Guidance methods, storage media and devices for vehicle lane-level navigation

Abstract

This invention provides a method, storage medium, and device for lane-level navigation of vehicles. The method includes: receiving input information and then invoking a first navigation program, which performs navigation based on standard definition map data; calculating a first navigation route and its corresponding guidance data based on the input information using the first navigation program; under preset conditions, invoking a second navigation program to plan a second navigation route based on the input information, the second navigation route having higher accuracy than the first navigation route, and the second navigation program performing navigation based on high-definition map data; the preset conditions including the vehicle selecting to switch to the second navigation program and the high-definition map data containing the first navigation route; rendering the guidance data into the second navigation route; and calculating and updating the remaining distance between the vehicle and the guidance points in the guidance data. This method enables the reuse of guidance data generated by the first navigation program in the second navigation program, achieving high-precision navigation.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving, and in particular to a method, storage medium, and device for lane-level navigation of vehicles. Background Technology

[0002] In the development of electronic maps, maps can be divided into SD maps (Standard Definition Maps) and HD maps (High Definition Maps) based on their accuracy. Currently, the mainstream navigation applications based on SD maps are mainly Amap and Baidu Maps, and both provide SDKs (Software Development Kits) for third-party use, offering high-quality guidance prompts. However, existing HD map navigation is still in the exploratory stage, with no mature vendors providing SDKs. Furthermore, HD map coverage is incomplete. Implementing lane-level guidance based on HD maps would require significant manpower, and the quality of the resulting guidance data would be difficult to match the quality of SD guidance data in a short time. Additionally, most guidance data in SD maps is lane-independent. Therefore, reusing guidance data from SD maps to implement lane-level route guidance can both ensure guidance data quality and reduce development costs. Summary of the Invention

[0003] One objective of this invention is to reuse the guidance data of standard definition maps into high-definition map navigation.

[0004] A further objective of this invention is to reduce the complexity and cost of producing high-precision map navigation guidance data.

[0005] Specifically, the present invention provides a guidance method for vehicle lane-level navigation, comprising:

[0006] After receiving the input information, the first navigation program is invoked. The first navigation program is used for navigation based on standard definition map data.

[0007] The first navigation program is invoked to calculate the first navigation route and its corresponding guidance data based on the input information;

[0008] Under the condition that the preset conditions are met, the second navigation program is invoked to plan the second navigation route according to the input information. The accuracy of the second navigation route is higher than that of the first navigation route. The second navigation program is used to navigate according to high-precision map data. The preset conditions include that the vehicle selects to switch to the second navigation program and that the high-precision map data contains the first navigation route.

[0009] Render the guidance data to the second navigation route;

[0010] Calculate and update the remaining distance between the vehicle and the guide point in the guide data.

[0011] Optionally, the step of rendering the guidance data into the second navigation route includes:

[0012] The first high-definition road segment of the vehicle in the high-definition map data is obtained. The high-definition map data consists of multiple groups of high-definition road segments, and each group contains multiple connected high-definition road segments.

[0013] In the group containing the first high-definition road segment, find the second high-definition road segment whose guidance point is closest to the guidance data;

[0014] Generate a mapping point for the guide point on the second high-definition road segment.

[0015] Optionally, the step of calculating and updating the remaining distance between the vehicle and the guide point in the guidance data includes:

[0016] Determine whether the vehicle and the mapping point are in the same high-definition road segment;

[0017] If not, calculate the first distance from the vehicle to the end of the first HD road segment;

[0018] The total length of the high-definition road segment between the first and second high-definition road segments is calculated as the second distance;

[0019] Calculate the third distance from the starting point of the second high-definition road segment to the mapping point;

[0020] The first distance, the second distance, and the third distance are combined to form the remaining distance.

[0021] Optionally, after determining whether the vehicle and the mapping point are in the same high-definition road segment, the following steps are also included:

[0022] If the vehicle and the mapping point are in the same high-definition road segment, then calculate and update the distance between the vehicle and the mapping point.

