve navigation efficiency.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to methods, devices and electronic devices for generating navigation steering information. Background Art

[0002] The navigation technology of autonomous driving intelligent vehicles uses data collected by environmental perception sensors, global positioning systems, and combined inertial navigation sensors to analyze and determine the relationship between the vehicle and the preset path and between the vehicle and obstacles at the moment, so as to determine the current location of the vehicle, and plan a safe, reliable, and feasible collision-free path from the starting position to the target position in the current environment based on the collected data. While generating the navigation path, it is also necessary to generate steering information to issue reminders when steering and lane changes are required.

[0003] In the related technology, a data collection vehicle drives from a starting position to a target position according to a navigation path, obtains steering information during the driving process of the data collection vehicle, and inputs it into a navigation system to output the steering information of the autonomous driving smart car, thereby providing a steering reminder for the autonomous driving smart car.

[0004] However, the steering information obtained in the above manner first needs to be collected by a collection vehicle, and then the steering information needs to be manually input into the navigation system, which increases the navigation cost and reduces the navigation efficiency. Summary of the invention

[0005] In order to solve or partially solve the problems existing in the related art, the present application provides a method, device and electronic device for generating navigation steering information, which can quickly generate steering information, reduce navigation costs and improve navigation efficiency.

[0006] A first aspect of the present application provides a method for generating navigation steering information, comprising:

[0007] Get several waypoints of the navigation route;

[0008] Vectorizing the plurality of path points along the traveling direction of the navigation route to obtain a vector set;

[0009] Find at least one steering vector group from the vector set; wherein the vector that satisfies the first preset condition is determined as a steering vector, and a plurality of the steering vectors distributed continuously form a steering vector group; wherein the first preset condition is: the vector and The angle between two adjacent vectors is greater than a first preset value;

[0010] Find two target vectors in front of and behind at least one of the steering vector groups;

[0011] The angle α between the two target vectors is calculated, and the steering information of the road where the target vector located behind the steering vector group is located is determined according to the size of the angle α.

[0012] Optionally, finding two target vectors in front and behind of at least one of the steering vector groups includes:

[0013] Find two straight-line vector groups in front of and behind at least one of the steering vector groups;

[0014] Determine whether there is a vector with a length greater than a preset length in the straight vector group;

[0015] If it exists, the vector with a length greater than the preset length is used as the target vector;

[0016] If it does not exist, at least two continuous vectors included in the straight vector group are fitted to obtain a fitting vector with a length greater than a preset length, and the fitting vector is used as the target vector.

[0017] Optionally, finding two straight-moving vector groups in front of at least one of the turning vector groups includes:

[0018] The vector that satisfies the second preset condition Determined as a straight vector; wherein the second preset condition is: the vector and The angle between two adjacent vectors is no greater than a second preset value;

[0019] Combining a plurality of the straight-line vectors that are located in front of the steering vector group and are continuously distributed into a straight-line vector group;

[0020] A plurality of the straight vectors that are located behind the steering vector group and are continuously distributed form another straight vector group.

[0021] Optionally, fitting at least two continuous vectors included in the straight vector group to obtain a fitting vector having a length greater than a preset length, and using the fitting vector as a target vector includes:

[0022] Selecting at least two continuous vectors whose lengths are greater than the preset length from the straight vector group as vectors to be fitted;

[0023] Acquire two path points constituting the vector to be fitted and a path point located between the two path points;

[0024] Selecting a number of points to be fitted that meet preset rules from all the path points;

[0025] Fitting the plurality of points to be fitted to obtain a fitting line segment;

[0026] The fitting line segment is vectorized to obtain a fitting vector.

[0027] Optionally, the step of selecting a plurality of points to be fitted that meet preset rules from all the path points includes:

[0028] Connecting the first node and the last node of all the path points to form a line segment;

[0029] Calculate the distance from each remaining path point among all the path points to the line segment;

[0030] If the distance is greater than a preset distance, then deleting the path points whose distance to the line segment is greater than the preset distance;

[0031] If the distance is not greater than the preset distance, then retaining the path points whose distance to the line segment is not greater than the preset distance;

[0032] The reserved path points, the first node and the last node are used as points to be fitted.

[0033] Optionally, if the vector exists, taking a vector whose length is greater than a preset length as a target vector includes:

[0034] If there is a vector, use it as the target vector;

[0035] If there are at least two vectors, the lengths of the at least two vectors are compared, and the longest vector is selected as the target vector.

