Vehicle navigation method and device, vehicle, readable storage medium

Abstract

The application provides a vehicle navigation method and device, a vehicle and a readable storage medium. The method comprises the following steps: obtaining an offset and an index value of a road where the vehicle is located from a third-party data terminal; the offset is used to represent the distance between a preset prompt position and an initial position of the vehicle; the initial position of the vehicle is the departure position of the vehicle on the current road; determining the memory refresh number when the third-party data terminal sends the offset according to the offset and the index value; calculating the cumulative offset of the vehicle based on the memory refresh number and the offset; the cumulative offset is the actual distance between the preset prompt position and the initial position of the vehicle; and navigating the vehicle based on the cumulative offset. The application can effectively solve the problem that the offset received by the vehicle cannot be directly applied to vehicle navigation.

Description

Technical Field

[0001] This invention belongs to the field of vehicle navigation technology, and more specifically, relates to a vehicle navigation method and device, a vehicle, and a readable storage medium. Background Technology

[0002] Vehicle navigation typically relies on data from third-party data providers; for example, vehicles can navigate by acquiring data from map providers. However, the following problems exist in the process of acquiring this data:

[0003] Due to data transmission and reception mechanisms and existing processor memory limitations, third-party data terminals experience memory refreshes when sending vehicle-related offsets, sometimes resulting in the received offsets not being directly applicable to vehicle navigation. Therefore, this invention aims to provide a solution to address this problem where the received offsets cannot always be directly applied to vehicle navigation. Summary of the Invention

[0004] The purpose of this invention is to provide a vehicle navigation method and device, a vehicle, and a readable storage medium to solve the problem that the offset received by the vehicle in the prior art cannot always be directly applied to vehicle navigation.

[0005] A first aspect of the present invention provides a vehicle navigation method, comprising:

[0006] The vehicle's offset and the index value of the road it is on are obtained from a third-party data source; wherein, the offset is used to represent the distance between the preset prompt position and the vehicle's initial position, which is the vehicle's starting position on the current road;

[0007] The number of memory refreshes when the third-party data terminal sends the offset is determined based on the offset and the index value.

[0008] The cumulative offset of the vehicle is calculated based on the number of memory refreshes and the offset; wherein, the cumulative offset is the actual distance between the preset prompt position and the initial position of the vehicle;

[0009] Navigation for this vehicle is based on the cumulative offset.

[0010] In one possible implementation, the offset includes a vehicle offset, which represents the distance between the vehicle's current position and its initial position; determining the number of memory refreshes when the third-party data terminal sends the offset based on the offset and the index value includes:

[0011] Determine whether the vehicle has changed lanes based on the index value;

[0012] If the vehicle is in the navigation initialization state or the vehicle has made a valid lane change, the memory refresh count is zero.

[0013] If the vehicle makes an invalid lane change, the memory refresh count is the memory refresh count at the previous moment;

[0014] If the vehicle does not change lanes, then determine whether the offset difference is greater than a preset difference; wherein, the offset difference refers to the difference between the vehicle offset at the previous moment and the vehicle offset at the current moment.

[0015] If the offset difference is greater than a preset difference, then the number of memory refreshes is n. t-1 +1, where n t-1 This represents the number of memory refreshes at the previous moment.

[0016] If the offset difference is not greater than a preset difference, then the number of memory refreshes is the number of memory refreshes at the previous moment.

[0017] In one possible implementation, determining whether the vehicle has changed lanes based on the index value includes:

[0018] If the index value of the previous moment is different from the index value of the current moment and the index value of the current moment is greater than the preset index value, then it is determined that the vehicle has made a valid lane change.

[0019] If the index value of the previous moment is different from the index value of the current moment and the index value of the current moment is not greater than the preset index value, then it is determined that the vehicle has made an invalid lane change.

[0020] If the index value at the current moment is the same as the index value at the previous moment, it is determined that the vehicle has not changed lanes.

[0021] In one possible implementation, calculating the cumulative offset of the vehicle based on the memory refresh count and the offset includes:

[0022] L = offset + n t ×K

[0023] Where, n t K is the number of memory refreshes, K is the memory limit, offset is the offset, and L is the cumulative offset.

