Navigation route planning method and system, electronic device and storage medium

Abstract

The application belongs to the technical field of automatic driving, and discloses a method, system and device for calculating an alternative route section in a navigation route and a storage medium. The method is triggered by creating an alternative route section instruction, and then a node tree obtained after one-time route calculation when calculating the navigation route is obtained. Then, a target node with a parent node outside the node tree in the node tree is determined. Finally, an alternative route section is generated based on the parent node outside the tree of the target node. As the alternative route section is generated by using the target node outside the node tree, when the second-time route calculation fails, the switching of the lane can be realized based on the alternative route section, so that the starting point and the ending point of the road can be smoothly connected, and as it is not necessary to search again based on the one-time route calculation, the consumption of the memory and the overall computing power are greatly reduced, the success rate of the route calculation after the second-time route calculation of the navigation route fails is improved, and the generation efficiency of the navigation route is improved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to navigation route planning methods, systems, electronic devices, and storage media. Background Technology

[0002] In the field of autonomous driving, navigation routes need to be calculated. To calculate navigation routes, related technologies employ secondary route calculation. Primary route calculation identifies roads that can be connected end-to-end and calculates the first and last points of these roads. Secondary route calculation calculates the connection points for lane changes within these roads and establishes the connection between the first and last points of each road based on these connection points.

[0003] However, during the secondary route calculation, if the starting point is in a solid lane and cannot be connected to the starting point through a connecting point, the route calculation will fail, resulting in the inability to generate a navigation route. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this application provides a navigation route planning method, system, electronic device and storage medium, which can improve the success rate of secondary route calculation, thereby ensuring the generation of correct navigation routes and improving the safety of autonomous driving.

[0005] The first aspect of this application provides a navigation route planning method, including:

[0006] During the calculation of the navigation route, if the first route calculation is successful but the second route calculation fails, the first target road after the first successful route calculation is obtained.

[0007] Divide each lane of the first target road into multiple road segments;

[0008] Add lane change markers to each lane segment;

[0009] A secondary route calculation is performed on the road segments after adding lane change markers to plan the navigation route.

[0010] In some embodiments, obtaining the first target road after the first successful path calculation includes:

[0011] Retrieve road navigation data from the map data after a successful route calculation;

[0012] When the secondary route calculation fails, all roads in the road navigation data are identified as the first target roads.

[0013] In some embodiments, dividing each lane of the first target road into multiple lane segments includes:

[0014] Obtain road segmentation conditions;

[0015] Based on the division interval distance in the division conditions, each lane in the first target road is divided into multiple road segments; or,

[0016] Based on the division markers in the division conditions, lanes in the first target road that meet the division markers are divided into multiple road segments.

[0017] In some embodiments, adding lane change markers to each lane segment includes:

[0018] Identify the target road segments that need to be marked.

[0019] Add lane change markers at specific locations within the target road segment.

[0020] In some embodiments, the secondary route calculation based on the road segment with added lane change markers includes:

[0021] Find a lane-change path that connects the first and last points of the target road through lane-change markers;

[0022] Based on the aforementioned lane-changing path, a secondary route calculation is performed.

[0023] In some embodiments, it also includes:

[0024] If the secondary route calculation based on the road segment after adding lane change markers fails, a second target road that is associated with the first target road is obtained.

[0025] A navigation route is planned based on the first target road and the second target road.

[0026] In some embodiments, the association includes a parent-child relationship between the first target road and the second target road in terms of data structure.

[0027] A second aspect of this application provides a navigation route planning device, comprising:

[0028] The acquisition unit is used to obtain the first target road after the first successful route calculation when the second route calculation fails during the process of calculating the navigation route.

[0029] A segmentation unit is used to divide each lane of the first target road into multiple lane segments;

[0030] The marking unit is used to add lane change markings to each lane segment;

[0031] The planning unit is used to perform secondary route calculation based on road segments with added lane change markers in order to plan navigation routes.

[0032] A third aspect of this application provides an electronic device, comprising:

[0033] Processor; and

[0034] A memory that stores executable code, which, when executed by the processor, causes the processor to perform the method described above.

[0035] A fourth aspect of this application provides a non-transitory machine-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to perform the method described above.