[0036] Optionally, the determining, according to the size of the angle α, the steering information of the road where the target vector located behind the steering vector group is located includes:

[0037] If -30°<α<-150°, the turning information is left turn;

[0038] If 30°≤α≤150°, the turning information is a right turn;

[0039] If -5°≤α≤5°, and the first target vector is located on the right side of the second target vector, the turning information is merging left;

[0040] If -5°≤α≤5°, and the first target vector is located on the left side of the second target vector, the turning information is merging right;

[0041] If -178°≤α≤-185°, the turning information is a U-turn;

[0042] The angle α has a positive direction in the clockwise direction, and the first target vector and the second target vector are target vectors located behind and in front of the steering vector group, respectively.

[0043] Optionally, the method for generating navigation steering information further includes:

[0044] According to the road information of the road where the target vector located behind the steering vector group is located, the actual steering information of the road is determined.

[0045] A second aspect of the present application provides a device for generating navigation steering information, including:

[0046] An acquisition module is used to obtain several path points of the navigation route;

[0047] A vector module, used for vectorizing the plurality of path points along the travel direction of the navigation route to obtain a vector set;

[0048] A search module is used to find at least one steering vector group from the vector set; and is also used to find the target vector in front and behind of at least one steering vector group; wherein the vector that meets the first preset condition is is determined as a steering vector, and a plurality of the steering vectors distributed continuously form a steering vector group; wherein the first preset condition is: the vector and The angle between two adjacent vectors is greater than a first preset value;

[0049] The calculation module is used to calculate the angle α between the two target vectors, and determine the steering information of the road where the target vector located behind the steering vector group is located according to the size of the angle α.

[0050] A third aspect of the present application provides an electronic device, including:

[0051] Processor; and

[0052] The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0053] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0054] The technical solution provided by the present application may include the following beneficial effects: the embodiment of the present application directly obtains several path points for generating a navigation route, vectorizes several path points to obtain a vector set, then finds a steering vector group and two target vectors located in front and behind the steering vector group from the vector set, and finally directly determines the steering information based on the angle between the two target vectors. On the one hand, it does not require a large amount of data and calculations, and runs quickly, so that the steering information can be generated quickly; on the other hand, the generation of the steering information can be synchronized with the generation of the navigation route, that is, while the navigation generates the navigation route through several path points, the steering information can also be generated synchronously, which greatly improves the navigation efficiency; thirdly, the device for generating navigation steering information can also be integrated into the navigation system, and the generated steering information does not need to be input into the navigation system again, which further improves the generation efficiency of the steering information.

[0055] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0057] Figure 1 is a flow chart of a method for generating navigation steering information shown in an embodiment of the present application;

[0058] Figure 2 is a schematic diagram of a straight-line vector group and a turning vector group shown in an embodiment of the present application;

[0059] Figure 3 is a schematic diagram showing that the turning information is a left turn in an embodiment of the present application;

[0060] Figure 4 is a schematic diagram showing that the turning information is a right turn in an embodiment of the present application;

[0061] Figure 5 is a schematic diagram of a left merge shown in an embodiment of the present application;

[0062] Figure 6 is a schematic diagram of a turn signal of a right merge shown in an embodiment of the present application;

[0063] Figure 7 This is a schematic diagram showing that the turning information is a U-turn in the embodiment of the present application.

[0064] Figure 8 It is a structural schematic diagram of a device for generating navigation steering information shown in an embodiment of the present application.

[0065] Fig. 9 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0066] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0067] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0068] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0069] When navigating with automatic driving, it is necessary to generate steering information while generating the navigation path, so as to issue reminders when turning and changing lanes are required. In the related art, a collection vehicle drives from the starting position to the target position according to the navigation path, obtains steering information during the driving process of the collection vehicle, and inputs it into the navigation system to output the steering information of the automatic driving smart car, thereby providing steering reminders for the automatic driving smart car. However, the steering information obtained in the above manner first needs to be collected by the collection vehicle, and then the steering information needs to be manually input into the navigation system, which increases the navigation cost and reduces the navigation efficiency.

[0070] In view of the above problems, an embodiment of the present application provides a method for generating navigation steering information, which can quickly generate steering information, reduce navigation costs, and improve navigation efficiency.

[0071] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0072] Figure 1 It is a flowchart of a method for generating navigation steering information shown in an embodiment of the present application.

