Navigation route correction method and device, equipment and computer storage medium

Abstract

The application provides a navigation route correction method and device, equipment and a computer storage medium. The navigation route correction method comprises: acquiring at least two navigation positioning points of a navigation object; determining navigation deviation information corresponding to each navigation positioning point according to a preset initial navigation route and each navigation positioning point; judging whether the navigation object deviates from the initial navigation route according to each navigation deviation information; and if the navigation object deviates from the initial navigation route, re-planning a navigation route. It can be seen that the application judges whether the navigation object deviates from the initial navigation route according to the navigation deviation information of at least two navigation positioning points. Even if the navigation deviation information of one of the navigation positioning points fluctuates, it will not affect the judgment of whether the navigation object deviates from the initial navigation route. Compared with the method of judging only according to the data of one navigation positioning point, the accuracy is higher, and the probability of misjudgment is smaller.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of navigation, in particular to a navigation route deviation correction method, device, equipment and computer storage medium. BACKGROUND

[0002] With the popularity of GPS (Global Positioning System) positioning system, more and more users obtain the planning route of vehicles or pedestrians in real time through the terminal set on the vehicle or the navigation system on the mobile phone. However, in the traditional navigation process, the GPS on the vehicle or the mobile phone is easy to deviate from the planning route, so there is an urgent need for a deviation correction method that can quickly determine whether the deviation occurs so as to re-plan the route.

[0003] In the prior art, it is usually determined whether the navigation object deviates from the planning route according to the positioning information contained in a navigation positioning point, and the route is re-planned if it is determined that the navigation target deviates. However, this deviation correction method only determines whether the deviation occurs based on the positioning information of one navigation positioning point, so if the positioning information of the navigation positioning point fluctuates due to poor signal or other external reasons, the GPS system is easy to make a false judgment. SUMMARY

[0004] The present application provides a navigation route deviation correction method, device, equipment and computer storage medium, aiming at solving the problem that the existing navigation route deviation correction method is easy to make a false judgment.

[0005] In a first aspect, the present application provides a navigation route deviation correction method, which comprises:

[0006] obtaining at least two navigation positioning points of a navigation object;

[0007] determining navigation deviation information corresponding to each navigation positioning point according to a preset initial navigation route and each navigation positioning point;

[0008] judging whether the navigation object deviates from the initial navigation route according to each navigation deviation information;

[0009] if the navigation object deviates from the initial navigation route, re-planning the navigation route.

[0010] In a possible implementation manner of the present application, the judging whether the navigation object deviates from the initial navigation route according to each navigation deviation information comprises:

[0011] obtaining the navigation deviation distance and the navigation deviation angle in the navigation deviation information;

[0012] determine a distance confidence and an angle confidence for each navigation positioning point according to the navigation deviation distance and the navigation deviation angle;

[0013] calculate a deviation confidence for each navigation positioning point according to the distance confidence and the angle confidence of each navigation positioning point;

[0014] determine whether the navigation object deviates from the initial navigation route according to the deviation confidences.

[0015] In a possible implementation of the present application, the determination of the distance confidence and the angle confidence for each navigation positioning point according to the navigation deviation distance and the navigation deviation angle comprises:

[0016] query a preset database to obtain a target distance range in which the navigation deviation distance is located, and a target angle range in which the navigation deviation angle is located;

[0017] determine a target distance weight corresponding to the target distance range, and a target angle weight corresponding to the target angle range;

[0018] for each navigation positioning point, calculate a distance confidence according to the target distance weight and the navigation deviation distance of the navigation positioning point;

[0019] for each navigation positioning point, calculate an angle confidence according to the target angle weight and the navigation deviation angle of the navigation positioning point.

[0020] In a possible implementation of the present application, the determination of whether the navigation object deviates from the initial navigation route according to the deviation confidences comprises:

[0021] determine a change trend of the deviation confidences;

[0022] if the change trend is a decrease of the deviation confidences, determine that the navigation object deviates from the initial navigation route.

[0023] In a possible implementation of the present application, the re-planning of the navigation route if the navigation object deviates from the initial navigation route comprises:

[0024] obtain a current positioning point of the navigation object, and an end point of the initial navigation route;

[0025] query a preset database to determine whether a target navigation route containing the current positioning point and the end point of the initial navigation route exists;

[0026] if the target navigation route exists, intercept an un-moved route from the current positioning point to the end point in the target navigation route to obtain a navigation route.

[0027] If the target navigation route does not exist, a preset road map is queried to extract a shortest route from the current positioning point to the end point to obtain the navigation route.

[0028] In a possible implementation of the present application, before the step of determining the navigation deviation information corresponding to each navigation positioning point according to the navigation positioning points and the initial navigation route, the method further includes:

[0029] obtaining a current positioning point of the navigation object;

[0030] calculating a motion distance between the current positioning point and a starting point of the initial navigation route;

[0031] If the motion distance is greater than a preset threshold, the step of determining the navigation deviation information corresponding to each navigation positioning point is performed.

[0032] In a possible implementation of the present application, the step of determining the navigation deviation information corresponding to each navigation positioning point according to the preset initial navigation route and the navigation positioning points includes:

[0033] obtaining an actual motion direction corresponding to each navigation positioning point and a standard navigation point and a standard motion direction corresponding to each navigation positioning point in the preset initial navigation route;

[0034] for each navigation positioning point, calculating a distance between the navigation positioning point and the standard navigation point corresponding to the navigation positioning point to obtain a navigation deviation distance;

[0035] for each navigation positioning point, calculating an angle difference between the actual motion direction of the navigation positioning point and the standard motion direction corresponding to the navigation positioning point to obtain a navigation deviation angle.

[0036] In a second aspect, the present application provides a navigation route deviation correction device, which includes:

[0037] an obtaining unit configured to obtain at least two navigation positioning points of a navigation object;

[0038] a determining unit configured to determine navigation deviation information corresponding to each navigation positioning point according to a preset initial navigation route and the navigation positioning points;

[0039] a judging unit configured to judge whether the navigation object deviates from the initial navigation route according to the navigation deviation information;

[0040] a planning unit configured to re-plan a navigation route if the navigation object deviates from the initial navigation route.

[0041] In a possible implementation of the present application, the judging unit is specifically configured to:

[0042] obtain a navigation deviation distance and a navigation deviation angle in the navigation deviation information;

[0043] determine a distance confidence and an angle confidence for each navigation positioning point according to the navigation deviation distance and the navigation deviation angle;

[0044] calculate a deviation confidence for each navigation positioning point according to the distance confidence and the angle confidence of the navigation positioning point;

[0045] determine whether the navigation object deviates from the initial navigation route according to the deviation confidence.

[0046] In a possible implementation of the present application, the judging unit is specifically configured to:

[0047] query a preset database to obtain a target distance range in which the navigation deviation distance is located, and a target angle range in which the navigation deviation angle is located;

[0048] determine a target distance weight corresponding to the target distance range, and a target angle weight corresponding to the target angle range;

[0049] for each navigation positioning point, calculate a distance confidence according to the target distance weight and the navigation deviation distance of the navigation positioning point;

[0050] for each navigation positioning point, calculate an angle confidence according to the target angle weight and the navigation deviation angle of the navigation positioning point.

