A route creation method, device, electronic device and vehicle

Abstract

The embodiments of the present application provide a route creation method, apparatus, electronic device, and vehicle, which can map and store a route based on the driving information obtained on the route when the vehicle drives out of a route not included in the navigation map, and provide navigation services for the user when the user drives into the route again, improving the user experience. Among them, the route creation method includes: if the vehicle drives into an unincluded route, obtain the driving information of the vehicle, where the unincluded route is a route not included in the navigation map; if the vehicle drives out of the unincluded route, map the driving information into a first included route; store the first included route.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of intelligent vehicles, and in particular, to a route creation method, device, electronic device, and vehicle.

Background Art

[0002] Nowadays, navigation maps are an indispensable auxiliary tool for users during driving. Users can find routes to their destinations through navigation maps when traveling. However, many mountainous areas, villages, or suburban roads have not been timely included in the navigation map, and creating routes not included in the navigation map can only rely on navigation map suppliers for surveying and mapping and uploading them to the navigation map database, and the process is relatively long and complicated.

Summary of the Invention

[0003] Embodiments of the present application provide a route creation method, device, electronic device, and vehicle, which can generate corresponding driving routes more conveniently based on the driving information of the vehicle itself when the vehicle is driving on a route not included in the navigation map.

[0004] In a first aspect, an embodiment of the present application provides a route creation method, which is applied to a vehicle, and the method includes:

[0005] If the vehicle enters an unrecorded route, obtain the driving information of the vehicle, where the unrecorded route is a route not included in the navigation map;

[0006] If the vehicle exits the unrecorded route, map the driving information to a first recorded route;

[0007] Store the first recorded route.

[0008] In the embodiments of the present application, when the user enters an unrecorded route, the driving information of the vehicle can be obtained. When the user exits this unrecorded route, the obtained driving information of the vehicle is mapped to a first recorded route. The first recorded route can be considered to draw the unrecorded route traveled by the user based on the obtained driving information, and the first recorded route is stored, that is, the route not included in the navigation map can be drawn more conveniently by relying on the vehicle itself, thereby improving the route creation efficiency.

[0009] Optionally, the driving information includes the instantaneous driving speed, the instantaneous steering angle, the instantaneous head elevation angle, and the longitude and latitude of the vehicle collected periodically. If the vehicle exits the unrecorded route, mapping the driving information to a first recorded route includes:

[0010] Based on the instantaneous driving speed at the start of each period of the vehicle and the instantaneous driving speed at the end of each period, calculate the average driving speed of each period;

[0011] Calculate a first average steering angle for each cycle based on the instantaneous steering angle of the vehicle at the start of each cycle and the instantaneous steering angle at the end of each cycle.

[0012] Calculate the average pitch angle of the vehicle for each cycle based on the instantaneous pitch angle of the vehicle at the start of each cycle and the pitch angle at the end of each cycle.

[0013] Calculate a first driving mileage of the vehicle for each cycle based on the average driving speed for each cycle.

[0014] Generate a first driving displacement of the vehicle for each cycle based on the first driving mileage, the first average steering angle, and the average pitch angle for each cycle.

[0015] Map the first driving displacement between the longitude and latitude at the start of the same cycle and the longitude and latitude at the end to generate the first recorded route.

[0016] In the embodiments of the present application, the driving information of the vehicle includes the instantaneous driving speed, instantaneous steering angle, instantaneous pitch angle, and longitude and latitude of the vehicle periodically collected when the vehicle is driving on an unrecorded route. At the start and end of each cycle, a set of the instantaneous driving speed, instantaneous steering angle, instantaneous pitch angle, and longitude and latitude of the vehicle can be obtained respectively. Based on the instantaneous driving speed of the vehicle at the start of each cycle and the instantaneous driving speed at the end of each cycle, the instantaneous steering angle at the start of each cycle and the instantaneous driving speed at the end of each cycle, and the instantaneous pitch angle at the start of each cycle and the instantaneous pitch angle at the end of each cycle, calculate the average driving speed, the first average steering angle, and the average pitch angle of the vehicle for each cycle. Then, based on the average driving speed for each cycle, calculate the first driving mileage of the vehicle for each cycle. The first driving mileage can represent the driving length quantity for each cycle, and the first average steering angle and the average pitch angle can represent the driving direction quantity for each cycle. Therefore, the first driving mileage, the first average steering angle, and the average pitch angle for each cycle can generate the first driving displacement of the vehicle for each cycle. Mapping the first driving displacement for each cycle between the longitude and latitude at the start of the same cycle and the longitude and latitude at the end can be considered as accurately mapping the driving length quantity and driving direction quantity of the vehicle for each cycle to the corresponding longitude and latitude positions, generating the first recorded route, so that the first recorded route can be accurately drawn to the corresponding longitude and latitude positions, thereby improving the accuracy of the first recorded route.

[0017] Optionally, after generating the first driving displacement of the vehicle for each cycle based on the first driving mileage, the first average steering angle, and the average pitch angle for each cycle, it further includes:

[0018] Calculate a first angular difference between the first average steering angle corresponding to the i-th cycle and the first average steering angle corresponding to the (i - 1)-th cycle;

[0019] If the first angular difference is within a first set threshold range, and the average head elevation angle corresponding to the i-th cycle and the average head elevation angle corresponding to the (i - 1)-th cycle are both within a second set threshold range, sum the first driving mileage corresponding to the i-th cycle and the first driving mileage corresponding to the (i - 1)-th cycle to obtain a second driving mileage;

[0020] Generate a second driving displacement jointly corresponding to the (i - 1)-th cycle and the i-th cycle based on the second driving mileage, the first average steering angle corresponding to the (i - 1)-th cycle, and the average head elevation angle corresponding to the (i - 1)-th cycle;

[0021] Map the first driving displacement between the longitude and latitude at the start of the same cycle and the longitude and latitude at the end to generate the first recorded route, including:

[0022] Map the second driving displacement between the longitude and latitude at the start of the (i - 1)-th cycle and the longitude and latitude at the end of the i-th cycle to generate the first recorded route.

[0023] In the embodiments of the present application, since the time of each cycle is very short, the change in the driving direction vector of each cycle is not significant. By calculating the first angle difference between the first average steering angle corresponding to the i-th cycle and the first average steering angle corresponding to the (i - 1)-th cycle, if the first angle difference is within the first set threshold range and the average head elevation angle corresponding to the (i - 1)-th cycle and the average head elevation angle corresponding to the i-th cycle are both within the second set threshold range, it indicates that the change in the driving direction vector within the time of two adjacent cycles is small. Among them, the change in the driving direction vector includes the steering change and the slope change when the vehicle is driving. It can be considered that within the time of two adjacent cycles, the steering change and the slope change when the vehicle is driving are both small and can be ignored. Therefore, the vehicle approximately drives on a straight road within adjacent cycles. However, when drawing the route on a straight road, only a straight line is needed to represent it, while the route mapped by the first driving displacement reflects the driving path of the vehicle. Compared with the straight line, the presented effect of the vehicle's straight-road driving path is more tortuous. Therefore, it is necessary to filter the first driving displacements of adjacent cycles with a tortuous presented effect, sum the first driving mileage corresponding to the (i - 1)-th cycle and the first driving mileage corresponding to the i-th cycle to obtain the second driving mileage, and based on the second driving mileage, the first average steering angle corresponding to the (i - 1)-th cycle, and the average head elevation angle corresponding to the (i - 1)-th cycle, integrate the first driving displacements of adjacent cycles into a common second driving displacement, and map the second driving displacement between the longitude and latitude at the start of the (i - 1)-th cycle and the longitude and latitude at the end of the i-th cycle to generate the first included route, so that the generated first included route is more intuitively drawn to the accurate position, thereby improving the user's navigation experience.