[0024] In one possible implementation, the offset includes a vehicle offset and a fork in the road offset; the vehicle offset represents the distance of the vehicle's current position relative to its initial position; the fork in the road offset represents the distance of the fork in the road ahead relative to the vehicle's initial position.

[0025] The calculation of the vehicle's cumulative offset based on the memory refresh count and the offset includes:

[0026] The cumulative vehicle offset is calculated based on the memory refresh count and the vehicle offset.

[0027] Determine whether the cumulative offset of the vehicle at the intersection is the preset initial value. If the cumulative offset of the vehicle at the intersection is the initial value, calculate the cumulative offset of the vehicle at the intersection based on the memory refresh count and the intersection offset.

[0028] In one possible implementation, navigating the vehicle based on the cumulative offset includes:

[0029] The distance between the vehicle and the approaching intersection is determined based on the vehicle's cumulative offset and the intersection's cumulative offset.

[0030] The navigation system will provide guidance based on the distance between the vehicle and the upcoming intersection.

[0031] In one possible implementation, the vehicle navigation method further includes:

[0032] If the index value of the road where the vehicle is located at the current moment is the preset initial path index value, and the offset of the intersection at the current moment is the preset invalid memory value, then the offset and the index value are reset.

[0033] If the vehicle is in navigation initialization mode, then reset the offset and the index value.

[0034] A second aspect of the present invention provides a vehicle navigation device, comprising:

[0035] The data acquisition module is used to acquire the vehicle's offset and the index value of the road where the vehicle is located from a third-party data terminal; wherein, the offset is used to represent the distance between the preset prompt position and the vehicle's initial position, which is the vehicle's starting position on the current road;

[0036] The refresh count calculation module is used to determine the number of memory refreshes when the third-party data terminal sends the offset based on the offset and the index value.

[0037] The cumulative offset calculation module is used to calculate the cumulative offset of the vehicle based on the number of memory refreshes and the offset; wherein, the cumulative offset is the actual distance between the preset prompt position and the initial position of the vehicle;

[0038] The vehicle navigation module is used to navigate the vehicle based on the cumulative offset.

[0039] A third aspect of the present invention provides a vehicle, the vehicle including a control terminal, the control terminal including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the vehicle navigation method described above.

[0040] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the vehicle navigation method described above.

[0041] The beneficial effects of the vehicle navigation method and device, vehicle, and readable storage medium provided in the embodiments of the present invention are as follows:

[0042] To address the issue that in existing technologies, the offset values ​​received by the vehicle cannot always be directly applied to vehicle navigation, this invention, after acquiring the positioning data (i.e., offset data and index value data) sent by a third-party data provider, first calculates the number of memory refreshes corresponding to the offset sent by the third-party data provider based on the offset and index value. Then, it corrects the offset based on these memory refresh counts, obtaining a cumulative offset that can be directly applied to vehicle navigation. Finally, vehicle navigation is performed based on this cumulative offset. Based on this invention, the problem of inaccurate offset reception caused by memory limitations can be effectively solved, thereby enabling data conversion from the third-party data provider to the vehicle itself. In other words, this invention, by converting the positioning data sent by the third-party data provider, constructs a data system that meets the actual needs of the vehicle, thus achieving map (data) reconstruction and facilitating better vehicle navigation. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic flowchart of a vehicle navigation method provided in an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of a road scene provided according to an embodiment of the present invention;

[0046] Figure 3 This is a structural block diagram of a vehicle navigation device provided in an embodiment of the present invention;

[0047] Figure 4 This is a schematic block diagram of a control terminal provided in an embodiment of the present invention. Detailed Implementation

[0048] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0049] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

[0050] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a vehicle navigation method according to an embodiment of the present invention. The vehicle navigation method includes:

[0051] S101: Obtain the vehicle's offset and the index of the road the vehicle is on from a third-party data source. The aforementioned offset represents the distance between the preset prompt position and the vehicle's initial position, which is the vehicle's starting position on the current road.

[0052] In this embodiment, when the vehicle is navigating, it sends a data request to a third-party data provider. The third-party data provider then sends location data to the vehicle at preset time intervals. This location data includes the vehicle's offset and the index of the road the vehicle is currently on.

