A navigation prompting method and device, electronic equipment and storage medium

Abstract

The application discloses a navigation prompting method and device, electronic equipment and storage medium, which can be applied to the field of maps, and comprises the following steps: in the case that a current driving position meets a navigation prompting condition, determining a current lane in a row corresponding to the current driving position and corresponding target prompting position information; acquiring lane prompting mapping information corresponding to the target prompting position information; the lane prompting mapping information represents a mapping relationship between the lane in the row corresponding to the target prompting position information and navigation prompting information, and the navigation prompting information is generated according to a corresponding relationship between the lane in the row and a lane at an intersection; determining target navigation prompting information corresponding to the current lane in the row in the lane prompting mapping information; and outputting navigation prompting according to the target navigation prompting information. The application can more accurately guide navigation when the number of lanes in the row is inconsistent with the number of lanes at the intersection.

Description

Technical Field

[0001] This invention relates to the field of computer technology, and in particular to a navigation prompting method, apparatus, electronic device, and storage medium. Background Technology

[0002] Currently, using electronic maps for navigation while driving is very common. Electronic maps can provide guidance and prompts regarding lane markings at intersections during navigation. In related technologies, when there are... Figure 1 When the number of lanes in the middle of the road shown (referring to the number of lanes in the normal driving lanes before entering the intersection) is inconsistent with the number of lanes at the intersection (referring to the number of lanes before the stop line at the intersection, generally separated by solid lines and with turn-guide arrows), only the guide lane lines at the intersection will be used as the basis for indicating which lanes in the middle of the road are passable. Figure 1 For example, suppose in Figure 1 The navigation prompt at location X indicates that the two middle lanes at this intersection are for straight-ahead traffic, therefore the navigation prompt is "take the two middle lanes." However, Figure 1 Location X shows only one middle lane. This indicates that the navigation prompts in the relevant technology are not accurate enough, making it impossible for users to determine from the prompts whether they are currently in the correct lane or whether they need to change lanes. Summary of the Invention

[0003] To address the problems of existing technologies, embodiments of the present invention provide a navigation prompting method, apparatus, electronic device, and storage medium. The technical solution is as follows:

[0004] On the one hand, a navigation prompting method is provided, the method comprising:

[0005] If the current driving position meets the navigation prompt conditions, determine the current driving lane corresponding to the current driving position, and the target prompt location information corresponding to the current driving position;

[0006] Obtain lane prompt mapping information corresponding to the target prompt location information; the lane prompt mapping information represents the mapping relationship between the driving lane corresponding to the target prompt location information and the navigation prompt information, and the navigation prompt information is generated based on the correspondence between the driving lane and the intersection lane;

[0007] Determine the target navigation prompt information corresponding to the current driving lane in the lane prompt mapping information;

[0008] Based on the target navigation prompt information, output navigation prompts.

[0009] On the other hand, a navigation prompting device is provided, the device comprising:

[0010] a first determining module, configured to determine a current lane in a row corresponding to a current driving position and target prompt position information corresponding to the current driving position, when the current driving position meets a navigation prompt condition;

[0011] a lane prompt mapping information obtaining module, configured to obtain lane prompt mapping information corresponding to the target prompt position information, the lane prompt mapping information representing a mapping relationship between a lane in a row corresponding to the target prompt position information and navigation prompt information, the navigation prompt information being generated according to a corresponding relationship between the lane in a row and a lane at an intersection;

[0012] a target navigation prompt information determining module, configured to determine target navigation prompt information corresponding to the current lane in a row in the lane prompt mapping information;

[0013] a navigation prompt output module, configured to output a navigation prompt according to the target navigation prompt information.

[0014] In an exemplary embodiment, the apparatus further comprises:

[0015] a target navigation path generating module, configured to generate a target navigation path according to a starting position and a destination position;

[0016] a navigation segment dividing module, configured to divide the target navigation path into at least one navigation segment according to a turning position in the target navigation path;

[0017] a second determining module, configured to determine target prompt position information corresponding to an intersection and lane in a row information corresponding to the target prompt position information according to guidance lane line information of the intersection in each navigation segment;

[0018] a corresponding relationship determining module, configured to determine a corresponding relationship between a lane in a row corresponding to the target prompt position information and a lane at an intersection according to the lane in a row information corresponding to the target prompt position information and the guidance lane line information of the intersection;

[0019] a lane prompt mapping information generating module, configured to generate lane prompt mapping information corresponding to the target prompt position information according to the corresponding relationship between the lane in a row corresponding to the target prompt position information and the lane at the intersection.

[0020] In an exemplary embodiment, the second determining module comprises:

[0021] The target prompt position information determination module is configured to determine a position in the navigation section at a preset distance from a guide lane line of a road intersection in the navigation section according to the guide lane line information of the road intersection, and obtain target prompt position information corresponding to the road intersection.

[0022] The lane change point determination module is configured to determine a lane change point in the navigation section, the lane change point being a position at which a number of lanes in the navigation section changes.

[0023] The distance determination module is configured to determine a first distance between the lane change point and a turning position corresponding to the navigation section, and a second distance between the guide lane line of the road intersection and the turning position.

[0024] The target lane change point determination module is configured to determine a target lane change point according to the first distance, the second distance and the preset distance, the target lane change point being a lane change point with a minimum difference value, the difference value being a difference between a sum of the second distance and the preset distance and the first distance.

[0025] The lane information generation module is configured to generate lane information in a row corresponding to the target prompt position information according to a lane before a number of lanes corresponding to the target lane change point changes.

[0026] In an exemplary embodiment, the lane prompt mapping information generation module comprises:

[0027] The intersection driving direction information determination module is configured to determine an intersection corresponding to the target prompt position information and driving direction information in the target navigation path.

[0028] The passing intersection lane determination module is configured to determine a passing intersection lane of the intersection that matches the driving direction information according to guide lane line information of the intersection.

[0029] The passing lane in a row determination module is configured to determine a passing lane in a row corresponding to the passing intersection lane according to a corresponding relationship between the lane in a row corresponding to the target prompt position information and the intersection lane.

[0030] The navigation prompt information generation module is configured to generate first navigation prompt information corresponding to the passing lane in a row according to relative positions of the passing lane in a row and the passing intersection lane, and generate second navigation prompt information corresponding to each non-passing lane in a row according to relative positions of each non-passing lane in a row and the passing lane in a row.

