Navigation methods, devices, equipment and program products

Abstract

This application provides a navigation method, apparatus, device, and program product. The method includes: entering an assisted driving navigation mode in response to a vehicle's assisted driving mode activation command; acquiring assisted driving navigation broadcast points, assisted driving navigation fusion broadcast points, and high-precision map navigation broadcast points on the navigation route; the assisted driving navigation fusion broadcast points are used to broadcast navigation voice containing assisted driving information provided by the assisted driving system; during navigation, navigation fusion broadcast processing is performed based on the assisted driving navigation broadcast points, the assisted driving navigation fusion broadcast points, and the high-precision map navigation broadcast points. The navigation method, apparatus, device, and program product provided by this application can meet the navigation broadcast requirements of "human-vehicle co-guidance".

Description

Technical Field

[0001] This application relates to the field of navigation processing technology, and in particular to a navigation method, apparatus, device, and program product. Background Technology

[0002] With the development of vehicle intelligence technology, vehicles are increasingly involved in driving. In some vehicles with assisted driving modes, the driver transforms from a human to a human-vehicle hybrid, where the vehicle is the driving entity and the human is the driving supervisor. Consequently, navigation systems, originally designed to guide drivers, have evolved from simply "guiding people" to providing "co-guidance between humans and vehicles."

[0003] However, current navigation systems are still based on human-centric thinking and logic, which cannot meet the navigation needs of "human and vehicle-centric navigation". Summary of the Invention

[0004] This application provides a navigation method, device, equipment, and program product that can meet the navigation broadcasting needs of "human and vehicle co-navigation".

[0005] In a first aspect, this application provides a navigation method, the method comprising:

[0006] In response to the vehicle's command to activate the driver assistance mode, the vehicle enters the driver assistance navigation mode.

[0007] The system acquires assisted driving navigation broadcast points, assisted driving navigation fusion broadcast points, and precision map navigation broadcast points along the navigation route; the assisted driving navigation fusion broadcast points are used to broadcast navigation voice containing assisted driving information provided by the assisted driving system.

[0008] During navigation, navigation fusion broadcasting is performed based on the assisted driving navigation broadcasting points, the assisted driving navigation fusion broadcasting points, and the standard map navigation broadcasting points.

[0009] Optionally, the step of performing navigation fusion broadcasting processing based on the assisted driving navigation broadcasting points, the assisted driving navigation fusion broadcasting points, and the precision map navigation broadcasting points includes:

[0010] For the assisted driving navigation broadcast point to be broadcast, broadcast the broadcast content of the assisted driving navigation broadcast point within the broadcast interval of that assisted driving navigation broadcast point;

[0011] For a standard-precision map navigation broadcast point to be broadcast, navigation fusion broadcast processing is performed on the standard-precision map navigation broadcast point according to the standard-precision map navigation broadcast conflict handling strategy; the standard-precision map navigation broadcast conflict handling strategy is used to indicate the type of standard-precision map navigation broadcast point that can be broadcast.

[0012] For the assisted driving navigation fusion broadcast point to be broadcast, navigation fusion broadcast processing is performed on the assisted driving navigation fusion broadcast point based on whether the assisted driving information of the vehicle provided by the assisted driving system has been obtained.

[0013] Optionally, the step of performing navigation fusion broadcast processing on the navigation broadcast point of the standard-refined map according to the navigation broadcast conflict handling strategy includes:

[0014] Based on the aforementioned precision map navigation broadcast conflict handling strategy, determine whether to broadcast the precision map navigation broadcast point;

[0015] If it is determined that the standard map navigation broadcast point is to be broadcast, then the broadcast content of the standard map navigation broadcast point will be broadcast within the broadcast interval of the standard map navigation broadcast point;

[0016] If it is determined that the specified high-precision map navigation point should not be broadcast, then the specified high-precision map navigation point should be discarded.

[0017] Optionally, the step of performing navigation fusion broadcast processing on the assisted driving navigation fusion broadcast point based on whether or not the assisted driving information of the vehicle provided by the assisted driving system is obtained includes:

[0018] If the assisted driving information is not obtained, the assisted driving navigation fusion broadcast point is discarded;

[0019] If the assisted driving information is obtained, the broadcast content of the assisted driving navigation fusion broadcast point is updated according to the assisted driving information, and the updated broadcast content of the assisted driving navigation fusion broadcast point is broadcast within the broadcast range of the assisted driving navigation fusion broadcast point.

[0020] Optionally, the method further includes:

[0021] Send a first policy update request to the server. The first policy update request is used to request an update to the precision map navigation broadcast conflict handling policy.

[0022] Receive the first policy update response returned by the server;

[0023] If the first strategy update response carries a new standard-refinement map navigation broadcast conflict handling strategy, then the new standard-refinement map navigation broadcast conflict handling strategy will replace the standard-refinement map navigation broadcast conflict handling strategy.

[0024] Optionally, the acquisition of assisted driving navigation broadcast points, assisted driving navigation fusion broadcast points, and precision map navigation broadcast points along the navigation route includes:

[0025] Based on the assisted driving voice broadcast strategy and the navigation route, assisted driving navigation broadcast points and assisted driving navigation fusion broadcast points are generated on the navigation route;

[0026] Based on the navigation route, obtain the high-precision map navigation broadcast points along the navigation route from the server.

[0027] Optionally, the method further includes:

[0028] Send a second policy update request to the server, the second policy update request being used to request an update to the assisted driving voice broadcast policy;

[0029] Receive the second policy update response returned by the server;

[0030] If the second strategy update response carries a new assisted driving voice broadcast strategy, then the new assisted driving voice broadcast strategy is used to replace the assisted driving voice broadcast strategy.

[0031] Optionally, the precision map navigation broadcast points include at least one of the following:

[0032] The navigation voice broadcast points include standard navigation broadcast points, navigation voice broadcast points for road sections with special road attributes, and voice broadcast points for navigation route information services.

[0033] Optionally, the method further includes:

[0034] During navigation, if a dynamic information navigation broadcast point is obtained, the broadcast content of the dynamic information navigation broadcast point will be broadcast within the broadcasting range of that dynamic information navigation broadcast point.

[0035] The dynamic information includes at least one of the following: weather, road conditions, and events.

[0036] Secondly, this application provides a navigation device, the device comprising:

[0037] The processing unit is used to enter the assisted driving navigation mode in response to the vehicle's assisted driving mode activation command;

[0038] The acquisition unit is used to acquire assisted driving navigation broadcast points, assisted driving navigation fusion broadcast points, and precision map navigation broadcast points on the navigation route; the assisted driving navigation fusion broadcast points are used to broadcast navigation voice containing assisted driving information provided by the assisted driving system;

[0039] The broadcasting unit is used to perform navigation fusion broadcasting processing based on the assisted driving navigation broadcasting points, the assisted driving navigation fusion broadcasting points, and the precision map navigation broadcasting points during navigation.

[0040] Thirdly, this application provides an electronic device, including: a processor and a memory; the processor and the memory are communicatively connected.

[0041] The memory stores computer-executed instructions;

[0042] The processor executes computer execution instructions stored in the memory to implement the method as described in any of the first aspects.

[0043] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any of the first aspects.

[0044] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the method described in any of the first aspects.