[0036] This application discloses a method, system, device, and storage medium for calculating alternative road segments in navigation routes. The method first triggers an instruction to create alternative road segments. Then, it obtains a node tree obtained after the first route calculation during navigation route calculation. Nodes in the node tree represent roads in map data. Next, it identifies target nodes in the node tree that have parent nodes outside the node tree. These parent nodes represent nodes outside the node tree that have a parent-child relationship with nodes in the node tree. Finally, alternative road segments are generated based on the parent nodes outside the target nodes. As can be seen, since alternative road segments are generated using target nodes outside the node tree, lane switching can be achieved based on these alternative road segments when a second route calculation fails, allowing for smooth connection between the first and last points of the road. Furthermore, since there is no need to re-search based on the first route calculation, memory consumption and overall computing power are significantly reduced, improving the success rate of route calculation after a second route calculation failure and increasing the efficiency of navigation route generation.

[0037] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0038] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0039] Figure 1 This is a flowchart illustrating a method for configuring graphical module parameters according to an embodiment of this application.

[0040] Figure 2 This is a schematic diagram illustrating the process of creating an autonomous driving graphical function module in a method for configuring graphical module parameters according to an embodiment of this application.

[0041] Figure 3 This is a schematic diagram of the structure of a parameter configuration system for a graphical module, as shown in an embodiment of this application.

[0042] Figure 4 This is a schematic diagram of the structure of an electronic device shown in an embodiment of this application. Detailed Implementation

[0043] Preferred embodiments of the present application will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0044] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0045] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0046] This application's embodiments can be applied to the field of autonomous driving, especially in scenarios where navigation routes are used for driving. The generation of navigation routes should balance success rate and time efficiency. In related technologies, navigation route generation can employ two route calculations: the first calculates the road used, along with its starting and ending points; the second calculates which lanes to use for lane changes to connect the starting and ending points. If the second route calculation fails, recalculating from the first can improve the success rate, but it results in poor time efficiency. Similarly, replanning the lane-changing methods in the second route calculation can improve time efficiency, but the success rate remains low.

[0047] Based on this, embodiments of this application can provide a navigation route planning method that can balance success rate and time efficiency to achieve navigation route planning.

[0048] See Figure 1 , Figure 1This is a flowchart illustrating a navigation route planning method according to an embodiment of this application.

[0049] This application provides a navigation route planning method, including:

[0050] S101. During the process of calculating the navigation route, if the route calculation is successful once and fails twice, obtain the first target road after the first successful route calculation.

[0051] In this embodiment of the application, during the calculation of the navigation route, if the route calculation is successful in one attempt, relevant map data, such as road data and lane data, will be stored. In terms of data structure, the road data and lane data can be stored in the form of nodes, with each node corresponding to a road.

[0052] If a route calculation is successful on the first attempt, and the second attempt fails, a first target road is obtained. This first target road can be any road in the navigation route after a successful first attempt, or any road that is related to any road in the navigation route, such as a road that is the parent node of a road that failed in the second attempt, or a secondary road corresponding to a main road.

[0053] Preferably, in this embodiment of the application, the first target road can be all the roads stored in the cache after a successful path calculation.

[0054] In practical applications, the primary target road can be determined by calculating the cost of a node. This cost can be calculated using a cost function, based on parameters such as lane change frequency, lane change length, and speed limit. A threshold can also be set to exclude roads exceeding this threshold from the primary target road list.

[0055] S102. Divide each lane of the first target road into multiple road segments.

[0056] S103. Add lane change markers to each lane segment.

[0057] To improve the success rate of route calculation, in this embodiment of the application, the lanes in the first target road are divided into multiple road segments so that lane change markers can be added for secondary route calculation.

[0058] The first target road is divided into multiple lane segments, including:

[0059] Obtain road segmentation conditions;

[0060] Based on the division interval distance in the division conditions, each lane in the first target road is divided into multiple road segments; or,

[0061] Based on the division indicators in the division conditions, the lanes in the first target road that meet the division indicators are divided into multiple road segments.

[0062] In this embodiment of the application, there can be various rules for dividing the road into vehicle lanes.

[0063] This can be done based on partitioning criteria. These criteria can be generated after receiving user-specified partitioning conditions. For example, the user can input partitioning intervals or partitioning identifiers as the basis for generating the partitioning criteria.

[0064] In this embodiment of the application, the division conditions can be obtained, and then the division process can be performed on each lane according to the parameters stored in the division conditions.

[0065] When the division conditions include a division interval distance, each lane in the first target road can be divided into multiple road segments based on that division interval distance, such as 50 meters.

[0066] Dividing the lanes by intervals allows for uniform lane division. Adding lane change markers based on these uniformly divided lanes makes subsequent secondary road calculation algorithms easier to implement and more accurate.

[0067] Of course, the division can also be done at designated locations. For example, users can set division markers based on the actual road conditions, and use their experience to determine more accurate locations that can improve the success rate of secondary route calculation.

[0068] Of course, relevant markings can also be set in advance in key road sections, and when the process is executed, the markings can be called directly.