[0023] Optionally, the step of generating the mapping point of the guide point on the second high-definition road segment includes:

[0024] Calculate the perpendicular foot of the guide point on the second HD road segment, and use the perpendicular foot as the mapping point of the guide point on the second HD road segment.

[0025] Optionally, the step of rendering the guidance data into the second navigation route may include:

[0026] Determine whether the guidance data already exists in the second navigation route;

[0027] If it exists, then perform the step of calculating and updating the remaining distance between the vehicle and the guide point in the guide data;

[0028] If it does not exist, then proceed with the step of rendering the guide data into the second navigation route.

[0029] Optionally, the step of calculating and updating the remaining distance between the vehicle and the guide point in the guidance data further includes:

[0030] Filter the bootstrap data, delete the bootstrap points that have passed, and keep the bootstrap points that have not passed.

[0031] Optionally, the step of filtering the bootstrap data may be followed by:

[0032] Determine whether guidance data and high-precision map data still exist in the second navigation route;

[0033] If it does not exist, exit the second navigation program and switch to the first navigation program, and issue the corresponding prompt message.

[0034] According to another aspect of the present invention, a machine-readable storage medium is also provided, on which a machine-executable program is stored, which, when executed by a processor, implements any of the above-described vehicle lane-level navigation guidance methods.

[0035] According to another aspect of the present invention, a computer device is also provided, including a memory, a processor, and a machine-executable program stored in the memory and running on the processor, wherein the processor executes the machine-executable program to implement any of the above-described vehicle lane-level navigation guidance methods.

[0036] In this invention, after receiving input information from an external source, a first navigation program is invoked. This first navigation program performs navigation based on standard definition (SD) map data. The first navigation program calculates a first navigation route and its corresponding guidance data based on the input information. If the vehicle selects to switch to a second navigation program and the high-definition (HD) map data contains the first navigation route, the second navigation program is invoked to plan a second navigation route based on the input information. The second navigation route has higher accuracy than the first navigation route and is used for navigation based on the HD map data. Subsequently, the remaining distance between the vehicle and the guidance points in the guidance data is calculated and updated. Through this method, when an external source selects to enter navigation mode and preset conditions are met, the second navigation program can reuse the guidance data generated in the first navigation program, i.e., reuse the guidance data from the SD map navigation program in the HD map navigation program. This significantly reduces the complexity and cost of creating HD map navigation guidance data.

[0037] The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0038] The following sections will describe some specific embodiments of the invention in detail by way of example and not limitation, with reference to the accompanying drawings. The same reference numerals in the drawings denote the same or similar parts or portions. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0039] Figure 1 This is a schematic diagram of an SD map illustrating a lane-level navigation guidance method for vehicles.

[0040] Figure 2 This is an HD map illustration of a vehicle lane-level navigation guidance method;

[0041] Figure 3 This is a system schematic diagram of a vehicle lane-level navigation guidance method according to an embodiment of the present invention;

[0042] Figure 4 This is a flowchart illustrating a vehicle lane-level navigation guidance method according to an embodiment of the present invention;

[0043] Figure 5 This is a flowchart illustrating a vehicle lane-level navigation guidance method according to another embodiment of the present invention;

[0044] Figure 6 This is a schematic diagram of the HD map matching guidance data process of a vehicle lane-level navigation guidance method according to an embodiment of the present invention.

[0045] Figure 7 This is a schematic diagram of the process of calculating the remaining distance in HD map navigation of a vehicle lane-level navigation guidance method according to an embodiment of the present invention;

[0046] Figure 8 This is a schematic diagram of a machine-readable storage medium in a vehicle lane-level navigation guidance method according to an embodiment of the present invention; and

[0047] Figure 9 This is a schematic diagram of a computer device in a vehicle lane-level navigation guidance method according to an embodiment of the present invention. Detailed Implementation

[0048] Those skilled in the art should understand that the embodiments described below are merely a part of the embodiments of the present invention, and not all of the embodiments of the present invention. These partial embodiments are intended to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. Based on the embodiments provided by the present invention, all other embodiments obtained by those skilled in the art without creative effort should still fall within the scope of protection of the present invention.