[0045] The navigation method, device, equipment, and program products provided in this application introduce assisted driving navigation broadcast points and assisted driving navigation fusion broadcast points containing assisted driving information provided by the assisted driving system, based on the calibrated map navigation broadcast points. This enables navigation fusion broadcast processing based on these three types of broadcast points. This method can optimize navigation broadcast under assisted driving, achieving simplicity, effectiveness, and convenience, avoiding invalid / redundant broadcasts, and allowing users to focus on effective information, thereby meeting the navigation broadcast requirements of "human and vehicle co-guidance". Attached Figure Description

[0046] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the structure of a possible navigation system;

[0048] Figure 2 A flowchart illustrating a navigation method provided in an embodiment of this application;

[0049] Figure 3 This is a schematic diagram of another possible navigation system.

[0050] Figure 4 A flowchart illustrating another navigation method provided in an embodiment of this application;

[0051] Figure 5This is a schematic diagram of the structure of a navigation device provided in an embodiment of this application;

[0052] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0053] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] With the development of vehicle intelligence technology, the level of vehicle participation in driving is constantly increasing. In some vehicles, under assisted driving conditions, the driver changes from a human to a human + vehicle, where the "vehicle" is the driving subject and the human is the driving supervisor. This driving mode is also called vehicle-drive mode. In some embodiments, assisted driving state is also called assisted driving mode. In this application embodiment, vehicle-drive mode, assisted driving state, and assisted driving mode have the same meaning and are not distinguished.

[0056] The form of in-vehicle navigation systems has also been upgraded from "human-guided" to "human-vehicle co-guided" to support the high-precision navigation needs of assisted driving. That is, in addition to the original standard definition (SD) map navigation function, the navigation system has added high definition (HD) map navigation function to achieve assisted driving navigation through HD map navigation, i.e., "human-vehicle co-guided". In some embodiments, assisted driving navigation can also be referred to as HD map navigation. In this application embodiment, assisted driving navigation and HD map navigation are equivalent concepts, and other terms involving these two concepts have the same meaning, which are not distinguished in this application. For example, the assisted driving navigation broadcast points mentioned later can also be referred to as HD map navigation broadcast points.

[0057] Figure 1 This is a schematic diagram of a possible navigation system. Figure 1 As shown, a navigation system may include, for example, a human-machine interface (HMI), an SD navigation module, an HD navigation module, and an interaction layer.

[0058] HMI is used to enable interaction with the outside world.

[0059] The interaction layer is used to realize the communication interaction between the SD navigation module and the HMI, as well as the communication interaction between the HD navigation module and the HMI.

[0060] The SD navigation module is used to provide SD map navigation services (i.e., "guide people") for the navigation system. In some embodiments, the SD navigation module may also be called the SD map navigation module, or, in other words, a module that uses SD maps to implement navigation functions.

[0061] The HD navigation module provides assisted driving navigation services (i.e., "human-vehicle co-navigation") for the navigation system. That is, the HD navigation module provides navigation services when in assisted driving mode. In some embodiments, the HD navigation module may also be called an HD map navigation module, or an assisted driving navigation module, or a module that uses HD maps to implement assisted driving navigation functions.

[0062] It should be noted that the above Figure 1 The division of the navigation system shown is merely illustrative, and this application does not limit the division of the parts or the naming of the parts.

[0063] Navigation alert points refer to different types of navigation alerts created during navigation based on the navigation alert strategy and the distance from the vehicle to the designated intersection. These alerts include the alert content and the alert range. Thus, during navigation, when the vehicle is within the alert range corresponding to a particular navigation alert point, that alert point will be announced. The designated intersection here refers to an intersection in the navigation route where the vehicle needs to perform a turning maneuver.

[0064] Currently, when navigation systems guide users, the navigation points mainly include the following types, or in other words, the navigation points for SD maps include the following types:

[0065] SD navigation voice broadcast points, navigation voice broadcast points for road sections with special road attributes, and voice broadcast points for navigation route information services.

[0066] Among them, SD navigation broadcast points may include, for example:

[0067] Advance broadcast points: Broadcast intervals are points relatively far from intersections, used to warn users in advance which action they will take at which intersection ahead. For example, the broadcast content might be: "Turn right in XX meters." Generally, different road classifications correspond to different broadcast intervals. For example, 30-50 meters from the intersection.

[0068] Confirm broadcast points: Broadcast areas are those closest to the intersection to alert users that they are about to pass through the intersection and the action to be taken, such as turning right. Generally, different road classes correspond to different broadcast areas.

[0069] Post-intersection announcement: A voice announcement after passing a specific location, such as "ding," to notify the user that they have passed the intersection.

[0070] The navigation voice broadcast point for road sections with special road attributes is used to broadcast information about road sections with special road attributes that the user is about to pass through. These special road sections include, for example, schools and railway crossings, to remind the user to keep an eye on the road conditions and ensure driving safety.

[0071] Voice broadcast points for navigation route information services are used to broadcast global information about the navigation route, service area information along the route, and other information that affects trip planning. Global information about the navigation route may include, for example, distance in meters, estimated travel time, and the places it will pass through.

[0072] As can be seen from the above-mentioned broadcast points, the navigation broadcast strategy during the "guided" phase is based on the thinking and logic of the guide. However, when the "car" becomes the driving subject and the person becomes the driving supervisor, if the navigation broadcast strategy for assisting driving navigation is still based on the thinking and logic of the guide, some invalid or redundant navigation broadcast points will exist. This makes it difficult for users to focus on the effective information and fails to meet the navigation broadcast needs of "co-guidance between people and vehicles". For example, a subsequent broadcast point is a prompt for the user's behavior; when the "car" becomes the driving subject, this navigation broadcast point becomes an invalid or redundant navigation broadcast point.

[0073] In addition, the navigation system has added HD navigation functionality to its original SD navigation capabilities. That is, an HD navigation module has been newly introduced on top of the SD navigation module. Therefore, some external interaction functions are retained in the SD navigation module and not separately built on the HD navigation module. This means that when the navigation system provides navigation services through the HD navigation module, the SD navigation module is also simultaneously active. In this situation, if the vehicle's location simultaneously meets the requirements of both SD map navigation and assisted driving navigation, outputting both navigation broadcasts at the same time will result in many invalid / redundant broadcasts during the navigation process.

[0074] In assisted driving mode, the "vehicle" acts as the driving entity, and the human acts as the supervisor of the driving system. Navigation focuses primarily on the following aspects:

[0075] (1) Based on the turning action of the route, let the user establish an expectation of the route;

[0076] (2) Road sections with special road attributes that will be passed through;

[0077] (3) Dynamic information, such as weather, road conditions, and events. This information may affect the safe operation of the driver assistance system. Once the system status or stability changes, it is convenient for the user to intervene and take over in a timely manner.

[0078] (4) Navigation route information services, such as global information about the navigation route and information about service areas along the navigation route that affect trip planning.

[0079] (5) Assisted driving system decision events mainly include two categories: lane change / steering based on route steering actions; and non-fixed timing behaviors determined by the assisted driving system strategy, such as overtaking slower vehicles or priority entry into the fast lane.