[0053] The offset is a data quantity sent by a third-party data terminal to represent the distance between the preset prompt position and the initial position of the vehicle. It may be the data quantity sent by the third-party data terminal after memory refresh. Therefore, this offset is not necessarily the actual distance between the preset prompt position and the initial position of the vehicle. This leads to the problem pointed out in the background art of this invention. The subsequent steps of this invention aim to process this offset to obtain a cumulative offset that can be directly used for vehicle navigation.

[0054] In this embodiment, when the third-party data provider (taking a map service provider as an example) sends location data, the description of roads is achieved by assigning index values ​​to each road. A specific example can be found here. Figure 2 , Figure 2 In the diagram, path1 represents the first road, path2 represents the second road, path3 represents the third road, path4 represents the fourth road, and path5 represents the fifth road. Each road corresponds to... Figure 2 An arrow, with Figure 2 Starting from the upper right corner, along Figure 2The edges rotate counterclockwise, with the arrows corresponding to path1, path2, path4, path3, and path5 in sequence. Each path carries an index value. The specific path division and index value determination are determined by a third-party data provider and are not improvements made in this embodiment of the invention; therefore, they will not be elaborated upon here.

[0055] In this embodiment, the preset prompt location is a position ahead of the vehicle that needs to be noted by the user. For example, the preset prompt location could be the vehicle's current position, a fork in the road ahead, a crossroads ahead, a traffic light ahead, a school ahead, a speed limit location ahead, a roundabout ahead, etc. Correspondingly, if the preset prompt location is the vehicle's current position, the corresponding offset is the vehicle offset, which represents the distance between the vehicle's current position and its initial position. Similarly, if the preset prompt location is a fork in the road ahead, the corresponding offset is the fork in the road offset, which represents the distance between the fork in the road ahead and the vehicle's initial position.

[0056] In this embodiment, the initial position of the vehicle refers to its starting position on the current road. Essentially, it is the initial position of the vehicle referenced when the third-party data terminal sends offset data. (See reference...) Figure 2 If the vehicle starts from a certain position on road path 2 (denoted as P0) and does not leave road path 2, then the vehicle's initial position at the current moment is position P0. If the vehicle continues to travel and turns into road path 4 at the first fork in the road ahead, and does not leave road path 4, then the vehicle's initial position at the current moment is the starting position of road path 4 (because the vehicle's starting point on road path 4 is the starting point of road path 4). In other words, the vehicle's initial position in this embodiment will change depending on the road the vehicle is on (this is because the third-party data terminal will recalculate the offset when the vehicle changes lanes).

[0057] In this embodiment, when the third-party data terminal sends location data, it usually sends location data 2-3km ahead of the vehicle. That is, the third-party data terminal will continuously scan the map data 2-3km ahead of the vehicle and select the corresponding content to send to the vehicle.

[0058] S102: Determine the number of memory refreshes when the third-party data terminal sends the offset based on the offset and index value.

[0059] In this embodiment, it can be determined whether the vehicle has changed lanes based on the index value of the road it is on at each time. Then, based on the vehicle's lane-changing status and the offset at each time, the number of memory refreshes when the third-party data terminal sends the offset can be determined. This number of memory refreshes is used to restore the actual distance corresponding to the aforementioned offset, that is, to calculate the cumulative offset corresponding to the aforementioned offset.

[0060] S103: Calculate the vehicle's cumulative offset based on the number of memory refreshes and the offset. The cumulative offset is the actual distance between the preset prompt position and the vehicle's initial position.

[0061] In this embodiment, after determining the number of memory refreshes, the actual distance corresponding to the aforementioned offset can be deduced based on the existing offset and the number of memory refreshes, which is the cumulative offset described in this embodiment.

[0062] S104: Navigate this vehicle based on the cumulative offset.

