Vehicle navigation method and device, vehicle-mounted terminal and storage medium

Abstract

The application provides a vehicle navigation method and device, a vehicle terminal and a storage medium. The vehicle terminal communicates with the cloud based on V2X technology. The vehicle terminal obtains the travel event demand of the user of the vehicle terminal, requests the target cloud to generate the destination navigation path information corresponding to the travel event demand based on the travel event demand, and receives the destination navigation path information for vehicle navigation. The destination is automatically matched according to the actual travel scene demand of the user, the travel demand of the user is quickly and accurately responded to, the user does not need to input the destination or find the destination meeting the actual travel scene demand, and the travel experience of the user is improved.

Description

Technical Field

[0001] This application relates to the field of smart city technology, and in particular to a vehicle navigation method, device, vehicle terminal and storage medium. Background Technology

[0002] Traditional car navigation systems rely on searching and calculating location information from maps, depending on the user's precise location input. However, in real life, users often have specific needs but don't know the exact location when traveling. For example, a user might need to buy a specific product but doesn't know where to buy it. Currently, users must rely on extensive online searches, analyzing and filtering the results, a process that is extremely time-consuming and cannot guarantee the accuracy of the results. Summary of the Invention

[0003] To address the aforementioned technical problems, this application provides a vehicle navigation method, device, vehicle-mounted terminal, and storage medium.

[0004] In a first aspect, this application provides a vehicle navigation method, the navigation method comprising: Obtain the travel event needs of in-vehicle users; Based on the travel event requirements, request the target cloud to generate destination navigation path information corresponding to the travel event requirements; The destination navigation route information is received and used for vehicle navigation.

[0005] In some implementations of the first aspect, the step of requesting the target cloud to generate destination navigation path information corresponding to the travel event demand based on the travel event demand includes: Based on the travel event requirements, a destination navigation request is sent to the RSU device, and the destination navigation request is forwarded by the RSU device to the target cloud. The destination navigation path information returned by the RSU device is received. The destination navigation path information is the target cloud's response to the destination navigation request. The corresponding attribute information is matched according to the travel event requirements, and the corresponding target destination location information is obtained according to the attribute information to generate navigation route information.

[0006] In some implementations of the first aspect, before receiving the destination navigation path information returned by the RSU device, the method further includes: Receive a set of destination location information returned by the RSU device. The set of destination location information includes at least one set of destination location information, which is the location information corresponding to the travel event demand generated by the target cloud in response to the destination navigation request. In response to the destination confirmation command from the vehicle-mounted user, the target destination location information is sent to the RSU device. The target destination location information is the destination location information confirmed by the vehicle-mounted user in the destination location information set.

[0007] In some implementations of the first aspect, the target cloud includes a local cloud and a neighboring cloud; the destination navigation request is forwarded by the RSU device to the local cloud of the region where the RSU device is located; if the local cloud does not match the target destination location information corresponding to the travel event requirement, the destination navigation request is forwarded by the RSU device to the neighboring cloud of the region where the RSU device is located.

[0008] In some implementations of the first aspect, after receiving the destination navigation path information, the method further includes: The destination navigation path information is optimized using a preset path optimization strategy to obtain optimized destination navigation path information.

[0009] In some implementations of the first aspect, the optimization of the destination navigation path information using a preset path optimization strategy to obtain optimized destination navigation path information includes: During vehicle operation, real-time information on surrounding road conditions is received. Based on the surrounding road conditions, the destination navigation route information is optimized in real time to obtain the optimized destination navigation route information.

[0010] In some implementations of the first aspect, the target cloud cache contains attribute information of multiple destinations, which is used to match the travel event requirements, and the corresponding destination location information is obtained based on the matched attribute information.

[0011] Secondly, this application also provides a vehicle navigation device, the navigation device comprising: The acquisition module is used to acquire the travel event requirements of users on the in-vehicle side; The request module is used to request the target cloud to generate destination navigation path information corresponding to the travel event requirement based on the travel event requirement; The navigation module is used to receive the destination navigation path information, which is used for vehicle navigation.