[0049] Figure 1This is a schematic diagram of an SD map, representing a lane-level navigation guidance method for vehicles. The SD map is a standard definition map, including lane lines 101-103 to represent the lane conditions at an intersection, storing road-level information. The SD map is composed of relatively coarse-grained road topology information, with low precision requirements, typically around the meter level.

[0050] Figure 2 This is a schematic diagram of an HD map illustrating a lane-level navigation guidance method for vehicles. The main difference between HD maps and SD maps, as high-precision maps, lies in their higher accuracy and richer information. Higher accuracy is primarily reflected in the higher absolute coordinate precision of HD maps (referring to the accuracy between the location of a target on the map and the location of external real-world objects), down to the centimeter level. Richer information is mainly reflected in the fact that HD maps not only include road information but also cover almost all traffic-related surrounding static information, such as static information about traffic cameras or obstacles around the lanes. Therefore, HD maps can provide lane-level guidance data in addition to road-level guidance data. Both in terms of information richness and accuracy, HD maps far surpass SD maps.

[0051] Figure 3 This is a system schematic diagram of a vehicle lane-level navigation guidance method according to an embodiment of the present invention. The schematic diagram includes a first navigation program 310 and a second navigation program 330. The first navigation program 310 performs navigation based on standard definition map data 320. In some embodiments, the standard definition map data 320 can be obtained from various standard definition SDKs, enabling the first navigation program 310 to provide navigation based on... Figure 1 The navigation is shown in the SD map. The second navigation program 330 is used for navigation based on high-precision map data 340, and includes a planning engine 331, a guidance engine 332, and a rendering engine 333. In some embodiments of this application, this system can be installed on an in-vehicle terminal or a smart terminal device, and navigation map application software can be pre-installed or downloaded by the user to achieve map navigation functionality.

[0052] In other embodiments of this application, when the system receives user operations or voice commands, the vehicle typically receives the navigation destination or a selected navigation route. After receiving external input information, the vehicle starts the first navigation program 310 to begin navigation. The first navigation program 310 calculates the first navigation route and its corresponding guidance data based on the vehicle's location and navigation destination. It then determines whether the vehicle's input information indicates the selection to enable high-precision map navigation. If so, it checks whether high-precision map data corresponding to the first navigation route exists in the high-precision map data 340. If high-precision map data corresponding to the first navigation route exists, the second navigation program 330 is invoked for navigation. The second navigation program 330 calls the planning engine 331 to plan the input information to obtain a second navigation route. The guidance engine 332 matches the guidance data generated by the first navigation program 310 to the second navigation route and sends the matching result to the rendering engine 333 for rendering, thereby displaying the relevant guidance data in the high-precision map. The guidance data may include the location information of electronic eyes along the vehicle's route and TBT (Target Bearing) information. Transmitter (target location information), etc., TBT navigation is a function of some navigation devices that continuously presents the direction of the selected route to the target being navigated to. For example, it uses electronic voice or indicator icons to inform the target whether to turn left or right, the street name, and the distance to the next turn. Furthermore, after switching to the second navigation program 330, the system will output corresponding prompts to display the current navigation status. The prompts can be displayed through text or icons, or through voice prompts.

[0053] In other embodiments, the second navigation program 330 may be an HD high-precision map navigation program, thereby realizing lane-level navigation based on high-precision map data and displaying the high-precision map guidance interface in real time on the display interface of the vehicle system. It can also realize advanced driver assistance functions, such as L3 level and above. When the advanced driver assistance function is enabled, the current vehicle system interface can display the high-precision map guidance interface, such as electronic eye information and TBT turning information. The above information is generated based on the first navigation program 310. After reusing the above information, it is matched to the high-precision map to realize high-precision navigation.