[0063] In this embodiment, based on the description in the preceding embodiments, the preset prompt locations include multiple locations (including but not limited to the vehicle's current location, the fork in the road ahead, the crossroads ahead, the traffic light ahead, the school ahead, the speed limit location ahead, the roundabout ahead, etc.). Correspondingly, there are also multiple offsets and multiple cumulative offsets. Based on this, after calculating multiple cumulative offsets, navigation prompts can be provided to the vehicle according to these cumulative offsets. For example, the distance between the vehicle and the fork in the road ahead can be calculated based on the cumulative offset of the fork in the road and the vehicle's offset, and a vehicle prompt can be given when the vehicle is about to enter the fork in the road to remind the user to slow down. For example, the distance between the vehicle and the school ahead can be calculated based on the cumulative offset of the school ahead and the vehicle's offset, and a vehicle prompt can be given when the vehicle is about to enter the school zone to remind the user to slow down and be aware of horn noise. For example, the distance between the vehicle and the speed limit location ahead can be calculated based on the cumulative offset of the speed limit location and the vehicle's offset, and a vehicle prompt can be given when the vehicle is about to enter the speed limit zone to remind the user to reduce their speed to the speed limit range in advance. In other words, based on the cumulative offset calculated above, the embodiments of the present invention can implement a variety of navigation prompt functions.

[0064] In this embodiment, the number of memory refreshes is explained as follows:

[0065] For example, if the memory limit of an existing processor is 8190, and a third-party data terminal detects an offset of 7000, then the offset sent to the vehicle will also be 7000, which can be directly applied to vehicle navigation. However, when the third-party data terminal detects an offset of 8200, due to memory limitations, it will refresh its memory and recount when it reaches 8190. Based on this, the offset sent to the vehicle will become 10, which obviously cannot be directly applied to vehicle navigation. Therefore, the memory refresh count described in this invention essentially refers to the number of times the third-party data terminal recounts when sending the offset. Thus, to obtain accurate offset data, this invention first calculates the number of memory refreshes when the third-party data terminal sends an offset, and then uses the received offset and the calculated number of memory refreshes to deduce the accurate offset data (i.e., the cumulative offset described in this embodiment), thereby completing the data conversion to better support subsequent vehicle navigation functions. As described above, after obtaining the positioning data (i.e., offset data and index value data) sent by the third-party data terminal, this embodiment of the invention first calculates the number of memory refreshes corresponding to the offset sent by the third-party data terminal based on the offset and index value. Then, it corrects the offset based on the number of memory refreshes, thus obtaining the cumulative offset that can be directly applied to vehicle navigation. Finally, vehicle navigation is performed based on the cumulative offset. Based on the solution of this embodiment, the problem of inaccurate offset reception caused by memory limitations can be effectively solved, thereby enabling data conversion from the third-party data terminal to the vehicle itself. In other words, this embodiment of the invention, by converting the positioning data sent by the third-party data terminal, constructs a data system that meets the actual needs of the vehicle, thereby realizing map (data) reconstruction and facilitating better vehicle navigation.

[0066] In one possible implementation, the offset includes a vehicle offset, which represents the distance of the vehicle's current position relative to its initial position. The number of memory refreshes when the third-party data terminal sends the offset is determined based on the offset and the index value, including:

[0067] Determine whether the vehicle has changed lanes based on the index value.

[0068] If the vehicle is in the navigation initialization state or the vehicle has made a valid lane change, the memory refresh count will be zero.

[0069] If the vehicle makes an invalid lane change, the memory refresh count will be the same as the previous memory refresh count.

[0070] If the vehicle has not changed lanes, then it is determined whether the offset difference is greater than a preset difference. The offset difference refers to the difference between the vehicle's offset at the previous moment and the vehicle's offset at the current moment.

[0071] If the offset difference is greater than the preset difference, then the memory refresh count is n. t-1 +1, where n t-1 This represents the number of memory refreshes at the previous moment.

[0072] If the offset difference is not greater than the preset difference, the number of memory refreshes is the number of memory refreshes at the previous moment.

[0073] In this embodiment, the previous moment refers to the moment when the above steps were last executed, and the current moment refers to the moment when the above steps are executed this time.

[0074] In this embodiment, an invalid lane change refers to a vehicle entering an invalid road at the current moment. That is, the index value of the road the vehicle is currently on indicates that it is on an invalid road. Invalid roads refer to roads not on the official map, such as forest trails or paths worn into shape by human footsteps. In contrast, a valid lane change refers to a vehicle changing lanes and then being on a valid road (a road on the official map).

[0075] In this embodiment, when the vehicle is in the navigation initialization state, the memory refresh count will be reset to zero. When the vehicle makes a valid lane change, as can be seen from the description of the above embodiment, the initial position of the vehicle has changed, and the memory refresh count will also be reset to zero.