[0012] Thirdly, this application also provides a vehicle-mounted terminal, characterized in that it includes a processor and a memory, the memory being used to store a computer program, which, when executed by the processor, implements the vehicle navigation method as described in the first aspect.

[0013] Fourthly, this application also provides a computer-readable storage medium, characterized in that it stores a computer program, which, when executed by a processor, implements the vehicle navigation method as described in the first aspect.

[0014] Compared with the prior art, this application has at least the following beneficial effects: By acquiring the travel event requirements of users on the in-vehicle terminal and requesting the target cloud to generate destination navigation route information corresponding to the travel event requirements, and then using the destination navigation route information to control navigation in the vehicle where the in-vehicle terminal is located, the system can automatically match destinations according to the user's actual travel scenario needs, achieving fast and accurate response to user travel needs without requiring the user to manually input a destination or search for a destination that meets their actual travel scenario needs, thus improving the user travel experience. Attached Figure Description

[0015] Figure 1 This is a schematic flowchart illustrating a vehicle navigation method according to an embodiment of this application; Figure 2 This is a schematic diagram of a vehicle-to-everything (V2X) network structure shown in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a vehicle navigation device shown in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a computer device shown in an embodiment of this application. Detailed Implementation

[0016] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0017] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a vehicle navigation method provided in an embodiment of this application. The vehicle navigation method of this application can be applied to computer devices, including but not limited to in-vehicle terminals (vehicle-mounted devices), smartphones, tablets, and laptops. It is understood that when the computer device is an in-vehicle terminal, it can utilize V2X technology to communicate with the cloud; when the computer device is a smartphone, tablet, or laptop, it can utilize mobile internet technology to communicate with the cloud. Figure 1 As shown, the vehicle navigation method of this embodiment includes steps S101 to S103, which are described in detail below: Step S101: Obtain the travel event requirements of users on the vehicle terminal.

[0018] In this step, travel event requests refer to information that characterizes the user's travel purpose, including but not limited to shopping, sightseeing, accommodation, and restroom needs. For example, if a user wants to buy fruit, they can input event requests such as "I want to buy fruit now, please navigate to me," "I want to go swimming this afternoon, please navigate to me," or "I need to find a hotel to stay in for the night, please navigate to me."

[0019] Step S102: Based on the travel event requirements, request the target cloud to generate destination navigation path information corresponding to the travel event requirements.

[0020] In this step, for the vehicle-mounted terminal, communication between the vehicle-mounted terminal and the cloud is based on V2X (vehicle to X) technology. Optionally, the vehicle-mounted terminal includes an Onboard Unit (OBU) device, which communicates with the cloud (or Mobile Edge Computing, MEC) through Roadside Unit (RSU) devices. There can be multiple cloud providers, for example, divided according to the RSU device areas, with each RSU device area corresponding to one cloud provider.

[0021] Optionally, the vehicle-mounted device generates a request message for the travel event demand and sends this request message to the target cloud to request the target cloud to match the destination corresponding to the travel event demand and to generate destination navigation path information between the current location and the destination. It should be understood that the destination navigation path information can be generated based on a path planning algorithm, such as Dijkstra's algorithm, Floyd's algorithm, and A* algorithm, etc., and there is no limitation thereto.

[0022] In some embodiments, the target cloud cache contains attribute information of multiple destinations, which is used to match the travel event requirements and obtain the corresponding destination location information based on the matched attribute information.

[0023] In this embodiment, the attribute information includes, but is not limited to, location information, location usage information, and location opening time information. Optionally, the attribute information can be attribute information pre-stored in the cloud, or it can be attribute information received and cached by the cloud from the electronic map in real time. Furthermore, the cloud can receive attribute information from the electronic map at preset intervals and update the previously cached attribute information.