[0054] This system enables the reuse of guidance data generated by the first navigation program 310 in the second navigation program 330 under preset conditions. This allows the second navigation program 330 to improve navigation accuracy by using a more precise navigation route. At the same time, reusing the guidance data generated by the first navigation program 310 reduces the complexity of creating the guidance data required by the second navigation program 330, thereby saving development costs.

[0055] Figure 4 This is a flowchart illustrating a vehicle lane-level navigation guidance method according to an embodiment of the present invention. The process generally includes the following steps:

[0056] Step S401: After receiving the input information, the first navigation program is invoked. The first navigation program is used for navigation based on standard definition map data. In some embodiments, this input information may be the user selecting a navigation mode on the vehicle's in-vehicle terminal, and this method is built into the in-vehicle terminal. After receiving the navigation information, the in-vehicle terminal initiates the invocation of the first navigation program. The input information may include the vehicle's destination and navigation target information.

[0057] Step S402: The first navigation program is invoked to calculate the first navigation route and its corresponding guidance data based on the input information. In some embodiments, the first navigation program may be an SD map navigation program. The SD map navigation program is developed and applied based on various existing standard definition SDKs, and its information source may also come from various SD map-based SDKs. Furthermore, the SD map navigation program can calculate and generate multiple SD map navigation routes based on external input information, thus enabling the rapid generation of the first navigation route and its corresponding guidance information based on the vehicle's current location and the desired destination. The guidance information may include information on electronic eyes and TBT information encountered during the journey along the first navigation route. Those skilled in the art can expand the guidance information according to actual circumstances.

[0058] Step S403: Under preset conditions, the second navigation program is invoked to plan a second navigation route based on the input information. In this step, the accuracy of the second navigation route is higher than that of the first navigation route. The second navigation program is used for navigation based on high-precision map data. Preset conditions include situations such as the vehicle selecting to switch to the second navigation program and the high-precision map data containing the first navigation route.

[0059] In some embodiments, the second navigation program can be an HD map navigation program, i.e., a program that navigates based on a high-precision map. If the HD map navigation program has all the data for the first navigation route in its data source, it can plan a more precise navigation route as the second navigation route based on the vehicle's location and destination in the input information.

[0060] Step S404: Render the guidance data onto the second navigation route. Before this step, determine if the guidance data already exists in the second navigation route; if it does, proceed directly to step S405; otherwise, proceed to this step. This step generally includes: obtaining the first high-definition road segment of the vehicle in the high-definition map data. The high-definition map data consists of multiple groups of high-definition road segments, and each group contains multiple connected high-definition road segments; finding the second high-definition road segment in the group containing the first high-definition road segment that is closest to the guidance point in the guidance data; calculating the perpendicular from the guidance point to the second high-definition road segment, and using the perpendicular as the mapping point of the guidance point on the second high-definition road segment. This method maps each guidance point in the guidance data onto the second navigation route, facilitating the calculation of the remaining distance between the navigation target vehicle and the mapping point of each guidance point, thereby providing text or voice prompts regarding the positional relationship between the current vehicle and subsequent guidance points.

[0061] Step S405: Calculate and update the remaining distance between the vehicle and the guidance point in the guidance data. This step generally includes: determining whether the vehicle and the mapping point are in the same high-definition road segment; if not, calculating the first distance from the vehicle to the end of the first high-definition road segment; calculating the total length of the high-definition road segment between the first and second high-definition road segments as the second distance; calculating the third distance from the start of the second high-definition road segment to the mapping point; and combining the first, second, and third distances as the remaining distance. If the vehicle and the mapping point are in the same high-definition road segment, then directly calculate and update the distance between the vehicle and the mapping point.

[0062] Following this step, the process also includes: filtering guidance data, deleting passed guidance points, and retaining failed guidance points; determining whether guidance data still exists in the second navigation route; if not, exiting the second navigation program and switching to the first navigation program, and issuing corresponding prompts. In some embodiments, when there is no guidance information and high-precision map data in the subsequent journey of the second navigation route, that is, when the high-precision map resources of the second navigation program are insufficient to support subsequent navigation, it will automatically switch back to the first navigation program and issue prompts such as voice or text icons.