[0024] Optionally, after generating the first driving displacement of the vehicle for each cycle based on the first driving mileage, the first average steering angle, and the average head elevation angle of each cycle, it further includes:

[0025] Calculating a second angle difference between the average steering angle corresponding to the i-th cycle and the first average steering angle corresponding to the (i - 1)-th cycle, and a third angle difference between the first average steering angle corresponding to the (i + 1)-th cycle and the average steering angle corresponding to the i-th cycle;

[0026] If the first average steering angle corresponding to the (i - 1)-th cycle, the first average steering angle corresponding to the i-th cycle, and the first average steering angle corresponding to the (i + 1)-th cycle are all within the range of the third set threshold, the sum of the second angle difference and the third angle difference is less than the fourth set threshold, and the average head elevation angle corresponding to the (i - 1)-th cycle, the average head elevation angle corresponding to the i-th cycle, and the average head elevation angle corresponding to the (i + 1)-th cycle are all within the range of the fifth set threshold, then sum up the first driving mileage corresponding to the (i + 1)-th cycle, the first driving mileage corresponding to the i-th cycle, and the first driving mileage corresponding to the (i - 1)-th cycle to obtain the third driving mileage, and sum up the first average steering angle corresponding to the (i - 1)-th cycle, the second angle difference, and the third angle difference to obtain the second average steering angle;

[0027] Based on the third driving mileage, the second average steering angle, and the average head elevation angle corresponding to the (i - 1)-th cycle, generate the third driving displacement corresponding to the (i - 1)-th cycle, the i-th cycle, and the (i + 1)-th cycle together;

[0028] Map the first driving displacement between the longitude and latitude at the start of the same cycle and the longitude and latitude at the end of the same cycle to generate the first recorded route, including:

[0029] Map the third driving displacement between the longitude and latitude at the start of the (i - 1)-th cycle and the longitude and latitude at the end of the (i + 1)-th cycle to generate the first recorded route.

[0030] In the embodiments of the present application, since the time of each cycle is very short, the change in the driving direction vector of each cycle is small. By calculating the second angle difference between the average steering angle corresponding to the i-th cycle and the average steering angle corresponding to the (i - 1)-th cycle, and the third angle difference between the average steering angle corresponding to the (i + 1)-th cycle and the average steering angle corresponding to the i-th cycle, it can be considered that the change in the driving direction vector between three adjacent cycles is obtained. If the first average steering angle corresponding to the (i - 1)-th cycle, the first average steering angle corresponding to the i-th cycle, and the first average steering angle corresponding to the (i + 1)-th cycle are all within the range of the third set threshold, it indicates that the driving direction vector between adjacent cycles is changing in the same direction. The sum of the second angle difference and the third angle difference is less than the fourth set threshold, and the average front elevation angle corresponding to the (i - 1)-th cycle, the average front elevation angle corresponding to the i-th cycle, and the average front elevation angle corresponding to the (i + 1)-th cycle are all within the range of the fifth set threshold, indicating that only the steering during vehicle driving changes and the slope change is small and can be ignored. In summary, it can be considered that the vehicle is approximately turning left or right during adjacent cycles. However, when drawing the route on a curve, only a polyline with a specific angle needs to be used to represent it. The route mapped by the first driving displacement reflects the vehicle's curve driving path. Compared with the polyline with a specific angle, the presented effect of the vehicle's curve driving path is composed of several segments of polylines with smaller lengths. Therefore, it is necessary to filter the first driving displacements of adjacent cycles with a tortuous presented effect. The first driving path corresponding to the (i - 1)-th cycle, the first driving mileage corresponding to the i-th cycle, and the first driving mileage corresponding to the (i + 1)-th cycle are summed to obtain the third driving mileage. The first average steering angle corresponding to the (i - 1)-th cycle, the second angle difference, and the third angle difference are summed to obtain the second average steering angle. Based on the third driving mileage, the second average steering angle, and the average front elevation angle corresponding to the (i - 1)-th cycle, the first driving displacements of adjacent cycles are integrated into a common third driving displacement, and the third driving displacement is mapped between the longitude and latitude at the start of the (i - 1)-th cycle and the longitude and latitude at the end of the (i + 1)-th cycle to generate the first included route, so that the generated first included route is more intuitively drawn to the accurate position, thereby improving the user's navigation experience.

[0031] Optionally, after storing the first included route, the method includes:

[0032] When driving along the first included route, obtain the driving information of the vehicle;

[0033] Map the driving information into a second included route;

[0034] Compare the driving mileage of the first included route with the driving mileage of the second included route;

[0035] If the driving mileage of the first recorded route is greater than that of the second recorded route, update the first recorded route to the second recorded route.

[0036] In the embodiments of the present application, when the vehicle travels on the same route each time, the driving information obtained by the vehicle may be different. Therefore, based on different driving information, even when traveling on the same route, the drawn driving paths are different. When the vehicle travels on the first recorded route, driving information can be obtained again, and the obtained driving information is mapped into a second recorded route. Then, the driving mileage of each of the first recorded route and the second recorded route is compared. If the driving mileage of the second recorded route is less than that of the first recorded route, it can be considered that the second recorded route is a better route choice for the user compared to the first recorded route. Thus, update the first recorded route to the second recorded route. As a result, at the same driving speed, the time required for the user to travel on the second recorded route is shorter, thereby improving the driving efficiency of the user.

[0037] Optionally, after storing the first recorded route, the method includes:

[0038] Receive the starting point and the ending point set by the user, and plan a target navigation route on the navigation map;

[0039] If the starting point is the same as the starting point of the first recorded route, and the ending point is the same as the ending point of the first recorded route, compare the driving mileage of the target navigation route with the driving mileage of the first recorded route;

[0040] If the driving mileage of the first recorded route is less than that of the target navigation route, then perform navigation based on the first recorded route.

[0041] In the embodiments of the present application, when the user sets the starting point and the ending point and plans a target navigation route on the navigation map, and at the same time matches a first recorded route with the same starting point and ending point, it can be considered that there is a first recorded route between the starting point and the ending point set by the user that is not included in the navigation map. If the driving mileage of the first recorded route is less than that of the target navigation route, it can be considered that the mileage to be traveled along the first recorded route is shorter, that is, the first recorded route is a better route choice for the user compared to the target navigation route. Then, at the same driving speed, selecting the first recorded route to navigate for the user can save the user's time and improve the driving efficiency of the vehicle.

[0042] Optionally, before the vehicle exits the unrecorded route, the method further includes:

[0043] If the driving mileage of the vehicle on the unrecorded route is greater than a sixth set threshold, a confirmation interface is displayed to the user. The confirmation interface includes a confirmation button and a rejection button. The confirmation button is used to indicate that the user needs to return to the starting point where the unrecorded route was entered, and the rejection button is used to indicate that the user does not need to return to the starting point of the unrecorded route;

[0044] If it is detected that the user selects the confirmation button, the driving information is inversely mapped into a return route;

[0045] Based on the return route, navigation is performed until the vehicle returns to the starting point of the unrecorded route.

[0046] In the embodiment of the present application, when the driving mileage of the vehicle on the unrecorded route is greater than the sixth set threshold, it indicates that the vehicle has traveled a relatively long distance on the unrecorded route. Since the navigation map cannot provide navigation services for the user, the user may need to return to the route recorded by the navigation map. Therefore, the vehicle displays a confirmation interface to the user. The confirmation button on the confirmation interface is used to indicate that the user needs to return to the starting point of the unrecorded route, and the rejection button on the confirmation interface is used to indicate that the user does not need to return to the starting point of the unrecorded route. The starting point of the unrecorded route is the end point of the route recorded by the navigation map. Once the user finds the starting point of the unrecorded route, they can return to the route recorded by the navigation map. If it is received that the user selects the confirmation button, the driving information during the driving process on the unrecorded route is inversely mapped into a return route. The mapping of the return route should be opposite to the order of obtaining the driving information, and the direction vectors representing the vehicle's driving in the driving information are changed to the opposite direction, and then inversely mapped in sequence to generate a return route. The user can then return to the route recorded by the navigation map along the return route, avoiding errors when the user tries to find the way back to the route recorded by the navigation map by memory and saving the user's route-finding time, thereby improving the user experience.

[0047] In a second aspect, an embodiment of the present application provides a route creation device, and the device includes:

[0048] An acquisition unit, configured to acquire the driving information of the vehicle when the vehicle enters an unrecorded route, where the unrecorded route is a route not recorded by the navigation map;

[0049] A mapping unit, configured to map the driving information into a first recorded route when the vehicle exits the unrecorded route;

[0050] A storage unit, configured to store the first recorded route.