[0073] See also Figure 1 The method for generating navigation turn information in the embodiment of the present application mainly includes steps S101 to S105, which are described as follows:

[0074] Step S101: Acquire several waypoints of the navigation route.

[0075] In the embodiment of the present application, after the navigation algorithm obtains several path points that form the navigation route according to the starting point and the destination, the navigation turning information is generated to remind at each turning position. Since the path point is an element for generating the navigation route, and in the embodiment of the present application, the navigation route needs to be generated when the navigation turning information is generated, which means that for generating the navigation turning information, the path point is an "existing" element, and there is no need to use other methods and spend a certain cost to obtain it again when generating the navigation turning information as in the related art.

[0076] Step S102: vectorizing a number of path points along the travel direction of the navigation route to obtain a vector set.

[0077] Since the navigation route is formed by a number of path points, a vector can be formed by connecting two path points, and the direction of the vector is the direction of travel of the navigation route. In the embodiment of the present application, it can be stipulated that the two path points forming the vector meet the following conditions: the line connecting the two path points located on the straight road is roughly parallel to the center line of the straight road; the line connecting the two path points located on the turning road is roughly parallel to the tangent of the arc of the turning road. Then, according to the conditions of the embodiment of the present application, the path points in pairs of the several path points can be connected to form a series of vectors, thereby forming a vector set, and the vector set is basically consistent with the shape of the navigation route.

[0078] In addition, it should be noted that the embodiment of the present application does not require whether there is a path point on the line connecting two path points, and it only needs to meet the above-mentioned conditions for forming a vector.

[0079] Step S103: Find at least one steering vector group from the vector set.

[0080] There is at least one turning road on the navigation route, and vectors formed by a number of path points on the turning road are combined together to form a turning vector group.

[0081] As an example of this application, see Figure 2 , finding at least one steering vector group from the vector set can be achieved by the following steps, as explained below:

[0082] The vector that satisfies the first preset condition The steering vector is determined as a steering vector, and a plurality of steering vectors distributed continuously form a steering vector group; wherein the first preset condition is: the vector and The angle between two adjacent vectors is greater than a first preset value.

[0083] The continuous distribution here means that there are multiple steering vectors located on one turning road, and there are no other forms of vectors (such as straight vectors) between the multiple steering vectors, while the steering vectors located on two turning roads are discontinuously distributed. Figure 2 As shown, the vector located on the first turning road R1 (dashed arrow) satisfies the first preset condition, and multiple vectors Continuously distributed, they can form a steering vector group, and the vector located on the first steering road R1 and the vector on the second turning road R2 , because they are separated by one or more straight vectors, that is, they are discontinuously distributed, so the vector located on the first turning road R1 and the vector on the second turning road R2 Cannot form a steering vector group.

[0084] A steering vector group is located on a steering road, and a vector formed by a path point on the steering road is a steering vector. The angle between the steering vector and two vectors adjacent to the steering vector is greater than a first preset value, and the first preset value may range from [3°, 5°]. In the embodiment of the present application, 3° may be selected.

[0085] If a vector is located at the junction of the straight road and the turning road and is located on the straight road, the vector is not a turning vector and does not belong to the turning vector group. Because the angle between the vector and the vector located on the straight road and adjacent to the vector is not greater than the first preset value, the vector is not a turning vector.

[0086] Step S104: Find two target vectors in front and behind of at least one steering vector group.

[0087] The front of the steering vector group refers to the downstream of the steering vector group along the direction of travel of the navigation route (i.e., closer to the destination than the steering vector group), and the rear of the steering vector group refers to the upstream of the steering vector group along the direction of travel of the navigation route (i.e., closer to the starting point than the steering vector group).

[0088] The two target vectors are vectors on two straight roads located in front of and behind the turning road and connected to the turning road.

[0089] As an example of this application, see Figure 2As shown, finding two target vectors in front and behind of at least one steering vector group can be achieved through steps S1041 to S1044, as described below:

[0090] Step S1041: Find two straight-moving vector groups in front of and behind at least one turning vector group.