[0031] In an exemplary embodiment, the corresponding relationship determination module comprises:

[0032] a third determining module configured to determine a corresponding intersection lane of the intersection according to the guide lane line information of the intersection, the intersection lane including a straight intersection lane and an additional intersection lane;

[0033] a fourth determining module configured to determine an associated through lane associated with the additional intersection lane according to the through lane information corresponding to the target prompt position information, and determine a remaining through lane as a through lane other than the associated through lane;

[0034] a corresponding relationship establishing module configured to establish a corresponding relationship between the associated through lane and a first intersection lane, and a corresponding relationship between the remaining through lane and a second intersection lane;

[0035] The first intersection lane includes the additional intersection lane and a straight intersection lane adjacent to the additional intersection lane, and the second intersection lane is a straight intersection lane other than the straight intersection lane adjacent to the additional intersection lane.

[0036] In an exemplary embodiment, the device further includes:

[0037] a current driving position obtaining module configured to obtain a current driving position;

[0038] a searching module configured to search for target prompt position information containing the current driving position from a plurality of target prompt position information;

[0039] a condition determining module configured to determine that the current driving position satisfies a navigation prompt condition when the searching module finds the target prompt position information.

[0040] In another aspect, an electronic device is provided, including a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement the above navigation prompt method.

[0041] In another aspect, a computer readable storage medium is provided, the computer readable storage medium storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by a processor to implement the above navigation prompt method.

[0042] In another aspect, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer readable storage medium. The processor of an electronic device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to cause the electronic device to perform the above navigation prompt method.

[0043] The embodiment of the present application determines the current lane in the row corresponding to the current driving position and target prompt position information in the case that the current driving position meets the navigation prompt condition, and further obtains lane prompt mapping information corresponding to the target prompt position information. Since the lane prompt mapping information represents the mapping relationship between the lane in the row corresponding to the target prompt position information and the navigation prompt information, the target navigation prompt information corresponding to the current lane in the row can be determined from the lane prompt mapping information. Since the navigation prompt information corresponding to the lane in the row is generated according to the corresponding relationship between the lane in the row and the lane at the intersection, the navigation prompt information can more accurately guide in the case that the number of lanes in the row is inconsistent with the number of lanes at the intersection, so that the user can more accurately determine whether the current driving position is correct and whether the lane needs to be changed in advance, and a better auxiliary driving experience is provided. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0045] Figure 1 is a schematic diagram of the embodiment provided by the present application in the case that the number of lanes in the row is inconsistent with the number of lanes at the intersection;

[0046] Figure 2a is a schematic diagram of an implementation environment provided by the present application;

[0047] Figure 2b is a flowchart of a navigation prompt method provided by the present application;

[0048] Figure 3 is a lane diagram of an intersection provided by the present application;

[0049] Figure 4 is a flowchart of generating lane prompt mapping information corresponding to target prompt position information provided by the present application;

[0050] Figure 5 is a flowchart of determining target prompt position information corresponding to an intersection and lane in the row information corresponding to the target prompt position information provided by the present application;

[0051] Figure 6 is a lane diagram provided by the present application;

[0052] Figure 7 is a structural block diagram of a navigation prompt device provided by the present application;

[0053] Figure 8 is a hardware structure block diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0055] It should be noted that the terms “first”, “second” and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms “include” and “have” and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server including a series of steps or units does not necessarily have to include only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0056] It can be understood that in the specific embodiments of the present application, data related to user information and the like is involved, and when the above embodiments of the present application are applied to specific products or technologies, user permission or consent needs to be obtained, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of countries and regions.

[0057] Please refer to Figure 2a which shows an implementation environment schematic diagram provided by an embodiment of the present application. The implementation environment can include a terminal 210 and a server 220. The terminal 210 and the server 220 can be directly or indirectly connected through wired or wireless communication. The present application does not make any limitation here.

[0058] The terminal 210 can include but is not limited to a mobile phone, a computer, a smart voice interactive device, a smart home appliance, a vehicle-mounted terminal and the like. The terminal 210 runs a client software with navigation function, such as an application program (Application, referred to as App) therein. The application program can be an independent application program, or a subprogram in the application program.

[0059] The server 220 can be a server providing background services for an application program in the terminal 210, and specifically, the server 220 can provide a navigation prompt service based on map data, for example, generating a target navigation path based on map data in an initial navigation path planning stage, and generating lane prompt mapping information corresponding to target prompt position information on the target navigation path based on the target navigation path, the target prompt position information being a position at which navigation prompt information in the corresponding lane prompt mapping information needs to be output.

[0060] In a specific embodiment, after the server 220 generates the lane prompt mapping information corresponding to the target prompt position information, the server 220 can send the lane prompt mapping information to the terminal 210 that initiates the navigation path planning, so that the terminal 210 can perform navigation prompting based on the lane prompt mapping information corresponding to the target prompt position information in a process of navigation based on the target navigation path. In another specific embodiment, after the server 220 generates the lane prompt mapping information corresponding to the target prompt position information, the server 220 can not send the lane prompt mapping information to the terminal 210 that initiates the navigation path planning, but store the lane prompt mapping information locally, and send corresponding navigation prompt information to the terminal 210 to perform navigation prompting according to the real-time driving position of the terminal 210 and the lane prompt mapping information corresponding to the target prompt position information in a process of navigation based on the target navigation path.

[0061] The server 220 can be a standalone physical server, a server cluster or a distributed system composed of multiple physical servers, a cloud server providing basic cloud computing services such as cloud service, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, CDN (Content Delivery Network), and big data and artificial intelligence platform, etc.

[0062] In an exemplary embodiment, the terminal 210 and the server 220 can be node devices in a blockchain system, and can share the acquired and generated information with other node devices in the blockchain system, so as to realize information sharing between multiple node devices. The multiple node devices in the blockchain system can be configured with the same blockchain, the blockchain is composed of multiple blocks, and adjacent blocks have an association relationship, so that when the data in any block is tampered with, it can be detected through the next block, thereby avoiding tampering of data in the blockchain, and ensuring the security and reliability of the data in the blockchain.

[0063] The navigation prompting method provided by the embodiment of the application can be applied to various scenes such as cloud technology, intelligent transportation, and Internet of Vehicles.

[0064] The cloud technology includes cloud computing, which is a computing mode that distributes computing tasks on a resource pool formed by a large number of computers, so that various application systems can obtain computing power, storage space and information services according to needs. The network providing resources is called "cloud". The resources in the "cloud" are infinitely expandable to users and can be obtained at any time, used on demand, expanded at any time, and paid according to use. As a basic capability provider of cloud computing, a cloud computing resource pool (referred to as a cloud platform, generally referred to as an IaaS (Infrastructure as a Service) platform) is established, a plurality of types of virtual resources are deployed in the resource pool, and external customers can select and use the virtual resources. The cloud computing resource pool mainly includes: a computing device (a virtualized machine containing an operating system), a storage device, and a network device. According to logical function division, the PaaS (Platform as a Service) layer can be deployed on the IaaS (Infrastructure as a Service) layer, the SaaS (Software as a Service) layer is deployed on the PaaS layer, or the SaaS is directly deployed on the IaaS. The PaaS is a platform for software running, such as a database and a web container. The SaaS is various business software, such as a web portal website and a short message massager. Generally, the SaaS and the PaaS are upper layers relative to the IaaS.