[0051] In a possible implementation of the present application, the judging unit is specifically configured to:

[0052] determine a change trend of the deviation confidence;

[0053] if the change trend is that the deviation confidence decreases, it is determined that the navigation object deviates from the initial navigation route.

[0054] In a possible implementation of the present application, the planning unit is specifically configured to:

[0055] obtain a current positioning point of the navigation object, and an end point of the initial navigation route;

[0056] query a preset database to determine whether there is a target navigation route containing the current positioning point and the end point of the initial navigation route;

[0057] If the target navigation route exists, a non-motion route from the current location point to the end point in the target navigation route is intercepted to obtain a navigation route.

[0058] If the target navigation route does not exist, a preset road map is queried, and a shortest route from the current location point to the end point is extracted to obtain a navigation route.

[0059] In a possible implementation of the present application, the navigation route deviation correction device further comprises a calculation unit, which is specifically configured to:

[0060] obtain a current location point of the navigation object;

[0061] calculate a motion distance between the current location point and a starting point of the initial navigation route;

[0062] If the motion distance is greater than a preset threshold, the step of determining the navigation deviation information corresponding to each navigation location point is performed.

[0063] In a possible implementation of the present application, the determination unit is specifically configured to:

[0064] obtain an actual motion direction corresponding to each navigation location point, and a standard navigation point and a standard motion direction corresponding to each navigation location point in a preset initial navigation route;

[0065] for each navigation location point, calculate a distance between the navigation location point and the standard navigation point corresponding to the navigation location point to obtain a navigation deviation distance;

[0066] for each navigation location point, calculate an angle difference between the actual motion direction of the navigation location point and the standard motion direction corresponding to the navigation location point to obtain a navigation deviation angle.

[0067] In a third aspect, the present application also provides a navigation route deviation correction device, which comprises a processor and a memory, the memory stores a computer program, and the processor invokes the computer program in the memory to perform the steps in any of the navigation route deviation correction methods provided by the present application.

[0068] In a fourth aspect, the present application also provides a computer storage medium, which stores a computer program, and the computer program is loaded by a processor to perform the steps in the navigation route deviation correction method.

[0069] In summary, the present application includes: obtaining at least two navigation positioning points of a navigation object; determining the navigation deviation information corresponding to each navigation positioning point based on a preset initial navigation route and each navigation positioning point; judging whether the navigation object deviates from the initial navigation route based on each navigation deviation information; and replanning the navigation route if the navigation object deviates from the initial navigation route. It can be seen that the solution in the present application judges whether the navigation object deviates from the initial navigation route based on the navigation deviation information of at least two navigation positioning points. Even if the navigation deviation information of one of the navigation positioning points fluctuates, it will not affect the judgment of whether the navigation object deviates from the initial navigation route. Compared with the method of judging based on the data of only one navigation positioning point, the method has higher accuracy and lower probability of misjudgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0071] Figure 1 This is a schematic diagram of an application scenario of the navigation route correction method provided in an embodiment of the present application;

[0072] Figure 2 This is a flow chart of a navigation route correction method provided in an embodiment of the present application;

[0073] Figure 3 This is a flowchart of a re-planning navigation route provided in an embodiment of the present application.

[0074] Figure 4 This is a flow chart of determining deviation based on the changing trend of deviation confidence provided in an embodiment of the present application;

[0075] Figure 5 This is a flow chart of determining whether to perform deviation correction based on the movement distance provided in an embodiment of the present application;

[0076] Figure 6 This is a schematic structural diagram of an embodiment of a navigation route deviation correction device provided in an embodiment of the present application;

[0077] Figure 7 It is a schematic structural diagram of an embodiment of the navigation route correction device provided in the embodiments of the present application. DETAILED DESCRIPTION

[0078] With reference to the drawings and the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, any person skilled in the art can obtain all other embodiments within the scope of the present application without creative effort.

[0079] In the description of the embodiments of the present application, it should be understood that the terms "first", "second" are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified.

[0080] The following description is given in order to enable any person skilled in the art to practice and use the present application. In the following description, details are set forth in order to explain the application. It will be apparent to one skilled in the art that the present application can be practiced without using these specific details. In other instances, well-known processes have not been described in detail in order to avoid unnecessarily obscuring the description of the embodiments of the present application. Therefore, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

[0081] The embodiments of the present application provide a navigation route correction method, device, equipment and computer storage medium. The navigation route correction device can be integrated in the navigation route correction equipment, which can be a server, a terminal or other equipment.

[0082] First, before introducing the embodiments of the present application, the related content about the application background of the embodiments of the present application is introduced.

[0083] In the navigation route correction equipment, a GPS (Global Positioning System) positioning system is usually loaded. For example, the GPS positioning system can be loaded in a mobile phone, a tablet computer and a vehicle, etc. A user can control the navigation route correction equipment through a navigation app (application), for example, the user can set the positioning route of the navigation route correction equipment through the navigation app.

[0084] The execution subject of the navigation route correction method in the embodiments of the present application can be a navigation route correction device provided by the embodiments of the present application, or a server device, a physical host or a user equipment (UE) and the like of different types of navigation route correction devices integrated with the navigation route correction device, wherein the navigation route correction device can be implemented in a hardware or software manner, and the UE can be a terminal device such as a smart phone, a tablet computer, a notebook computer, a palm computer, a desktop computer or a personal digital assistant (PDA).

[0085] The navigation route correction device can be operated in a separate manner or in a device cluster manner. By applying the navigation route correction method provided by the embodiments of the present application, even if the navigation deviation information of one of the navigation positioning points fluctuates, it will not affect the judgment of whether the navigation object deviates from the initial navigation route. Compared with the method of judging only according to the data of one navigation positioning point, the accuracy is higher and the misjudgment probability is smaller.

[0086] Referring to Figure 1 , Figure 1 is a scene diagram of a navigation route correction system provided by the embodiments of the present application. The navigation route correction system can include a navigation route correction device 100, and the navigation route correction device 100 is integrated with a navigation route correction device.

[0087] In addition, as Figure 1 indicated, the navigation route correction system can further include a memory 200 for storing data, such as storing text data.

[0088] It should be noted that Figure 1 the scene diagram of the navigation route correction system shown is only an example, and the navigation route correction system and the scene described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, as the navigation route correction system evolves and new business scenarios appear, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0089] Next, the navigation route correction method provided by the embodiments of the present application will be introduced. In the embodiments of the present application, the navigation route correction device is taken as the execution subject, and the execution subject will be omitted in the subsequent method embodiments for simplification and convenience of description.

[0090] Referring to Figure 2 , Figure 2is a flowchart of a navigation route rectification method provided by an embodiment of the present application. It should be noted that although a logical sequence is shown in the flowchart, in some cases, the steps shown or described can be performed in an order different from that shown. The navigation route rectification method can specifically include the following steps 201-204, wherein:

[0091] 201. Obtain at least two navigation positioning points of a navigation object.