[0024] For example, the cloud parses travel event requests to obtain request attribute information such as request type and request time. For example, "I want to buy fruit now, help me navigate", the request type can be parsed as shopping type (which can be specifically fruit purchase type) and request time is now. The request attribute information is matched with the attribute information of multiple destinations cached in the cloud, and the location purpose information is matched as fruit purchase type and currently open destinations, and the location information of the destination is output.

[0025] Step S103: Receive the destination navigation path information, which is used for vehicle navigation.

[0026] In this step, the destination navigation path information is the navigation route information between the current location and the destination. Optionally, the destination navigation path information obtained in step S102 can be used as the current navigation route of the car; alternatively, the destination navigation path information obtained in step S102 can be optimized, and the optimized destination navigation path information can be used as the current navigation route of the car.

[0027] Optionally, destination navigation route information can be displayed on the in-vehicle display unit to provide navigation reference for the user while driving; it can also be applied to intelligent driving to provide navigation reference for intelligent driving. It should be noted that this embodiment automatically matches the destination to the user's actual travel scenario needs, achieving a fast and accurate response to the user's travel needs without requiring the user to manually input the destination or search for a destination that meets their actual travel scenario needs, thus improving the user's travel experience.

[0028] In some embodiments, Figure 1 Based on the illustrated embodiment, step S101 includes: Based on the travel event requirements, a destination navigation request is sent to the RSU device, and the destination navigation request is forwarded by the RSU device to the target cloud. The destination navigation path information returned by the RSU device is received. The destination navigation path information is the target cloud's response to the destination navigation request and is matched with corresponding attribute information according to the travel event requirements. The corresponding target destination location information is obtained according to the attribute information to generate navigation route information.

[0029] In this embodiment, as Figure 2The diagram illustrates a V2X-based vehicle-to-everything (V2X) architecture, where MEC represents the cloud, RSU represents the roadside unit, OBU represents the onboard unit, Attraction represents destination attribute information, and Destination represents the destination. In one embodiment, the OBU sends a destination navigation request to the RSU, which forwards the request to the cloud. The cloud matches the destination corresponding to the travel event demand based on the Attraction and generates destination navigation path information between that destination and the current vehicle location.

[0030] In another embodiment, the target cloud includes a local cloud and a neighboring cloud; the destination navigation request is forwarded by the RSU device to the local cloud of the region where the RSU device is located; if the local cloud does not match the target destination location information corresponding to the travel event requirement, the destination navigation request is forwarded by the RSU device to the neighboring cloud of the region where the RSU device is located.

[0031] In this embodiment, multiple regional clouds can have mutual request and response interaction paths. Optionally, there can be multiple adjacent regional clouds. When the local regional cloud fails to find a destination that meets the travel event requirements, the destination navigation request can be broadcast by the RSU device to multiple adjacent regional clouds, and the destination navigation path information returned by the adjacent regional clouds can be received. Alternatively, the destination navigation request can be sorted by the distance between the adjacent regional clouds and the local regional cloud, and forwarded sequentially to the nearest adjacent regional cloud (i.e., forwarded sequentially from closest to furthest in terms of regional distance) until the destination navigation path information returned by the nearest adjacent regional cloud is received, thus satisfying the user's need to go to the nearest destination. Destination navigation requests can also be forwarded by the RSU device according to the similarity of regional attributes (such as industrial area, residential area, business area, and commercial area) between the neighboring regional cloud and the local regional cloud, sequentially forwarding them to the neighboring regional cloud with the lowest similarity (i.e., forwarding in ascending order of regional attribute similarity) until the destination navigation path information is returned by the neighboring regional cloud. This satisfies the need for fast and low-computation destination lookup. For example, for a request to buy clothes, if the local regional cloud's regional attribute is industrial area and no destination matching the request is found, the neighboring regional cloud with the regional attribute of commercial area can be prioritized for forwarding. It is understood that the above forwarding methods can be implemented using one or a combination of methods.