[0080] In view of this, this application provides a navigation method that, based on the navigation broadcast points on the high-precision map, introduces assisted driving navigation broadcast points, as well as assisted driving navigation fusion broadcast points containing assisted driving information provided by the assisted driving system. This enables navigation fusion broadcast processing based on these three types of broadcast points. This method can optimize navigation broadcast under assisted driving, achieving simplicity, effectiveness, and convenience, avoiding invalid / redundant broadcasts, and allowing users to focus on effective information, thereby meeting the navigation broadcast requirements of "human and vehicle co-guidance".

[0081] Among these, assisted driving navigation broadcast points may include, for example, voice broadcast points at intersections along the navigation route generated based on assisted driving needs. Assisted driving navigation broadcast points may be categorized as, for example, as, advance warning broadcast points and confirmation broadcast points.

[0082] The assisted driving navigation fusion broadcast point is used to broadcast navigation voice messages containing assisted driving information provided by the assisted driving system. The content broadcast by the assisted driving navigation fusion broadcast point can be assisted driving information provided by the assisted driving system, or it can be information fused with assisted driving navigation information, depending on the vehicle's current location. It should be understood that the vehicle's assisted driving information is used to characterize the vehicle's assisted driving system decision events (such as lane change decisions).

[0083] SD map navigation points of interest may include at least one of the following:

[0084] (1) Precise navigation broadcast points, such as the aforementioned forecast broadcast points, confirmation broadcast points, and subsequent broadcast points.

[0085] (2) Navigation voice broadcast points for road sections with special road attributes, such as schools, railway gates, etc.;

[0086] (3) Voice broadcast points for navigation route information services, such as voice broadcast points for global information of navigation routes, voice broadcast points for service area information involved in navigation routes, etc.

[0087] The execution entity of this application embodiment can be the HD navigation module in the aforementioned navigation system.

[0088] It should be understood that the navigation system mentioned herein may be, for example, an app-based navigation system that can be installed on an electronic device such as an in-vehicle terminal or in-vehicle central control unit. The navigation system may also be a physical device that integrates or installs the relevant code executing the embodiments of this application, such as an in-vehicle terminal or in-vehicle central control unit.

[0089] The technical solutions of this application will be described in detail below with reference to specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0090] Figure 2 This is a flowchart illustrating a navigation method provided in an embodiment of this application. Figure 2 As shown, the method may include the following steps:

[0091] S101. In response to the vehicle's assisted driving mode activation command, enter assisted driving navigation mode.

[0092] That is, when the vehicle is in driving mode, the HD navigation module enters navigation mode, or in other words, the HD navigation module enters assisted driving navigation mode.

[0093] For example, the driver may enter the driver assistance navigation mode after receiving a "driver assistance mode activation command" sent by the vehicle's driver assistance system through the HMI, or it may enter the driver assistance navigation mode after receiving a "driver assistance mode activation command" input by the user through the HMI. This application does not limit the recipient of the aforementioned driver assistance mode activation command.

[0094] S102. Obtain the assisted driving navigation broadcast points, assisted driving navigation fusion broadcast points, and high-precision map navigation broadcast points on the navigation route.

[0095] One possible implementation is that all the aforementioned navigation points are generated by the server, which could be a cloud-based server. In this implementation, after entering assisted driving navigation mode, the server can retrieve assisted driving navigation points, assisted driving navigation fusion points, and precision map navigation points along the navigation route.

[0096] For example, it could be that the assisted driving navigation points, assisted driving navigation fusion points, and high-precision map navigation points along the navigation route are obtained directly from the server; alternatively, it could be that the assisted driving navigation points, assisted driving navigation fusion points, and high-precision map navigation points along the navigation route are obtained from the server through the SD navigation module of the navigation system; or it could be that the assisted driving navigation points and assisted driving navigation fusion points along the navigation route are obtained from the server, and the high-precision map navigation points along the navigation route are obtained from the server through the SD navigation module of the navigation system. The specific method depends on whether the HD navigation module has the ability to interact with the server.

[0097] Optionally, the server corresponding to the HD navigation module and the server corresponding to the SD navigation module can be the same or different servers. For example, the server corresponding to the HD navigation module can be a server that provides HD map navigation services, and the server corresponding to the SD navigation module can be a server that provides SD map navigation services.

[0098] Another possible implementation involves generating assisted driving navigation points and assisted driving navigation fusion points based on the navigation route, and obtaining the refined map navigation points from the server. For example, the refined map navigation points can be obtained from the server corresponding to the SD navigation module of the navigation system.

[0099] For example, the HD navigation module can generate assisted driving navigation broadcast points and assisted driving navigation fusion broadcast points based on the assisted driving voice broadcast strategy and the navigation route. This assisted driving voice broadcast strategy can, for example, be used to characterize the voice broadcast points that need to be configured at each intersection. Different intersections can have different assisted driving voice broadcast strategies, or the same type of intersection can have the same assisted driving voice broadcast strategy; the specific settings can be configured according to individual needs.

[0100] It should be noted that since the assisted driving navigation fusion broadcast points are used to broadcast navigation voice containing assisted driving information provided by the assisted driving system, and the assisted driving information is generated by the assisted driving system during the actual driving of the vehicle, multiple assisted driving navigation fusion broadcast points can be pre-generated based on various possible assisted driving information. Alternatively, in the broadcast content of the pre-generated assisted driving navigation fusion broadcast points, the fields related to the assisted driving information are temporarily not filled.

[0101] Optionally, the driver assistance voice broadcast strategy can be pre-configured in the HD navigation module. That is, the driver assistance voice broadcast strategy is set in the navigation system's release package and updated along with the release package. In another possible implementation, the driver assistance voice broadcast strategy can also be updated dynamically.

[0102] For example, the HD navigation module can also perform the following steps: First, send a second policy update request to the server, the second policy update request being used to request an update to the assisted driving voice broadcast policy; second, receive a second policy update response returned by the server; if the second policy update response carries a new assisted driving voice broadcast policy, then the new assisted driving voice broadcast policy is used to replace the standard map navigation broadcast conflict handling policy. If the policy update response does not carry any information, then no update operation is required.

[0103] In specific implementation, the second strategy update request may carry the version identifier of the assisted driving voice broadcast strategy currently deployed in the HD navigation module, which is used to represent the version of the assisted driving voice broadcast strategy currently deployed in the HD navigation module. Alternatively, the server may pre-record the version of the assisted driving voice broadcast strategy to be distributed to the HD navigation module, so that when the HD navigation module requests to update the assisted driving voice broadcast strategy, the server can determine whether there is a new version of the assisted driving voice broadcast strategy that can be distributed.

[0104] Alternatively, the server can send the latest version of the assisted driving voice broadcast strategy stored on it to the HD navigation module. The HD navigation module can then determine which version of the assisted driving voice broadcast strategy is higher, the one stored on it or the one sent, and select the higher version for use.

[0105] It should be understood that the server for updating the voice broadcast strategy for assisted driving mentioned here may be the same as or a different server from the server that can issue broadcast points mentioned above, depending on the settings. This application does not limit this.

[0106] The embodiments of this application do not limit the method of obtaining navigation routes, and the specific method can be related to the settings of the navigation system.

[0107] For example, the aforementioned assisted driving mode activation command can carry the waypoints and destination for this navigation. Alternatively, it can be obtained through secondary interaction with the sending object after receiving the activation command; this application is not limited to this. Accordingly, the vehicle's current location can be obtained based on the location signal sent by the vehicle's positioning device, and thus, based on the vehicle's current location, as well as the navigation waypoints and destination, the vehicle's navigation route can be obtained. Alternatively, the navigation system may have already obtained the navigation route in advance.