[0092] The navigation object can be any device equipped with a GPS positioning system. For example, the navigation object can be a vehicle equipped with a GPS positioning system, or a mobile phone terminal equipped with a GPS positioning system. For example, the navigation object can be a logistics delivery vehicle equipped with a GPS positioning system. The GPS positioning satellite can collect information of the logistics delivery vehicle, and then obtain the position of the logistics delivery vehicle, the time at the position, the speed and direction of movement at the position, and the like, and send the obtained parameters to the GPS positioning system. Since in some scenarios, the user moves together with the device, terminal, or server object, for example, when the user holds a mobile phone terminal equipped with a GPS positioning system, or when the driver drives a logistics delivery vehicle equipped with a GPS positioning system, the user or driver can also be understood as the navigation object.

[0093] The navigation positioning point is a positioning point determined by the navigation route rectification device according to the information collected by the navigation object. For example, the navigation positioning point can be a positioning point formed in the visual map after the navigation route rectification device collects information of the navigation object. For example, the navigation positioning point can be a positioning point formed in the visual map of a certain navigation app after the navigation route rectification device collects information of a driving vehicle equipped with an object subsystem. One navigation positioning point contains information collected by the GPS satellite at one collection time. For example, in one navigation positioning point, the position of the navigation object, the time at the position, the speed and direction of movement at the position, and the like can be contained. The navigation route rectification device can obtain the movement state and the like of the navigation object by analyzing the navigation positioning point.

[0094] The navigation positioning point obtained by the navigation route rectification device can be a navigation positioning point at any sampling time. For example, the navigation route rectification device can obtain a positioning point formed at the latest sampling time as one of the navigation positioning points, and then obtain any number of positioning points from the remaining positioning points as navigation positioning points. The advantage of taking the positioning point formed at the latest sampling time as one of the navigation positioning points is that real-time information of the navigation object can be obtained, and then it can be determined in real time whether the navigation object deviates. In order to improve the accuracy of the deviation determination, the navigation route rectification device can also obtain navigation positioning points at at least two continuous sampling times. For example, the navigation route rectification device can obtain a positioning point formed at the latest sampling time as one of the navigation positioning points A, and then obtain at least one navigation positioning point whose sampling time is continuous with the sampling time of the navigation positioning point A from the remaining positioning points.

[0095] 202. Determine the navigation deviation information corresponding to each of the navigation positioning points according to the preset initial navigation route and each of the navigation positioning points.

[0096] The initial navigation route is a navigation route formed by the navigation route rectification device according to the starting point and the ending point set by the user. For example, before navigation, the user can open the navigation app for controlling the object subsystem, input the starting point and the ending point in the navigation app, and the navigation route rectification device can plan the initial navigation route according to the starting point and the ending point. For example, the user can open the navigation function in the navigation app "XX map", and then input the starting point "Shenzhen" and the ending point "Guangzhou", and the navigation route rectification device can plan the initial navigation route with the starting point as Shenzhen and the ending point as Guangzhou. In the initial navigation route, the estimated time when the user reaches each position in the route can be included. For example, for the initial navigation route with the starting point as Shenzhen and the ending point as Guangzhou, the position A in the initial navigation route can correspond to the estimated time of arrival of 13:00, and the position B in the initial navigation route can correspond to the estimated time of arrival of 14:00.

[0097] The navigation deviation information can include at least one of the deviation distance and the deviation angle. For example, the navigation deviation information can be the deviation distance. When the navigation deviation information is the deviation distance, the navigation route rectification device can calculate the navigation deviation information by the following method: the navigation route rectification device obtains the positioning time of each navigation positioning point, and then obtains the standard navigation point corresponding to each positioning time in the initial navigation route, thereby obtaining the standard navigation point corresponding to each navigation positioning point. By calculating the straight line distance between each navigation positioning point and the corresponding standard navigation point, i.e. the navigation deviation distance, the navigation route rectification device can determine the navigation deviation information corresponding to each navigation positioning point.

[0098] In another aspect, the navigation deviation information can be a deviation angle. When the navigation deviation information is a deviation angle, taking a navigation positioning point A as an example, the navigation route rectification device can obtain the navigation positioning point A and the closest positioning point B before the navigation positioning point A, determine the actual movement direction of the navigation object at the navigation positioning point A according to the positional relationship between the two positioning points, for example, the direction from B to A can be taken as the actual movement direction of the navigation object at the navigation positioning point A. The navigation route rectification device obtains the navigation deviation information according to the calculated actual movement direction and the standard movement direction corresponding to the positioning time of the navigation positioning point A in the initial navigation route. The calculation method of the standard movement direction corresponding to the positioning time of the navigation positioning point A in the initial navigation route can refer to the calculation method of the actual movement direction of the navigation object at A, and details are not described herein.

[0099] Further, the navigation deviation information can also include a deviation distance and a deviation angle at the same time, and details are not described herein.

[0100] 203. According to each of the navigation deviation information, it is judged whether the navigation object deviates from the initial navigation route.

[0101] The navigation route rectification device can determine whether the navigation object deviates from the initial navigation route in various ways. Illustratively, the navigation route rectification device can subtract the navigation deviation information of a plurality of navigation positioning points from the preset standard deviation information to obtain a plurality of difference values, and then the navigation route rectification device compares the obtained plurality of difference values with a preset deviation threshold value respectively, and the deviation threshold value is used to evaluate whether the difference between the navigation deviation information exceeds the normal fluctuation range. For example, when the navigation deviation information includes a deviation angle, the navigation route rectification device can subtract the deviation angle of the navigation positioning point A and the deviation angle of the navigation positioning point B from the preset standard angle deviation to obtain two angle differences, and then compare the two angle differences with the preset angle difference threshold value respectively. If both angle differences are greater than the angle difference threshold value, it indicates that the deviation angle of the movement route of the navigation object from the initial navigation route is relatively large, and thus it can be inferred that the navigation object deviates from the initial navigation route. For the case where the navigation deviation information includes a deviation distance, the deviation distance of the navigation positioning point A and the deviation distance of the navigation positioning point B can also be subtracted from the preset standard deviation distance to obtain two distance differences, and then the distance differences and the preset distance difference threshold value are compared. Details can refer to the method of judging according to the angle difference, and details are not described herein.

[0102] Further, the navigation route deviation correction device can also calculate the confidence of different navigation positioning points according to the navigation deviation information, and determine whether the navigation object deviates by the size of the confidence. For the case that the navigation deviation information includes both the deviation angle and the deviation distance, the method of calculating the confidence can fuse the deviation angle and the deviation distance, instead of comparing the deviation angle and the deviation distance respectively, so that the judgment accuracy is higher.