[0051] Optionally, the driving information includes the instantaneous driving speed, the instantaneous steering angle, the instantaneous head elevation angle, and the longitude and latitude of the vehicle collected periodically. The mapping unit includes:

[0052] A calculation unit configured to calculate the average driving speed of each period based on the instantaneous driving speed at the start of each period of the vehicle and the instantaneous driving speed at the end of each period.

[0053] The calculation unit is further configured to calculate a first average steering angle of each period based on the instantaneous steering angle at the start of each period of the vehicle and the instantaneous steering angle at the end of each period.

[0054] The calculation unit is further configured to calculate the average head elevation angle of each period based on the instantaneous head elevation angle at the start of each period of the vehicle and the head elevation angle at the end of each period.

[0055] The calculation unit is further configured to calculate a first driving mileage of the vehicle for each period based on the average driving speed of each period.

[0056] A generation unit configured to generate a first driving displacement of the vehicle for each period based on the first driving mileage, the first average steering angle, and the average head elevation angle of each period.

[0057] A displacement mapping unit configured to map the first driving displacement between the longitude and latitude at the start of the same period and the longitude and latitude at the end of the period to generate the first recorded route.

[0058] Optionally, the calculation unit is further configured to calculate a first angle difference between the first average steering angle corresponding to the i-th period and the first average steering angle corresponding to the i-1-th period.

[0059] The calculation unit is further configured to, if the first angle difference is within a first set threshold range, and the average head elevation angle corresponding to the i-th period and the average head elevation angle corresponding to the i-1-th period are both within a second set threshold range, sum the first driving mileage corresponding to the i-th period and the first driving mileage corresponding to the i-1-th period to obtain a second driving mileage.

[0060] The generation unit is further configured to generate a second driving displacement jointly corresponding to the i-1-th period and the i-th period based on the second driving mileage, the first average steering angle corresponding to the i-1-th period, and the average head elevation angle corresponding to the i-1-th period.

[0061] The displacement mapping unit is specifically configured to:

[0062] Map the second driving displacement between the longitude and latitude at the start of the (i - 1)-th cycle and the longitude and latitude at the end of the i-th cycle to generate the first included route.

[0063] Optionally, the calculation unit is further configured to calculate a second angle difference between the first average steering angle corresponding to the i-th cycle and the first average steering angle corresponding to the (i - 1)-th cycle, and a third angle difference between the first average steering angle corresponding to the (i + 1)-th cycle and the first average steering angle corresponding to the i-th cycle;

[0064] The calculation unit is further configured to, if the first average steering angle corresponding to the (i - 1)-th cycle, the first average steering angle corresponding to the i-th cycle, and the first average steering angle corresponding to the (i + 1)-th cycle are all within the range of a third set threshold, the sum of the second angle difference and the third angle difference is less than a fourth set threshold, and the average head elevation angle corresponding to the (i - 1)-th cycle, the average head elevation angle corresponding to the i-th cycle, and the average head elevation angle corresponding to the (i - 1)-th cycle are all within the range of a fifth set threshold, sum the first driving mileage corresponding to the (i + 1)-th cycle, the first driving mileage corresponding to the i-th cycle, and the first driving mileage corresponding to the (i - 1)-th cycle to obtain a third driving mileage, and sum the first average steering angle corresponding to the (i + 1)-th cycle, the second angle difference, and the third angle difference to obtain a second average steering angle;

[0065] The generation unit is further configured to generate a third driving displacement corresponding to the (i - 1)-th cycle, the i-th cycle, and the (i + 1)-th cycle based on the third driving mileage, the second average steering angle, and the average head elevation angle corresponding to the (i - 1)-th cycle;

[0066] The displacement mapping unit is specifically configured to:

[0067] Map the third driving displacement between the longitude and latitude at the start of the (i - 1)-th cycle and the longitude and latitude at the end of the (i + 1)-th cycle to generate the first included route.

[0068] Optionally, the device further includes:

[0069] The acquisition unit is further configured to acquire the driving information of the vehicle when driving along the first included route;

[0070] The mapping unit is further configured to map the driving information into a second included route;

[0071] A first comparison unit for comparing the driving mileage of the first recorded route with the driving mileage of the second recorded route;

[0072] An update unit for updating the first recorded route to the second recorded route if the driving mileage of the first recorded route is greater than that of the second recorded route.

[0073] Optionally, the device further includes:

[0074] A planning unit for receiving the starting point and the ending point set by the user and planning a target navigation route in the navigation map;

[0075] A second comparison unit for comparing the driving mileage of the target navigation route with that of the first recorded route if the starting point is the same as that of the first recorded route and the ending point is the same as that of the first recorded route;

[0076] A first navigation unit for performing navigation based on the first recorded route if the driving mileage of the first recorded route is less than that of the target navigation route.

[0077] Optionally, the device further includes:

[0078] A display unit for displaying a confirmation interface to the user if the driving mileage of the vehicle on the non-recorded route is greater than a sixth set threshold, where the confirmation interface includes a confirmation button and a rejection button, the confirmation button is used to indicate that the user needs to return to the starting point where the non-recorded route was entered, and the rejection button is used to indicate that the user does not need to return to the starting point of the non-recorded route;

[0079] The mapping unit is further configured to reverse-map the driving information into a return route if it detects an operation in which the user selects the confirmation button;

[0080] A second navigation unit for performing navigation based on the return route until the vehicle returns to the starting point of the non-recorded route.

[0081] In a third aspect, an embodiment of the present invention provides an electronic device, which includes a processor and a memory, and the processor is configured to implement the steps of the method according to any one of the embodiments of the first aspect or the second aspect when executing a computer program stored in the memory.

[0082] In a fourth aspect, an embodiment of the present invention provides a vehicle, including: the electronic device provided in the embodiment of the third aspect of the present invention.

[0083] It should be understood that the technical solutions of the second to fourth aspects of the embodiments of the present invention are consistent with those of the first aspect of the embodiments of the present invention, and the beneficial effects achieved by each aspect and the corresponding feasible embodiments are similar, and will not be elaborated herein.

BRIEF DESCRIPTION OF THE DRAWINGS

[0084] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of this specification. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0085] Figure 1 Schematic flowchart of a route creation method provided by an embodiment of the present application;

[0086] Figure 2 Schematic flowchart of a route generation method provided by an embodiment of the present application;

[0087] Figure 3 Schematic diagram of the principle of generating a route provided by an embodiment of the present application;

[0088] Figure 4 Schematic flowchart of a route generation method provided by an embodiment of the present application;

[0089] Figure 5 Schematic diagram of the principle of generating a second driving displacement in an embodiment of the present application;

[0090] Figure 6 Schematic flowchart of a route generation method provided by an embodiment of the present application;

[0091] Figure 7 Schematic diagram of the principle of generating a third driving displacement in an embodiment of the present application;

[0092] Figure 8 Schematic flowchart of a method for updating a first included route provided by an embodiment of the present application;

[0093] Figure 9 Schematic flowchart of a navigation method provided by an embodiment of the present application;

[0094] Figure 10 Schematic flowchart of a navigation method provided by an embodiment of the present application;

[0095] Figure 11 Schematic diagram of the principle of generating a route provided by an embodiment of the present application;

[0096] Figure 12 Schematic structural diagram of route creation provided by an embodiment of the present application;

[0097] Figure 13 A schematic structural diagram of an electronic device provided by an embodiment of the present application;

[0098] Figure 14 A schematic structural diagram of a vehicle provided by an embodiment of the present application.

Specific embodiments

[0099] In order to better understand the technical solutions of this specification, the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0100] It should be clear that the described embodiments are only part of the embodiments of this specification, rather than all of them. Based on the embodiments in this specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this specification.

[0101] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit this specification. The singular forms "a", "the" and "said" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0102] The inventors of the present application have found through research that users mainly rely on navigation maps to find routes to destinations when traveling. However, when users enter some routes that are not covered by navigation maps, the navigation maps cannot provide navigation services for users. Only after the routes not included in the navigation maps are surveyed and mapped by the navigation map provider and uploaded to the navigation maps can they provide navigation services for users, and the process is relatively long and complicated.