[0063] In some embodiments, the first navigation program and the second navigation program may be an app (application) installed on an in-vehicle terminal or a smart terminal device, or multiple apps that can communicate with each other. Those skilled in the art can choose the storage medium of the first navigation program and the second navigation program according to the actual situation.

[0064] This method reuses the guidance data generated by the first navigation program based on high-precision map data in the second navigation program, combining the two to provide a more accurate navigation service. This maximizes the use of data in the first navigation program, thereby reducing the complexity of creating the second navigation program, i.e., high-precision map navigation, and saving development costs.

[0065] Figure 5 This is a flowchart illustrating a vehicle lane-level navigation guidance method according to another embodiment of the present invention. The process generally includes the following steps:

[0066] Step S501: Enter SD map navigation mode. Prior to this step, the method includes: obtaining SD map navigation instructions. In some embodiments, this method can be a program built into the in-vehicle terminal or an application software with map navigation. When the device receives navigation instructions from various external sources, such as selecting a navigation target and destination or directly selecting a navigation route, the program will obtain the SD map navigation instructions and enter navigation mode. SD map navigation is a standard definition map navigation mode. Its data source comes from various externally provided standard definition map SDKs, and it can generate all the guidance data for this navigation route after the user selects it.

[0067] When entering navigation mode, the navigation device continuously presents the selected route guidance data to the target through voice or visual commands, and updates it according to changes in traffic and road conditions. The guidance data may include information such as electronic eyes and TBT (Target Bearing Transmitter) information. TBT navigation is a function of some navigation devices that can continuously present the direction of the selected route to the target, such as using electronic voice or indicator icons to inform the target whether to turn left or right, the street name, and the distance to the next turn.

[0068] Step S502: Determine whether the navigation can be switched to HD map mode. This step includes: determining whether the current navigation route meets the replacement conditions for switching to HD map. If the replacement conditions are not met, continue using SD map information for navigation. In some embodiments, the replacement condition can be whether map information for the current navigation route exists in the HD map. If the current navigation route does not exist in the HD map, continue using SD map information for navigation. In the current market, HD map production costs are very high, and HD map information coverage is incomplete in some areas. Therefore, during navigation, it is necessary to determine whether the current navigation route exists in the HD map. When the current navigation route exists in the HD map information, the navigation can be switched to HD map mode. After switching to HD map navigation mode, the program will notify the outside world through text, voice, icons, and other means that it is currently in HD map navigation mode.

[0069] In other embodiments, the target to be navigated can be manually or automatically switched. The target to be navigated can decide whether to switch to the HD map for navigation according to its actual needs. For example, when the autonomous vehicle is driving, it needs to be navigated according to the precise location of the autonomous vehicle, so it needs to be set to automatic switching. However, when the vehicle is driven manually, the target to be navigated can choose to switch manually. When more accurate guidance data than the SD map is needed, it can switch to the HD map for navigation.

[0070] Step S503: If step S502 determines "yes," the guidance data from the SD map navigation program is sent to the HD map navigation program. This step includes: when step S502 determines "yes," indicating that the route for this navigation exists in the HD map, the SD map navigation program sends the guidance data for this navigation to the HD map navigation program, thereby enabling more accurate navigation through the HD map navigation program. In some embodiments, SD map navigation can be implemented using SDKs provided by different vendors' SD map navigation applications. If the SDK contains high-quality guidance data, then the guidance data can be obtained and sent to the HD map to achieve data reuse, thereby achieving the goal of applying guidance data from different vendors' SD maps to the HD map.