[0032] In some embodiments, before receiving the destination navigation path information returned by the RSU device, the method further includes: Receive a set of destination location information returned by the RSU device. The set of destination location information includes at least one set of destination location information, which is the location information corresponding to the travel event demand generated by the target cloud in response to the destination navigation request. In response to the destination confirmation command from the vehicle-mounted user, the target destination location information is sent to the RSU device. The target destination location information is the destination location information confirmed by the vehicle-mounted user in the destination location information set.

[0033] In this embodiment, there may be multiple destinations that meet the travel event requirements. Therefore, to better meet user needs, all destinations matched in the cloud are returned to the vehicle terminal for the user to select the target destination location information. Optionally, the destination location information set can be sorted from near to far based on the distance between the destination location and the vehicle's current location, or it can be sorted from high to low based on the matching degree between the destination attribute information and the travel event requirements.

[0034] Optionally, the target cloud can generate and return the destination navigation path information confirmed by the user after receiving the destination confirmation instruction; or the target cloud can return the destination location information set, calculate the destination navigation path information between the current location of the car and each destination in the destination location information set, and directly return the destination navigation path information confirmed by the user after receiving the destination confirmation instruction.

[0035] In some embodiments, Figure 1 Based on the illustrated embodiment, after step S103, the method further includes: The destination navigation path information is optimized using a preset path optimization strategy to obtain optimized destination navigation path information.

[0036] In this embodiment, the preset route optimization strategy is an optimization strategy that optimizes the destination navigation route information after the vehicle terminal receives the destination navigation route information output in step S102. It includes, but is not limited to, a route optimization strategy based on real-time traffic conditions and a route optimization strategy based on the fusion of local and cloud routes.

[0037] Optionally, the route optimization strategy based on real-time traffic conditions includes: receiving surrounding traffic information in real time during the vehicle's operation; and optimizing the destination navigation route information in real time based on the surrounding traffic information to obtain the optimized destination navigation route information.

[0038] In this optional embodiment, the surrounding traffic information refers to road traffic information representing the area where the vehicle is currently located, including but not limited to road construction information, vehicle accident information, and temporary street closure notices. For the vehicle-mounted terminal, the terminal communicates with the RSU (Roadside Unit) in the area where the vehicle is currently located via the OBU (On-Board Unit) device, receives the surrounding traffic information published by the RSU device in real time, and optimizes the destination navigation route information based on the surrounding traffic information using a route optimization algorithm. The route optimization algorithm can be Dijkstra's algorithm, Floyd's algorithm, A* algorithm, etc., and is not limited thereto.

[0039] Optionally, the path optimization strategy based on the fusion of local and cloud paths includes: using a path planning algorithm to calculate the navigation path between the vehicle's current location and the destination location to obtain local navigation path information; and fusing the local path with the destination navigation path information to obtain optimized destination navigation path information. Optionally, path fusion can be based on optimization principles such as minimizing the navigation path or navigation time, and the local and destination navigation path information can be fused in segments. For example, using the location intersections between the local and destination navigation path information, the local and destination navigation path information can be divided into multiple road segments. These road segments are then concatenated to form the shortest navigation path between the current vehicle location and the destination location, resulting in optimized destination navigation path information.

[0040] It should be noted that this application's embodiments rely on V2X technology, combined with the information gathering capabilities of MEC, to provide users with accurate navigation solutions, thereby enhancing the user experience. The destination attribute information collected by MEC includes specific location information; for example, for commercial locations, the attribute information includes specific real-time product information; for tourist attractions, the attribute information includes real-time information such as attraction tickets and activities. Each attribute location's local information network connects with the cloud service center to update relevant information in real time. When users have travel needs, the advantages of V2X network resources can be leveraged to provide them with reasonable route and location recommendations, thereby simplifying the user's travel process and improving travel efficiency and experience.