[0103] In view of this, the embodiments of the present application provide a route creation method. In this method, when a vehicle drives into an uncollected route that is not covered by the navigation map, the driving information of the vehicle can be obtained throughout the process. When the vehicle drives out of the uncollected route, the first collected route is mapped based on the obtained driving information and the first collected route is stored. That is, it is possible to rely on the vehicle itself to conveniently draw the routes not included in the navigation map, thereby improving the route creation efficiency.

[0104] The technical solutions provided by the embodiments of the present application will be introduced below with reference to the accompanying drawings. Please refer to Figure 1 , the embodiments of the present application provide a route creation method. This method is applied to a vehicle, and the process of this method is described as follows:

[0105] Step 101: If the vehicle drives into an uncollected route, obtain the driving information of the vehicle. The uncollected route is a route that is not covered by the navigation map.

[0106] In the embodiments of the present application, generally, during the driving process of a vehicle, a navigation map provides navigation services for the user. As long as the vehicle is driving on a route included in the navigation map, the navigation map can provide navigation services for the user. If the user drives into an unrecorded route that is not included in the navigation map, at this time, the navigation map cannot navigate for the user. Therefore, in order to provide detailed data for drawing this unrecorded route, when it is detected that the vehicle has driven into the unrecorded route at this time, the driving information of the vehicle is continuously obtained, so that the unrecorded route can be accurately drawn.

[0107] Step 102: If the vehicle drives out of the unrecorded route, map the driving information into a first recorded route.

[0108] In the embodiments of the present application, when it is detected that the user has driven out of the unrecorded route, it indicates that the user has returned to the route where the navigation map can provide navigation services for the user. At this time, the acquisition of the driving information of the vehicle is stopped, and the driving information of the vehicle when driving on this unrecorded route is read out. Based on the driving information of the vehicle, the driving information is mapped into a first recorded route. After the first recorded route is drawn, if a subsequent vehicle drives into this route again or the user of another vehicle drives on this route, and the navigation map cannot provide navigation services for the user, navigation can be performed based on the first recorded route, improving the user experience.

[0109] In some embodiments, the driving information includes the instantaneous driving speed of the vehicle collected periodically, the instantaneous steering angle of the vehicle, the instantaneous head elevation angle of the vehicle, and the longitude and latitude of the vehicle. Figure 2 It is a schematic flowchart of a method for generating a route provided in the embodiments of the present application. When performing step 102, specifically mapping the driving information into a first recorded route can be realized through steps 1021-1026:

[0110] Step 1021: Based on the instantaneous driving speed of the vehicle at the start of each period and the instantaneous driving speed at the end of each period, calculate the average driving speed of each period.

[0111] Step 1022: Based on the instantaneous steering angle of the vehicle at the start of each period and the instantaneous steering angle at the end of each period, calculate the first average steering angle of each period.

[0112] Step 1023: Based on the instantaneous head elevation angle of the vehicle at the start of each period and the head elevation angle at the end of each period, calculate the average head elevation angle of each period.

[0113] Step 1024: Based on the average driving speed of each period, calculate the first driving mileage of the vehicle for each period.

[0114] Step 1025: Generate the first driving displacement of the vehicle for each cycle based on the first driving mileage, the first average steering angle, and the average head elevation angle of each cycle.

[0115] Step 1026: Map the first driving displacement between the longitude and latitude at the start and the longitude and latitude at the end of the same cycle to generate the first recorded route.

[0116] In the embodiments of the present application, the driving information of the vehicle includes the instantaneous driving speed, the instantaneous steering angle, the instantaneous head elevation angle, and the longitude and latitude of the vehicle periodically collected when the vehicle is driving on an unrecorded route. A set of instantaneous driving speed, instantaneous steering angle, instantaneous head elevation angle, and longitude and latitude of the vehicle can be obtained at the start and the end of each cycle respectively. To ensure the accuracy of the driving information of each cycle, the method of taking the average value is usually adopted. Therefore, the average value between the instantaneous driving speed at the start of each cycle and the instantaneous speed at the end of each cycle is used as the average speed of each cycle, the average value between the instantaneous steering angle at the start of each cycle and the instantaneous steering angle at the end of each cycle is used as the first average steering angle of each cycle, and the average value between the instantaneous head elevation angle at the start of each cycle and the instantaneous head elevation angle at the end of each cycle is used as the average head elevation angle of each cycle. After calculating the average driving speed, the first average steering angle, and the average head elevation angle of each cycle, according to the average driving speed of each cycle, the first driving mileage of each cycle is calculated by multiplying the average driving speed by the duration of a single cycle, where the first driving mileage represents the driving length of the vehicle in each cycle, the first average steering angle and the average head elevation angle respectively represent the driving direction and the driving slope of the vehicle. The first driving mileage, the first average steering angle, and the average head elevation angle of each cycle can determine the first driving displacement of each cycle. It should be understood that the first driving displacement is a vector, which can indicate the length and direction of a distance.

[0117] For example, as Figure 3As shown, the displacement a represents the first driving displacement corresponding to a certain period. Taking the y-axis as the central axis of the vehicle, the angle of the displacement a mapped on the yz plane is angle a, and the angle of the displacement a mapped on the xy plane is angle b. Angle a points upward, and it can be considered that the vehicle is in an uphill state at this time. Angle b points to the right, and it can be considered that the vehicle is in a right-turn state at this time. The length of the displacement a indicates the driving mileage of the vehicle within the corresponding period. It can be seen from this that the first driving mileage indicates the length of the first driving displacement, the first average steering angle indicates the direction quantity of the first driving displacement on the XY plane, and the average head elevation angle indicates the direction quantity of the first driving displacement on the yz plane. Therefore, the first driving mileage, the first average steering angle, and the average head elevation angle of each period jointly synthesize the first driving displacement of each period. Then, based on the longitude and latitude at the start and end of each period, the starting point of the first driving displacement of each period is mapped to the longitude and latitude of the starting point of each period, and the end point of the first driving displacement of each period is mapped to the longitude and latitude of the end point of each period, generating the first recorded route, so that the first recorded route can accurately map the first driving displacement of each period to the corresponding longitude and latitude position, thereby improving the accuracy of the first recorded route.

[0118] Figure 4 A method for generating a route provided in an embodiment of the present application. As a possible implementation manner, after step 1025 is executed, the specific process of generating the first recorded route can be implemented through steps 201-204:

[0119] Step 201: Calculate the first angle difference between the first average steering angle corresponding to the i-th period and the first average steering angle corresponding to the i-1-th period.

[0120] Step 202: If the first angle difference is within the range of the first set threshold, and the average head elevation angle corresponding to the i-th period and the average head elevation angle corresponding to the i-1-th period are both within the range of the second set threshold, sum the first driving mileage corresponding to the i-th period and the first driving mileage corresponding to the i-1-th period to obtain the second driving mileage.

[0121] Step 203: Generate the second driving displacement jointly corresponding to the i-1-th period and the i-th period based on the second driving mileage, the first average steering angle corresponding to the i-1-th period, and the average head elevation angle corresponding to the i-1-th period.

[0122] When step 1026 is executed, it can specifically be implemented through step 204.

[0123] Step 204: Map the second driving displacement between the longitude and latitude at the start of the i-1-th period and the longitude and latitude at the end of the i-th period to generate the first recorded route.