[0108] For example, before receiving the activation command, the system interacts with the SD navigation module to obtain the SD navigation route generated by the SD navigation module based on the navigation start point, waypoints, and destination, combined with the SD road network. After entering the assisted driving navigation mode, the obtained SD navigation route is converted into an HD navigation route as the current navigation route.

[0109] It should be understood that in obtaining the above navigation route, the navigation waypoints are optional and depend on the user's navigation needs.

[0110] Taking intersections as an example, based on the lane connectivity of the current navigation route, the system can work backward from the end point to the beginning point of the navigation route to determine the target lane for the vehicle at each intersection along the route. Then, for each intersection type (whether it's a three-way intersection, an intersection affected by a long solid line, an intersection affected by a dashed and solid line, a roundabout, a dedicated left / right turn lane, or a regular turning intersection), combined with the assisted driving voice broadcast strategy, it generates assisted driving navigation broadcast points and assisted driving navigation fusion broadcast points for each intersection. For example, there are advance broadcast points, confirmation broadcast points, and assisted driving navigation fusion broadcast points for each intersection.

[0111] To address changes in lane connectivity, based on high-precision lane data such as lane connectivity, number of lanes, and lane type, it can be determined whether scenarios such as merging, narrowing, and converging at intersections need to be created. If so, the corresponding scenarios can be created, along with corresponding driver assistance navigation alerts at the intersections. For example, the alert message could be something like, "Caution: Vehicles merging from the right ahead."

[0112] S103. During navigation, navigation fusion broadcast processing is performed based on the assisted driving navigation broadcast points, the assisted driving navigation fusion broadcast points, and the standard map navigation broadcast points.

[0113] (1) For the assisted driving navigation broadcast points to be announced:

[0114] For example, the broadcast content of the assisted driving navigation point can be broadcast within its designated broadcast range. Alternatively, it can be first determined whether there are any SD map navigation points that conflict with the assisted driving navigation point to be broadcast. If so, a conflict resolution strategy between the assisted driving navigation point and the SD map navigation point can be used to determine whether to broadcast the assisted driving navigation point or the SD map navigation point. If one is determined to be broadcast, the other is discarded.

[0115] In other words, the conflict handling strategy between the assisted driving navigation beacons and the SD map navigation beacons is used to characterize the type of voice beacons that need to be filtered out when there is a conflict between the two. Different intersections can have different conflict handling strategies, or the same conflict handling strategy can be used for intersections of the same type. The specific strategy can be set according to your own needs.

[0116] (2) For the SD map navigation broadcast points to be broadcast:

[0117] For example, it can be first determined whether there are any assisted driving navigation points that conflict with the SD map navigation point to be broadcast. If so, it can be determined whether to broadcast the assisted driving navigation point or the SD map navigation point, based on the pre-configured conflict handling strategy between assisted driving navigation points and SD map navigation points. When it is determined that one should be broadcast, the other is discarded.

[0118] For example, navigation fusion can be performed on the SD map navigation broadcast conflict handling strategy. The SD map navigation broadcast conflict handling strategy mentioned here is used to indicate the types of SD map navigation broadcast points that can be broadcast, or in other words, to indicate the types of SD map navigation broadcast points that need to be filtered out.

[0119] For example, the decision on whether to broadcast the SD map navigation broadcast point can be made according to the SD map navigation broadcast conflict handling strategy. If it is determined that the SD map navigation broadcast point should be broadcast, the broadcast content of the SD map navigation broadcast point will be broadcast within the broadcast interval of the SD map navigation broadcast point. If it is determined that the SD map navigation broadcast point should not be broadcast, the SD map navigation broadcast point will be discarded, or the broadcast content of the SD map navigation broadcast point will be merged into other navigation broadcast points for broadcast.

[0120] It should be noted that in the conflict handling strategy of SD map navigation broadcast, different intersections can have different conflict handling strategies, or the same conflict handling strategy can be used for intersections of the same type. You can set it according to your own needs.

[0121] For example, in the SD map navigation broadcast conflict handling strategy, apart from broadcast points in the SD navigation broadcast points that need to be filtered, all other types of broadcast points in the SD map navigation broadcast points are considered content that needs to be broadcast. This is done by combining lane-level connectivity and the vehicle's current lane to provide corresponding broadcasts, better meeting the user's information accessibility and understanding in a driving environment. This method can filter out redundant and invalid broadcasts in the SD navigation voice broadcasts while retaining information useful to the user in assisted driving scenarios. Furthermore, filtering broadcast content through the conflict handling strategy makes control more convenient and effective.

[0122] Optionally, the SD map navigation broadcast conflict handling strategy can be pre-configured in the HD navigation module. That is, the SD map navigation broadcast conflict handling strategy is set in the navigation system's release package and updated along with the release package. In another possible implementation, the SD map navigation broadcast conflict handling strategy can also be updated dynamically.

[0123] For example, the HD navigation module can also perform the following steps: First, send a first policy update request to the server, the first policy update request being used to request an update to the SD map navigation broadcast conflict handling policy; second, receive a first policy update response returned by the server; if the first policy update response carries a new SD map navigation broadcast conflict handling policy, then the new SD map navigation broadcast conflict handling policy replaces the standard-precision map navigation broadcast conflict handling policy. If the policy update response does not carry any information, then no update operation is required.

[0124] In specific implementation, the first strategy update request may carry the version identifier of the SD map navigation broadcast conflict handling strategy currently deployed in the HD navigation module, which is used to identify the version of the SD map navigation broadcast conflict handling strategy currently deployed in the HD navigation module. Alternatively, the server may pre-record the version of the SD map navigation broadcast conflict handling strategy distributed to the HD navigation module, so that when the HD navigation module requests to update the SD map navigation broadcast conflict handling strategy, the server can determine whether there is a new version of the SD map navigation broadcast conflict handling strategy that can be distributed.

[0125] Alternatively, the server can send the latest version of the SD map navigation broadcast conflict handling strategy stored on it to the HD navigation module. The HD navigation module can then determine which version of the conflict handling strategy is higher, the one stored on it or the one sent, and select the higher version of the SD map navigation broadcast conflict handling strategy for use.

[0126] It should be understood that the server mentioned here for updating the SD map navigation broadcast conflict handling strategy can be the same as or a different server mentioned above that can send broadcast points. This depends on the settings and is not limited in this application.

[0127] As mentioned earlier, when the navigation system provides navigation services through the HD navigation module, the SD navigation module is also simultaneously operational. At this time, if the vehicle's location simultaneously meets the requirements of both SD and HD map navigation broadcast points, both SD and HD navigation broadcasts will be output concurrently, resulting in numerous invalid / redundant broadcasts during navigation. This application addresses this issue by setting an SD map navigation broadcast conflict handling strategy on the HD navigation module side. The HD navigation module then filters the SD map navigation broadcast points from the SD navigation module based on this strategy to avoid conflicts between SD and HD navigation broadcasts, thereby further reducing invalid / redundant broadcasts.