[0065] Intelligent Traffic System (ITS) is also called Intelligent Transportation System, which is a comprehensive transportation system that ensures safety, improves efficiency, improves environment and saves energy by effectively integrating advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) in transportation, service control and vehicle manufacturing, and strengthening the connection among vehicles, roads and users.

[0066] The concept of Internet of Vehicles is derived from Internet of Things, that is, vehicle Internet of Things, which takes a vehicle in motion as an information sensing object, and realizes network connection between the vehicle and X (that is, the vehicle and the vehicle, people, road, and service platform) by means of a new generation of information communication technology, so as to improve the overall intelligent driving level of the vehicle, provide users with safe, comfortable, intelligent, and efficient driving experience and traffic services, improve traffic operation efficiency, and improve the intelligent level of social traffic services. The communication between the vehicle and the vehicle refers to the information exchange and information sharing between the vehicle and the vehicle, including the vehicle position, driving speed, and other vehicle state information, which can be used to judge the road traffic condition; the communication between the vehicle and the road refers to the information exchange between the vehicle and the road by means of the fixed communication facilities on the ground road, which is used to monitor the road surface condition and guide the vehicle to select the best driving path.

[0067] The navigation prompting method provided by the embodiment of the application will be described in detail below in combination with the application environment shown in Figure 2a It should be noted that the navigation prompting method of the embodiment of the application can be applied to a navigation prompting device, and the navigation prompting device can be configured in an electronic device, which can be a terminal or a server.

[0068] Please refer to Figure 2b , which shows a flowchart of a navigation prompting method provided by an embodiment of the application. It should be noted that the present specification provides method operation steps as described in the embodiments or flowcharts, but more or fewer operation steps can be included based on conventional or non-creative labor. The order of steps listed in the embodiments is only one of the many execution orders, and does not represent the only execution order. In actual system or product execution, the method order shown in the embodiments or the drawings can be executed in sequence or in parallel (for example, in a parallel processor or multi-threaded processing environment). Specifically, as shown in Figure 2b , the method can include:

[0069] S201, in the case that the current driving position meets the navigation prompting condition, determining a current lane corresponding to the current driving position and target prompt position information corresponding to the current driving position.

[0070] The current driving position can be obtained by GPS (Global Positioning System, Global Positioning System) positioning information. The current lane corresponding to the current driving position refers to the lane in the current row in which the current vehicle travels, which is determined based on the current driving position. In actual application, the lane currently driven can be determined by means of image recognition, positioning chip, sensor, etc.

[0071] The lane in the row refers to the lane on the normal driving lane before entering the range of the intersection. The range of the intersection refers to the range indicated by the standard road data in the standard road database as belonging to a certain intersection. As shown in the lane diagram including the intersection. Figure 3 The intersection lane refers to the lane before the intersection vehicle stop line, which is generally divided by a solid line and has a guide lane line (i.e., the guide arrow in Figure 3 ).

[0072] The target prompt position information refers to the position that needs to be prompted for navigation. In the embodiments of the present application, the target prompt position information corresponding to each intersection in the target navigation path can be determined after the target navigation path is generated. Therefore, in the process of navigation based on the target navigation path, if the current driving position hits a certain target prompt position information, it indicates that the navigation prompt condition is met, triggering the navigation prompt instruction, so that the terminal outputs the navigation prompt in response to the navigation prompt instruction. In actual application, in order to trigger the navigation prompt instruction to output the navigation prompt, the target prompt position information is generally a position range. When the current driving position falls within the position range indicated by a certain target prompt position information, it indicates that the current driving position hits the target prompt position information.

[0073] Based on this, in an exemplary embodiment, the method can further include:

[0074] Obtaining the current driving position;

[0075] Searching for the target prompt position information containing the current driving position in the plurality of target prompt position information;

[0076] If found, determining that the current driving position meets the navigation prompt condition.

[0077] The above embodiments directly search for the target prompt position information hit by the current driving position in the plurality of target prompt position information, which can improve the real-time performance of navigation prompt.

[0078] S203, obtaining the lane prompt mapping information corresponding to the target prompt position information.

[0079] The lane prompt mapping information represents the mapping relationship between the lane in the row corresponding to the target prompt position information and the navigation prompt information, and the navigation prompt information is generated according to the corresponding relationship between the lane in the row and the intersection lane, which refers to the lane at the intersection corresponding to the target prompt position information.

[0080] The lane prompt mapping information corresponding to each target prompt position information is generated in a navigation path planning stage before navigation, so that when actual navigation is performed based on the target navigation path, the lane prompt mapping information corresponding to the target prompt position information can be obtained based on the target prompt position information hit by the current driving position. The lane prompt mapping information corresponding to each target prompt position information will be described in detail in subsequent parts of the embodiments of the present application.

[0081] S205, determining target navigation prompt information corresponding to the current lane in the lane prompt mapping information.

[0082] Specifically, the target mapping relationship matched with the current lane in the lane can be determined from the lane prompt mapping information corresponding to the hit target prompt position information, and then the target navigation prompt information in the target mapping relationship is obtained, which is generated according to the corresponding relationship between the lane in the lane corresponding to the hit target prompt position information and the intersection lane of the corresponding intersection.

[0083] S207, outputting navigation prompts according to the target navigation prompt information.

[0084] For example, the corresponding navigation prompts can be output in the form of voice according to the target navigation prompt information, such as "please continue driving along the current lane", "please change one lane to the right", and "please change two lanes to the left".

[0085] As can be seen from the above technical solutions of the embodiments of the present application, in the embodiments of the present application, the lane prompt mapping information represents the mapping relationship between the lane in the lane corresponding to the target prompt position information and the navigation prompt information, so that the target navigation prompt information corresponding to the current lane in the lane can be determined from the lane prompt mapping information. Since the navigation prompt information corresponding to the lane in the lane is generated according to the corresponding relationship between the lane in the lane and the intersection lane, the navigation prompt information can be more accurate in guiding in the case where the number of lanes in the lane and the number of intersection lanes are inconsistent, so that the user can more accurately determine whether the current lane is correct and whether the lane needs to be changed in advance from the navigation prompt information, thereby providing a better auxiliary driving experience.

[0086] In an exemplary embodiment, the navigation prompting method of the embodiments of the present application can further include a generation process of the lane prompt mapping information corresponding to the target prompt position information, such as Figure 4 As shown, the generation of the lane prompt mapping information corresponding to the target prompt position information can include:

[0087] S401, generating a target navigation path according to a starting position and a destination position.

[0088] The start position and the target position can be information input in an electronic map.