[0124] In the embodiments of the present application, the time of each cycle is relatively short, and the change in the steering angle of the vehicle within a short time is relatively small. It can be considered that the change in the first average steering angle corresponding to each cycle is relatively small. By calculating the first angle difference between the first average steering angle corresponding to the i-th cycle and the first average steering angle corresponding to the (i - 1)-th cycle, the change in the first average steering angle of the vehicle within adjacent cycles can be characterized. If the first angle difference is within the first set threshold range (for example, the first set threshold range can be between -5° and 5°, which can be adjusted according to requirements and is not limited herein), and the average head-up angle corresponding to the (i - 1)-th cycle and the average head-up angle corresponding to the i-th cycle are both within the second set threshold range (the second set threshold range can be between -5° and 5°, which can be adjusted according to requirements and is not limited herein). Among them, if the first angle difference is within the first set threshold range, it can be considered that the first average steering angle corresponding to the i-th cycle of the vehicle is not much different from the first average steering angle corresponding to the (i - 1)-th cycle, and the driving route of the vehicle during the period from the (i - 1)-th cycle to the i-th cycle is approximately a straight line. If the average head-up angle corresponding to the (i - 1)-th cycle and the average head-up angle corresponding to the i-th cycle are both within the second set threshold range, it can be considered that the change in the road slope during the period from the (i - 1)-th cycle to the i-th cycle is relatively small. In summary, it can be considered that the road traveled by the vehicle during the period from the (i - 1)-th cycle to the i-th cycle is a straight road. However, when drawing the route on a straight road, only a straight line needs to be used to represent it. The first driving displacement maps the driving path of the vehicle, and the driving path of the vehicle is more tortuous than a straight line. It is necessary to filter the first driving displacements of adjacent cycles with a tortuous presentation effect. Among them, the first driving mileage corresponding to the (i - 1)-th cycle and the first driving mileage corresponding to the i-th cycle are summed to obtain the second driving mileage. Based on the second driving mileage, the first average steering angle corresponding to the (i - 1)-th cycle, and the average head-up angle corresponding to the (i - 1)-th cycle, the first driving displacements of adjacent cycles are integrated into a common second driving displacement, and then the generated second driving displacement is mapped between the longitude and latitude at the start of the (i - 1)-th cycle and the longitude and latitude at the end of the i-th cycle, and then the first included route is generated, so that the generated first included route is more intuitively drawn to the accurate position, thereby improving the user's navigation experience.

[0125] For example, as Figure 5 shown, Figure 5 shows the schematic diagram of generating the second driving displacement. In Figure 5Among them, displacement 1 is the first driving displacement corresponding to the (i - 1)-th cycle, displacement 2 is the first driving displacement corresponding to the i-th cycle, angle 1 is the first average steering angle corresponding to the (i - 1)-th cycle, angle 2 is the first angle difference. If the angle value of angle 2 is 4°, it indicates that the change in the first average steering angle corresponding to the i-th cycle compared to the first average steering angle corresponding to the (i - 1)-th cycle is extremely small and can be ignored. It is considered that the vehicle is moving straight during the period from the (i - 1)-th cycle to the i-th cycle. Therefore, based on the direction of displacement 1, the length of displacement 2 is added to the length of displacement 1 to generate displacement 3. Displacement 3 is the second driving displacement synthesized by displacement 1 and displacement 2. Displacement 3 can more intuitively display the straight road route to the user.

[0126] Figure 6 A method for generating a route provided in an embodiment of the present application. As a possible implementation manner, after step 1025 is executed, the specific process of generating the first included route can be implemented through steps 205 - 208:

[0127] Step 205: Calculate the second angle difference between the average steering angle corresponding to the i-th cycle and the first average steering angle corresponding to the (i - 1)-th cycle, and the third angle difference between the first average steering angle corresponding to the (i + 1)-th cycle and the average steering angle corresponding to the i-th cycle.

[0128] Step 206: If the first average steering angle corresponding to the (i - 1)-th cycle, the first average steering angle corresponding to the i-th cycle, and the first average steering angle corresponding to the (i + 1)-th cycle are all within the range of the third set threshold, the sum of the second angle difference and the third angle difference is less than the fourth set threshold, and the average head elevation angle corresponding to the (i - 1)-th cycle, the average head elevation angle corresponding to the i-th cycle, and the average head elevation angle corresponding to the (i + 1)-th cycle are all within the range of the fifth set threshold, sum up the first driving mileage corresponding to the (i + 1)-th cycle, the first driving mileage corresponding to the i-th cycle, and the first driving mileage corresponding to the (i - 1)-th cycle to obtain the third driving mileage, and sum up the first average steering angle corresponding to the (i - 1)-th cycle, the second angle difference, and the third angle difference to obtain the second average steering angle.

[0129] Step 207: Generate the third driving displacement jointly corresponding to the (i - 1)-th cycle, the i-th cycle, and the (i + 1)-th cycle based on the third driving mileage, the second average steering angle, and the average head elevation angle corresponding to the (i - 1)-th cycle.

[0130] When step 1026 is executed, it can specifically be implemented through step 208.

[0131] Step 208: Map the third driving displacement between the longitude and latitude at the start of the (i - 1)-th cycle and the longitude and latitude at the end of the (i + 1)-th cycle to generate a first inclusion route.

[0132] In the embodiments of the present application, the time of each cycle is relatively short, and the change in the steering angle of the vehicle within a short time is relatively small. It can be considered that the change in the first average steering angle corresponding to each cycle is relatively small. By calculating the second angle difference between the average steering angle corresponding to the i-th cycle and the average steering angle corresponding to the i-1-th cycle, and the third angle difference between the average steering angle corresponding to the i+1-th cycle and the average steering angle corresponding to the i-th cycle, the change in the average steering angle of the vehicle within three adjacent cycles can be characterized. The first average steering angle corresponding to the i-1-th cycle, the first average steering angle corresponding to the i-th cycle, and the first average steering angle corresponding to the i+1-th cycle are all within the range of the third set threshold (for example, the third set threshold can be -180° - 0° or 0° - 180°. If the first average steering angle corresponding to the i-1-th cycle, the first average steering angle corresponding to the i-th cycle, and the first average steering angle corresponding to the i+1-th cycle are all within -180° - 0°, it can be considered that the vehicle is in a left-turn state. If the first average steering angle corresponding to the i-1-th cycle, the first average steering angle corresponding to the i-th cycle, and the first average steering angle corresponding to the i+1-th cycle are all within 0° - 180°, it can be considered that the vehicle is in a right-turn state. The third set threshold can be adjusted according to requirements and is not limited here again). And the sum of the second angle difference and the third angle difference is less than the fourth set threshold (the fourth set threshold can be -90° or 90 degrees and can be adjusted by itself according to requirements and is not limited here). It can be characterized that the vehicle is turning left or right but the turning amplitude is not large within the time of three cycles. And the average front elevation angle corresponding to the i-1-th cycle, the average front elevation angle corresponding to the i-th cycle, and the average front elevation angle corresponding to the i+1-th cycle are all within the range of the fifth set threshold (the range of the fifth set threshold can be between -5° and 5° and can be adjusted by itself according to requirements and is not limited here). It can be considered that within the time period from the i-1-th cycle to the i+1-th cycle, the change in the road slope of the vehicle's travel is relatively small. In summary, it can be considered that the road traveled by the vehicle within the time period from the i-1-th cycle to the i+1-th cycle is a curve. Then when drawing the route on the curve, only a polyline at a specific angle needs to be used to represent it. And for the travel path of the vehicle mapped by the first travel displacement, compared with the curve, the travel path of the vehicle on the curve is presented as being composed of several polylines with relatively small lengths at the ends, and the visual effect is not particularly intuitive. Therefore, it is necessary to filter the first travel displacements of adjacent cycles with a tortuous presentation effect, sum the first travel paths corresponding to the i-1-th cycle, the first travel path corresponding to the i-th cycle, and the first travel path corresponding to the i+1-th cycle to obtain the third travel mileage, sum the first average steering angle corresponding to the i-1-th cycle, the second angle difference, and the third angle difference to obtain the second average steering angle, based on the third travel mileage, the second average steering angle, and the average front elevation angle corresponding to the i-1-th cycle,Thus, the first driving displacements of adjacent cycles are integrated into a common third driving displacement, and the generated third driving displacement is mapped between the longitude and latitude at the start of the (i - 1)-th cycle and the longitude and latitude at the end of the (i + 1)-th cycle to generate a first collection route, making the generated first collection route more intuitively drawn to the accurate position, thereby enhancing the user's navigation experience.