[0103] For example, the navigation route deviation correction device can assign fixed weights to the deviation angle and the deviation distance respectively, and then calculate the confidence of each navigation positioning point according to the weights, and compare each confidence with a preset confidence threshold. If there is a confidence greater than or equal to the preset confidence threshold in each confidence, it can be determined that the navigation positioning point does not deviate from the initial navigation route, and the reason why the confidence of part of the navigation positioning points is less than the confidence threshold may be poor signal, etc. If each confidence is less than the confidence threshold, it can be determined that the navigation positioning point deviates from the initial navigation route.

[0104] For the convenience of understanding, a specific scene of determining whether the navigation object deviates from the initial navigation route according to the confidence is given in this embodiment, and step 203 includes:

[0105] (1) Obtain the navigation deviation distance and the navigation deviation angle in the navigation deviation information.

[0106] The method of obtaining the navigation deviation distance and the navigation deviation angle can refer to the method of obtaining the deviation angle and the deviation distance in step 202, which will not be described in detail here.

[0107] (2) According to the navigation deviation distance and the navigation deviation angle, determine the distance confidence and the angle confidence of each navigation positioning point.

[0108] (3) According to the distance confidence and the angle confidence of each navigation positioning point, calculate the deviation confidence of each navigation positioning point.

[0109] The distance confidence is the confidence calculated by the navigation route deviation correction device according to the navigation deviation distance. For example, the navigation route deviation correction device can assign a fixed weight to the navigation deviation distance, and then calculate the distance confidence of the navigation positioning point. For example, the distance confidence can be calculated by the formula in formula (1):

[0110]

[0111] Wherein, δ1 is the distance confidence, λ1 is the weight corresponding to the navigation deviation distance, and Δd is the navigation deviation distance.

[0112] The advantage of calculating the distance confidence by formula (1) is that when Δd is greater than 100, i.e. the distance difference between the positioning point of the navigation object and the corresponding positioning point in the initial navigation route has exceeded a distance threshold, the δ1 calculated by the navigation route rectification device is negative, so compared with directly using Δd to calculate δ1, the method of formula (1) is more sensitive to large deviations.

[0113] For the navigation deviation angle, the navigation route rectification device can also assign it a fixed weight, and then calculate the angle confidence of the navigation positioning point. For example, the angle confidence can be calculated by the formula in formula (2):

[0114] δ2 = λ2 * cos(Δθ) formula (2)

[0115] Wherein, δ2 is the angle confidence, λ2 is the weight corresponding to the navigation deviation angle, and Δθ is the navigation deviation angle.

[0116] The advantage of calculating the angle confidence by formula (2) is that when Δθ is greater than 90°, i.e. the positioning point of the navigation object makes an abnormal sharp turn greater than 90°, if λ2 is set to a positive number, the δ2 calculated by the navigation route rectification device is negative, so compared with directly using Δθ or sin(θ) to calculate δ2, the method of formula (2) is more sensitive to abnormal sharp turns.

[0117] After calculating formula (1) and formula (2) according to certain preset rules, the deviation confidence of the navigation positioning point can be obtained. One of the simplest methods is to add formula (1) and formula (2), i.e. to add the distance confidence and the angle confidence to obtain the deviation confidence. Such as formula (3):

[0118]

[0119] It can be seen that when the navigation deviation angle is the same, the smaller the navigation deviation distance, the greater the deviation confidence calculated by formula (3). When the navigation deviation distance is the same, the smaller the navigation deviation angle, the greater the deviation confidence calculated by formula (3). Therefore, the navigation route rectification device can calculate the deviation confidence representing the deviation of the navigation object by the calculation formula such as formula (3).

[0120] In addition, the navigation route rectification device can also determine the weight of the navigation deviation distance and the navigation deviation angle according to the range they are in, respectively. At this time, the distance confidence and the angle confidence of each navigation positioning point are determined according to the navigation deviation distance and the navigation deviation angle, which includes:

[0121] (A) Query the preset database to obtain the target distance range where the navigation deviation distance is located, and the target angle range where the navigation deviation angle is located.

[0122] In the preset database, a plurality of distance ranges and a plurality of angle ranges are preset. The navigation route deviation correction device can obtain a distance range in which the navigation deviation distance falls to obtain a target distance range, and obtain an angle range in which the navigation deviation angle falls to obtain a target angle range. For example, the following distance ranges can be preset in the preset database: [0-5 meters], (5-10 meters], (10-15 meters] …… The angle ranges are the same.

[0123] For each distance range, a different corresponding weight can be preset, such as 0.8 for [0-5 meters], 0.7 for (5-10 meters], and the corresponding weight for the above distance ranges decreases. The reason is that the larger the deviation distance, the more likely the navigation object deviates from the initial navigation route, so the sensitivity of the judgment needs to be improved, i.e. for the same navigation deviation information, the confidence obtained by calculation is reduced.

[0124] When a plurality of distance ranges and a plurality of angle ranges are set, the navigation route deviation correction device can set a corresponding weight for each range according to the historical deviation of the navigation object, to adaptively set the corresponding weight and improve the accuracy of the deviation judgment. For example, the corresponding weight of each range can be determined according to the following steps:

[0125] (1A) The navigation route deviation correction device reads historical data to obtain a plurality of historical deviation distances and a plurality of historical deviation angles. In order to reduce the calculation amount of the subsequent steps, the navigation route deviation correction device can only read the historical data within a period of time, for example, only read the historical data within a month to obtain a plurality of historical deviation distances and a plurality of historical deviation angles within a month.

[0126] (2A) The navigation route deviation correction device classifies the plurality of historical deviation distances and the plurality of historical deviation angles according to certain rules to obtain a plurality of distance sets and a plurality of angle sets. For example, the navigation route deviation correction device classifies the historical deviation distances and the historical deviation angles according to the preset distance interval and the preset angle interval, respectively. For example, historical deviation distances between 0 meters and 5 meters can be classified into a set, historical deviation distances between 5 meters and 10 meters can be classified into a set, and so on. The historical deviation angles are the same, to obtain a plurality of distance sets and a plurality of angle sets. Or respectively, the historical deviation distances and the historical deviation angles are clustered to obtain a plurality of distance sets and a plurality of angle sets.

[0127] (3A) The navigation route rectification device counts the number of historical deviation distances contained in each distance set and the number of historical deviation angles contained in each angle set. For example, if there are 3 historical deviation distances in the range of 0-5 meters, the navigation route rectification device counts the number of historical deviation distances contained in the distance set of 0-5 meters as 3, and the number of historical deviation angles is the same.

[0128] (4A) The navigation route rectification device determines the weight corresponding to each distance set according to the number of historical deviation distances contained in each distance set and the total number of historical deviation distances read in step (1A). For example, the value of the number of historical deviation distances / the total number of historical deviation distances can be used as the weight of the distance set corresponding to the number of historical deviation distances. The weight of the angle set is the same. Since the smaller the number of historical deviation distances, the fewer the times of calculation, and the navigation object yawing is a minority event compared to not yawing, the smaller the number of historical deviation distances corresponding to the distance set, the more likely it is that the deviation distance falls into the distance set when the navigation object is yawing. The angle set is the same. Therefore, by this weight determination method, the navigation route rectification device can more intelligently determine the weight corresponding to each set.