[0091] As an embodiment of the present application, finding two straight-line vector groups in front and behind of at least one turning vector group may be implemented through steps S10411 to S1043, as described below:

[0092] Step S10411: vectors satisfying the second preset condition Determined as a straight vector; wherein the second preset condition is: vector and The angle between two adjacent vectors is smaller than a second preset value;

[0093] The continuous distribution here means that there are multiple straight-line vectors on a straight road, and there are no other forms of vectors (such as turning vectors) between the multiple straight-line vectors, while the turning vectors located on two straight roads are discontinuously distributed. Figure 2 As shown, the vector located on the first straight road L1 (solid arrow) satisfies the first preset condition, and multiple vectors Continuously distributed, they can form a steering vector group; and the vector on the first straight road L1 and the vector on the second straight road L2 , because they are separated by one or more turning vectors, i.e., they are discontinuously distributed, therefore, the vector on the first straight road L1 and the vector on the second straight road L2 Cannot form a straight vector group.

[0094] A straight vector group is located on a straight road, and the vector on the straight road is a straight vector. The angle between the straight vector and two vectors adjacent to the straight vector is not greater than a second preset value, and the second preset value may range from [0°, 1°]. In the embodiment of the present application, 0° may be selected.

[0095] If a vector is located at the junction of a straight road and a turning road and is located on a turning road, the vector is not a straight vector and does not belong to the straight vector group because the angle between the vector and a vector located on the turning road and adjacent to the vector is greater than a second preset value, and therefore, the vector is not a straight vector.

[0096] Step S10412: multiple straight vectors that are located in front of the turning vector group and are continuously distributed form a straight vector group.

[0097] The straight-line vector group is composed of straight-line vectors on a straight road that is located in front of the turning road and connected to the turning road.

[0098] If the first turning road is the starting road, that is, there is no straight road behind the turning road on the navigation route, then the starting point of the turning road is used as the tangent point to draw the tangent of the arc of the turning road. The tangent is vectorized as the target vector in front of the turning vector group.

[0099] Step S10413: multiple straight vectors that are located behind the steering vector group and are continuously distributed form another straight vector group.

[0100] The straight vector group is composed of straight vectors on a straight road that is located behind the turning road and connected to the turning road.

[0101] If the last turning road is the end road, that is, there is no straight road in front of the turning road on the navigation route, then the end point of the turning road is used as the tangent point to draw the tangent of the arc of the turning road. The tangent is vectorized as the target vector behind the turning vector group.

[0102] Step S1042: Determine whether there is a vector in the straight vector group whose length is greater than a preset length.

[0103] The preset length of the embodiment of the present application is set to 10m. If the vector in the straight vector group is greater than 10m, it means that the center line of the straight road is basically a straight line, and the vector is roughly parallel to the center line of the straight road.

[0104] Step S1043: If it exists, the vector whose length is greater than the preset length is used as the target vector.

[0105] If a vector exists, it is used as the destination vector.

[0106] If there are at least two vectors, the lengths of the at least two vectors are compared, and the longest vector is selected as the target vector.

[0107] In the above embodiment, the longest vector not only meets the condition that the length is greater than the preset length, but also the path points between the first and last points of the vector are basically on the vector, and the steering information determined based on the target vector is more accurate.

[0108] Step S1044: If it does not exist, at least two consecutive vectors included in the straight vector group are fitted to obtain a fitting vector with a length greater than a preset length, and the fitting vector is used as the target vector.

[0109] If the length is not greater than the preset length, it means that the continuous vectors in the straight vector group are short vectors, there is an angle between the continuous short vectors or the continuous short vectors are parallel, so it is impossible to select a vector as the target vector. By fitting, a fitting vector with a length greater than the preset length is obtained, and the fitting vector is used as the target vector, which is closer to the direction of the center line of the actual straight road and more accurate in judging the turning information.

[0110] As a preferred embodiment of the present application, fitting at least two continuous vectors included in the straight vector group to obtain a fitting vector having a length greater than a preset length, and using the fitting vector as a target vector can be implemented through steps S10441 to S10445, as described below:

[0111] Step S10441: selecting at least two consecutive vectors whose lengths are equal to or greater than a preset length from the straight vector group as vectors to be fitted.

[0112] The length of the fitting vector obtained after fitting at least two consecutive vectors whose lengths are greater than the preset length will also be greater than the preset length, satisfying the condition of being the target vector.

[0113] Step S10442: Obtain two path points constituting the vector to be fitted and a path point located between the two path points.

[0114] The vector to be fitted is formed by connecting two path points and setting the direction. In order to obtain a more accurate fitting vector, it is also necessary to obtain the path points between the two path points.

[0115] Step S10443: Filter out a number of points to be fitted that meet preset rules from all path points.