[0128] (3) For the assisted driving navigation fusion broadcast points to be broadcast:

[0129] Depending on whether the vehicle's assisted driving information provided by the assisted driving system is obtained, navigation fusion broadcasting can be performed on the assisted driving navigation fusion broadcasting point.

[0130] For example, if multiple assisted driving navigation fusion broadcast points are pre-generated based on various possible assisted driving information, then for a assisted driving navigation fusion broadcast point to be broadcast, it can be first determined whether the assisted driving information has been obtained. If the assisted driving information has not been obtained, the assisted driving navigation fusion broadcast point is discarded; if the assisted driving information has been obtained, then, based on the assisted driving information, an assisted driving navigation fusion broadcast point matching the assisted driving information is selected from the assisted driving navigation fusion broadcast points to be broadcast, and the broadcast content of the assisted driving navigation fusion broadcast point is broadcast within the broadcast interval of that assisted driving navigation fusion broadcast point.

[0131] For example, if the fields related to assisted driving information in the pre-generated assisted driving navigation fusion broadcast content are temporarily unfilled, then for the assisted driving navigation fusion broadcast point to be broadcast, if the assisted driving information is not obtained, the assisted driving navigation fusion broadcast point is discarded; if the assisted driving information is obtained, then the broadcast content of the assisted driving navigation fusion broadcast point is updated according to the assisted driving information, and the updated broadcast content of the assisted driving navigation fusion broadcast point is broadcast within the broadcast interval of the assisted driving navigation fusion broadcast point.

[0132] In other words, by pre-acquiring assisted driving navigation points, assisted driving navigation fusion points, and high-precision map navigation points, these points can be fused and broadcast during subsequent real-time navigation. For example, SD map navigation points can be filtered by point type, retaining only a portion. Additionally, information such as decision event types and lane change directions included in the assisted driving information provided by the assisted driving system can be combined with forward steering actions for fusion broadcasting.

[0133] For example, for intersection scenarios, the following types of assisted driving navigation broadcast points and assisted driving navigation fusion broadcast points can be pre-generated.

[0134] Scenario 1: Non-action intersection. That is, an intersection where no steering action is required. In this scenario, since the vehicle does not need to perform a steering action, the assisted driving navigation fusion broadcast point for this intersection can be pre-generated.

[0135] In this way, when the vehicle subsequently receives assisted driving information from the assisted driving system indicating that it needs to perform a lane change before passing through the intersection, it can broadcast assisted driving navigation fusion announcements based on the assisted driving information provided by the assisted driving system. For example, "Changing lanes to the right, about to turn right."

[0136] If no assisted driving information is subsequently received from the assisted driving system, it means that the vehicle does not perform a steering action at the intersection and does not need to perform a lane change action before passing through the intersection. In other words, the vehicle does not need to perform any action, so the assisted driving navigation fusion broadcast point can be discarded and no broadcast can be made.

[0137] Scenario 2: Intersections requiring a turning maneuver. This refers to intersections where a turning maneuver is required, such as a left or right turn.

[0138] In this scenario, since the vehicle needs to perform a steering maneuver, assisted driving navigation fusion broadcast points for the intersection can be generated in advance. These assisted driving navigation broadcast points can include: advance broadcast points announcing the upcoming passage through the intersection, and confirmation broadcast points confirming that the vehicle is about to pass through the intersection.

[0139] Thus, when the driver assistance system subsequently receives driver assistance information indicating that the vehicle needs to change lanes before passing the intersection, it can broadcast the corresponding content within the broadcast interval of the advance warning broadcast point. For example, "Turn right in XX meters," the broadcast content corresponding to the driver assistance navigation fusion broadcast point will be broadcast within the broadcast interval of that broadcast point. For example, "Changing lanes to the right, about to turn right," the broadcast content corresponding to the confirmation broadcast point will be broadcast within the broadcast interval of that confirmation broadcast point. For example, "Turn right."

[0140] It should be understood that, generally speaking, for an intersection, the broadcast range of the assisted driving navigation integrated broadcast point can be located between the broadcast range of the advance broadcast point and the broadcast range of the confirmation broadcast point. The broadcasts are arranged in order of distance from the intersection, from farthest to closest: advance broadcast point, assisted driving navigation integrated broadcast point, confirmation broadcast point.

[0141] If no assisted driving information is subsequently received from the assisted driving system, it means that the vehicle only performs a steering action at the intersection and does not need to perform a lane change action before passing through the intersection. In this case, the assisted driving navigation fusion broadcast point can be discarded, and only the assisted driving navigation fusion broadcast point can be broadcast.

[0142] Through the above methods, comprehensive announcements can be made based on the vehicle's status, lane-changing decisions made by the assisted driving system, and other factors. Specifically, by integrating the vehicle's assisted driving information, after the maneuver execution phase at the intersection (i.e., the timing of the lane change), the navigation voice announcements can be comprehensively delivered, combining information such as the type of decision-making event provided by the vehicle's assisted driving information, the direction of the lane change, and the assisted driving navigation announcement points. This allows users to promptly understand the vehicle's current status, enabling them to focus on relevant information and thus meeting the "human-vehicle co-guidance" navigation announcement needs.

[0143] In addition, this solution can filter SD map navigation points by point type, retaining some points and more effectively removing redundant information.

[0144] It should be understood that the above is only an example of how to handle intersections and does not exhaustively cover all scenarios in actual navigation. When other scenarios exist, navigation fusion broadcasting can also be performed by combining assisted driving navigation broadcasting points, assisted driving navigation fusion broadcasting points, and high-precision map navigation broadcasting points.

[0145] Optionally, during navigation, if a dynamic information navigation broadcast point is obtained, the broadcast content of the dynamic information navigation broadcast point is broadcast within the broadcast interval of that dynamic information navigation broadcast point; the dynamic information includes at least one of the following: weather, road conditions, and events.

[0146] Dynamic information navigation points can be processed differently depending on the specific information. For example, weather-related points can be issued by the server, including weather forecasts and confirmations. For road conditions and events, points can be issued by the server, or the server can issue "starting location, ending location, and affected lanes," with the HD navigation module generating the navigation points. One possible implementation is that for detailed road conditions or events (i.e., those with "starting location, ending location, and affected lanes"), the HD navigation module can generate them automatically. For less detailed road conditions or events (e.g., those with "starting location, ending location, and unaffected lanes"), the server can issue the points. The specific method for generating the points can be chosen based on actual needs.

[0147] In practice, the HD navigation module can interact with the server through the SD navigation module. It should be understood that the server mentioned here may be the same as or a different server involved in the aforementioned embodiments, depending on the settings; this application does not impose any limitations on this.

[0148] Furthermore, as mentioned earlier, the navigation system has added HD navigation functionality to its original SD navigation capabilities. That is, an HD navigation module has been newly introduced on top of the SD navigation module. One possible implementation is that the HD navigation module performs the announcements. Therefore, in the above embodiments, the announcement actions can be performed automatically by the HD navigation module.

[0149] Another possible implementation is that the HD navigation module's announcements are performed by the SD navigation module. In this implementation, the announcement actions in the above embodiments can be delegated to the SD navigation module.