[0129] (B) Determine the target distance weight corresponding to the target distance range and the target angle weight corresponding to the target angle range.

[0130] After the navigation route rectification device obtains the target distance range and the target angle range, it can obtain the weights corresponding to the target distance range and the target angle range, i.e. the target distance weight and the target angle weight. Continue with the example in step (A), if the target distance range is (5-10 meters], the target distance weight is the corresponding weight 0.7 of (5-10 meters], and the target angle weight is the same.

[0131] (C) For each navigation positioning point, calculate the distance confidence according to the target distance weight and the navigation deviation distance of the navigation positioning point.

[0132] After the navigation route rectification device obtains the target distance weight, it can calculate the distance confidence according to any method in step 203.

[0133] (D) For each navigation positioning point, calculate the angle confidence according to the target angle weight and the navigation deviation angle of the navigation positioning point.

[0134] After the navigation route rectification device obtains the target angle weight, it can calculate the angle confidence according to any method in step 203.

[0135] In addition to determining the corresponding weight according to the range in which the navigation deviation distance and the navigation deviation angle respectively fall, the corresponding weight can also be determined according to the time for which the navigation object has moved. The reason is that as the time for which the navigation object has moved increases, the navigation object, for example a person, is more likely to deviate from the initial navigation route due to fatigue and the like. Therefore, the navigation route deviation rectification device can also preset a plurality of time ranges, and determine the corresponding angle weight and distance weight for each time range. After the time for which the navigation object has moved is obtained, the navigation route deviation rectification device can determine the target time range in which the time for which the navigation object has moved falls, and then obtain the target angle weight and the target distance weight corresponding to the target time range, to calculate the distance confidence and the angle confidence respectively.

[0136] (4) Determine whether the navigation object deviates from the initial navigation route according to the deviation confidence of each of the navigation positioning points.

[0137] The navigation route deviation rectification device can compare the deviation confidence of each navigation positioning point with the preset confidence threshold as described above, to determine whether the navigation object deviates from the initial navigation route.

[0138] It should be noted that if the deviation is determined by comparing with the confidence threshold, for formula (3), the greater the weight, the greater the confidence calculated when the navigation deviation information is the same, that is, the lower the sensitivity to determining the deviation. For example, if the weight corresponding to the navigation deviation distance is increased, the navigation object that is determined to deviate before the weight is increased can be determined to not deviate after the weight is increased, and therefore the specific value of the weight needs to be determined according to the actual situation.

[0139] For example, when the navigation object is in a low-signal area with more obstructions such as high-rise buildings or mountainous areas, the deviation confidence calculated is often small due to poor signal. Therefore, the weight can be set to be larger, for example, when calculating the deviation confidence by formula (3), λ1 and λ2 can be set to values greater than 1, such as λ1 being 2 and λ2 being 4, to reduce the sensitivity of determining the deviation and increase the tolerance. For high-signal areas with good signal and no poor signal, λ1 and λ2 can be set to values less than 1, such as λ1 being 0.7 and λ2 being 0.4, to increase the sensitivity of determining the deviation and not to miss the deviation.

[0140] Further, the navigation route deviation rectification device can associate λ1 and λ2, for example, set λ2 to be 1-λ1, and formula (3) is:

[0141]

[0142] By setting the rules in this way, even if the weights need to be changed in the deviation judgment process, only one of the weights needs to be reset to change the other weight at the same time. And because high signal areas are more common than low signal areas, λ1 and λ2 are usually set to values less than 1. Therefore, as long as the weight being reset is less than 1, the other weight can also be guaranteed to be less than 1, and λ1 and λ2 remain at low values and do not affect the sensitivity of the navigation object in judging deviation in high signal areas.

[0143] It should be noted that although the above description is to first obtain at least two navigation positioning points, and then calculate the deviation confidence according to the navigation deviation information of the navigation positioning points, the calculation order in the embodiments of the present application is not limited by the described order. The navigation route deviation rectification device can also calculate the confidence of each navigation positioning point at the same time as the sampling of each navigation positioning point, so that when the navigation route deviation rectification device judges the deviation, it only needs to read the calculated confidence for judgment, without the need to recalculate the confidence of each navigation positioning point. Therefore, compared with other deviation judgment methods, the method in the embodiments of the present application is faster in judgment speed.

[0144] 204、If the navigation object deviates from the initial navigation route, re-planning the navigation route.

[0145] When the navigation route deviation rectification device determines that the navigation object deviates from the initial navigation route, a prompt sound can also be issued to prompt the navigation object that the deviation has occurred at present, and to inform the navigation object that the navigation route deviation rectification device will re-plan the navigation route. For example, when the navigation object is a vehicle loaded with a navigation app, the navigation route deviation rectification device can issue a prompt sound of "the current driving distance has deviated, and the route has been re-planned" through the navigation app.

[0146] In summary, the embodiments of the present application include: obtaining at least two navigation positioning points of a navigation object; determining navigation deviation information corresponding to each of the navigation positioning points according to a preset initial navigation route and each of the navigation positioning points; judging whether the navigation object deviates from the initial navigation route according to each of the navigation deviation information; and if the navigation object deviates from the initial navigation route, re-planning the navigation route. It can be seen that the scheme in the embodiments of the present application judges whether the navigation object deviates from the initial navigation route according to the navigation deviation information of at least two navigation positioning points, which has higher accuracy and smaller probability of misjudgment than the method of judging only according to the data of one navigation positioning point.

[0147] After the navigation route deviation rectification device determines that the navigation object deviates from the initial navigation route, the navigation route can be re-planned according to the position of the navigation object at this time and the terminal point of the initial navigation route. Referring to Figure 3 At this time, the re-planning of the navigation route if the navigation object deviates from the initial navigation route includes:

[0148] 301、acquire a current location point of the navigation object and an end point of the initial navigation route.

[0149] The current location point refers to the location point of the navigation object when the navigation route is re-planned. For example, the navigation route rectification device can read the storage space or the cloud server to acquire the location point with the latest location time as the current location point. For example, the navigation route rectification device re-plans the navigation route at 16:01:30, and the location point with the latest location time is the location point acquired by the navigation route rectification device at 16:01:28, and the location point can be acquired as the current location point. On the other hand, the navigation route rectification device can directly read the historical input data of the user to obtain the end point of the initial navigation route.

[0150] 302、query a preset database to determine whether there is a target navigation route containing the current location point and the end point of the initial navigation route.

[0151] 303A, if the target navigation route exists, intercept the non-movement route from the current location point to the end point in the target navigation route to obtain the navigation route.

[0152] The preset database of the navigation route rectification device usually stores a plurality of navigation routes commonly used by the user to avoid re-planning the route every time for the same start point and end point. Therefore, the navigation route rectification device can first query whether there is a target navigation route passing through the current location point and the end point in the preset database when re-planning the route. If the target navigation route is stored in the preset database, the navigation route rectification device can directly use the route from the current location point to the end point in the target navigation route as the re-planned navigation route to reduce the calculation amount. If a plurality of navigation routes passing through the current location point and the end point are stored in the preset database, the navigation route rectification device can acquire the location time corresponding to each end point in each navigation route to obtain the estimated arrival time of the end point, and then extract the navigation route with the earliest estimated arrival time from the plurality of navigation routes as the target navigation route.