[0116] Since the waypoints are displayed on the road of the map according to their longitude and latitude, there will be waypoints with large deviations, i.e., distorted points, among all the waypoints mentioned above. Therefore, it is necessary to filter the waypoints to prevent the distorted points from participating in the fitting and reduce unnecessary consumption of computing resources.

[0117] Step S10444: Fitting a number of points to be fitted to obtain a fitting line segment.

[0118] The embodiment of the present application can be fitted by a linear interpolation method. Since the linear interpolation method is a well-known technology, it will not be described in detail here.

[0119] Step S10445: vectorize the fitting line segment to obtain a fitting vector.

[0120] The direction of the navigation route is set as the direction of the fitting line segment, and then a fitting vector with a determined direction and a length greater than a preset length is obtained.

[0121] As a preferred embodiment of the present application, a number of points to be fitted that meet preset rules are screened out from all path points to connect the first node and the last node of all path points to form a line segment; the distance from each remaining path point to the line segment is calculated; if the distance is greater than the preset distance, the path points whose distance to the line segment is greater than the preset distance are deleted; if the distance is not greater than the preset distance, the path points whose distance to the line segment is not greater than the preset distance are retained; the retained path points as well as the first node and the last node are used as points to be fitted.

[0122] In the above embodiment, as long as a suitable preset distance is set, when the calculated distance from a certain point to be fitted to a line segment is greater than the preset distance, it means that the point to be fitted is a lane node that obviously does not meet the requirements, i.e., an distorted point, and thus the point to be fitted should be deleted. On the contrary, if the calculated distance from a certain point to be fitted to a line segment is not greater than the preset distance, it means that the point to be fitted meets the requirements and should be retained.

[0123] Step S105: Calculate the angle α between the two target vectors, and determine the steering information of the road where the target vector behind the steering vector group is located according to the size of the angle α.

[0124] The embodiment of the present application can obtain the steering information through the angle between two target vectors. The calculation of the angle is simple and efficient, so that the steering information can be generated quickly, which greatly saves the computing resources of the navigation system.

[0125] As an embodiment of the present application, the steering information of the road where the target vector located behind the steering vector group is located can be determined according to the size of the angle α by the following method, as described below:

[0126] If -30°<α<-150°, the turning information is left turn.

[0127] See also Figure 3 As shown, the turning road is R1, and the first target vector behind the turning road R1 is The corresponding straight road is L1, and the second target vector in front of the turning road R1 The corresponding straight road is L2, and the first target vector and the second target vector The angle is α. When -30°<α<-150°, a left turn information is generated. When driving to the junction of the straight road L1 and the turning road R1, the navigation will issue a left turn reminder.

[0128] If 30°≤α≤150°, the turning information is right turn.

[0129] See also Figure 4 As shown, the turning road is R1, and the first target vector behind the turning road R1 is The corresponding straight road is L1, and the second target vector in front of the turning road R1 The corresponding straight road is L2, and the first target vector and the second target vector The angle is α. When 30°≤α≤150°, a right turn information is generated. When driving to the junction of the straight road L1 and the turning road R1, the navigation will issue a right turn reminder.

[0130] If -5°≤α≤5°, and the first target vector is located on the right side of the second target vector, the turning information is merging left.

[0131] See also Figure 5 As shown, the turning road is R1, and the first target vector behind the turning road R1 is The corresponding straight road is L1, and the second target vector in front of the turning road R1 The corresponding straight road is L2, and the first target vector and the second target vector The angle is α. When -5°≤α≤5° and the first target vector is to the right of the second target vector, a turn signal to merge left is generated. When driving to the junction of the straight road L1 and the turning road R1, the navigation will issue a reminder to merge left.

[0132] If -5°≤α≤5°, and the first target vector is located on the left side of the second target vector, the turning information is merging right.

[0133] See also Figure 6 As shown, the turning road is R1, and the first target vector behind the turning road R1 is The corresponding straight road is L1, and the second target vector in front of the turning road R1 The corresponding straight road is L2, and the first target vector and the second target vector The angle is α. When -5°≤α≤5° and the first target vector is on the left side of the second target vector, a turn signal to merge right is generated. When driving to the junction of the straight road L1 and the turning road R1, the navigation will issue a reminder to merge right.

[0134] If -178°≤α≤-185°, the turning information is a U-turn.