[0089] S403, dividing the target navigation path into at least one navigation segment according to a turning position in the target navigation path.

[0090] Each navigation segment after the division includes a turning position, and the turning position is located at the end of the navigation segment.

[0091] S405, determining target prompt position information corresponding to an intersection in each navigation segment and in-line lane information corresponding to the target prompt position information according to guide lane line information of the intersection in each navigation segment.

[0092] In actual application, there can be one or more intersections in each navigation segment, and each intersection can have one or more guide lane lines. The guide directions of the guide lane lines can be the same or different. The target prompt position information corresponding to each intersection and the in-line lane information corresponding to the target prompt position information can be determined according to the guide lane line information of each intersection in each navigation segment.

[0093] In an exemplary embodiment, the step S405 can include the following steps when implemented, as shown in the following table. Figure 5

[0094] S501, determining a position in the navigation segment at a distance of a preset distance from a guide lane line of the intersection in the navigation segment according to the guide lane line information of the intersection, to obtain target prompt position information corresponding to the intersection.

[0095] For example, the preset distance can be a fixed distance, such as 200 meters. In order to improve the real-time performance of navigation prompts and improve driving safety, the preset distance can also be a distance matched with a road attribute of the intersection, which is selected from distance attribute mapping information according to the road attribute of the intersection. The distance attribute mapping information represents a corresponding relationship between road attributes of intersections and preset distances, that is, different road attributes of intersections can correspond to different preset distances, so that the preset distances of the intersections are matched with the road attributes of the intersections. The road attribute of the intersection can include a width of a road of the intersection, a type of the intersection (such as a highway intersection, a city road intersection, etc.).

[0096] ​The distance between the guide lane line at the intersection can be the distance extended from the end of the guide lane line in the opposite direction of the driving direction. This allows the location in the navigation segment to be found at a preset distance from the guide lane line at the intersection. Based on this location, the target prompt location information corresponding to the intersection can be obtained. The specific target prompt location information can be a location range determined based on the above location. The size of this range can be determined based on practical experience.

[0097] S503, determine the lane change point in the navigation segment, where the lane change point refers to the location in the navigation segment where the number of lanes changes.

[0098] like Figure 3 As shown, the location where the number of lanes changes from 3 to 4 is a lane change point. It can be understood that each navigation segment can have multiple lane change points, and each lane change point corresponds to lane information before the lane number change (e.g., ...). Figure 3 The middle lane has 3 lanes) and lane information after the number of lanes changes (such as... Figure 3 (There are 4 lanes in the middle)

[0099] S505, determine a first distance between the lane change point and the turning position corresponding to the navigation segment, and a second distance between the guide lane line of the intersection and the turning position.

[0100] The second distance between the guide lane line at the intersection and the turning position can refer to the distance from the end of the guide lane line extending in a straight line in the direction of travel to the turning position corresponding to the navigation segment.

[0101] S507, determine the target lane change point based on the first distance, the second distance and the preset distance.

[0102] The target lane change point is the lane change point with the smallest difference, and the difference is the difference between the sum of the second distance and the preset distance and the first distance.

[0103] In specific implementation, the preset distance can be denoted as voice_dis, the second distance between the guide lane line at the intersection and the turning position can be denoted as dis_to_event, and the first distance between the lane change point and the turning position can be denoted as s. Then, based on (voice_dis + dis_to_event), the first lane change point where s is less than or equal to (voice_dis + dis_to_event) can be found as the target lane change point. That is, the s corresponding to the target lane change point is less than (voice_dis + dis_to_event), and the difference between (voice_dis + dis_to_event) and s is the smallest.

[0104] S509, generating lane information in a line corresponding to the target prompt position information according to the lane before the lane number change of the target lane change point.

[0105] The above embodiment can quickly and accurately determine the lane information in a line corresponding to each target prompt position information in the navigation section according to the distance between the lane change point and the turning position, the distance between the guide lane line of the intersection and the turning position, and the position at which the navigation prompt needs to be output for the intersection.

[0106] S407, determining the corresponding relationship between the lane in a line corresponding to the target prompt position information and the intersection lane according to the lane information in a line corresponding to the target prompt position information and the guide lane line information of the intersection.

[0107] Each target prompt position information can correspond to multiple lanes in a line, and each lane in a line can correspond to one or more intersection lanes. When a lane in a line and an intersection lane establish a corresponding relationship, it indicates that the lane in a line and the intersection lane in the corresponding relationship are connected, and the lane in a line that does not establish a corresponding relationship with the intersection lane is not connected with the intersection lane. When the intersection lane in the corresponding relationship is a passable lane, only the lane in a line in the corresponding relationship can enter the intersection lane, and the vehicle in other lanes in a line can only change lanes to the lane in a line in the corresponding relationship to enter the intersection lane.

[0108] In an exemplary embodiment, the above step S407, when determining the corresponding relationship between the lane in a line corresponding to the target prompt position information and the intersection lane according to the lane information in a line corresponding to the target prompt position information and the guide lane line information of the intersection, can include:

[0109] determining the intersection lane corresponding to the intersection according to the guide lane line information of the intersection; the intersection lane includes a straight intersection lane and an additional intersection lane;

[0110] determining the associated lane in a line related to the additional intersection lane according to the lane information in a line corresponding to the target prompt position information, and taking the lane in a line other than the associated lane in a line as the remaining lane in a line;

[0111] establishing the corresponding relationship between the associated lane in a line and the first intersection lane, and the corresponding relationship between the remaining lane in a line and the second intersection lane;

[0112] wherein the first intersection lane includes the additional intersection lane corresponding to the associated lane in a line and the straight intersection lane adjacent to the additional intersection lane, and the second intersection lane is the straight intersection lane other than the straight intersection lane adjacent to the additional intersection lane.

[0113] The additional intersection lane is an intersection lane extended for improving intersection traffic capacity, and can be divided into a left additional lane and a right additional lane, and is used for realizing different turns at the intersection. It can be understood that the additional intersection lane in the embodiment of the application can include the left additional lane and the right additional lane, and can also include the left additional lane or the right additional lane. The straight intersection lane is a lane other than the additional intersection lane in the intersection lane, and can be used for realizing straight passing through the intersection, such as Figure 6 As shown in the lane schematic diagram, T1 and T5 are additional intersection lanes, and T2-T4 are straight intersection lanes. The associated lane in the associated row of the additional intersection lane refers to the lane in the row close to the edge of the road on the same side of the additional intersection lane, such as Figure 6 In the above, the associated lane in the row of T1 is C1, and the associated lane in the row of T5 is C3, and C2 is the remaining lane in the row.