[0076] In this embodiment, when the vehicle makes an invalid lane change, the previously calculated memory refresh count can be used directly, that is, the memory refresh count is not updated.

[0077] In this embodiment, when the vehicle has not changed lanes, it is necessary to determine whether a memory count value has been refreshed between the previous moment and the current moment. This embodiment uses the difference in offset between two moments to perform this determination. Accordingly, if the offset difference is greater than a preset difference, it is determined that a memory count value has been refreshed between the previous moment and the current moment, and the number of memory refreshes at the current moment is n. t-1 +1. If the offset difference is not greater than the preset difference, it is determined that no memory count value has been refreshed between the previous moment and the current moment, and the memory refresh count of the previous moment can be used. The preset difference is related to the aforementioned preset time interval (that is, it is positively correlated with the time interval of data sent by the third-party data terminal; the larger the preset time interval, the larger the preset difference).

[0078] In one possible implementation, determining whether the vehicle has changed lanes based on the index value includes:

[0079] If the index value of the previous moment is different from the index value of the current moment, and the index value of the current moment is greater than the preset index value, then it is determined that the vehicle has made a valid lane change.

[0080] If the index value of the previous moment is different from the index value of the current moment, and the index value of the current moment is not greater than the preset index value, then the vehicle is judged to have made an invalid lane change.

[0081] If the index value at the current moment is the same as the index value at the previous moment, it is determined that the vehicle has not changed lanes.

[0082] In this embodiment, according to industry regulations regarding roads, a road is considered invalid if its index value is not greater than a preset value.

[0083] Based on this, if the index value of the previous moment is different from the index value of the current moment, and the index value of the current moment is greater than the preset index value, it means that the vehicle has changed lanes and is currently on a valid road. At this time, it can be determined that the vehicle has made a valid lane change.

[0084] If the index value of the previous moment is different from the index value of the current moment and the index value of the current moment is not greater than the preset index value, then the vehicle is determined to be on an invalid road. In this case, regardless of whether the vehicle was on a valid road in the previous moment, the vehicle is determined to have made an invalid lane change.

[0085] In one possible implementation, the cumulative offset of the vehicle is calculated based on the number of memory refreshes and the offset, including:

[0086] L = offset + n t ×K

[0087] Where, n t K is the number of memory refreshes, K is the memory limit, offset is the offset, and L is the cumulative offset.

[0088] In this embodiment, the memory limit value refers to the maximum count value of the third-party data terminal processor's memory, or in other words, the memory limit value is the maximum offset that the third-party data terminal processor's memory can store. When this maximum offset is exceeded, the processor memory stores the offset value that exceeds the memory limit value. For example, if the memory limit value is 8190, and the actual offset is 7000, the third-party data terminal will store the value 7000. However, when the actual offset is 8200, the third-party data terminal will store the offset that exceeds the memory limit value (i.e., 8200-8190), meaning that at this time, the third-party data terminal processor's memory stores 10.

[0089] In one possible implementation, the offset includes vehicle offset and intersection offset. Vehicle offset represents the distance of the vehicle's current position relative to its initial position. Intersection offset represents the distance of the upcoming intersection relative to the vehicle's initial position.

[0090] The cumulative offset of this vehicle is calculated based on the number of memory refreshes and the offset, including:

[0091] The cumulative vehicle offset is calculated based on the number of memory refreshes and the vehicle offset.

[0092] Determine whether the vehicle's cumulative offset at intersections is the preset initial value. If the vehicle's cumulative offset at intersections is the initial value, calculate the vehicle's cumulative offset at intersections based on the number of memory refreshes and the offset at intersections.

[0093] In this embodiment, the cumulative offset at a fork in the road only needs to be calculated once. However, due to the data transmission mechanism between the third-party data terminal and the vehicle, the vehicle may continuously receive the fork offset. In this case, it can first check whether the vehicle has already calculated the cumulative offset at the fork on the current road. If it is detected that the vehicle has not calculated the cumulative offset at the fork on the current road, the calculation of the cumulative offset at the fork can be initiated. Specifically, if the vehicle's cumulative offset at the fork is the initial value, it means that the vehicle has not calculated the cumulative offset at the fork on the current road. If the vehicle's cumulative offset at the fork is not the initial value, it means that the vehicle has calculated the cumulative offset at the fork on the current road.