[0133] For example, as Figure 7 shown, Figure 7 shows the schematic diagram of generating the third driving displacement. Displacement 1 is the first driving displacement corresponding to the (i - 1)-th cycle, displacement 2 is the first driving displacement corresponding to the i-th cycle, displacement 3 is the first driving displacement corresponding to the (i + 1)-th cycle, angle 1 is the first average turning angle corresponding to the (i - 1)-th cycle, angle 2 is the second angle difference between the first average turning angle corresponding to the i-th cycle and the first average turning angle corresponding to the (i - 1)-th cycle, angle 3 is the third angle difference between the first average turning angle corresponding to the (i + 1)-th cycle and the first average turning angle corresponding to the i-th cycle. It can be known from Figure 7 that assuming the elevation angle of the vehicle head corresponding to displacement 1, displacement 2, and displacement 3 is 0°, displacement 1, displacement 2, and displacement 3 are all in the right-turn state, the first average turning angles corresponding to displacement 1, displacement 2, and displacement 3 are all within the range of 0° - 180°, and the sum of angle 2 and angle 3 is less than 90°, then displacement 1, displacement 2, and displacement 3 are integrated into displacement 4. Among them, the direction vector of displacement 4 is the sum of angle 1, angle 2, and angle 3, and the length of displacement 4 is the value obtained by adding the first driving paths corresponding to displacement 1, displacement 2, and displacement 3. Displacement 4 can more intuitively show the curved road route to the user.

[0134] Step 103: Store the first collection route.

[0135] In the embodiment of the present application, when the vehicle drives out of the uncollected route that is not included in the navigation map, based on the driving information obtained during the driving process, a first collection route is drawn and then stored. When the user drives the vehicle back into this first collection route or other vehicles drive into this collection route and the navigation map still cannot provide navigation services for the user, the stored first collection route can provide navigation services for the user, and the user does not need to find the way by memory, saving the user's wayfinding time and thus enhancing the user's driving experience.

[0136] Please refer to Figure 8 , which is a method for updating the first collection route provided by the embodiment of the present application. As Figure 8 shown, after performing step 103, it can be specifically implemented by steps 301 - 304:

[0137] Step 301: When driving along the first collection route, obtain the driving information of the vehicle.

[0138] Step 302: Map the driving information into the second recorded route.

[0139] Step 303: Compare the driving mileage of the first recorded route with that of the second recorded route.

[0140] Step 304: If the driving mileage of the first recorded route is greater than that of the second recorded route, update the first recorded route to the second recorded route.

[0141] In the embodiment of the present application, since the driving path of the vehicle may be different each time the vehicle travels on the same route, the formed routes may also be different. Therefore, when the vehicle travels along the first recorded route, the driving information of the vehicle is still obtained starting from when the vehicle enters the first recorded route until the vehicle exits the first recorded route, and the driving information on the first recorded route is read out to generate the second recorded route. Among them, the method of generating the second recorded route is the same as the above steps and will not be elaborated here. By comparing the driving mileage of the first recorded route and the second recorded route, if the driving mileage of the second recorded route is less than that of the first recorded route, it indicates that compared with the first driving route, the driving mileage required to travel along the second driving route is shorter, and the second recorded route is a better route choice for the user. Then, at the same driving speed, the time required for the user to travel on the second recorded route is shorter. Therefore, the first recorded route is updated to the first recorded route, and the original first recorded route is eliminated, thereby improving the driving efficiency of the user.

[0142] Please refer to Figure 9 , a navigation method provided by an embodiment of the present application. As Figure 9 shown, after step 103 is executed, it can be specifically implemented by steps 401-403:

[0143] Step 401: Receive the starting point and the ending point set by the user, and plan the target navigation route on the navigation map.

[0144] Step 402: If the starting point is the same as the starting point of the first recorded route and the ending point is the same as the ending point of the first recorded route, compare the driving mileage of the target navigation route with that of the first recorded route.

[0145] Step 403: If the driving mileage of the first recorded route is less than that of the target navigation route, navigate based on the first recorded route.

[0146] In the embodiments of the present application, before a user uses the navigation map service, the user needs to input a starting point and an ending point on the navigation map. When the navigation map plans a target navigation route from the routes it has included based on the starting point and the ending point input by the user, and at the same time matches a first included route with the same starting point and ending point, it can be considered that the first included route is a route that has not been included by the navigation map between the starting point and the ending point set by the user. If the driving mileage of the first included route is less than that of the target navigation route, it can be considered that the mileage required to drive along the first included route is shorter. At the same driving speed, the time required for the user to drive on the first included route is shorter. Therefore, the first included route is a better route choice for the user compared to the target navigation route, which can thus improve the driving efficiency of the user.

[0147] Please refer to Figure 10 , a navigation method provided by an embodiment of the present application. As Figure 10 shown, before step 102 is executed, it can be specifically implemented by steps 501 - 503:

[0148] Step 501: If the driving mileage of the vehicle on the non - included route is greater than the sixth set threshold, display a confirmation interface to the user. The confirmation interface includes a confirmation button and a rejection button. The confirmation button is used to indicate that the user needs to return to the starting point where the non - included route was entered, and the rejection button is used to indicate that the user does not need to return to the starting point of the non - included route.

[0149] Step 502: If it is detected that the user selects the confirmation button, reverse - map the driving information into a return route.

[0150] Step 503: Navigate based on the return route until the vehicle returns to the starting point of the non - included route.

[0151] In an embodiment of the present application, when the driving mileage of the vehicle on an unrecorded route is greater than a sixth set threshold, it indicates that the vehicle has traveled a relatively long distance on an unrecorded route. When the vehicle is driving on this unrecorded route, the navigation map cannot provide navigation services. However, the user may want to return to the route recorded by the navigation map. Therefore, a confirmation interface is displayed to the user. The confirmation interface allows the user to select whether to return to the route recorded by the navigation map. Among them, the navigation map includes a confirmation button and a rejection button. The confirmation button is used to indicate that the user needs to return to the starting point of the unrecorded route, and the rejection button is used to indicate that the user needs to return to the starting point of the unrecorded route. The starting point of the unrecorded route can be considered as the end point of the route recorded by the navigation map. Therefore, finding the starting point of the unrecorded route can return to the end point of the route not recorded by the navigation map. It is known that when the vehicle drives into an unrecorded route, the vehicle starts to obtain the driving information of the vehicle. If the operation of the user selecting the confirmation button is received, it starts to read the driving information of the vehicle during the driving process on the unrecorded route in reverse, and adds 180° to the first average steering angle value of the first driving displacement corresponding to each cycle collected in the driving information. The average head elevation angle corresponding to the first driving displacement collected in each cycle in the driving information becomes the opposite of the original value.

[0152] For example, as Figure 11 shown, displacement b is the first driving displacement corresponding to a certain cycle. The first average steering angle corresponding to displacement b is angle 1, and the angle value of angle 1 is 16°. When mapping back the route, since the driving direction of the vehicle is the opposite direction, the starting point of displacement b becomes the end point, and the end point becomes the starting point, generating displacement b'. The first average driving steering angle corresponding to displacement b' is angle 2, and the angle value of angle 2 is 196°. The angle value of angle 2 is calculated by adding 180° to the angle value of angle 1. If the average head elevation angle of displacement b is 5°, then the average head elevation angle of displacement b' is -5°. The generated displacement b' is the first driving displacement when mapping back the route. The method when mapping back the route is the same as the above method and will not be elaborated here. After generating the return route, the user can return to the route recorded by the navigation map along the return route, avoiding errors when the user tries to find the way back to the route recorded by the navigation map by memory, saving the user's route-finding time, and thus improving the user experience.

[0153] Please refer to Figure 12 , based on the same inventive concept, an embodiment of the present application also provides a route creation device, which includes: an acquisition unit 601, a mapping unit 602, and a storage unit 603.

[0154] The acquisition unit 601 is used to obtain the driving information of the vehicle when the vehicle drives into an unrecorded route, and the unrecorded route is a route not recorded by the navigation map;

[0155] A mapping unit 602, configured to map driving information into a first recorded route when the vehicle drives out of an unrecorded route;

[0156] A storage unit 603, configured to store the first recorded route.