[0114] The following will take Figure 6 as an example to specifically introduce the establishment of the correspondence between the above-mentioned lane in the row and the intersection lane. As shown in the figure, Figure 6 the intersection lane is: the first additional intersection lane is T1, the second additional intersection lane is T5, and the straight intersection lane is T2-T4; the lane in the row corresponding to the target prompt position information is: the first associated lane in the row is C1, the second associated lane in the row is C3, and the remaining lane in the row is C2. The straight intersection lane adjacent to the first additional intersection lane T1 is T2, the straight intersection lane adjacent to the second additional intersection lane is T4, and the second intersection lane is T3. Then the correspondence between C1 and T1, T2 is established, the correspondence between C3 and T4, T5 is established, and the correspondence between C2 and T3 is established. After the above-mentioned correspondence is established, it is indicated that C1 is connected with T1 and T2, C3 is connected with T4 and T5, and C2 is connected with T3, so that the correspondence between the lane in the row corresponding to the target prompt position information and the intersection lane can be represented as {C1-->(T1,T2); C2-->T3; C3-->(T4,T5)}.

[0115] In the above-mentioned embodiment, the accurate connection correspondence between each lane in the row corresponding to the target prompt position information and each intersection lane is established, which is beneficial to accurately generating the navigation prompt information for each lane in the row based on the accurate connection correspondence.

[0116] S409, according to the correspondence between the lane in the row corresponding to the target prompt position information and the intersection lane, generating the lane prompt mapping information corresponding to the target prompt position information.

[0117] The lane prompt mapping information is a mapping relationship between a lane in a row and navigation prompt information, and the navigation prompt information is used to indicate whether a lane change is needed at present, if a lane change is needed, which direction to change lanes, and how many lanes to change, and the like.

[0118] In one specific embodiment, the step S409 can include, when the lane prompt mapping information corresponding to the target prompt position information is generated according to a corresponding relationship between a lane in a row and an intersection lane corresponding to the target prompt position information:

[0119] determining an intersection corresponding to the target prompt position information, and driving direction information corresponding to the target planning path;

[0120] determining a through intersection lane of the intersection corresponding to the driving direction information according to guide lane line information of the intersection;

[0121] determining a through lane in a row corresponding to the through intersection lane according to the corresponding relationship between the lane in a row and the intersection lane corresponding to the target prompt position information;

[0122] generating first navigation prompt information corresponding to the through lane in a row according to a relative position between the through lane in a row and the through intersection lane, and generating second navigation prompt information corresponding to each non-through lane in a row according to a relative position between each non-through lane in a row and the through lane in a row; the non-through lane in a row is a lane in the lane in a row corresponding to the target prompt position information except the through lane in a row.

[0123] Still taking Figure 6 as an example, (1) assuming that the driving direction information of the intersection corresponding to the target prompt position information in the target planning path is left turn at the intersection, then according to the guide lane line information of the intersection in the Figure 6 , it can be determined that the through intersection lane corresponding to the left turn at the intersection is T1 and T2, and according to the corresponding relationship between the lane in a row and the intersection lane corresponding to the target prompt position information {C1-->(T1, T2); C2-->T3; C3-->(T4, T5)}, it can be known that C1 is a through lane in a row, C2 and C3 are non-through lanes in a row, then the first navigation prompt information is generated for C1, such as “please continue to drive along the current lane” or “please turn left along the current lane”, the second navigation prompt information is generated for C2, such as “please change lanes to the left” or “please change one lane to the left”, and the second navigation prompt information is generated for C3, such as “please change two lanes to the left”.

[0124] (2) assuming that the driving direction information of the intersection corresponding to the target prompt position information in the target planning path is right turn at the intersection, then according to the guide lane line information of the intersection in the Figure 6According to the guiding lane line information of the intersection, it can be determined that the passing intersection lanes matched with the right turn at the intersection are T4 and T5, and according to the corresponding relationship between the target prompt position information corresponding lane and the intersection lane {C1-->(T1,T2); C2-->T3; C3-->(T4,T5)}, it can be known that C3 is a passing lane, and C1 and C2 are non-passing lanes, so the first navigation prompt information is generated for C3, such as “please continue driving along the current lane” or “please turn right along the current lane”, the second navigation prompt information is generated for C2, such as “please change lanes to the right” or “please change lanes to the right by one lane”, and the second navigation prompt information is generated for C1, such as “please change lanes to the right by two lanes”.

[0125] (3) Assuming that the intersection corresponding to the target prompt position information is in the driving direction information corresponding to the target planning path at the intersection, then according to Figure 6 According to the guiding lane line information of the intersection, it can be determined that the passing intersection lanes matched with the straight driving at the intersection are T2-T5, and according to the corresponding relationship between the target prompt position information corresponding lane and the intersection lane {C1-->(T1,T2); C2-->T3; C3-->(T4,T5)}, it can be known that C1-C3 are all passing lanes, so the first navigation prompt information is generated for C1-C3, such as “please continue driving along the current lane” or “please drive straight along the current lane”.

[0126] The above embodiments can accurately generate navigation prompt information corresponding to each lane according to the driving direction information corresponding to the intersection corresponding to the target prompt position information in the target planning path and the corresponding relationship between the target prompt position information corresponding lane and the intersection lane, thereby improving the accuracy of the navigation prompt information.

[0127] Corresponding to the navigation prompting method provided in the above several embodiments, the embodiment of the present application also provides a navigation prompting device. Since the navigation prompting device provided in the embodiment of the present application corresponds to the navigation prompting method provided in the above several embodiments, the implementation of the navigation prompting method is also applicable to the navigation prompting device provided in the embodiment of the present application, which will not be described in detail in the embodiment.

[0128] Please refer to Figure 7 which shows a structure schematic diagram of a navigation prompting device provided in the embodiment of the present application. The device has the function of implementing the navigation prompting method in the above method embodiments, and the function can be realized by hardware or corresponding software executed by hardware. As Figure 7 shown, the navigation prompting device 700 can include:

[0129] The first determining module 710 is configured to determine a current lane in a current driving position corresponding to the current driving position and target prompt position information corresponding to the current driving position when the current driving position satisfies a navigation prompt condition.

[0130] The lane prompt mapping information obtaining module 720 is configured to obtain lane prompt mapping information corresponding to the target prompt position information, wherein the lane prompt mapping information represents a mapping relationship between a lane in a road corresponding to the target prompt position information and navigation prompt information, and the navigation prompt information is generated according to a corresponding relationship between the lane in the road and a lane at an intersection.

[0131] The target navigation prompt information determining module 730 is configured to determine target navigation prompt information corresponding to the current lane in the road in the lane prompt mapping information.

[0132] The navigation prompt output module 740 is configured to output a navigation prompt according to the target navigation prompt information.

[0133] In an exemplary embodiment, the apparatus 700 further includes:

[0134] The target navigation path generating module is configured to generate a target navigation path according to a starting position and a destination position.