[0135] See also Figure 7 As shown, the turning road is R1, and the first target vector behind the turning road R1 is The corresponding straight road is L1, and the second target vector in front of the turning road R1 The corresponding straight road is L2, and the first target vector and the second target vector The angle is α. When -178°≤α≤-185°, a U-turn information is generated. When driving to the junction of the straight road L1 and the turning road R1, the navigation will issue a U-turn reminder.

[0136] The angle α has a positive direction in the clockwise direction, and the first target vector and the second target vector are target vectors located behind and in front of the steering vector group, respectively.

[0137] In addition, the embodiment of the present application can also determine the actual steering information of the road based on the road information of the road where the target vector located behind the steering vector group is located.

[0138] The road information may be a lane direction sign, lane type, lane ID, etc. Based on the actual steering information, the steering information of the road where the target vector behind the steering vector group is located can be preliminarily determined, and the steering information obtained according to the angle α can be corrected to a certain extent. Alternatively, the actual steering information and the steering information obtained according to the angle α can be combined to comprehensively analyze and calculate more accurate steering information.

[0139] The embodiment of the present application directly obtains several path points for generating a navigation route, vectorizes several path points to obtain a vector set, then finds a steering vector group and two target vectors located in front and behind the steering vector group from the vector set, and finally directly determines the steering information based on the angle between the two target vectors. On the one hand, it does not require a large amount of data and calculations, and runs quickly, so that the steering information can be generated quickly; on the other hand, the generation of the steering information can be synchronized with the generation of the navigation route, that is, while the navigation generates the navigation route through several path points, the steering information can also be generated synchronously, which greatly improves the navigation efficiency; thirdly, the device for generating navigation steering information can also be integrated into the navigation system, and the generated steering information does not need to be input into the navigation system again, further improving the efficiency of generating the steering information.

[0140] Corresponding to the aforementioned application function implementation method embodiment, the present application also provides a device for generating navigation steering information, an electronic device and corresponding embodiments.

[0141] Figure 8 It is a structural schematic diagram of a device for generating navigation steering information shown in an embodiment of the present application.

[0142] See also Figure 8The device for generating navigation steering information includes an acquisition module 701, a vector module 702, a search module 703 and a calculation module 704. The acquisition module 701 is used to acquire a number of path points of the navigation route; the vector module 702 is used to vectorize a number of path points along the traveling direction of the navigation route to obtain a vector set; the search module 703 is used to find at least one steering vector group from the vector set; and is also used to find target vectors in front and behind of at least one steering vector group; the calculation module 704 is used to calculate the angle α between the two target vectors, and determine the steering information of the road where the target vector located behind the steering vector group is located according to the size of the angle α.

[0143] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0144] The embodiment of the present application directly obtains several path points for generating a navigation route, vectorizes the several path points to obtain a vector set, then finds a steering vector group and two target vectors located in front and behind the steering vector group from the vector set, and finally directly determines the steering information based on the angle between the two target vectors. It does not require a large amount of data and calculations, and runs quickly, so that the steering information can be generated quickly. Moreover, the generation of the steering information can be synchronized with the generation of the navigation route, that is, while the navigation generates the navigation route through several path points, the steering information can also be generated synchronously, which greatly improves the navigation efficiency. In addition, the device for generating the navigation steering information can also be integrated in the navigation system, and the generated steering information does not need to be input into the navigation system again, further improving the generation efficiency of the steering information.

[0145] The embodiment of the present application vectorizes the path points and determines the steering information according to the angle between two target vectors, so as to quickly generate steering information, reduce navigation costs, improve navigation efficiency, and realize timely reminders to drivers.

[0146] Fig. 9 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application.

[0147] See also Fig. 9 , the electronic device 800 includes a memory 810 and a processor 820.

[0148] The processor 820 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0149] The memory 810 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 1020 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at runtime. In addition, the memory 810 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 810 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0150] The memory 810 stores executable codes, and when the executable codes are processed by the processor 820 , the processor 820 can execute part or all of the methods described above.

[0151] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0152] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of an electronic device (or server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0153] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for generating navigation steering information, characterized in that: It includes the following steps: Get several waypoints of the navigation route; Vectorizing the plurality of path points along the traveling direction of the navigation route to obtain a vector set; Find at least one steering vector group from the vector set; wherein the vector that satisfies the first preset condition is determined as a steering vector, and a plurality of the steering vectors distributed continuously form a steering vector group; wherein the first preset condition is: the vector and The angle between two adjacent vectors is greater than a first preset value; Find two target vectors in front of and behind at least one of the steering vector groups; The angle α between the two target vectors is calculated, and the steering information of the road where the target vector located behind the steering vector group is located is determined according to the size of the angle α.