[0150] The navigation method provided in this application introduces assisted driving navigation broadcast points and assisted driving navigation fusion broadcast points containing assisted driving information provided by the assisted driving system, based on the calibrated map navigation broadcast points. This enables navigation fusion broadcast processing based on these three types of broadcast points. This method can optimize navigation broadcast under assisted driving, achieving simplicity, effectiveness, and convenience, avoiding invalid / redundant broadcasts, and allowing users to focus on effective information, thereby meeting the navigation broadcast requirements of "human and vehicle co-guidance".

[0151] Figure 3 Here is a schematic diagram of another possible navigation system, shown below. Figure 3 Taking the structure of the navigation system shown as an example, the method of this application embodiment will be illustrated through a specific example:

[0152] In this example, the HD navigation module can generate assisted driving navigation broadcast points and assisted driving navigation fusion broadcast points along the navigation route based on the assisted driving voice broadcast strategy. Additionally, it can filter the SD map navigation broadcast points generated by the SD navigation module based on the SD map navigation broadcast conflict handling strategy.

[0153] The SD map navigation points for the SD navigation module are generated by the cloud-based broadcast service and then distributed to the SD navigation module. It supports adding, deleting, and modifying broadcast scripts. Additionally, the SD navigation module is responsible for external interaction, obtaining dynamic information navigation points. Furthermore, the SD navigation module has a voice pool, which stores the navigation points to be broadcast as determined by the SD and HD navigation modules. The SD navigation module then broadcasts these points sequentially based on their broadcast intervals, priorities, and other parameters from the voice pool.

[0154] HMI is used to implement navigation based on the command to activate the assisted driving mode, and to implement the final navigation voice output by calling the HD navigation module through the interaction layer, and through the set Text to Speech (TTS) module.

[0155] In this example, the driving voice broadcast strategy is represented by an assisted driving voice configuration table, and the SD map navigation broadcast conflict handling strategy is represented by an SD voice conflict configuration table. The positioning device (POS) that provides the positioning signal can be part of the navigation system or a hardware entity independent of the navigation system.

[0156] Figure 4 This is a flowchart illustrating another navigation method provided in an embodiment of this application. The following uses... Figure 3 The following examples illustrate how navigation is implemented, using each module as an example. In these examples, the interaction layer is abbreviated as BL, such as... Figure 4 As shown, the method may include the following steps:

[0157] Step 1: BL sends an assisted driving mode activation command to the HD navigation module to enable the HD navigation module to enter assisted driving navigation mode, or in other words, to set the HD navigation module to enter assisted driving broadcast mode.

[0158] Step 2: The HD navigation module loads the assisted driving voice configuration table and the SD voice conflict configuration table.

[0159] Step 3: Set up the voice observer in the HD navigation module.

[0160] For example, the HD navigation module registers a voice callback observer with the SD navigation module. This way, when the SD navigation module has a SD map navigation point to be broadcast, it will first query the HD navigation module to see if the point can be broadcast.

[0161] Step 4: Create an HD road network using the HD navigation module.

[0162] Taking the example of obtaining the SD navigation route generated by the SD navigation module based on the starting point and destination of the navigation and the SD road network through interaction with the SD navigation module, the HD navigation module can convert the obtained SD navigation route into an HD navigation route as the current navigation route when creating the HD road network.

[0163] Step 5: Create a broadcast scene using the HD navigation module.

[0164] For example, traffic signals can be set for moving intersections, non-moving intersections, roundabouts, bus lanes, carpool lanes or high-occupancy vehicle lanes (HOV lanes), merging, converging, and exiting the main road. The specific settings can be configured according to actual broadcast requirements.

[0165] Step 6: Based on the broadcast scenario and the assisted driving voice configuration table, the HD navigation module generates assisted driving navigation broadcast points and assisted driving navigation fusion broadcast points for the navigation route.

[0166] For example, based on the lane connectivity of the current navigation route, the system can work backward from the end point to the beginning point of the navigation route to determine the target lane for the vehicle at each intersection along the route. Then, for each intersection type (whether it's a three-way intersection, an intersection affected by a long solid line, an intersection affected by a dashed and solid line, a roundabout, a dedicated left / right turn lane, or a regular turning intersection), the system configures whether to merge into the target lane based on different scenarios. Combining this with the assisted driving voice configuration table, the system generates assisted driving navigation broadcast points and assisted driving navigation fusion broadcast points for each intersection.

[0167] To address changes in lane connectivity, we can use high-precision lane data, including lane connectivity, number of lanes, and lane type, to determine whether it's necessary to create scenarios such as merging, narrowing, and converging at intersections. If so, we can create the corresponding scenarios and corresponding navigation alerts at the intersections. For example, the alert might include a warning about vehicles merging from the right ahead.

[0168] For example, the system can sequentially traverse lane connectivity, number of lanes, lane type, etc., to determine whether the aforementioned scenario exists, in order to create the scenario, as well as generate assisted driving navigation broadcast points and assisted driving navigation fusion broadcast points, etc.

[0169] It should be understood that after the HD navigation module enters the assisted driving navigation mode, that is, after step 1 and before step 7, the SD navigation module will also obtain the SD map navigation broadcast points for the navigation route from the server. This part is not shown in the figure.

[0170] Step 7: The POS sends a positioning signal to the HD navigation module.

[0171] Step 8: BL sends the vehicle's assisted driving information sent by the assisted driving system to the HD navigation module.

[0172] Step 9: The HD navigation module processes the positioning signal and provides driving assistance information.

[0173] For example, the HD navigation module determines the vehicle's location based on the positioning signal. Then, after determining the execution phase of the maneuvering action at the intersection (i.e., the timing of lane change at the intersection) based on the vehicle's location, the HD navigation module can combine information such as the type of decision-making event provided by the vehicle's assisted driving information and the direction of lane change to determine whether to broadcast the assisted driving navigation fusion broadcast point.

[0174] Step 10: The HD navigation module determines whether there is a voice message to be broadcast at the vehicle's location.

[0175] If there are voice prompts that need to be broadcast (i.e., assisted driving navigation broadcast points and assisted driving navigation fusion broadcast points), then the broadcast points that need to be broadcast are transmitted to the voice pool of the SD navigation module.

[0176] It should be understood that step 10 can be a step that the HD navigation module repeatedly executes during the navigation process.

[0177] Accordingly, during this process, the SD navigation module will also perform the following steps:

[0178] Step 11: The POS sends a positioning signal to the SD navigation module.

[0179] It should be noted that there is no specific order between steps 11 and 7. For the same positioning signal, these two steps can be executed synchronously, that is, the POS sends the positioning signal to both the SD navigation module and the HD navigation module at the same time.

[0180] Step 12: The SD navigation module processes the positioning signal and determines whether there is a voice prompt that needs to be broadcast at the vehicle's location. That is, it calculates whether there is an SD map navigation broadcast point that needs to be broadcast.

[0181] If there is a voice message that needs to be broadcast (i.e., SD map navigation broadcast points), then proceed to step 13.

[0182] Step 13: Send the voice message to be played to the HD navigation module to determine whether to play it.

[0183] Step 14: The HD navigation module determines whether to play the voice message according to the SD voice conflict configuration table, and returns the result of whether the message can be played to the SD navigation module.

[0184] For example, if a point for SD map navigation of this type is not in the SD voice conflict configuration table, the result indicates that the voice can be played, and the SD navigation module adds the SD map navigation point for SD map navigation to the voice pool. If a point for SD map navigation of this type is in the SD voice conflict configuration table, the result indicates that the voice cannot be played, and the SD navigation module discards the voice.