[0071] Step S504: Match the guidance data to the HD route. This step includes: determining whether the guidance data has been matched to the HD map. If yes, it means that the HD map has achieved the reuse of guidance data, and then proceed to step S505; otherwise, obtain the location point of the target to be navigated in the HD map and the location of the guidance point in the guidance data. The guidance point may include electronic eyes, TBT turning points, etc., and those skilled in the art can expand the type of guidance point according to the actual situation. In some embodiments, the route information in the HD map is obtained by stitching together multiple road segments (high-definition road segments) of the lane lines. Then, obtain the first high-definition road segment where the location point is located and the second high-definition road segment where the mapping point of the guidance point on the route is located. Since the guidance point, such as electronic eyes, is not on the road segment of the HD map, calculate and find the second high-definition road segment that is closest to the guidance point, and draw a perpendicular line from the guidance point to the second high-definition road segment. The foot of the perpendicular is the mapping point of the guidance point on the second high-definition road segment. The distance between the location point and the mapping point is then calculated as the remaining distance between the target to be navigated and the guidance point.

[0072] Step S505: Update the total distance from the location point to the guide data mapping point. In some embodiments, the total distance from the location point to the guide data mapping point is updated in a timely manner at preset intervals, and the total distance is broadcast by voice or visually to achieve the navigation effect of the HD map.

[0073] This method allows for the matching of navigation data from different vendors' SD maps to the HD map when the route information to be navigated to exists in the HD map. It fully utilizes the HD map information and reuses the SD map navigation data, thereby enabling more accurate navigation even when HD map data is incomplete. It also reduces the complexity of creating HD map navigation data and lowers development costs.

[0074] Figure 6 This is a schematic diagram illustrating the process of HD map matching guidance data in a vehicle lane-level navigation guidance method according to an embodiment of the present invention. The process generally includes the following steps:

[0075] Step S601: Obtain the guidance data from the SD map.

[0076] Step S602: Determine whether the guidance data has been matched to the HD map.

[0077] Step S603: If the determination in step S602 is negative, obtain the first high-definition road segment where the positioning point is located. In some embodiments, the positioning point is the point where the target to be navigated is located in the HD map, and the route information in the HD map is obtained by stitching together multiple high-definition road segments of the lane lines. Therefore, the road segment where the positioning point is located is obtained as the first high-definition road segment.

[0078] Step S604: Locate the second HD road segment where the guidance data mapping point is located. In some embodiments, since the guidance points in the guidance data, such as electronic eyes, are not on the road segment of the HD map, the road segment closest to the guidance point is calculated and found as the second HD road segment, and the projection of the guidance point on the second HD road segment is obtained as the mapping point. One optional method is to draw a perpendicular line from the guidance point to the second HD road segment, and the foot of the perpendicular is the mapping point of the guidance point on the second HD road segment. In this embodiment, the electronic eye is only an example of a guidance point in the navigation process, and those skilled in the art can extend it according to the actual situation.

[0079] Step S605: If step S604 is completed or step S602 is deemed "yes", calculate and update the total distance from the positioning point to the guidance data mapping point. This step includes: If step S604 is completed or step S602 is deemed "yes", it means that the guidance data has been matched to the HD map. The distance between the positioning point and the mapping point is the distance between the target to be navigated and the next node of the guidance data. Therefore, the total distance from the positioning point to the guidance data mapping point is calculated and updated in real time according to preset rules, and announced through voice or visual means to realize the guidance function.

[0080] This method allows for the reuse of guidance data from SD maps by matching it to HD maps, thereby enabling more accurate navigation based on HD maps compared to SD map navigation.

[0081] Figure 7 This is a schematic diagram illustrating the process of calculating the remaining distance during HD map navigation in a vehicle lane-level navigation guidance method according to an embodiment of the present invention. The process includes the following steps:

[0082] Step S701: Obtain the first high-definition road segment where the positioning point is located. The positioning point is the location coordinate of the vehicle requiring navigation. In this embodiment, the HD map is divided into multiple groups of high-definition road segments based on different lanes, with each group consisting of multiple individual high-definition road segments stitched together.

[0083] Step S702: Obtain the second high-definition road segment corresponding to the guidance data guidance point.

[0084] Step S703: Determine whether the first HD road segment and the second HD road segment are the same HD road segment.

[0085] Step S704: If the determination in step S703 is negative, calculate the first distance from the positioning point to the end point of the first high-definition road segment.