[0135] The navigation segment dividing module is configured to divide the target navigation path into at least one navigation segment according to a turning position in the target navigation path.

[0136] The second determining module is configured to determine target prompt position information corresponding to an intersection and lane in a road information corresponding to the target prompt position information according to guidance lane line information of the intersection in each navigation segment.

[0137] The corresponding relationship determining module is configured to determine a corresponding relationship between the lane in the road corresponding to the target prompt position information and a lane at an intersection according to the lane in the road information corresponding to the target prompt position information and the guidance lane line information of the intersection.

[0138] The lane prompt mapping information generating module is configured to generate lane prompt mapping information corresponding to the target prompt position information according to the corresponding relationship between the lane in the road corresponding to the target prompt position information and the lane at the intersection.

[0139] In an exemplary embodiment, the second determining module includes:

[0140] The target prompt position information determining module is configured to determine a position in the navigation segment at a distance of a preset distance from the guidance lane line of the intersection in the navigation segment according to the guidance lane line information of the intersection in the navigation segment, to obtain target prompt position information corresponding to the intersection.

[0141] a lane change point determination module configured to determine a lane change point in the navigation section; the lane change point refers to a position in the navigation section where a number of lanes changes;

[0142] a distance determination module configured to determine a first distance between the lane change point and a turning position corresponding to the navigation section, and a second distance between a guide lane line of the intersection and the turning position;

[0143] a target lane change point determination module configured to determine a target lane change point according to the first distance, the second distance and the preset distance; the target lane change point is the lane change point with the minimum difference value, where the difference value is a difference between a sum of the second distance and the preset distance and the first distance;

[0144] a lane information generation module configured to generate lane information corresponding to the target prompt position information according to a lane before a number of lanes changes corresponding to the target lane change point.

[0145] In an exemplary embodiment, the lane prompt mapping information generation module comprises:

[0146] an intersection driving direction information determination module configured to determine an intersection corresponding to the target prompt position information, and driving direction information in the target planning path;

[0147] a passing intersection lane determination module configured to determine a passing intersection lane of the intersection according to the guide lane line information of the intersection and the driving direction information;

[0148] a passing lane determination module configured to determine a passing lane corresponding to the passing intersection lane according to a corresponding relationship between the lane corresponding to the target prompt position information and the intersection lane;

[0149] a navigation prompt information generation module configured to generate first navigation prompt information corresponding to the passing lane according to relative positions of the passing lane and the passing intersection lane, and generate second navigation prompt information corresponding to each non-passing lane according to relative positions of each non-passing lane and the passing lane.

[0150] In an exemplary embodiment, the corresponding relationship determination module comprises:

[0151] a third determination module configured to determine an intersection lane of the intersection according to the guide lane line information of the intersection; the intersection lane comprises a straight intersection lane and an additional intersection lane;

[0152] a fourth determining module configured to determine an associated lane in a row associated with the additional intersection lane according to the lane in a row information corresponding to the target prompt position information, and determine a remaining lane in a row as a lane in a row other than the associated lane in a row;

[0153] a corresponding relationship establishing module configured to establish a corresponding relationship between the associated lane in a row and a first intersection lane, and a corresponding relationship between the remaining lane in a row and a second intersection lane;

[0154] wherein the first intersection lane includes the additional intersection lane and a straight intersection lane adjacent to the additional intersection lane, and the second intersection lane is a straight intersection lane other than the straight intersection lane adjacent to the additional intersection lane.

[0155] In an exemplary embodiment, the apparatus further comprises:

[0156] a current driving position obtaining module configured to obtain a current driving position;

[0157] a searching module configured to search for target prompt position information containing the current driving position from a plurality of target prompt position information;

[0158] a condition determining module configured to determine that the current driving position meets a navigation prompt condition when the searching module finds the target prompt position information.

[0159] It should be noted that the apparatus provided in the above embodiments, when realizing its functions, only takes the above-mentioned division of each functional module as an example for illustration, and in actual application, the above-mentioned functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above-described functions. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process is described in detail in the method embodiments, which will not be described here.

[0160] The embodiment of the present application provides an electronic device, which comprises a processor and a memory, the memory stores at least one instruction or at least one program, the at least one instruction or the at least one program is loaded and executed by the processor to realize the navigation prompt method provided by the above-mentioned method embodiment.

[0161] The memory can be used to store software programs and modules, and the processor executes various function applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device. Accordingly, the memory can also include a memory controller to provide access for the processor to the memory.

[0162] The method provided by the embodiment of the present application can be executed in a computer terminal, a server or similar computing device. Taking the running on the terminal as an example, Figure 8 is a hardware structure block diagram of a terminal running a navigation prompting method provided by the embodiment of the present application, and specifically:

[0163] The terminal can include RF (Radio Frequency, radio frequency) circuit 810, memory 820 including one or more computer readable storage media, input unit 830, display unit 840, sensor 850, audio circuit 860, WiFi (wireless fidelity, wireless fidelity) module 870, processor 880 including one or more processing cores, and power supply 890, etc. Those skilled in the art can understand that, Figure 8 The terminal structure shown in the above does not constitute a limitation on the terminal, and can include more or fewer components than those shown, or combine certain components, or different component arrangements. Among them:

[0164] The RF circuit 810 can be used for receiving and transmitting signals in the process of information or communication, and in particular, after receiving the downlink information from the base station, it is processed by one or more processors 880. In addition, it transmits data related to the uplink to the base station. Generally, the RF circuit 810 includes, but is not limited to, an antenna, at least one amplifier, a tuner, one or more oscillators, a Subscriber Identity Module (SIM) card, a transceiver, a coupler, a Low Noise Amplifier (LNA), a duplexer, etc. In addition, the RF circuit 810 can also communicate with the network and other terminals through wireless communication. The wireless communication can use any communication standard or protocol, including but not limited to Global System for Mobile Communication (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, Short Messaging Service (SMS), etc.

[0165] The memory 820 can be used to store software programs and modules, and the processor 880 can perform various functions and data processing by running the software programs and modules stored in the memory 820. The memory 820 can mainly include a program storage area and a data storage area, wherein the program storage area can store operating systems, application programs required for functions, etc.; the data storage area can store data created according to the use of the terminal, etc. In addition, the memory 820 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device. Accordingly, the memory 820 can also include a memory controller to provide access for the processor 880 and the input unit 830 to the memory 820.