[0185] In addition, the SD navigation module can asynchronously process the voice pool by polling the voice pool, sorting the voice points according to their broadcast intervals, priorities, etc. For a voice point that needs to be broadcast, it outputs its broadcast content (i.e., the voice string to be broadcast) to the BL in its broadcast interval, and the BL sends it to the TTS module for final broadcast.

[0186] The navigation method provided in this application introduces assisted driving navigation broadcast points and assisted driving navigation fusion broadcast points containing assisted driving information provided by the assisted driving system, based on the calibrated map navigation broadcast points. This enables navigation fusion broadcast processing based on these three types of broadcast points. This method can optimize navigation broadcast under assisted driving, achieving simplicity, effectiveness, and convenience, avoiding invalid / redundant broadcasts, and allowing users to focus on effective information, thereby meeting the navigation broadcast requirements of "human and vehicle co-guidance".

[0187] Figure 5 This is a schematic diagram of a navigation device provided in an embodiment of this application. Figure 5 As shown, the device includes a processing unit 21, an acquisition unit 22, and a broadcasting unit 23. Optionally, it also includes an update unit 24 and a transceiver unit 25. In specific implementations, this device can be applied, for example, to the aforementioned HD navigation module.

[0188] The processing unit 21 is used to enter the assisted driving navigation mode in response to the vehicle's assisted driving mode activation command.

[0189] The acquisition unit 22 is used to acquire assisted driving navigation broadcast points, assisted driving navigation fusion broadcast points, and precision map navigation broadcast points on the navigation route; the assisted driving navigation fusion broadcast points are used to broadcast navigation voice containing assisted driving information provided by the assisted driving system;

[0190] The broadcasting unit 23 is used to perform navigation fusion broadcasting processing based on the assisted driving navigation broadcasting points, the assisted driving navigation fusion broadcasting points, and the standard map navigation broadcasting points during the navigation process.

[0191] One possible implementation, broadcast unit 23, is specifically used for:

[0192] For the assisted driving navigation broadcast point to be broadcast, broadcast the broadcast content of the assisted driving navigation broadcast point within the broadcast interval of that assisted driving navigation broadcast point;

[0193] For a standard-precision map navigation broadcast point to be broadcast, navigation fusion broadcast processing is performed on the standard-precision map navigation broadcast point according to the standard-precision map navigation broadcast conflict handling strategy; the standard-precision map navigation broadcast conflict handling strategy is used to indicate the type of standard-precision map navigation broadcast point that can be broadcast.

[0194] For the assisted driving navigation fusion broadcast point to be broadcast, navigation fusion broadcast processing is performed on the assisted driving navigation fusion broadcast point based on whether the assisted driving information of the vehicle provided by the assisted driving system has been obtained.

[0195] For example, the broadcasting unit 23 is specifically used to determine whether to broadcast the standard map navigation broadcast point according to the standard map navigation broadcast conflict handling strategy; if it is determined to broadcast the standard map navigation broadcast point, the broadcast content of the standard map navigation broadcast point is broadcast in the broadcasting interval of the standard map navigation broadcast point; if it is determined not to broadcast the standard map navigation broadcast point, the standard map navigation broadcast point is discarded.

[0196] For example, the broadcasting unit 23 is specifically used to discard the assisted driving navigation fusion broadcast point if the assisted driving information is not obtained; if the assisted driving information is obtained, the broadcast content of the assisted driving navigation fusion broadcast point is updated according to the assisted driving information, and the updated broadcast content of the assisted driving navigation fusion broadcast point is broadcast in the broadcasting interval of the assisted driving navigation fusion broadcast point.

[0197] One possible implementation is that the update unit 24 is used to send a first policy update request to the server through the transceiver unit 25, the first policy update request being used to request an update to the standard-precision map navigation broadcast conflict handling policy; and to receive a first policy update response returned by the server through the transceiver unit 25; if the first policy update response carries a new standard-precision map navigation broadcast conflict handling policy, then the new standard-precision map navigation broadcast conflict handling policy is used to replace the standard-precision map navigation broadcast conflict handling policy.

[0198] One possible implementation is that the acquisition unit 22 is specifically used to generate assisted driving navigation broadcast points and assisted driving navigation fusion broadcast points on the navigation route according to the assisted driving voice broadcast strategy and the navigation route; and to obtain the standard and precise map navigation broadcast points on the navigation route from the server through the transceiver unit 25 according to the navigation route.

[0199] In one possible implementation, the updating unit 24 is further configured to send a second policy update request to the server via the transceiver unit 25, the second policy update request being used to request an update to the assisted driving voice broadcast policy; receive a second policy update response returned by the server via the transceiver unit 25; if the second policy update response carries a new assisted driving voice broadcast policy, then the new assisted driving voice broadcast policy is used to replace the assisted driving voice broadcast policy.

[0200] One possible implementation is that the high-precision map navigation broadcast points include at least one of the following: high-precision navigation broadcast points, navigation voice broadcast points for road segments with special road attributes, and voice broadcast points for the navigation route information service.

[0201] In one possible implementation, the broadcasting unit 23 is also used to broadcast the broadcast content of the dynamic information navigation broadcasting point within the broadcasting interval of the dynamic information navigation broadcasting point if a dynamic information navigation broadcasting point is obtained during the navigation process; the dynamic information includes at least one of the following: weather, road conditions, and events.

[0202] The navigation device provided in this application is used to execute the aforementioned method embodiments. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0203] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 6 The electronic device shown includes a memory 31, a processor 32, and a communication interface 33.

[0204] The memory 31, processor 32, and communication interface 33 are interconnected. For example, the memory 31, processor 32, and communication interface 33 can be connected via a network. Alternatively, the electronic device may also include a bus 34. The memory 31, processor 32, and communication interface 33 are interconnected via the bus 34. Figure 6 It is an electronic device in which the memory 31, processor 32, and communication interface 33 are connected to each other via bus 34.

[0205] The memory 31 can be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 31 can store programs (computer-executable instructions). When the program stored in the memory 31 is executed by the processor 32, the processor 32 and the communication interface 33 are used to execute the navigation method provided in this application.

[0206] The processor 32 may be a general-purpose central processing unit (CPU), microprocessor, application-specific integrated circuit (ASIC), graphics processing unit (GPU), or one or more integrated circuits.

[0207] Processor 32 can also be an integrated circuit chip with signal processing capabilities. In implementation, the function of the first node of this application can be accomplished through integrated logic circuits in the hardware of processor 32 or through software instructions. The aforementioned processor 32 can also be a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the following embodiments of this application. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the following embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory 31, and processor 32 reads information from memory 31 and, in conjunction with its hardware, completes the functions of the electronic device of this application.

[0208] Communication interface 33 uses transceiver modules, such as, but not limited to, transceivers, to enable communication between electronic devices and other devices or communication networks. For example, vehicle driver assistance information can be obtained through communication interface 33.

[0209] When the aforementioned electronic device includes a bus 34, the bus 34 may include a path for transmitting information between various components of the electronic device (e.g., memory 31, processor 32, communication interface 33).

[0210] In one example, the electronic device may also include a speaker 35 for broadcasting navigation information.