[0157] Optionally, the driving information includes the instantaneous driving speed of the vehicle collected periodically, the instantaneous steering angle of the vehicle, the instantaneous head elevation angle of the vehicle, and the longitude and latitude of the vehicle. The mapping unit 602 includes:

[0158] A calculation unit, configured to calculate the average driving speed of each period based on the instantaneous driving speed at the start of each period of the vehicle and the instantaneous driving speed at the end of each period;

[0159] The calculation unit is further configured to calculate a first average steering angle of each period based on the instantaneous steering angle at the start of each period of the vehicle and the instantaneous steering angle at the end of each period;

[0160] The calculation unit is further configured to calculate the average head elevation angle of each period based on the instantaneous head elevation angle at the start of each period of the vehicle and the head elevation angle at the end of each period;

[0161] The calculation unit is further configured to calculate a first driving mileage of each period of the vehicle based on the average driving speed of each period;

[0162] A generation unit, configured to generate a first driving displacement of the vehicle in each period based on the first driving mileage, the first average steering angle, and the average head elevation angle of each period;

[0163] A displacement mapping unit, configured to map the first driving displacement between the longitude and latitude at the start of the same period and the longitude and latitude at the end of the period to generate a first recorded route.

[0164] Optionally, the calculation unit is further configured to calculate a first angle difference between the first average steering angle corresponding to the i-th period and the first average steering angle corresponding to the (i - 1)-th period;

[0165] The calculation unit is further configured to, if the first angle difference is within a first set threshold range, and the average head elevation angle corresponding to the i-th period and the average head elevation angle corresponding to the (i - 1)-th period are both within a second set threshold range, sum the first driving mileage corresponding to the i-th period and the first driving mileage corresponding to the (i - 1)-th period to obtain a second driving mileage;

[0166] The generation unit is further configured to generate a second driving displacement jointly corresponding to the (i - 1)-th period and the i-th period based on the second driving mileage, the first average steering angle corresponding to the (i - 1)-th period, and the average head elevation angle corresponding to the (i - 1)-th period;

[0167] The displacement mapping unit is specifically used for:

[0168] Map the second driving displacement between the longitude and latitude at the start of the (i - 1)-th cycle and the longitude and latitude at the end of the i-th cycle to generate a first recorded route.

[0169] Optionally, the calculation unit is further used to calculate a second angle difference between the first average steering angle corresponding to the i-th cycle and the first average steering angle corresponding to the (i - 1)-th cycle, and a third angle difference between the first average steering angle corresponding to the (i + 1)-th cycle and the first average steering angle corresponding to the i-th cycle;

[0170] The calculation unit is further used to, if the first average steering angle corresponding to the (i - 1)-th cycle, the first average steering angle corresponding to the i-th cycle, and the first average steering angle corresponding to the (i + 1)-th cycle are all within the range of the third set threshold, the sum of the second angle difference and the third angle difference is less than the fourth set threshold, and the average head elevation angle corresponding to the (i - 1)-th cycle, the average head elevation angle corresponding to the i-th cycle, and the average head elevation angle corresponding to the (i + 1)-th cycle are all within the range of the fifth set threshold, sum up the first driving mileage corresponding to the (i + 1)-th cycle, the first driving mileage corresponding to the i-th cycle, and the first driving mileage corresponding to the (i - 1)-th cycle to obtain a third driving mileage, and sum up the first average steering angle corresponding to the (i - 1)-th cycle, the second angle difference, and the third angle difference to obtain a second average steering angle;

[0171] The generation unit is further used to generate a third driving displacement corresponding to the (i - 1)-th cycle, the i-th cycle, and the (i + 1)-th cycle based on the third driving mileage, the second average steering angle, and the average head elevation angle corresponding to the (i - 1)-th cycle;

[0172] The displacement mapping unit is specifically used for:

[0173] Map the third driving displacement between the longitude and latitude at the start of the (i - 1)-th cycle and the longitude and latitude at the end of the (i + 1)-th cycle to generate a first recorded route.

[0174] Optionally, the device further includes:

[0175] An acquisition unit 601, used to acquire the driving information of the vehicle when driving along the first recorded route;

[0176] A mapping unit 602 is further used to map the driving information into a second recorded route;

[0177] A first comparison unit, used to compare the driving mileage of the first recorded route with the driving mileage of the second recorded route;

[0178] An update unit, configured to update the first collected route to the second collected route if the driving mileage of the first collected route is greater than that of the second collected route.

[0179] Optionally, the apparatus further includes:

[0180] A planning unit, configured to receive a starting point and an ending point set by a user, and plan a target navigation route on a navigation map;

[0181] A second comparison unit, configured to compare the driving mileage of the target navigation route with that of the first collected route if the starting point is the same as the starting point of the first collected route and the ending point is the same as the ending point of the first collected route;

[0182] A first navigation unit, configured to perform navigation based on the first collected route if the driving mileage of the first collected route is less than that of the target navigation route.

[0183] Optionally, the apparatus further includes:

[0184] A display unit, configured to display a confirmation interface to the user if the driving mileage of the vehicle on a non-collected route is greater than a sixth set threshold, where the confirmation interface includes a confirmation button and a rejection button, the confirmation button is used to indicate that the user needs to return to the starting point where the non-collected route is entered, and the rejection button is used to indicate that the user does not need to return to the starting point of the non-collected route;

[0185] A mapping unit 602 is further configured to inversely map the driving information into a return route if it is detected that the user selects the confirmation button;

[0186] A second navigation unit, configured to perform navigation based on the return route until the vehicle returns to the starting point of the non-collected route.

[0187] Please refer to Figure 13 , based on the same inventive concept, an embodiment of the present application provides an electronic device 100, which includes at least one processor 701. The processor 701 is configured to execute a computer program stored in a memory to implement the steps of the route creation method provided in the embodiment of the present application as Figure 1 shown.

[0188] Optionally, the electronic device 100 may further include a memory 702 connected to at least one processor 701. The memory 702 may include a ROM, a RAM, and a disk memory. The memory 702 is used to store data required for the operation of the processor 701, that is, instructions that can be executed by at least one processor 701 are stored. The at least one processor 701 executes the instructions stored in the memory 702 to execute the method as Figure 1 shown. Wherein, the number of the memories 702 is one or more. Wherein, the memory 702 is shown in the figure together, but it should be noted that the memory 702 is not an essential functional module. Therefore, inFigure 13 It is shown by a dashed line in the figure.

[0189] Among them, the entity devices corresponding to the acquisition unit 601, the mapping unit 602, and the storage unit 603 can all be the aforementioned processor 701. This electronic device can be used to execute Figures 1 to 2 , Figure 4 , Figure 6 , Figures 8 to 10 The methods provided by the embodiments shown. Therefore, regarding the functions that can be achieved by each functional module in this electronic device, reference can be made to the corresponding descriptions in the embodiments of executing Figures 1 to 2 , Figure 4 , Figure 6 , Figures 8 to 10 Shown, which will not be elaborated here.

[0190] The embodiments of the present application also provide a computer storage medium. Among them, the computer storage medium stores computer instructions. When the computer instructions run on a computer, the computer is caused to execute as executed Figures 1 to 2 , Figure 4 , Figure 6 , Figures 8 to 10 The methods described.

[0191] Please refer to Figure 14 , the embodiments of the present application also provide a vehicle 200, and this vehicle 200 includes the electronic device 100 as shown in Figure 9 .

[0192] The above are only the preferred embodiments of this specification and are not intended to limit this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this specification shall be included within the scope of protection of this specification.