[0094] In one possible implementation, navigation of the vehicle is based on cumulative offset, including:

[0095] The distance between the vehicle and the approaching intersection is determined based on the vehicle's cumulative offset and the intersection's cumulative offset.

[0096] The navigation system will provide guidance based on the distance between the vehicle and the upcoming intersection.

[0097] In this embodiment, the difference between the cumulative offset at the intersection and the cumulative offset of the vehicle is the distance between the vehicle and the upcoming intersection. Based on this, navigation prompts can be provided to the user. Similarly, the distance between the vehicle and the upcoming school or the upcoming speed-limited road section can also be prompted. The principle of the aforementioned navigation prompts is the same as that of the intersection navigation prompts, and will not be repeated here.

[0098] In one possible implementation, the vehicle navigation method also includes:

[0099] If the index value of the road where the vehicle is located at the current moment is the preset initial path index value, and the offset of the intersection at the current moment is the preset invalid memory value, then the offset and index value are reset.

[0100] If the vehicle is in navigation initialization mode, then reset the offset and index value.

[0101] In this embodiment, if the index value of the road where the vehicle is located at the current moment is the preset initial path index value, and the offset of the intersection at the current moment is the preset invalid memory value, it means that the vehicle may be reversing or going against the flow. At this time, the various data (memory refresh count, cumulative offset, etc.) calculated will be inaccurate. In this case, the data can be reset (for example, the offset and index value can be reset, and of course, other data that may be affected by the aforementioned situation can also be reset).

[0102] In this embodiment, if the vehicle is in the navigation initialization state, data will also be reset to ensure the accuracy of subsequent data calculation and vehicle navigation.

[0103] Corresponding to the vehicle navigation method in the above embodiments, Figure 3 This is a structural block diagram of a vehicle navigation device according to an embodiment of the present invention. For ease of explanation, only the parts relevant to the embodiment of the present invention are shown. (See references) Figure 3 The vehicle navigation device 20 includes: a data acquisition module 21, a refresh count calculation module 22, a cumulative offset calculation module 23, and a vehicle navigation module 24.

[0104] The data acquisition module 21 is used to obtain the vehicle's offset and the index value of the road where the vehicle is located from a third-party data source. The offset represents the distance between the preset prompt position and the vehicle's initial position, which is the vehicle's starting position on the current road.

[0105] The refresh count calculation module 22 is used to determine the number of memory refreshes when the third-party data terminal sends the offset based on the offset and index value.

[0106] The cumulative offset calculation module 23 is used to calculate the cumulative offset of the vehicle based on the number of memory refreshes and the offset. The cumulative offset is the actual distance between the preset prompt position and the vehicle's initial position.

[0107] The vehicle navigation module 24 is used to navigate the vehicle based on the cumulative offset.

[0108] In one possible implementation, the offset includes a vehicle offset, which represents the distance of the vehicle's current position relative to its initial position. The refresh count calculation module 22 is specifically used for:

[0109] Determine whether the vehicle has changed lanes based on the index value.

[0110] If the vehicle is in the navigation initialization state or the vehicle has made a valid lane change, the memory refresh count will be zero.

[0111] If the vehicle makes an invalid lane change, the memory refresh count will be the same as the previous memory refresh count.

[0112] If the vehicle has not changed lanes, then it is determined whether the offset difference is greater than a preset difference. The offset difference refers to the difference between the vehicle's offset at the previous moment and the vehicle's offset at the current moment.

[0113] If the offset difference is greater than the preset difference, then the memory refresh count is n. t-1 +1, where n t-1 This represents the number of memory refreshes at the previous moment.

[0114] If the offset difference is greater than the preset difference, the memory refresh count is the memory refresh count of the previous moment.

[0115] In one possible implementation, the refresh count calculation module 22 is specifically used to perform the following steps:

[0116] If the index value of the previous moment is different from the index value of the current moment, and the index value of the current moment is greater than the preset index value, then it is determined that the vehicle has made a valid lane change.

[0117] If the index value of the previous moment is different from the index value of the current moment, and the index value of the current moment is not greater than the preset index value, then the vehicle is judged to have made an invalid lane change.