[0153] 303B, if the target navigation route does not exist, query the preset road map to extract the shortest route from the current location point to the end point to obtain the navigation route.

[0154] If the navigation route correction device fails to find the target navigation route in the preset database, it is necessary to recalculate the navigation route according to the positioning location of the current positioning point and the positioning location of the terminal point. In order to reduce the motion time of the navigation object, the navigation route correction device can query the preset road map, calculate all possible routes from the current positioning point to the terminal point, and then extract the route with the shortest distance as the re-planned navigation route. In addition, the estimated time of the navigation object to reach the terminal point can also be calculated when calculating the possible routes, and the route with the shortest estimated time among all possible routes can be extracted as the re-planned navigation route.

[0155] The method of comparing the deviation confidence with the confidence threshold to determine whether the navigation object deviates from the initial navigation route may judge the normal motion state as deviation because the confidence threshold is set unreasonably. Therefore, in order to improve the accuracy of the judgment, the deviation can also be judged according to the change trend of the plurality of deviation confidences. For reference Figure 4 At this time, the method of judging whether the navigation object deviates from the initial navigation route according to each deviation confidence includes:

[0156] 401. Determine the change trend of each deviation confidence.

[0157] The change trend refers to the change trend of the deviation confidence with the positioning time of the corresponding navigation positioning point after sorting the deviation confidence according to the positioning time of the corresponding navigation positioning point. For example, for three navigation positioning points with positioning times of 16:00, 16:01 and 16:02, the deviation confidences calculated by the navigation route correction device are 1, 2 and 3 respectively, and the change trend of the deviation confidence is increasing. If the deviation confidences calculated by the navigation route correction device are 3, 2 and 1 respectively, the change trend of the deviation confidence is decreasing.

[0158] 402. If the change trend is that the deviation confidence decreases, it is determined that the navigation object deviates from the initial navigation route.

[0159] If the change trend is that the deviation confidence decreases, it means that the deviation of the navigation object from the initial navigation route is getting more and more serious, which can exclude the reason of poor signal, and it is determined that the navigation object deviates from the initial navigation route.

[0160] It should be noted that if the method of steps 401-402 is used to judge whether the navigation object deviates, the number of deviation confidences used for judgment should not be too much or too little, that is, the number of navigation positioning points used as the judgment reference should not be too much or too little.

[0161] If the number of deviation confidence levels is too large, the deviation confidence levels may include deviation confidence levels of the normal motion of the navigation object, and the fluctuations of the deviation confidence levels of the normal motion of the navigation object may cause the navigation route deviation correction device to misjudge the deviation as no deviation. For example, if the navigation route deviation correction device judges according to 10 deviation confidence levels, the 10 deviation confidence levels are 10, 11, 8, 9, 6, 5, 4, 3, 2, and 1. For the navigation positioning points with the deviation confidence levels of 10, 11, 8, and 9, the navigation object is in the normal motion state of no deviation from the initial navigation route. For the navigation positioning points with the deviation confidence levels of 6, 5, 4, 3, 2, and 1, the navigation object has actually deviated from the initial navigation route. Since the deviation confidence levels do not show a decreasing trend, the navigation route deviation correction device will judge that no deviation is generated, and therefore, if the number of deviation confidence levels used for judgment is too large, misjudgment may be generated.

[0162] If the number of deviation confidence levels is too small, fluctuations of low-level confidence levels may cause the navigation route deviation correction device to misjudge.

[0163] In summary, in order to accurately judge and identify the deviation, a suitable number of deviation confidence levels need to be used, for example, 5 continuous deviation confidence levels can be used to judge whether the navigation object deviates from the initial navigation route.

[0164] If the navigation object is a vehicle loaded with an object subsystem, the vehicle may need to perform a U-turn or reverse movement after starting, and a certain deviation from the initial navigation route may be generated, so that the navigation deviation information calculated by the navigation route deviation correction device may satisfy the deviation judgment condition. However, if the navigation route deviation correction device judges this situation as deviation, a large amount of route re-planning will be performed, and if the number is too large, the navigation route deviation correction device may even be stuck. For example, when the vehicle is reversing, the direction of travel will change constantly because the direction of the vehicle head and tail needs to be constantly corrected. If the driver has opened the navigation app at this time, the navigation route deviation correction device will constantly re-plan the route and constantly switch the route in the visual map of the navigation app. If the navigation app is loaded with a prompt function, the navigation route deviation correction device will also constantly prompt the driver that the current navigation route has deviated from the initial navigation route through the navigation app, which affects the normal operation of the driver.

[0165] Therefore, the navigation route deviation correction device can judge whether to correct the deviation according to the distance that has been moved. Figure 5 Before the navigation route deviation correction device determines the navigation deviation information corresponding to each navigation positioning point according to each navigation positioning point and the initial navigation route, the navigation route deviation correction device further includes:

[0166] 501, obtaining the current positioning point of the navigation object.

[0167] The current positioning point can refer to the explanation in step 301, and details are not described herein.

[0168] 502, calculate a motion distance between the current positioning point and the starting point of the initial navigation route.

[0169] The navigation route correction device can read the input history record of the user, obtain the starting point of the initial navigation route, and then calculate the straight-line distance between the current positioning point and the starting point according to the positioning position of the current positioning point and the positioning position of the starting point to obtain the motion distance.

[0170] 503, if the motion distance is greater than a preset threshold, performing the step of determining the navigation deviation information corresponding to each navigation positioning point.

[0171] If the motion distance is greater than the preset threshold, it indicates that the navigation object is not in the state of just starting to move, and therefore the step of determining the navigation deviation information corresponding to each navigation positioning point can be performed.

[0172] If the motion distance is less than or equal to the preset threshold, it indicates that the navigation object is in the state of just starting to move, and therefore if the step of determining the navigation deviation information corresponding to each navigation positioning point is performed, the navigation route correction device can misjudge the non-deviation as the deviation.

[0173] In order to better implement the navigation route correction method in the embodiments of the present application, on the basis of the navigation route correction method, the embodiments of the present application further provide a navigation route correction device, as shown in Figure 6 The navigation route correction device 600 includes:

[0174] The acquisition unit 601 is configured to acquire at least two navigation positioning points of a navigation object.

[0175] The determination unit 602 is configured to determine, according to a preset initial navigation route and each navigation positioning point, navigation deviation information corresponding to each navigation positioning point.

[0176] The judgment unit 603 is configured to judge, according to each navigation deviation information, whether the navigation object deviates from the initial navigation route.

[0177] The planning unit 604 is configured to re-plan a navigation route if the navigation object deviates from the initial navigation route.

[0178] In a possible implementation manner of the present application, the judgment unit 603 is specifically configured to:

[0179] Acquire a navigation deviation distance and a navigation deviation angle in the navigation deviation information.