[0041] To implement the vehicle navigation method corresponding to the above method embodiments, and to achieve the corresponding functions and technical effects. See also Figure 3 , Figure 3 This diagram illustrates a structural block diagram of a vehicle navigation device according to an embodiment of this application. For ease of explanation, only the parts relevant to this embodiment are shown. The vehicle navigation device provided in this embodiment includes: The acquisition module 301 is used to acquire the travel event requirements of users on the vehicle side. Request module 302 is used to request the target cloud to generate destination navigation path information corresponding to the travel event requirement based on the travel event requirement; The navigation module 303 is used to receive the destination navigation path information, which is used for vehicle navigation.

[0042] In some embodiments, the request module 302 includes: The first sending unit is configured to send a destination navigation request to the RSU device based on the travel event demand, and the destination navigation request is forwarded by the RSU device to the target cloud. The first receiving unit is configured to receive the destination navigation path information returned by the RSU device. The destination navigation path information is the result of the target cloud responding to the destination navigation request and matching corresponding attribute information according to the travel event requirements. The corresponding target destination location information is obtained based on the attribute information to generate navigation route information.

[0043] In some embodiments, the request module 302 further includes: The second receiving unit is used to receive a set of destination location information returned by the RSU device. The set of destination location information includes at least one set of destination location information, which is location information generated by the target cloud in response to the destination navigation request and corresponding to the travel event requirement. The sending unit is configured to send the target destination location information to the RSU device in response to the destination confirmation command of the vehicle-mounted user. The target destination location information is the destination location information confirmed by the vehicle-mounted user in the destination location information set.

[0044] In some embodiments, the target cloud includes a local cloud and a neighboring cloud; the destination navigation request is forwarded by the RSU device to the local cloud of the region where the RSU device is located; if the local cloud does not match the target destination location information corresponding to the travel event requirement, the destination navigation request is forwarded by the RSU device to the neighboring cloud of the region where the RSU device is located.

[0045] In some embodiments, the vehicle navigation device further includes: The optimization module is used to optimize the destination navigation path information using a preset path optimization strategy to obtain optimized destination navigation path information.

[0046] In some embodiments, the optimization module is specifically used for: During the vehicle's operation, it receives real-time information about surrounding road conditions. Based on the surrounding road conditions, the destination navigation route information is optimized in real time to obtain the optimized destination navigation route information.

[0047] In some embodiments, the target cloud cache contains attribute information of multiple destinations, which is used to match the travel event requirements and obtain the corresponding destination location information based on the matched attribute information.

[0048] The vehicle navigation device described above can implement the vehicle navigation method of the above method embodiments. The options in the above method embodiments are also applicable to this embodiment, and will not be detailed here. The remaining content of this application embodiment can be referred to the content of the above method embodiments, and will not be repeated in this embodiment.

[0049] Figure 3 This is a schematic diagram of the structure of a vehicle-mounted terminal provided in one embodiment of this application. Figure 3 As shown, the vehicle-mounted terminal 3 of this embodiment includes: at least one processor 30 ( Figure 3 (Only one is shown in the diagram), memory 31, and computer program 32 stored in said memory 31 and executable on said at least one processor 30, wherein said processor 30 executes said computer program 32 to implement the steps in any of the above method embodiments.

[0050] The vehicle-mounted terminal may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will understand that... Figure 3 This is merely an example of vehicle-mounted terminal 3 and does not constitute a limitation on vehicle-mounted terminal 3. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, it may also include on-board unit (OBU) equipment, which communicates with the cloud (or mobile edge computing, MEC) through roadside unit (RSU) equipment, as well as input / output devices and network access devices, etc.

[0051] The processor 30 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0052] In some embodiments, the memory 31 may be an internal storage unit of the vehicle-mounted terminal 3, such as a hard disk or memory of the vehicle-mounted terminal 3. In other embodiments, the memory 31 may be an external storage device of the vehicle-mounted terminal 3, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the vehicle-mounted terminal 3. Furthermore, the memory 31 may include both internal storage units and external storage devices of the vehicle-mounted terminal 3. The memory 31 is used to store operating systems, applications, bootloaders, data, and other programs, such as the program code of computer programs. The memory 31 can also be used to temporarily store data that has been output or will be output.