[0118] If the index value at the current moment is the same as the index value at the previous moment, it is determined that the vehicle has not changed lanes.

[0119] In one possible implementation, the cumulative offset calculation module 23 performs the following calculation:

[0120] L = offset + n t ×K

[0121] Where, n t K is the number of memory refreshes, K is the memory limit, offset is the offset, and L is the cumulative offset.

[0122] In one possible implementation, the offset includes vehicle offset and intersection offset. Vehicle offset represents the distance of the vehicle's current position relative to its initial position. Intersection offset represents the distance of the upcoming intersection relative to the vehicle's initial position.

[0123] The cumulative offset calculation module 23 is specifically used for:

[0124] The cumulative vehicle offset is calculated based on the number of memory refreshes and the vehicle offset.

[0125] Determine whether the vehicle's cumulative offset at intersections is the preset initial value. If the vehicle's cumulative offset at intersections is the initial value, calculate the vehicle's cumulative offset at intersections based on the number of memory refreshes and the offset at intersections.

[0126] In one possible implementation, the vehicle navigation module 24 is specifically used for:

[0127] The distance between the vehicle and the approaching intersection is determined based on the vehicle's cumulative offset and the intersection's cumulative offset.

[0128] The navigation system will provide guidance based on the distance between the vehicle and the upcoming intersection.

[0129] In one possible implementation, the data acquisition module 21 is further configured to perform the following steps:

[0130] If the index value of the road where the vehicle is located at the current moment is the preset initial path index value, and the offset of the intersection at the current moment is the preset invalid memory value, then the offset and index value are reset.

[0131] If the vehicle is in navigation initialization mode, then reset the offset and index value.

[0132] This invention also provides a vehicle, which includes a control terminal, see below. Figure 4 , Figure 4 This is a schematic block diagram of a control terminal provided in an embodiment of the present invention. Figure 4 The terminal 300 in this embodiment may include one or more processors 301, one or more input devices 302, one or more output devices 303, and one or more memories 304. The processors 301, input devices 302, output devices 303, and memories 304 communicate with each other via a communication bus 305. The memories 304 store computer programs, including program instructions. The processors 301 execute the program instructions stored in the memories 304. Specifically, the processors 301 are configured to invoke the program instructions to perform the functions of the modules / units in the above-described device embodiments, such as... Figure 2 The functions of modules 21 to 24 are shown.

[0133] It should be understood that, in this embodiment of the invention, the processor 301 may be a Central Processing Unit (CPU), but it may also 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. The general-purpose processor may be a microprocessor or any conventional processor.

[0134] Input device 302 may include a touchpad, a fingerprint sensor (for collecting the user's fingerprint information and fingerprint orientation information), a microphone, etc., and output device 303 may include a display (LCD, etc.), a speaker, etc.

[0135] The memory 304 may include read-only memory and random access memory, and provides instructions and data to the processor 301. A portion of the memory 304 may also include non-volatile random access memory. For example, the memory 304 may also store device type information.

[0136] In specific implementations, the processor 301, input device 302, and output device 303 described in the embodiments of the present invention can execute the implementation methods described in the first and second embodiments of the vehicle navigation method provided in the embodiments of the present invention, or they can execute the implementation methods of the terminal described in the embodiments of the present invention, which will not be repeated here.

[0137] In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, which includes program instructions. When executed by a processor, the program instructions implement all or part of the processes in the methods described above. The computer program can also instruct related hardware to complete the process. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0138] The computer-readable storage medium can be an internal storage unit of the terminal in any of the foregoing embodiments, such as the terminal's hard disk or memory. The computer-readable storage medium can also be an external storage device of the terminal, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the terminal. Furthermore, the computer-readable storage medium can include both internal storage units and external storage devices of the terminal. The computer-readable storage medium is used to store computer programs and other programs and data required by the terminal. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0139] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0140] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the terminals and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0141] In the several embodiments provided in this application, it should be understood that the disclosed terminals and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces or units, or it may be an electrical, mechanical, or other form of connection.

[0142] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention, depending on actual needs.