[0211] In one example, the electronic device may also include a display screen for displaying navigation routes. In one example, the display screen can be considered as the screen of the electronic device.

[0212] This application also provides a computer-readable storage medium, which may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. Specifically, the computer-readable storage medium stores program instructions, which are used in the methods described in the above embodiments.

[0213] This application also provides a program product including executable instructions stored in a readable storage medium. At least one processor of an electronic device can read the executable instructions from the readable storage medium, and the at least one processor executes the executable instructions to cause the electronic device to implement the navigation methods provided in the various embodiments described above.

[0214] The term "multiple" in this document refers to two or more. The term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the preceding and following related objects; in formulas, " / " indicates a "division" relationship. Additionally, it should be understood that in the description of this application, words such as "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or order.

[0215] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application.

[0216] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A navigation method characterized by, The method comprises: in response to a vehicle auxiliary driving mode start instruction, entering an auxiliary driving navigation mode; obtaining an auxiliary driving navigation broadcast point, an auxiliary driving navigation fusion broadcast point and a landmark map navigation broadcast point on a navigation route; the auxiliary driving navigation fusion broadcast point is used for broadcasting navigation voice containing auxiliary driving information provided by an auxiliary driving system, and the auxiliary driving information is used for representing an auxiliary driving system decision event; in the process of auxiliary driving navigation, for the auxiliary driving navigation broadcast point, the auxiliary driving navigation fusion broadcast point and the landmark map navigation broadcast point, it is determined whether to broadcast the broadcast content of the auxiliary driving navigation broadcast point, the broadcast content of the landmark map navigation broadcast point or the broadcast content of the auxiliary driving navigation fusion broadcast point; wherein, for the auxiliary driving navigation fusion broadcast point to be broadcast, it is determined whether to broadcast the broadcast content of the auxiliary driving navigation fusion broadcast point according to whether the auxiliary driving information of the vehicle provided by the auxiliary driving system is obtained.

2. The method of claim 1, wherein, For the auxiliary driving navigation broadcast point, the auxiliary driving navigation fusion broadcast point and the landmark map navigation broadcast point, it is determined whether to broadcast the broadcast content of the auxiliary driving navigation broadcast point, the broadcast content of the landmark map navigation broadcast point or the broadcast content of the auxiliary driving navigation fusion broadcast point, comprising: for the auxiliary driving navigation broadcast point to be broadcast, it is determined whether to broadcast the broadcast content of the auxiliary driving navigation broadcast point in the broadcast interval of the auxiliary driving navigation broadcast point; for the landmark map navigation broadcast point to be broadcast, according to a landmark map navigation broadcast conflict processing strategy, it is determined whether to broadcast the broadcast content of the landmark map navigation broadcast point; the landmark map navigation broadcast conflict processing strategy is used for indicating the type of the landmark map navigation broadcast point which can be broadcast.

3. The method of claim 2, wherein, According to the landmark map navigation broadcast conflict processing strategy, it is determined whether to broadcast the broadcast content of the landmark map navigation broadcast point, comprising: if it is determined to broadcast the broadcast content of the landmark map navigation broadcast point according to the landmark map navigation broadcast conflict processing strategy, the broadcast content of the landmark map navigation broadcast point is broadcast in the broadcast interval of the landmark map navigation broadcast point; if it is determined not to broadcast the landmark map navigation broadcast point, the landmark map navigation broadcast point is discarded.

4. The method according to claim 2 or 3, characterized in that, According to whether the auxiliary driving information of the vehicle provided by the auxiliary driving system is obtained, it is determined whether to broadcast the broadcast content of the auxiliary driving navigation fusion broadcast point, comprising: if the auxiliary driving information is not obtained, the auxiliary driving navigation fusion broadcast point is discarded; if the auxiliary driving information is obtained, the broadcast content of the auxiliary driving navigation fusion broadcast point is updated according to the auxiliary driving information, and the updated broadcast content of the auxiliary driving navigation fusion broadcast point is broadcast in the broadcast interval of the auxiliary driving navigation fusion broadcast point.

5. The method according to claim 2 or 3, characterized in that, The method further comprises: sending a first strategy update request to a server, the first strategy update request being used for requesting to update the landmark map navigation broadcast conflict processing strategy; receiving a first strategy update response returned by the server; If the first policy update response carries a new label-precise map navigation broadcast conflict processing policy, the new label-precise map navigation broadcast conflict processing policy is used to replace the label-precise map navigation broadcast conflict processing policy.

6. The method according to any one of claims 1 to 3, characterized in that, The method further comprises: According to the auxiliary driving voice broadcast strategy and the navigation route, auxiliary driving navigation broadcast points, auxiliary driving navigation fusion broadcast points on the navigation route are generated. According to the navigation route, label-precise map navigation broadcast points on the navigation route are obtained from a server.

7. The method of claim 6, wherein, The method further comprises: A second policy update request is sent to the server, and the second policy update request is used to request updating the auxiliary driving voice broadcast strategy. A second policy update response returned by the server is received. If the second policy update response carries a new auxiliary driving voice broadcast strategy, the new auxiliary driving voice broadcast strategy is used to replace the auxiliary driving voice broadcast strategy.

8. The method according to any of claims 1 to 3, 7, characterized in that, The label-precise map navigation broadcast point comprises at least one of the following: Label-precise navigation broadcast points, navigation voice broadcast points of road segments with special road attributes, and voice broadcast points of navigation route information service types.

9. The method according to any of claims 1 to 3, 7, characterized in that, The method further comprises: In the process of navigation, if a dynamic information navigation broadcast point is obtained, the broadcast content of the dynamic information navigation broadcast point is broadcast in the broadcast interval of the dynamic information navigation broadcast point. The dynamic information comprises at least one of the following: weather, road conditions, and events.

10. A navigation device characterized by The device comprises: A processing unit configured to enter an auxiliary driving navigation mode in response to an auxiliary driving mode start instruction of a vehicle. An obtaining unit configured to obtain auxiliary driving navigation broadcast points, auxiliary driving navigation fusion broadcast points, and label-precise map navigation broadcast points on a navigation route; the auxiliary driving navigation fusion broadcast points are used to broadcast navigation voice containing auxiliary driving information provided by an auxiliary driving system, and the auxiliary driving information is used to represent an auxiliary driving system decision event. A broadcasting unit configured to, in the process of auxiliary driving navigation, determine whether to broadcast the broadcast content of the auxiliary driving navigation broadcast points, the broadcast content of the label-precise map navigation broadcast points, or the broadcast content of the auxiliary driving navigation fusion broadcast points, for the auxiliary driving navigation broadcast points, the auxiliary driving navigation fusion broadcast points, and the label-precise map navigation broadcast points; wherein, for an auxiliary driving navigation fusion broadcast point to be broadcast, it is determined whether to broadcast the broadcast content of the auxiliary driving navigation fusion broadcast point according to whether the auxiliary driving information of the vehicle provided by the auxiliary driving system is obtained.

11. An electronic device, comprising: Comprise: A processor and a memory; The processor is in communication connection with the memory; The memory stores computer instructions; The processor executes the computer instructions stored in the memory to realize the method in any one of claims 1-9.

12. A computer program product, characterised in that, The computer program or instructions are executed by the processor to realize the method in any one of claims 1-9.

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