[0180] determine a distance confidence and an angle confidence for each navigation positioning point according to the navigation deviation distance and the navigation deviation angle;

[0181] calculate a deviation confidence for each navigation positioning point according to the distance confidence and the angle confidence of the navigation positioning point;

[0182] determine whether the navigation object deviates from the initial navigation route according to the deviation confidence.

[0183] In a possible implementation manner of the present application, the determining unit 603 is specifically configured to:

[0184] query a preset database to obtain a target distance range in which the navigation deviation distance is located, and a target angle range in which the navigation deviation angle is located;

[0185] determine a target distance weight corresponding to the target distance range, and a target angle weight corresponding to the target angle range;

[0186] for each navigation positioning point, calculate a distance confidence according to the target distance weight and the navigation deviation distance of the navigation positioning point;

[0187] for each navigation positioning point, calculate an angle confidence according to the target angle weight and the navigation deviation angle of the navigation positioning point.

[0188] In a possible implementation manner of the present application, the determining unit 603 is specifically configured to:

[0189] determine a variation trend of the deviation confidence;

[0190] if the variation trend is that the deviation confidence decreases, it is determined that the navigation object deviates from the initial navigation route.

[0191] In a possible implementation manner of the present application, the planning unit 604 is specifically configured to:

[0192] obtain a current positioning point of the navigation object, and an end point of the initial navigation route;

[0193] query a preset database to determine whether there is a target navigation route containing the current positioning point and the end point of the initial navigation route;

[0194] if the target navigation route exists, intercept an un-moved route from the current positioning point to the end point in the target navigation route to obtain a navigation route;

[0195] If the target navigation route does not exist, a preset road map is queried to extract a shortest route from the current positioning point to the terminal point to obtain the navigation route.

[0196] In a possible implementation of the present application, the navigation route deviation correction apparatus 600 further comprises a calculation unit 605, which is specifically configured to:

[0197] obtain a current positioning point of the navigation object;

[0198] calculate a motion distance between the current positioning point and a starting point of the initial navigation route;

[0199] If the motion distance is greater than a preset threshold, the step of determining the navigation deviation information corresponding to each navigation positioning point is performed.

[0200] In a possible implementation of the present application, the determination unit 602 is specifically configured to:

[0201] obtain an actual motion direction corresponding to each navigation positioning point, and a standard navigation point and a standard motion direction corresponding to each navigation positioning point in a preset initial navigation route;

[0202] For each navigation positioning point, a distance between the navigation positioning point and the standard navigation point corresponding to the navigation positioning point is calculated to obtain a navigation deviation distance;

[0203] For each navigation positioning point, an angle difference between the actual motion direction of the navigation positioning point and the standard motion direction corresponding to the navigation positioning point is calculated to obtain a navigation deviation angle.

[0204] In implementation, each of the above units can be implemented as an independent entity, or can be combined as the same or several entities, and the specific implementation of each of the above units can be referred to the method embodiments above, which will not be described here.

[0205] Since the navigation route deviation correction apparatus can perform the navigation route deviation correction method of the present application, the navigation route deviation correction apparatus can achieve the beneficial effects of the navigation route deviation correction method of the present application. Figures 1 to 5 According to the steps in the navigation route deviation correction method of any embodiment, the navigation route deviation correction method of the present application can be implemented. Figures 1 to 5 The navigation route deviation correction method of the present application can achieve the beneficial effects of the navigation route deviation correction method of any embodiment, which are described above and will not be described here.

[0206] In addition, in order to better implement the navigation route deviation correction method in the embodiments of the present application, based on the navigation route deviation correction method, the embodiments of the present application further provide a navigation route deviation correction device, which is described in Figure 7 , Figure 7Fig. 1 shows a structural schematic diagram of a navigation route rectification device according to an embodiment of the present application. Specifically, the navigation route rectification device according to the embodiment of the present application comprises a processor 701, which is configured to implement the steps of the navigation route rectification method according to any of the embodiments of the present application when executing a computer program stored in a memory 702. Figures 1 to 5 The processor 701 is configured to implement the steps of the navigation route rectification method according to any of the embodiments of the present application when executing the computer program stored in the memory 702. Figure 7 The processor 701 is configured to implement the steps of the navigation route rectification method according to any of the embodiments of the present application when executing the computer program stored in the memory 702.

[0207] The computer program can be divided into one or more modules / units, which are stored in the memory 702 and executed by the processor 701 to complete the embodiments of the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the computer device.

[0208] The navigation route rectification device can include, but is not limited to, the processor 701 and the memory 702. Those skilled in the art can understand that the schematic diagram is only an example of the navigation route rectification device, and does not constitute a limitation on the navigation route rectification device, which can include more or fewer components than the schematic diagram, or combine certain components, or different components, for example, the electronic device can also include input / output devices, network access devices, buses, etc. The processor 701, the memory 702, the input / output devices, and the network access devices are connected through the bus.

[0209] The processor 701 can be a central processing unit (CPU), and can also be 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. The general-purpose processor can be a microprocessor or any conventional processor, etc. The processor is the control center of the navigation route rectification device, which connects all parts of the navigation route rectification device through various interfaces and routes.

[0210] The memory 702 can be used to store computer programs and / or modules, and the processor 701 implements various functions of the computer device by running or executing the computer programs and / or modules stored in the memory 702, and calling data stored in the memory 702. The memory 702 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playing function, an image playing function, etc.), and the like; and the data storage area can store data (such as audio data, video data, etc.) created according to the use of the navigation route correction device, and the like. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0211] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the navigation route correction device, the navigation route correction apparatus and the corresponding units thereof described above can be referred to as Figures 1 to 5 Corresponding to the description of the navigation route correction method in any embodiment, the specific operations are not described here again.

[0212] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions, or by related hardware controlled by the instructions, which can be stored in a computer storage medium and loaded and executed by a processor.

[0213] Therefore, the embodiments of the present application provide a computer storage medium, which stores a plurality of instructions, and the instructions can be loaded by a processor to execute the embodiments of the present application as Figures 1 to 5 Corresponding to the steps in the navigation route correction method in any embodiment, the specific operations can be referred to as Figures 1 to 5 Corresponding to the description of the navigation route correction method in any embodiment, the specific operations are not described here again.

[0214] The computer storage medium can include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0215] Due to the instructions stored in the computer storage medium, the embodiments of the present application as Figures 1 to 5 Corresponding to the steps in the navigation route correction method in any embodiment, the specific operations can be referred to as Figures 1 to 5The beneficial effects that can be achieved by the navigation route correction method in any embodiment are described in detail in the foregoing description, and will not be repeated here.

[0216] The navigation route correction method, device, equipment and computer storage medium provided by the embodiments of the present application are described in detail above, and the principles and implementation manners of the present application are described by applying specific examples. The above embodiment description is only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, the specific implementation manner and application range will be changed according to the idea of the present application. In summary, the content of the description should not be understood as a limitation of the present application.

