Navigation information generation method and device, electronic equipment, medium and program product

Abstract

The present application relates to the technical field of navigation information generation, and in particular to a navigation information generation method, device, electronic equipment, medium and program product. An original driving track is acquired, and a first track with navigation information and a second track without navigation information in the original driving track are determined. An original navigation path corresponding to the first track is acquired. The second track and the original navigation path are spliced to generate a target navigation path. The target navigation path is identified to generate target navigation information corresponding to the target navigation path. The target navigation path and the target navigation information are generated according to the original driving track corresponding to the user, thereby solving the problems of repeated, missing or incorrect navigation information in the driving route selected by the user. Furthermore, the target navigation path and the target navigation information are generated according to the user demand, thereby improving the flexibility of generating the target navigation path and the target navigation information.

Description

Technical Field

[0001] This invention relates to the field of navigation information generation technology, specifically to navigation information generation methods, devices, electronic devices, media, and program products. Background Technology

[0002] During driving, the vehicle typically follows the navigation route from its starting point to its destination. However, customers may have personalized route requirements, which could lead to manual deviations. Manual deviations can result in the loss of navigation information for the deviated route. Therefore, the navigation route information saved on the vehicle's end may contain duplicates, missing information, or errors, leading to situations where the user's selected route does not provide accurate navigation information.

[0003] Therefore, it is crucial for users to generate a navigation path with complete and accurate navigation information based on their needs. Summary of the Invention

[0004] In view of this, the present invention provides a navigation information generation method, apparatus, electronic device, medium, and program product to solve the problem of how to generate a navigation path with complete and correct navigation information according to the user's needs.

[0005] In a first aspect, the present invention provides a navigation information generation method, the method comprising:

[0006] Obtain the original driving trajectory and determine the first trajectory with navigation information and the second trajectory without navigation information in the original driving trajectory;

[0007] Obtain the original navigation path corresponding to the first trajectory;

[0008] The second trajectory and the original navigation path are concatenated to generate the target navigation path;

[0009] The target navigation path is identified, and the target navigation information corresponding to the target navigation path is generated.

[0010] The navigation information generation method provided in the embodiments of the present application acquires an original driving track, and determines a first track with navigation information and a second track without navigation information in the original driving track, thereby ensuring the accuracy of the determined first track and second track. The original navigation path corresponding to the first track is acquired; the second track and the original navigation path are spliced to generate a target navigation path, thereby ensuring the accuracy of the generated target navigation path. The target navigation path is identified to generate target navigation information corresponding to the target navigation path, thereby ensuring the accuracy of the target navigation information corresponding to the generated target navigation path. The above method realizes generation of a target navigation path corresponding to the original driving track and target navigation information corresponding to the target navigation path according to the original driving track corresponding to the user, thereby solving the problems of repeated, missing or incorrect navigation information in the driving route selected by the user. Moreover, the target navigation path and target navigation information are generated according to the user demand, thereby improving the flexibility of generation of the target navigation path and target navigation information.

[0011] In an optional implementation, splicing the second track and the original navigation path to generate the target navigation path comprises:

[0012] The second track is analyzed to determine a driving direction and a driving distance corresponding to the second track;

[0013] The second track corresponding generation navigation path is generated according to the driving direction and the driving distance corresponding to the second track;

[0014] The second track corresponding generation navigation path and the original navigation path are spliced according to the positional relationship between the second track corresponding generation navigation path and the original navigation path to generate the target navigation path.

[0015] The navigation information generation method provided in the embodiments of the present application analyzes the second track to determine a driving direction and a driving distance corresponding to the second track, thereby ensuring the accuracy of the determined driving direction and driving distance corresponding to the second track. The second track corresponding generation navigation path is generated according to the driving direction and the driving distance corresponding to the second track, thereby ensuring the accuracy of the generated second track corresponding generation navigation path. The second track corresponding generation navigation path and the original navigation path are spliced according to the positional relationship between the second track corresponding generation navigation path and the original navigation path to generate the target navigation path, thereby ensuring the accuracy of the generated target navigation path and the correspondence between the target navigation path and the original driving track.

[0016] In an optional implementation, identifying the target navigation path to generate target navigation information corresponding to the target navigation path comprises:

[0017] The target navigation path is identified to determine a geometric feature corresponding to the target navigation path;

[0018] According to the geometric features corresponding to the target navigation path, the target navigation path is sliced to generate a plurality of target navigation sub-paths;

[0019] The sub-navigation information corresponding to each target navigation sub-path is obtained;

[0020] According to the sub-navigation information corresponding to each target navigation sub-path, target navigation information corresponding to the target navigation path is generated.

[0021] The navigation information generation method provided by the embodiments of the present application identifies the target navigation path, determines the geometric features corresponding to the target navigation path, and ensures the accuracy of the determined geometric features corresponding to the target navigation path. According to the geometric features corresponding to the target navigation path, the target navigation path is sliced to generate a plurality of target navigation sub-paths, which ensures the accuracy of the generated plurality of target navigation sub-paths, and facilitates the generation of target navigation information corresponding to the target navigation path according to the plurality of target navigation sub-paths. The sub-navigation information corresponding to each target navigation sub-path is obtained; according to the sub-navigation information corresponding to each target navigation sub-path, target navigation information corresponding to the target navigation path is generated, which ensures the accuracy of the generated target navigation information, and the target navigation path can be navigated according to the target navigation information.