[0069] In this embodiment of the application, lane change markers can be added to each divided road segment. These lane change markers can be content that the algorithm can access during lane change planning in secondary route calculation. When performing secondary route calculation, the specific lane change method and route from the starting point to the ending point of the road can be calculated based on these lane change markers.

[0070] S104. Perform secondary route calculation based on the road segments after adding lane change markers to plan the navigation route.

[0071] Secondary route calculation is performed on the road segments after lane change markers have been added, including:

[0072] Find lane-change paths that connect the beginning and end points of the target road using lane-change markers;

[0073] Based on the route change path, a second route calculation is performed.

[0074] See Figure 2 , Figure 2This is a schematic diagram of a scenario with lane change markers added in the embodiments of this application.

[0075] Lane 21 and lane 22 each include a lane center line 23 and a lane center line 24. After applying the embodiments of this application, each lane can be divided into multiple road segments. For each road segment, a lane change mark 20 can be added. During secondary road calculation, the lane change mark can be called.

[0076] Understandably, lane change markers can correspond to the road's attribute information, such as the specific location of lane changes and lane change restrictions. During secondary route calculation, the specific lane change path can be calculated based on this attribute information.

[0077] In this embodiment of the application, since all road segments of the first target road are marked, after the second road calculation fails, the calculation can be re-performed based on these lane-changing marks to determine the specific route for lane changing in the road. This ensures efficiency while improving the success rate of lane changing, thereby enabling the successful planning of a navigation route.

[0078] In this embodiment of the application, after adding a lane change marker, the lane change marker can be called during secondary route calculation to calculate the lane change path that connects the first and last points of the target road. It is understood that the lane change path can be a set of points and will not be a line.

[0079] Furthermore, since the first target road may include previously unmarked lane segments, the specific lane-changing routes can be planned in advance, preventing detours. Detours can occur, for example, when the end of the road is in a specific lane, but factors such as insufficient lane-changing length or lane-changing limit require a U-turn on the next road to reach that lane; in this case, the vehicle has actually detoured. However, in this embodiment, because lane-changing markers are added to all lane segments, the specific lane-changing method can be planned based on the actual conditions of all lanes, thereby avoiding detours.

[0080] In practical use, for the vast majority of cases, the embodiments of this application can reduce time consumption compared to replanning the navigation route. However, in very special cases, such as insufficient data or road limitations, the time consumption will be longer than replanning the navigation route. Nevertheless, the solution in the embodiments of this application avoids detours and, overall, balances success rate and time efficiency.

[0081] As can be seen, in this embodiment of the application, during the calculation of the navigation route, if the first route calculation is successful but the second route calculation fails, a first target road is obtained after the first successful route calculation. Then, each lane of the first target road is divided into multiple road segments. Lane change markers are then added to each road segment. Finally, a second route calculation is performed based on the road segments with added lane change markers to plan the navigation route. Since each lane is divided into multiple road segments and lane change markers are added to each road segment, the navigation route can be replanned directly based on the lane change markers after a second route calculation failure, without needing to start a road-level first route calculation from the starting point to replan the navigation route, thus balancing success rate and time efficiency.

[0082] In this embodiment of the application, in order to balance time efficiency and success rate, obtaining the first target road after a successful path calculation includes:

[0083] Retrieve road navigation data from the map data after a successful route calculation;

[0084] When the secondary route calculation fails, all roads in the road navigation data are identified as the first target roads.

[0085] In this embodiment of the application, when the secondary route calculation fails, the road navigation data can be generated after the first route calculation is successful. The road navigation data can include each road that can connect the start and end points of the navigation route, as well as the relevant data of the start and end points of each road.

[0086] Since the roads in the navigation route may fail to perform secondary route calculations due to insufficient lane change markers, in order to balance time efficiency and success rate, this application embodiment can use only the roads in the navigation route as the first target roads.

[0087] In this embodiment, all roads where secondary route calculation fails can be used as the first target roads, and road segments can be divided based on this. Then, lane change markers can be added to improve the success rate of secondary route calculation.

[0088] In practical use, all roads in the cached map data after a successful route calculation can be used as the first target road, which can further improve the success rate of the second route calculation.

[0089] In this embodiment, different roads can be selected as the first target road according to different application scenarios. For example, for highway scenarios, all roads in the road navigation data when the second route calculation fails can be used as the first target road; for urban driving scenarios, all roads in the map data when the first route calculation fails can be used as the first target road. Based on this, this embodiment may further include obtaining the current driving scenario and determining a first target road matching the driving scenario; wherein the first target road includes all roads in the road navigation data when the second route calculation fails or all roads in the map data when the second route calculation fails.