[0143] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0144] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A vehicle navigation method, characterized in that, include: The vehicle's offset and the index value of the road it is on are obtained from a third-party data source; wherein, the offset is used to represent the distance between the preset prompt position and the vehicle's initial position, which is the vehicle's starting position on the current road; The number of memory refreshes when the third-party data terminal sends the offset is determined based on the offset and the index value. The cumulative offset of the vehicle is calculated based on the number of memory refreshes and the offset; wherein, the cumulative offset is the actual distance between the preset prompt position and the initial position of the vehicle; Navigation for this vehicle is based on the cumulative offset.

2. The vehicle navigation method as described in claim 1, characterized in that, The offset includes a vehicle offset, which represents the distance between the vehicle's current position and its initial position; determining the number of memory refreshes when the third-party data terminal sends the offset based on the offset and the index value includes: Determine whether the vehicle has changed lanes based on the index value; If the vehicle is in the navigation initialization state or the vehicle has made a valid lane change, the memory refresh count is zero. If the vehicle makes an invalid lane change, the memory refresh count is the memory refresh count at the previous moment; If the vehicle does not change lanes, then determine whether the offset difference is greater than a preset difference; wherein, the offset difference refers to the difference between the vehicle offset at the previous moment and the vehicle offset at the current moment. If the offset difference is greater than a preset difference, then the number of memory refreshes is n. t-1 +1, where n t-1 This represents the number of memory refreshes at the previous moment; If the offset difference is not greater than a preset difference, then the number of memory refreshes is the number of memory refreshes at the previous moment.

3. The vehicle navigation method as described in claim 2, characterized in that, The step of determining whether the vehicle has changed lanes based on the index value includes: If the index value of the previous moment is different from the index value of the current moment and the index value of the current moment is greater than the preset index value, then it is determined that the vehicle has made a valid lane change. If the index value of the previous moment is different from the index value of the current moment and the index value of the current moment is not greater than the preset index value, then it is determined that the vehicle has made an invalid lane change. If the index value at the current moment is the same as the index value at the previous moment, it is determined that the vehicle has not changed lanes.

4. The vehicle navigation method as described in claim 1, characterized in that, The calculation of the vehicle's cumulative offset based on the memory refresh count and the offset includes: L=offset+n t ×K Where, n t K is the number of memory refreshes, K is the memory limit, offset is the offset, and L is the cumulative offset.

5. The vehicle navigation method as described in claim 1, characterized in that, The offset includes vehicle offset and intersection offset; the vehicle offset represents the distance of the vehicle's current position relative to its initial position; the intersection offset represents the distance of the intersection ahead relative to the vehicle's initial position. The calculation of the vehicle's cumulative offset based on the memory refresh count and the offset includes: The cumulative vehicle offset is calculated based on the memory refresh count and the vehicle offset. Determine whether the cumulative offset of the vehicle at the intersection is the preset initial value. If the cumulative offset of the vehicle at the intersection is the initial value, calculate the cumulative offset of the vehicle at the intersection based on the memory refresh count and the intersection offset.

6. The vehicle navigation method as described in claim 5, characterized in that, The navigation of the vehicle based on the cumulative offset includes: The distance between the vehicle and the approaching intersection is determined based on the vehicle's cumulative offset and the intersection's cumulative offset. The navigation system will provide guidance based on the distance between the vehicle and the upcoming intersection.

7. The vehicle navigation method as described in claim 5, characterized in that, The vehicle navigation method also includes: If the index value of the road where the vehicle is located at the current moment is the preset initial path index value and the offset of the intersection at the current moment is the preset invalid memory value, then the offset and the index value are reset. If the vehicle is in navigation initialization mode, then reset the offset and the index value.

8. A vehicle navigation device, characterized in that, include: The data acquisition module is used to acquire the vehicle's offset and the index value of the road where the vehicle is located from a third-party data terminal; wherein, the offset is used to represent the distance between the preset prompt position and the vehicle's initial position, which is the vehicle's starting position on the current road; The refresh count calculation module is used to determine the number of memory refreshes when the third-party data terminal sends the offset based on the offset and the index value. The cumulative offset calculation module is used to calculate the cumulative offset of the vehicle based on the number of memory refreshes and the offset; wherein, the cumulative offset is the actual distance between the preset prompt position and the initial position of the vehicle; The vehicle navigation module is used to navigate the vehicle based on the cumulative offset.

9. A vehicle, characterized in that, include: Control terminal; The control terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

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