[0166] The input unit 830 can be used to receive inputted digital or character information, and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function controls. Specifically, the input unit 830 can include a touch-sensitive surface 831 and other input devices 832. The touch-sensitive surface 831, also known as a touch display or touchpad, can collect touch operations (such as a user's operation on or near the touch-sensitive surface 831 using a finger, a stylus, or any suitable object or accessory) of the user thereon or there near, and drive corresponding connection devices according to pre-set programs. Optionally, the touch-sensitive surface 831 can include two parts of a touch detection device and a touch controller. Among them, the touch detection device detects the touch position of the user and detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, and converts it into touch coordinates, and then sends it to the processor 880, and can receive the commands from the processor 880 and execute them. In addition, the touch-sensitive surface 831 can be implemented in various types such as resistive, capacitive, infrared, and surface acoustic wave. In addition to the touch-sensitive surface 831, the input unit 830 can also include other input devices 832. Specifically, the other input devices 832 can include one or more of a physical keyboard, function keys (such as volume control keys, on-off keys, etc.), trackballs, mice, joysticks, etc.

[0167] The display unit 840 can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of the terminal, which can be composed of graphics, text, icons, video, and any combination thereof. The display unit 840 can include a display panel 841, which can be configured in the form of an LCD (Liquid Crystal Display), an OLED (Organic Light-Emitting Diode), etc. Further, the touch-sensitive surface 831 can cover the display panel 841, and when the touch-sensitive surface 831 detects a touch operation thereon or there near, it transmits to the processor 880 to determine the type of touch event, and then the processor 880 provides corresponding visual output on the display panel 841 according to the type of touch event. Among them, the touch-sensitive surface 831 and the display panel 841 can be two independent components to realize the input and output functions, but in some embodiments, the touch-sensitive surface 831 and the display panel 841 can be integrated to realize the input and output functions.

[0168] The terminal can also include at least one sensor 850, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor can include an ambient light sensor and a proximity sensor, wherein the ambient light sensor can adjust the brightness of the display panel 841 according to the brightness of ambient light, and the proximity sensor can turn off the display panel 841 and / or the backlight when the terminal is moved to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally three axes), and when at rest, it can detect the magnitude and direction of gravity, which can be used for applications such as identifying the posture of the terminal (such as switching between landscape and portrait screens, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometers, taps), and the like. As for other sensors that the terminal can also be configured, such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, and the like, they will not be described here.

[0169] The audio circuit 860, the speaker 861, and the microphone 862 can provide an audio interface between the user and the terminal. The audio circuit 860 can convert the received audio data into an electrical signal and transmit it to the speaker 861, which converts it into a sound signal for output. On the other hand, the microphone 862 converts the collected sound signal into an electrical signal, which is received by the audio circuit 860 and converted into audio data. After being processed by the processor 880, the audio data is output to the RF circuit 810 for transmission to another terminal, for example, or to the memory 820 for further processing. The audio circuit 860 can also include a jack for providing communication between external earphones and the terminal.

[0170] WiFi is a short-range wireless transmission technology. The terminal can help users send and receive emails, browse web pages, and access streaming media through the WiFi module 870, which provides users with wireless broadband Internet access. Although Figure 8 The WiFi module 870 is shown, but it is understood that it does not belong to the essential components of the terminal and can be omitted as needed without changing the essence of the application.

[0171] The processor 880 is the control center of the terminal, which connects all parts of the terminal through various interfaces and lines, executes various functions of the terminal and processes data by running or executing software programs and / or modules stored in the memory 820 and calling data stored in the memory 820, thereby overall detecting the terminal. Optionally, the processor 880 can include one or more processing cores; preferably, the processor 880 can integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 880.

[0172] The terminal also includes a power supply 890 (such as a battery) to supply power to each component. Preferably, the power supply can be logically connected to the processor 880 through a power management system, so that the power management system can manage charging, discharging, power consumption management and the like. The power supply 890 can also include one or more DC or AC power supplies, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.

[0173] Although not shown, the terminal can also include a camera, a Bluetooth module, and the like, which will not be described here. In particular, in the present embodiment, the terminal also includes a memory and one or more programs stored in the memory and configured to be executed by one or more processors. The one or more programs include instructions for executing the navigation prompting method provided by the above method embodiments.

[0174] The embodiments of the present application also provide a computer readable storage medium, which can be arranged in an electronic device to save at least one instruction or at least one program related to a navigation prompting method. The at least one instruction or the at least one program is loaded and executed by the processor to implement the navigation prompting method provided by the above method embodiments.

[0175] The embodiments of the present application also provide a computer program product or computer program, which includes computer instructions stored in a computer readable storage medium. The processor of the electronic device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to make the electronic device execute the navigation prompting method provided by the above method embodiments.

[0176] Optionally, in the present embodiment, the above storage medium can include but is not limited to: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic or optical disk, and the like. Various media that can store program codes.

[0177] It should be noted that the above-mentioned embodiments of the present application are merely intended to describe the present application and are not intended to limit the present application. The above-mentioned embodiments of the present application are described in a progressive manner, and the same or similar parts among the embodiments can be mutually referred to. Each embodiment focuses on the difference from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiments.

[0178] The embodiments in the present specification are described in a progressive manner, and the same or similar parts among the embodiments can be mutually referred to. Each embodiment focuses on the difference from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiments.

[0179] A person of ordinary skill in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or a program instructing relevant hardware, and the program can be stored in a computer readable storage medium, such as a read-only memory, a magnetic disk or an optical disk.

[0180] The above-mentioned embodiments are merely preferred embodiments of the present application, and are not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A navigation prompting method characterized by comprising: The method comprises: generating a target navigation path according to a starting position and a destination position; dividing the target navigation path into at least one navigation segment according to a turning position in the target navigation path; determining target prompt position information corresponding to an intersection and lane information in a row corresponding to the target prompt position information according to guide lane line information of the intersection in each navigation segment; determining a corresponding relationship between a lane in a row corresponding to the target prompt position information and an intersection lane according to the lane information in the row corresponding to the target prompt position information and the guide lane line information of the intersection; determining a corresponding driving direction information of the target prompt position information in the target navigation path according to the intersection; determining a passing intersection lane of the intersection matching the driving direction information according to the guide lane line information of the intersection; determining a passing lane in a row corresponding to the passing intersection lane according to the corresponding relationship between the lane in the row and the intersection lane corresponding to the target prompt position information; generating first navigation prompt information of lane prompt mapping information corresponding to the passing lane in a row according to a relative position of the passing lane in a row and the passing intersection lane, and generating second navigation prompt information of lane prompt mapping information corresponding to each non-passing lane in a row according to a relative position of each non-passing lane in a row and the passing lane in a row; determining a current lane in a row corresponding to a current driving position and target prompt position information corresponding to the current driving position in a case where the current driving position meets a navigation prompt condition; obtaining lane prompt mapping information corresponding to the target prompt position information; the lane prompt mapping information represents a mapping relationship between the lane in a row corresponding to the target prompt position information and navigation prompt information, and the navigation prompt information is generated according to the corresponding relationship between the lane in a row and the intersection lane; determining target navigation prompt information corresponding to the current lane in a row in the lane prompt mapping information; outputting navigation prompts according to the target navigation prompt information.