[0090] In this embodiment of the application, lane change markers can be added.

[0091] Add lane change markers to each lane segment, including:

[0092] Identify the target road segments that need to be marked.

[0093] Add lane change markers at specific locations within the target road segment.

[0094] In this embodiment, the lane change marker can be a data structure usable for secondary route calculation. This lane change marker can be used to calculate information such as the mode and location of lane changes on the road, thereby completing the secondary route calculation. This process is similar to that when the secondary route calculation fails, and will not be described in detail here.

[0095] It is understood that, in the embodiments of this application, the lane change mark can be set on the lane centerline or on one side of the lane.

[0096] If secondary route calculation based on the road segment after adding lane change markers fails, this application also provides another implementation method.

[0097] In addition to the foregoing embodiments, it also includes:

[0098] If secondary route calculation based on the road segment after adding lane change markers fails, a second target road that is associated with the first target road is obtained.

[0099] Plan the navigation route based on the first target road and the second target road.

[0100] Among them, the relationship includes that the first target road and the second target road have a parent-child relationship in terms of data structure.

[0101] In this embodiment of the application, if the secondary route calculation fails even after calling the road segment with added lane change markers, a second target road can also be obtained.

[0102] The second target road can be a road that has a parent-child relationship with the first target road. It is understood that the first target road may not be all roads in the map data, but only the map data used in a single route calculation. Therefore, in this embodiment, roads not used in the first route calculation can also be used as the second target road. Of course, to improve the success rate, the second target road is preferably a road that has a parent-child relationship with the first target road. For example, the roads corresponding to the parent and child nodes of the first target road.

[0103] Of course, the selection of the second target road can also be based on receiving a road specified by the user. When secondary route calculation fails based on the road segment with added lane change markers, a dialog box can pop up to indicate the second target road, allowing the user to input the road identifier corresponding to the second target road, such as a road abbreviation. This can provide personalized route planning based on user input while improving the success rate of secondary route calculation.

[0104] In this embodiment of the application, based on the above embodiments, both the success rate of route calculation and time efficiency can be taken into account. Furthermore, since there is sufficient data on the first target road and the second target road, the route-changing path can be planned in advance to avoid the problem of detours.

[0105] Corresponding to the aforementioned application function implementation method embodiments, this application also provides a navigation route planning device, electronic device, and corresponding embodiments.

[0106] Figure 3 This is a schematic diagram of the structure of the alternative route calculation device in the navigation route shown in the embodiments of this application.

[0107] A navigation route planning device, comprising:

[0108] Acquisition unit 1 is used to obtain the first target road after the first successful route calculation when the second route calculation fails during the process of calculating the navigation route.

[0109] Dividing unit 2 is used to divide each lane of the first target road into multiple road segments;

[0110] Marking unit 3 is used to add lane change markings to each lane segment;

[0111] Planning Unit 4 is used to perform secondary route calculation based on the road segments after adding lane change markers, in order to plan navigation routes.

[0112] The acquisition unit is specifically used for:

[0113] Retrieve road navigation data from the map data after a successful route calculation;

[0114] When the secondary route calculation fails, all roads in the road navigation data are identified as the first target roads.

[0115] The division of units is specifically used for:

[0116] Obtain road segmentation conditions;

[0117] Based on the division interval distance in the division conditions, each lane in the first target road is divided into multiple road segments; or,

[0118] Based on the division markers in the division conditions, lanes in the first target road that meet the division markers are divided into multiple road segments.

[0119] Optionally, adding lane change markers to each lane segment includes:

[0120] Identify the target road segments that need to be marked.

[0121] Add lane change markers at specific locations within the target road segment.

[0122] The planning unit is specifically used for:

[0123] Find a lane-change path that connects the first and last points of the target road through lane-change markers;

[0124] Based on the aforementioned lane-changing path, a secondary route calculation is performed.

[0125] It also includes an alternative unit for:

[0126] If the secondary route calculation based on the road segment after adding lane change markers fails, a second target road that is associated with the first target road is obtained.

[0127] A navigation route is planned based on the first target road and the second target road.

[0128] Optionally, the association relationship includes that the first target road and the second target road have a parent-child relationship in terms of data structure.

[0129] In this embodiment, the device can obtain a first target road after the first successful route calculation when the second route calculation fails. Then, it divides each lane of the first target road into multiple road segments. Next, it adds lane-change markers to each road segment. Finally, it performs a second route calculation based on the road segments with added lane-change markers to plan the navigation route. Since each lane is divided into multiple road segments and lane-change markers are added to each road segment, the navigation route can be replanned directly based on the lane-change markers after a second route calculation failure, without needing to start a road-level first route calculation from the starting point to replan the navigation route, thus balancing success rate and time efficiency.