[0053] In addition, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps in any of the above method embodiments.

[0054] This application provides a computer program product that, when run on an in-vehicle device, enables the in-vehicle device to implement the steps described in the above-described method embodiments.

[0055] In the several embodiments provided in this application, it will be understood that each block in the flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the figures. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved.

[0056] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an in-vehicle terminal to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0057] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above descriptions are merely specific embodiments of this application and are not intended to limit the scope of protection of this application. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application for those skilled in the art.

Claims

1. A vehicle navigation method, characterized in that, include: Obtain the travel event needs of in-vehicle users; Based on the travel event requirements, a destination navigation request is sent to the RSU device, which then forwards the destination navigation request to the target cloud to request the target cloud to generate destination navigation path information corresponding to the travel event requirements. Receive the destination navigation path information; The local navigation path information between the vehicle's current location and the destination location is calculated using a path planning algorithm. The local navigation path information and the destination navigation path information are then fused in segments to obtain optimized destination navigation path information, which is used for vehicle navigation. The destination navigation path information is generated by the target cloud in response to the destination navigation request, matching corresponding attribute information according to the travel event requirements, and obtaining the corresponding target destination location information based on the matched attribute information to generate navigation route information. The target cloud caches attribute information of multiple destinations, which is used to match the travel event requirements, and obtains the corresponding destination location information based on the matched attribute information. The attribute information is either pre-stored attribute information in the target cloud or information received and updated in real time from an electronic map at a preset period. The target cloud includes the local cloud and adjacent cloud; the destination navigation request is forwarded by the RSU device to the local cloud in the region where the RSU device is located; if the local cloud does not match the target destination location information corresponding to the travel event requirement, the destination navigation request is forwarded by the RSU device to the adjacent cloud in the region where the RSU device is located. The RSU device forwards the request to the adjacent cloud in order of distance from the local cloud to the adjacent cloud, or forwards it to the adjacent cloud with the lowest similarity in order of similarity between the adjacent cloud and the local cloud in terms of regional attribute similarity.

2. The vehicle navigation method according to claim 1, characterized in that, Before forwarding the destination navigation request to the target cloud via the RSU device, the method further includes: Receive a set of destination location information returned by the RSU device. The set of destination location information includes at least one set of destination location information, which is the location information corresponding to the travel event demand generated by the target cloud in response to the destination navigation request. In response to the destination confirmation command from the vehicle-mounted user, the target destination location information is sent to the RSU device. The target destination location information is the destination location information confirmed by the vehicle-mounted user in the destination location information set.

3. The vehicle navigation method according to any one of claims 1 to 2, characterized in that, After receiving the destination navigation path information, the process further includes: The destination navigation path information is optimized using a preset path optimization strategy to obtain optimized destination navigation path information.

4. The vehicle navigation method according to claim 3, characterized in that, The step of optimizing the destination navigation path information using a preset path optimization strategy to obtain optimized destination navigation path information includes: During vehicle operation, real-time information on surrounding road conditions is received. Based on the surrounding road conditions, the destination navigation route information is optimized in real time to obtain the optimized destination navigation route information.

5. A vehicle navigation device for implementing the vehicle navigation method as described in any one of claims 1-4, characterized in that, include: The acquisition module is used to acquire the travel event requirements of users on the in-vehicle side; The request module is used to request the target cloud to generate destination navigation path information corresponding to the travel event requirement based on the travel event requirement; The navigation module is used to receive the destination navigation path information, which is used for vehicle navigation.

6. A vehicle-mounted terminal, characterized in that, It includes a processor and a memory, the memory being used to store a computer program that, when executed by the processor, implements the vehicle navigation method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the vehicle navigation method as described in any one of claims 1 to 4.

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