2. The navigation prompting method according to claim 1, characterized in that, The method comprises: determining a position in the navigation segment corresponding to the guide lane line of the intersection and having a distance of a preset distance from the guide lane line of the intersection according to the guide lane line information of the intersection in the navigation segment, to obtain target prompt position information corresponding to the intersection; determining a lane change point in the navigation segment; the lane change point refers to a position where a number of lanes in the navigation segment changes; determining a first distance between the lane change point and a turning position corresponding to the navigation segment, and a second distance between the guide lane line of the intersection and the turning position; determining a target lane change point according to the first distance, the second distance and the preset distance; the target lane change point is the lane change point with a minimum difference value, and the difference value is a difference value between a sum of the second distance and the preset distance and the first distance; and determining target prompt position information corresponding to the intersection and lane information in a row corresponding to the target prompt position information according to the guide lane line information of the intersection in each navigation segment. According to the target lane change point corresponding lane number change before the lane, the target prompt position information corresponding lane information in the line is generated.

3. The navigation prompting method of claim 1, wherein, The corresponding relationship between the target prompt position information corresponding lane information in the line and the intersection lane is determined according to the target prompt position information corresponding lane information in the line and the intersection guide lane line information, comprising: According to the intersection guide lane line information, the intersection corresponding intersection lane is determined; the intersection lane includes a straight intersection lane and an additional intersection lane; According to the target prompt position information corresponding lane information in the line, the associated lane in the line related to the additional intersection lane is determined, and the lane in the line except the associated lane in the line is taken as the remaining lane in the line; The corresponding relationship between the associated lane in the line and the first intersection lane, and the corresponding relationship between the remaining lane in the line and the second intersection lane are established; Wherein, the first intersection lane includes the additional intersection lane and the straight intersection lane adjacent to the additional intersection lane, and the second intersection lane is the straight intersection lane except the straight intersection lane adjacent to the additional intersection lane.

4. The navigation prompting method of claim 1, wherein, The method further comprises: Obtaining the current driving position; In a plurality of target prompt position information, the target prompt position information containing the current driving position is searched; If found, it is determined that the current driving position meets the navigation prompt condition.

5. A navigation prompting device, characterized by, The device comprises: A target navigation path generation module for generating a target navigation path according to a starting position and a destination position; A navigation section division module for dividing the target navigation path into at least one navigation section according to the turning position in the target navigation path; A lane information in the line generation module for determining the target prompt position information corresponding to the intersection and the lane information in the line corresponding to the target prompt position information according to the intersection guide lane line information of the intersection in each navigation section; A corresponding relationship determination module for determining the corresponding relationship between the lane in the line corresponding to the target prompt position information and the intersection lane according to the lane information in the line corresponding to the target prompt position information and the intersection guide lane line information of the intersection; An intersection driving direction information determination module for determining the intersection corresponding to the target prompt position information and the driving direction information in the target navigation path; A passing intersection lane determination module for determining the passing intersection lane of the intersection matching the driving direction information according to the intersection guide lane line information of the intersection; A passing lane in the line determination module for determining the passing lane in the line corresponding to the passing intersection lane according to the corresponding relationship between the lane in the line corresponding to the target prompt position information and the intersection lane; A navigation prompt information generation module for generating the first navigation prompt information of the lane prompt mapping information corresponding to the passing lane in the line according to the relative position of the passing lane in the line and the passing intersection lane, and generating the second navigation prompt information of the lane prompt mapping information corresponding to each non-passing lane in the line according to the relative position of each non-passing lane in the line and the passing lane in the line; The first determining module is configured to determine a current lane in a current driving position corresponding to the current driving position and target prompt position information corresponding to the current driving position, when the current driving position meets a navigation prompt condition. The lane prompt mapping information acquisition module is configured to acquire lane prompt mapping information corresponding to the target prompt position information, wherein the lane prompt mapping information represents a mapping relationship between a lane in the current driving position corresponding to the target prompt position information and navigation prompt information, and the navigation prompt information is generated according to a corresponding relationship between the lane in the current driving position and a lane at an intersection. The target navigation prompt information determining module is configured to determine target navigation prompt information corresponding to the current lane in the current driving position in the lane prompt mapping information. The navigation prompt output module is configured to output navigation prompts according to the target navigation prompt information.

6. The navigation prompting apparatus according to claim 5, wherein The target navigation path generation module includes: The target prompt position information determining module is configured to determine a position in the navigation segment at a distance of a preset distance from a guide lane line at an intersection in the navigation segment, to obtain target prompt position information corresponding to the intersection, according to the guide lane line information at the intersection in the navigation segment. The lane change point determining module is configured to determine a lane change point in the navigation segment, wherein the lane change point refers to a position at which a number of lanes in the navigation segment changes. The distance determining module is configured to determine a first distance between the lane change point and a turning position corresponding to the navigation segment, and a second distance between the guide lane line at the intersection and the turning position. The target lane change point determining module is configured to determine a target lane change point according to the first distance, the second distance and the preset distance, wherein the target lane change point is a lane change point with a minimum difference value, and the difference value is a difference between a sum of the second distance and the preset distance and the first distance. The target navigation path generation module is configured to generate a target navigation path according to a starting position and a destination position.

7. The navigation prompting apparatus according to claim 5, wherein The corresponding relationship determining module includes: The third determining module is configured to determine an intersection lane corresponding to the intersection according to the guide lane line information at the intersection, wherein the intersection lane includes a straight intersection lane and an additional intersection lane. The fourth determining module is configured to determine an associated lane in the current driving position associated with the additional intersection lane according to lane in the current driving position information corresponding to the target prompt position information, and determine a remaining lane in the current driving position as a lane in the current driving position other than the associated lane in the current driving position. The corresponding relationship establishing module is configured to establish a corresponding relationship between the associated lane in the current driving position and a first intersection lane, and a corresponding relationship between the remaining lane in the current driving position and a second intersection lane. The first intersection lane includes the additional intersection lane and a straight intersection lane adjacent to the additional intersection lane, and the second intersection lane is a straight intersection lane other than the straight intersection lane adjacent to the additional intersection lane in the straight intersection lane.

8. The navigation prompting apparatus according to claim 5, wherein The device further includes: The current driving position acquisition module is configured to acquire a current driving position. The searching module is configured to search for target prompt position information containing the current driving position in a plurality of target prompt position information. A condition determining module is configured to determine that the current driving position meets the navigation prompting condition if the current driving position is found.

9. An electronic device, comprising: The navigation prompting method comprises a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the navigation prompting method according to any one of claims 1-4. 10.A computer readable storage medium, wherein the storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the navigation prompting method according to any one of claims 1-4.

11. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the navigation prompting method according to any one of claims 1-4.

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