[0130] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated further here.

[0131] Figure 4 This is a schematic diagram of the structure of an electronic device shown in an embodiment of this application.

[0132] See Figure 4 The electronic device 1000 includes a memory 1010 and a processor 1020.

[0133] The processor 1020 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0134] Memory 1010 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. ROM may store static data or instructions required by the processor 1020 or other modules of the computer. Permanent storage devices may be read-write storage devices. Permanent storage devices may be non-volatile storage devices that retain stored instructions and data even when the computer is powered off. In some embodiments, permanent storage devices use mass storage devices (e.g., magnetic or optical disks, flash memory) as permanent storage devices. In other embodiments, permanent storage devices may be removable storage devices (e.g., floppy disks, optical drives). System memory may be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory. System memory may store some or all of the instructions and data required by the processor during operation. Furthermore, memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, memory 1010 may include a removable storage device that is readable and / or writable, such as a laser disc (CD), a read-only digital multifunction optical disc (e.g., DVD-ROM, dual-layer DVD-ROM), a read-only Blu-ray disc, an ultra-high density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not contain carrier waves or transient electronic signals transmitted wirelessly or via wired connections.

[0135] The memory 1010 stores executable code, which, when processed by the processor 1020, can cause the processor 1020 to execute part or all of the methods described above.

[0136] The solution of this application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of each embodiment have different emphases; parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments. Those skilled in the art should also understand that the actions and modules involved in the specification are not necessarily essential to this application. Furthermore, it is understood that the steps in the method of this application embodiment can be adjusted, combined, and deleted according to actual needs, and the modules in the device of this application embodiment can be combined, divided, and deleted according to actual needs.

[0137] Furthermore, the method according to this application can also be implemented as a computer program or computer program product, which includes computer program code instructions for performing some or all of the steps in the method described above.

[0138] Alternatively, this application may be implemented as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) storing executable code (or computer program, or computer instruction code) that, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform some or all of the steps of the methods described above according to this application.

[0139] Those skilled in the art will also understand that the various exemplary logic blocks, modules, circuits, and algorithm steps described in connection with the present application can be implemented as electronic hardware, computer software, or a combination of both.

[0140] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0141] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A navigation route planning method, characterized in that, include: During the calculation of the navigation route, if the first route calculation is successful but the second route calculation fails, the first target road after the first successful route calculation is obtained. Divide each lane of the first target road into multiple road segments; Add lane change markers to each lane segment; A secondary route calculation is performed on the road segments after adding lane change markers to plan the navigation route.

2. The method according to claim 1, characterized in that, Obtaining the first target road after a successful path calculation includes: Retrieve road navigation data from the map data after a successful route calculation; When the secondary route calculation fails, all roads in the road navigation data are identified as the first target roads.

3. The method according to claim 1, characterized in that, The step of dividing each lane of the first target road into multiple lane segments includes: Obtain road segmentation conditions; Based on the division interval distance in the division conditions, each lane in the first target road is divided into multiple road segments; or, Based on the division markers in the division conditions, lanes in the first target road that meet the division markers are divided into multiple road segments.

4. The method according to claim 2, characterized in that, The step of adding lane change markers to each road segment includes: Identify the target road segments that need to be marked. Add lane change markers at specific locations within the target road segment.

5. The method according to claim 1, characterized in that, The secondary route calculation based on the road segment with added lane change markers includes: Find a lane-change path that connects the first and last points of the target road through lane-change markers; Based on the aforementioned lane-changing path, a secondary route calculation is performed.

6. The method according to claim 1, characterized in that, Also includes: If the secondary route calculation based on the road segment after adding lane change markers fails, a second target road that is associated with the first target road is obtained. A navigation route is planned based on the first target road and the second target road.

7. The method according to claim 6, characterized in that, The relationship includes the fact that the first target road and the second target road have a parent-child relationship in terms of data structure.

8. A navigation route planning device, characterized in that, include: The acquisition unit is used to obtain the first target road after the first successful route calculation when the second route calculation fails during the process of calculating the navigation route. A segmentation unit is used to divide each lane of the first target road into multiple lane segments; The marking unit is used to add lane change markings to each lane segment; The planning unit is used to perform secondary route calculation based on road segments with added lane change markers in order to plan navigation routes.

9. An electronic device, characterized in that, include: processor; as well as A memory having executable code stored thereon, which, when executed by the processor, causes the processor to perform the method as described in any one of claims 1-7.

10. A non-transitory machine-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to perform the method as described in any one of claims 1-7.

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