Claims

1. A route creation method, characterized in that, Applied to a vehicle, the method includes: If the vehicle enters an unrecorded route, obtain the driving information of the vehicle. The unrecorded route is a route not included in the navigation map, and the driving information includes the first driving mileage, the first average steering angle, the average head elevation angle, and the start and end longitude and latitude of the vehicle in each of multiple cycles; If the vehicle exits the unrecorded route, map the driving information into a first recorded route. When the difference between the first average steering angles of two adjacent cycles is within a first set threshold range, and the average head elevation angles of each of the two adjacent cycles are within a second set threshold range, map the combined driving displacement of the two adjacent cycles to the formed route between the start longitude and latitude of the previous cycle and the end longitude and latitude of the next cycle among the two adjacent cycles. The combined driving displacement of the two adjacent cycles is determined by the first driving mileage of each of the two adjacent cycles, the first average steering angle of the first cycle among the two adjacent cycles, and the average head elevation angle of the first cycle among the two adjacent cycles; or, The first recorded route is formed when the first average steering angles of each of three adjacent cycles are all within a third set threshold range, the sum of the difference between the first average steering angles of the first two adjacent cycles and the difference between the first average steering angles of the last two adjacent cycles among the three adjacent cycles is less than a fourth set threshold, and the average head elevation angles of each of the three adjacent cycles are within a fifth set threshold range. Map the combined driving displacement of the three adjacent cycles to the formed route between the start longitude and latitude of the first cycle and the end longitude and latitude of the last cycle among the three adjacent cycles. The combined driving displacement of the three adjacent cycles is determined by the first driving mileage of each of the three adjacent cycles, the second average steering angle corresponding to the three adjacent cycles, and the average head elevation angle corresponding to the first cycle among the three adjacent cycles. The second average steering angle is the sum of the first average steering angle of the first cycle among the three adjacent cycles, the difference between the first average steering angles of the first two adjacent cycles, and the difference between the first average steering angles of the last two adjacent cycles; Store the first recorded route.

2. The method according to claim 1, wherein Obtaining the driving information of the vehicle includes: Periodically collecting the instantaneous driving speed of the vehicle, the instantaneous steering angle of the vehicle, the instantaneous head elevation angle of the vehicle, and the longitude and latitude of the vehicle; Based on the instantaneous driving speed at the start of each cycle of the vehicle and the instantaneous driving speed at the end of each cycle, calculate the average driving speed of each cycle; Based on the instantaneous steering angle at the start of each cycle of the vehicle and the instantaneous steering angle at the end of each cycle, calculate the first average steering angle of each cycle; Based on the instantaneous head elevation angle at the start of each cycle of the vehicle and the head elevation angle at the end of each cycle, calculate the average head elevation angle of each cycle; Based on the average driving speed of each cycle, calculate the first driving mileage of each cycle of the vehicle.

3. The method according to claim 2, wherein Mapping the driving information into a first recorded route includes: Calculate a first angular difference between the first average steering angle corresponding to the i-th cycle and the first average steering angle corresponding to the (i - 1)-th cycle; If the first angular difference is within a first set threshold range, and the average head elevation angle corresponding to the i-th cycle and the average head elevation angle corresponding to the (i - 1)-th cycle are both within a second set threshold range, sum the first driving mileage corresponding to the i-th cycle and the first driving mileage corresponding to the (i - 1)-th cycle to obtain a second driving mileage; Generate a second driving displacement corresponding to both the (i - 1)-th cycle and the i-th cycle based on the second driving mileage, the first average steering angle corresponding to the (i - 1)-th cycle, and the average head elevation angle corresponding to the (i - 1)-th cycle; Map the second driving displacement between the longitude and latitude at the start of the (i - 1)-th cycle and the longitude and latitude at the end of the i-th cycle to generate the first recorded route.

4. The method according to claim 2, wherein Mapping the driving information into a first recorded route includes: Calculate a second angular difference between the first average steering angle corresponding to the i-th cycle and the first average steering angle corresponding to the (i - 1)-th cycle, and a third angular difference between the first average steering angle corresponding to the (i + 1)-th cycle and the first average steering angle corresponding to the i-th cycle; If the first average steering angle corresponding to the (i - 1)-th cycle, the first average steering angle corresponding to the i-th cycle, and the first average steering angle corresponding to the (i + 1)-th cycle are all within a third set threshold range, the sum of the second angular difference and the third angular difference is less than a fourth set threshold, and the average head elevation angle corresponding to the (i - 1)-th cycle, the average head elevation angle corresponding to the i-th cycle, and the average head elevation angle corresponding to the (i + 1)-th cycle are all within a fifth set threshold range, sum the first driving mileage corresponding to the (i + 1)-th cycle, the first driving mileage corresponding to the i-th cycle, and the first driving mileage corresponding to the (i - 1)-th cycle to obtain a third driving mileage, and sum the first average steering angle corresponding to the (i - 1)-th cycle, the second angular difference, and the third angular difference to obtain a second average steering angle; Generate a third driving displacement corresponding to the (i - 1)-th cycle, the i-th cycle, and the (i + 1)-th cycle based on the third driving mileage, the second average steering angle, and the average head elevation angle corresponding to the (i - 1)-th cycle; Map the third driving displacement between the longitude and latitude at the start of the (i - 1)-th cycle and the longitude and latitude at the end of the (i + 1)-th cycle to generate the first recorded route.

5. The method according to claim 1, wherein After storing the first recorded route, the method includes: When driving along the first recorded route, obtain the driving information of the vehicle; Map the driving information into a second recorded route; Compare the driving mileage of the first recorded route with the driving mileage of the second recorded route; If the driving mileage of the first recorded route is greater than that of the second recorded route, update the first recorded route to the second recorded route.

6. The method according to claim 1, wherein After storing the first recorded route, the method includes: Receiving a starting point and an ending point set by the user, and planning a target navigation route in the navigation map; If the starting point is the same as the starting point of the first recorded route, and the ending point is the same as the ending point of the first recorded route, compare the driving mileage of the target navigation route with that of the first recorded route; If the driving mileage of the first recorded route is less than that of the target navigation route, perform navigation based on the first recorded route.

7. The method according to claim 1, wherein Before the vehicle exits the unrecorded route, the method further includes: If the driving mileage of the vehicle on the unrecorded route is greater than a sixth set threshold, display a confirmation interface to the user, where the confirmation interface includes a confirmation button and a rejection button. The confirmation button is used to indicate that the user needs to return to the starting point where the vehicle entered the unrecorded route, and the rejection button is used to indicate that the user does not need to return to the starting point of the unrecorded route; If it is detected that the user selects the operation of the confirmation button, reverse-map the driving information into a return route; Perform navigation based on the return route until the vehicle returns to the starting point of the unrecorded route.

8. An apparatus for creating a route, characterized in that, The device includes: A first acquisition unit, configured to acquire the driving information of the vehicle when the vehicle enters an unrecorded route. The unrecorded route is a route not included in the navigation map. The driving information includes the first driving distance, the first average steering angle, the average head elevation angle, and the start and end longitude and latitude of the vehicle in each of multiple periods; A first mapping unit, configured to map the driving information into a first recorded route when the vehicle exits the unrecorded route. When the difference between the first average steering angles of two adjacent periods is within a first set threshold range, and the average head elevation angles of the two adjacent periods are both within a second set threshold range, map the combined driving displacement of the two adjacent periods to the formed position between the starting longitude and latitude of the previous period and the ending longitude and latitude of the subsequent period of the two adjacent periods. The combined driving displacement of the two adjacent periods is determined by the first driving mileage of each of the two adjacent periods, the first average steering angle of the first period of the two adjacent periods, and the average head elevation angle of the first period of the two adjacent periods; or, When the first average turning angles of three adjacent cycles are all within the range of the third set threshold, the sum of the difference in the first average turning angles between the first two adjacent cycles and the difference in the first average turning angles between the last two adjacent cycles among the three adjacent cycles is less than the fourth set threshold, and the average front head elevation angles of the three adjacent cycles are all within the range of the fifth set threshold, the driving displacement after combining the three adjacent cycles is mapped to the driving displacement formed between the starting longitude and latitude of the first cycle and the ending longitude and latitude of the last cycle among the three adjacent cycles. The driving displacement after combining the three adjacent cycles is determined by the first driving mileage of each of the three adjacent cycles, the second average turning angle corresponding to the three adjacent cycles, and the average front head elevation angle corresponding to the first cycle among the three adjacent cycles. The second average turning angle is the sum of the first average turning angle of the first cycle among the three adjacent cycles, the difference in the first average turning angles between the first two adjacent cycles among the three adjacent cycles, and the difference in the first average turning angles between the last two adjacent cycles among the three adjacent cycles; A storage unit for storing the first collection route.

9. An electronic device, characterized in that, The electronic device includes at least one processor and a memory connected to the at least one processor. The at least one processor is configured to execute the steps of the method according to any one of claims 1-7 when executing a computer program stored in the memory.

10. A vehicle, characterized in that, An electronic device including the electronic device according to claim 9.

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