[0086] Step S705: Calculate the second distance from the starting point of the second high-definition road segment to the guidance data mapping point.

[0087] Step S706: Calculate the length of other high-definition road segments between the first high-definition road segment and the second high-definition road segment as the third distance.

[0088] Step S707: Combine the first distance, the second distance, and the third distance to obtain the total distance from the positioning point to the guide data mapping point.

[0089] Step S708: If the determination in step S703 is yes, calculate the distance between the positioning point and the guide data mapping point.

[0090] Step S709: Delete the guidance data corresponding to the mapped points that have already been passed. This step includes: when the target to be navigated has passed the mapped points calculated in the above steps, delete the guidance data corresponding to this mapped point to achieve timely cleanup of guidance data.

[0091] This method enables the reasonable calculation of the distance between the location point and the mapping point of the guidance data, and timely updates and cleanup of the guidance data, thereby realizing the reuse of SD map guidance data in HD maps and saving the production cost of HD map guidance data.

[0092] This embodiment also provides a machine-readable storage medium and a computer device. Figure 8 This is a schematic diagram of a machine-readable storage medium 801 according to an embodiment of the present invention. Figure 9 This is a schematic diagram of a computer device 903 according to an embodiment of the present invention.

[0093] The machine-readable storage medium 801 stores a machine-executable program 802 thereon, which, when executed by a processor, implements the vehicle lane-level navigation guidance method of any of the above embodiments.

[0094] The computer device 903 may include a memory 901, a processor 902, and a machine-executable program 802 stored in the memory 901 and running on the processor 902. When the processor 802 executes the machine-executable program 802, it implements the vehicle lane-level navigation guidance method of any of the above embodiments.

[0095] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, such as calculating the distance from the vehicle to the mapping point, may be specifically implemented in any machine-readable storage medium for use by, or in conjunction with, instruction execution systems, apparatuses or devices (such as computer-based systems, processor-based systems or other systems that can fetch and execute instructions from, or instruction execution systems, apparatuses or devices).

[0096] For the purposes of this embodiment, the machine-readable storage medium 801 can be any means capable of containing, storing, communicating, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the machine-readable storage medium 801 include: an electrical connection (electronic device) having one or more wires, a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, the machine-readable storage medium 801 can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0097] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system.

[0098] Computer device 903 can be, for example, a server, desktop computer, laptop computer, tablet computer, or smartphone. In some examples, computer device 903 can be a cloud computing node. Computer device 903 can be described in the general context of computer system executable instructions (such as program modules) executed by a computer system. Typically, program modules can include routines, programs, object programs, components, logic, data structures, etc., that perform specific tasks or implement specific abstract data types. Computer device 903 can be implemented in a distributed cloud computing environment where tasks are performed by remote processing devices linked via a communication network. In a distributed cloud computing environment, program modules can reside on local or remote computing system storage media, including storage devices.

[0099] Computer device 903 may include a processor 902 adapted to execute stored instructions and a memory 901 that provides temporary storage space for the operation of said instructions during operation. The processor 902 may be a single-core processor, a multi-core processor, a computing cluster, or any other configuration. The memory 901 may include random access memory (RAM), read-only memory, flash memory, or any other suitable storage system.

[0100] The processor 902 can be connected via a system interconnect (e.g., PCI, PCI-Express, etc.) to an I / O interface (input / output interface) suitable for connecting the computer device 903 to one or more I / O devices (input / output devices). I / O devices may include, for example, a keyboard and indicating devices, where indicating devices may include a touchpad or touchscreen, etc. I / O devices may be built into the computer device 903 or may be external devices connected to the computing device.

[0101] The processor 902 may also be linked via a system interconnect to a display interface suitable for connecting the computer device 903 to a display device. The display device may include a display screen as a built-in component of the computer device 903. The display device may also include an external computer monitor, television, or projector connected to the computer device 903. Furthermore, a network interface controller (NIC) may be adapted to connect the computer device 903 to a network via a system interconnect. In some embodiments, the NIC may use any suitable interface or protocol (such as an Internet Minicomputer System Interface) to transmit data. The network may be a cellular network, a radio network, a wide area network (WAN), a local area network (LAN), or the Internet, etc. Remote devices may connect to the computing device via the network.