Claims

1. A navigation route deviation correction method, characterized by, The method comprises: acquiring at least two navigation positioning points of a navigation object; determining navigation deviation information corresponding to each of the navigation positioning points according to a preset initial navigation route and the navigation positioning points; judging whether the navigation object deviates from the initial navigation route according to the navigation deviation information; if the navigation object deviates from the initial navigation route, re-planning a navigation route; wherein, determining navigation deviation information corresponding to each of the navigation positioning points according to a preset initial navigation route and the navigation positioning points comprises: for each navigation positioning point, acquiring the position relationship between the navigation positioning point and the closest positioning point before the navigation positioning point, and determining the actual movement direction of the navigation object at the navigation positioning point; acquiring the positioning time of each navigation positioning point, acquiring the standard navigation point corresponding to each positioning time in the initial navigation route, and acquiring the standard movement direction corresponding to each positioning time, to obtain the standard navigation point and the standard movement direction corresponding to each navigation positioning point; for each navigation positioning point, calculating the distance between the navigation positioning point and the standard navigation point corresponding to the navigation positioning point to obtain the navigation deviation distance; for each navigation positioning point, calculating the angle difference between the actual movement direction of the navigation positioning point and the standard movement direction corresponding to the navigation positioning point to obtain the navigation deviation angle; the judging whether the navigation object deviates from the initial navigation route according to the navigation deviation information comprises: acquiring the navigation deviation distance and the navigation deviation angle in the navigation deviation information; querying a preset database to acquire the target distance range where the navigation deviation distance is located, and the target angle range where the navigation deviation angle is located; the preset database sets multiple distance ranges and multiple angle ranges, for each distance range, different distance weights are preset, for each angle range, different angle weights are preset, and the determination of the corresponding weight of each range comprises: reading historical data to obtain multiple historical deviation distances and multiple historical deviation angles; classifying the multiple historical deviation distances and the multiple historical deviation angles according to rules to obtain multiple distance sets and multiple angle sets; counting the number of historical deviation distances contained in each distance set, and counting the number of historical deviation angles contained in each angle set; determining the distance weight corresponding to each distance set according to the number of historical deviation distances contained in each distance set and the total number of historical deviation distances, and determining the angle weight corresponding to each angle set according to the number of historical deviation angles contained in each angle set and the total number of historical deviation angles; determining the target distance weight corresponding to the target distance range, and the target angle weight corresponding to the target angle range; for each navigation positioning point, calculating the distance confidence according to the target distance weight and the navigation deviation distance of the navigation positioning point; for each navigation positioning point, calculating the angle confidence according to the target angle weight and the navigation deviation angle of the navigation positioning point; According to the distance confidence and the angle confidence of each navigation positioning point, a deviation confidence of each navigation positioning point is calculated; A trend of each deviation confidence is determined; If the trend is that the deviation confidence decreases, it is determined that the navigation object deviates from the initial navigation route.

2. The route guidance correction method according to claim 1, characterized by, If the navigation object deviates from the initial navigation route, a navigation route is re-planned, including: A current positioning point of the navigation object and a terminal point of the initial navigation route are obtained; A preset database is queried to determine whether there is a target navigation route including the current positioning point and the terminal point of the initial navigation route; If the target navigation route exists, an unmoved route from the current positioning point to the terminal point in the target navigation route is intercepted to obtain a navigation route; If the target navigation route does not exist, a preset road map is queried to extract a shortest route from the current positioning point to the terminal point to obtain a navigation route.

3. The route guidance correction method according to claim 1, characterized by, Before the determining of the navigation deviation information corresponding to each navigation positioning point according to the navigation positioning points and the initial navigation route, the method further includes: A current positioning point of the navigation object is obtained; A motion distance between the current positioning point and a starting point of the initial navigation route is calculated; If the motion distance is greater than a preset threshold, the step of determining the navigation deviation information corresponding to each navigation positioning point is executed.

4. A route navigation deviation correcting device characterized by comprising: The method includes: An obtaining unit is configured to obtain at least two navigation positioning points of a navigation object; A determining unit is configured to determine navigation deviation information corresponding to each navigation positioning point according to a preset initial navigation route and the navigation positioning points; A judging unit is configured to determine whether the navigation object deviates from the initial navigation route according to the navigation deviation information; A planning unit is configured to re-plan a navigation route if the navigation object deviates from the initial navigation route. The determining unit is further configured to, for each navigation positioning point, obtain a position relationship between the navigation positioning point and a nearest positioning point before the navigation positioning point and between the navigation positioning point and the nearest positioning point, and determine an actual motion direction of the navigation object at the navigation positioning point; A positioning time of each navigation positioning point is obtained, a standard navigation point corresponding to each positioning time in the initial navigation route and a standard motion direction corresponding to each positioning time are obtained respectively to obtain a standard navigation point and a standard motion direction corresponding to each navigation positioning point, a distance between each navigation positioning point and the standard navigation point corresponding to the navigation positioning point is calculated to obtain a navigation deviation distance, and an angle difference between the actual motion direction of each navigation positioning point and the standard motion direction corresponding to the navigation positioning point is calculated to obtain a navigation deviation angle. The judgment unit is further configured to acquire a navigation deviation distance and a navigation deviation angle in the navigation deviation information; query a preset database to acquire a target distance range in which the navigation deviation distance is located and a target angle range in which the navigation deviation angle is located; the preset database is configured with a plurality of distance ranges and a plurality of angle ranges, for each distance range, different distance weights are preset, for each angle range, different angle weights are preset, and the determination of the corresponding weight of each range includes the following steps: reading historical data to obtain a plurality of historical deviation distances and a plurality of historical deviation angles; classifying the plurality of historical deviation distances and the plurality of historical deviation angles according to rules respectively to obtain a plurality of distance sets and a plurality of angle sets; counting the number of historical deviation distances contained in each distance set and the number of historical deviation angles contained in each angle set; determining the distance weight corresponding to each distance set according to the number of historical deviation distances contained in each distance set and the total number of historical deviation distances, and determining the angle weight corresponding to each angle set according to the number of historical deviation angles contained in each angle set and the total number of historical deviation angles; determining a target distance weight corresponding to the target distance range and a target angle weight corresponding to the target angle range; for each navigation positioning point, calculating a distance confidence according to the target distance weight and the navigation deviation distance of the navigation positioning point; for each navigation positioning point, calculating an angle confidence according to the target angle weight and the navigation deviation angle of the navigation positioning point; calculating a deviation confidence of each navigation positioning point according to the distance confidence and the angle confidence of each navigation positioning point; determining the change trend of each deviation confidence; if the change trend is that the deviation confidence decreases, it is determined that the navigation object deviates from the initial navigation route.

5. A route navigation correction device, characterized by, The navigation route correction method comprises a processor and a memory, the memory stores a computer program, and the processor invokes the computer program in the memory to execute the navigation route correction method according to any one of claims 1 to 3.

6. A computer storage medium, characterized in that A computer program is stored on the memory, and the computer program is loaded by a processor to execute the steps in the navigation route correction method according to any one of claims 1 to 3.

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