2. The method for generating navigation steering information according to claim 1, characterized in that: The finding two target vectors in front and behind of at least one of the steering vector groups comprises: Find two straight-line vector groups in front of and behind at least one of the steering vector groups; Determine whether there is a vector with a length greater than a preset length in the straight vector group; If it exists, the vector with a length greater than the preset length is used as the target vector; If it does not exist, at least two continuous vectors included in the straight vector group are fitted to obtain a fitting vector with a length greater than a preset length, and the fitting vector is used as the target vector.

3. The method for generating navigation steering information according to claim 2, characterized in that: The step of finding two straight-line vector groups in front of at least one of the turning vector groups comprises: The vector that satisfies the second preset condition Determined as a straight vector; wherein the second preset condition is: the vector and The angle between two adjacent vectors is no greater than a second preset value; Combining a plurality of the straight-line vectors that are located in front of the steering vector group and are continuously distributed into a straight-line vector group; A plurality of the straight vectors that are located behind the steering vector group and are continuously distributed form another straight vector group.

4. The method for generating navigation steering information according to claim 2, characterized in that: The step of fitting at least two continuous vectors included in the straight vector group to obtain a fitting vector having a length greater than a preset length, and using the fitting vector as a target vector includes: Selecting at least two continuous vectors whose lengths are greater than the preset length from the straight vector group as vectors to be fitted; Acquire two path points constituting the vector to be fitted and a path point located between the two path points; Selecting a number of points to be fitted that meet preset rules from all the path points; Fitting the plurality of points to be fitted to obtain a fitting line segment; The fitting line segment is vectorized to obtain a fitting vector.

5. The method for generating navigation turning information according to claim 4, characterized in that: The step of selecting a plurality of points to be fitted that meet preset rules from all the path points includes: Connecting the first node and the last node of all the path points to form a line segment; Calculate the distance from each remaining path point among all the path points to the line segment; If the distance is greater than a preset distance, then deleting the path points whose distance to the line segment is greater than the preset distance; If the distance is not greater than the preset distance, retaining the path points whose distance to the line segment is not greater than the preset distance; The reserved path points, the first node and the last node are used as points to be fitted.

6. The method for generating navigation turning information according to claim 2, characterized in that: If it exists, the vector whose length is greater than the preset length is used as the target vector, including: If there is a vector, use it as the target vector; If there are at least two vectors, the lengths of the at least two vectors are compared, and the longest vector is selected as the target vector.

7. The method for generating navigation turning information according to claim 1, characterized in that: The step of determining the steering information of the road where the target vector located behind the steering vector group is located according to the size of the included angle α includes: If -30°<α<-150°, the turning information is left turn; If 30°≤α≤150°, the turning information is a right turn; If -5°≤α≤5°, and the first target vector is located on the right side of the second target vector, the turning information is merging left; If -5°≤α≤5°, and the first target vector is located on the left side of the second target vector, the turning information is merging right; If -178°≤α≤-185°, the turning information is a U-turn; The angle α has a positive direction in the clockwise direction, and the first target vector and the second target vector are target vectors located behind and in front of the steering vector group, respectively.

8. The method for generating navigation turning information according to claim 1, characterized in that: The method for generating navigation steering information further includes: According to the road information of the road where the target vector located behind the steering vector group is located, the actual steering information of the road is determined.

9. A device for generating navigation steering information, characterized in that: It includes: An acquisition module is used to obtain several path points of the navigation route; A vector module, used for vectorizing the plurality of path points along the travel direction of the navigation route to obtain a vector set; A search module is used to find at least one steering vector group from the vector set; and is also used to find the target vector in front and behind of at least one steering vector group; wherein the search module is used to find the vector that meets the first preset condition is determined as a steering vector, and a plurality of the steering vectors distributed continuously form a steering vector group; wherein the first preset condition is: the vector and The angle between two adjacent vectors is greater than a first preset value; The calculation module is used to calculate the angle α between the two target vectors, and determine the steering information of the road where the target vector located behind the steering vector group is located according to the size of the angle α.

10. An electronic device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 8.

11. A computer-readable storage medium having executable codes stored thereon, and when the executable codes are executed by a processor of an electronic device, the processor is caused to execute the method according to any one of claims 1 to 8.

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