[0102] The flowchart provided in this embodiment is not intended to indicate that the operations of the method will be performed in any particular order, or that all operations of the method are included in every case. Furthermore, the method may include additional operations. Within the scope of the technical concept provided by the method in this embodiment, additional variations can be made to the above method.

[0103] Therefore, those skilled in the art should recognize that although numerous exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications conforming to the principles of the present invention can be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Thus, the scope of the present invention should be understood and construed as covering all such other variations or modifications.

Claims

1. A guidance method for vehicle lane-level navigation, comprising: After receiving the input information, the first navigation program is invoked, which is used to perform navigation based on standard definition map data. The first navigation program is invoked to calculate the first navigation route and its corresponding guidance data based on the input information; Under preset conditions, a second navigation program is invoked to plan a second navigation route based on the input information. The second navigation route has higher accuracy than the first navigation route. The second navigation program is used to navigate based on high-precision map data. The preset conditions include the vehicle selecting to switch to the second navigation program and the high-precision map data containing the first navigation route. The guidance data is rendered into the second navigation route; Calculate and update the remaining distance between the vehicle and the guide point in the guide data; Filter the guidance data, delete the guidance points that have passed, and keep the guidance points that have not passed; Determine whether the guidance data and the high-precision map data still exist in the second navigation route; If it does not exist, exit the second navigation program and switch to the first navigation program, and issue the corresponding prompt message; The step of rendering the guidance data into the second navigation route includes: obtaining a first high-definition road segment of the vehicle in the high-precision map data, wherein the high-precision map data consists of multiple groups of high-definition road segments, and each group contains multiple connected high-definition road segments; finding the second high-definition road segment in the group where the first high-definition road segment is located that is closest to the guidance point in the guidance data; and generating a mapping point of the guidance point on the second high-definition road segment.

2. The vehicle lane-level navigation guidance method according to claim 1, wherein, The step of calculating and updating the remaining distance between the vehicle and the guide point in the guide data includes: Determine whether the vehicle and the mapping point are in the same high-definition road segment; If not, calculate the first distance from the vehicle to the end of the first high-definition road segment; The total length of the high-definition road segment between the first high-definition road segment and the second high-definition road segment is calculated as the second distance; Calculate the third distance from the starting point of the second high-definition road segment to the mapping point; The first distance, the second distance, and the third distance are combined to form the remaining distance.

3. The vehicle lane-level navigation guidance method according to claim 2, wherein, The step of determining whether the vehicle and the mapping point are in the same high-definition road segment also includes: If the vehicle and the mapping point are in the same high-definition road segment, then the distance between the vehicle and the mapping point is calculated and updated.

4. The vehicle lane-level navigation guidance method according to claim 1, wherein, The step of generating the mapping point of the guide point on the second high-definition road segment includes: Calculate the perpendicular from the guide point to the second high-definition road segment, and use the perpendicular as the mapping point of the guide point on the second high-definition road segment.

5. The vehicle lane-level navigation guidance method according to claim 1, wherein, The step of rendering the guidance data into the second navigation route includes, prior to: Determine whether the guidance data already exists in the second navigation route; If it exists, then perform the step of calculating and updating the remaining distance between the vehicle and the guide point in the guide data; If it does not exist, then perform the step of rendering the guidance data into the second navigation route.

6. A machine-readable storage medium having a machine-executable program stored thereon, the machine-executable program, when executed by a processor, implementing the guidance method for vehicle lane-level navigation according to any one of claims 1 to 5.

7. A computer device comprising a memory, a processor, and a machine-executable program stored in the memory and running on the processor, wherein the processor, when executing the machine-executable program, implements a guidance method for vehicle lane-level navigation according to any one of claims 1 to 5.

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