[0022] In an optional embodiment, the target navigation sub-paths include original navigation sub-paths and generated navigation sub-paths, the original navigation sub-paths are obtained by slicing the original navigation path, and the generated navigation sub-paths are obtained by slicing the generated navigation path, the generated navigation path is generated by a second trajectory. The sub-navigation information corresponding to each target navigation sub-path is obtained, including:

[0023] According to the relationship between each original navigation sub-path and the original navigation path, the sub-navigation information corresponding to each original navigation sub-path is extracted from the original navigation information corresponding to the original navigation path;

[0024] According to the position of each generated navigation sub-path in the generated navigation path, the sub-navigation information corresponding to each generated navigation sub-path is determined.

[0025] The navigation information generation method provided by the embodiments of the present application extracts the sub-navigation information corresponding to each original navigation sub-path from the original navigation information corresponding to the original navigation path according to the relationship between each original navigation sub-path and the original navigation path, which ensures the accuracy of the obtained sub-navigation information corresponding to the original navigation sub-path. According to the position of each generated navigation sub-path in the generated navigation path, the sub-navigation information corresponding to each generated navigation sub-path is determined, which can ensure the accuracy of the determined sub-navigation information corresponding to each generated navigation sub-path.

[0026] In an optional implementation, the sub-navigation information includes a vehicle action; the sub-navigation information corresponding to each generated navigation sub-path is determined according to a position of the generated navigation sub-path in the generated navigation path, including:

[0027] The second trajectory is identified, and at least one vehicle action corresponding to the second trajectory is determined;

[0028] The at least one vehicle action corresponding to the generated navigation path is determined according to the correspondence between the generated navigation path and the second trajectory;

[0029] The vehicle action corresponding to each generated navigation sub-path is determined according to a position of each generated navigation sub-path in the generated navigation path.

[0030] The navigation information generation method provided in the embodiments of the present application identifies the second trajectory, determines at least one vehicle action corresponding to the second trajectory, and ensures the accuracy of the determined at least one vehicle action corresponding to the second trajectory. The at least one vehicle action corresponding to the generated navigation path is determined according to the correspondence between the generated navigation path and the second trajectory, and the accuracy of the determined at least one vehicle action corresponding to the generated navigation path is ensured. The vehicle action corresponding to each generated navigation sub-path is determined according to a position of each generated navigation sub-path in the generated navigation path, and the accuracy of the determined vehicle action corresponding to each generated navigation sub-path is ensured.

[0031] In an optional implementation, the sub-navigation information further includes a drivable lane, and the sub-navigation information corresponding to each generated navigation sub-path is determined according to a position of each generated navigation sub-path in the generated navigation path, including:

[0032] Obtaining driving video data corresponding to the second trajectory;

[0033] Performing lane recognition on the driving video data to determine a drivable lane corresponding to the second trajectory;

[0034] Determining a drivable lane corresponding to the generated navigation path based on the correspondence between the generated navigation path and the second trajectory;

[0035] Determining a drivable lane corresponding to each generated navigation sub-path according to a position of each generated navigation sub-path in the generated navigation path.

[0036] The navigation information generation method provided in the embodiments of the present application comprises the following steps: acquiring driving video data corresponding to a second track; performing lane identification on the driving video data to determine a drivable lane corresponding to the second track, so as to ensure the accuracy of the determined drivable lane corresponding to the second track. Based on the correspondence between the generated navigation path and the second track, a drivable lane corresponding to the generated navigation path is determined, so as to ensure the accuracy of the determined drivable lane corresponding to the generated navigation path. According to the positions of each generated navigation sub-path in the generated navigation path, a drivable lane corresponding to each generated navigation sub-path is determined, so as to ensure the accuracy of the determined drivable lane corresponding to each generated navigation sub-path.

[0037] In an optional embodiment, the target navigation information corresponding to the target navigation path is generated according to the sub-navigation information corresponding to each target navigation sub-path, and the method comprises the following steps:

[0038] The sub-navigation information corresponding to each target navigation sub-path is spliced according to the position relationship of each target navigation sub-path to generate the backup navigation information.

[0039] According to the position relationship of each target navigation sub-path in the target navigation path, the original driving track is divided to generate an original driving sub-track corresponding to each target navigation sub-path.

[0040] The vehicle execution action and the drivable lane corresponding to each original driving sub-track are acquired to determine the sub-navigation information corresponding to each original driving sub-track.

[0041] The sub-navigation information corresponding to each original driving sub-track is compared with the sub-navigation information of each target navigation sub-path.

[0042] If the sub-navigation information corresponding to the original driving sub-track is inconsistent with the sub-navigation information of the target navigation sub-path, the sub-navigation information of the target navigation sub-path is corrected by using the sub-navigation information corresponding to the original driving sub-track to generate the target navigation information.

[0043] The navigation information generation method provided by the embodiment of the application ensures the accuracy of the generated backup navigation information. The original driving track is divided according to the position relationship of each target navigation sub-path in the target navigation path, and the original driving sub-track corresponding to each target navigation sub-path is generated, so that the correspondence between the original driving sub-track and the target navigation sub-path is ensured. The vehicle execution action and the drivable lane corresponding to each original driving sub-track are obtained, and the sub-navigation information corresponding to each original driving sub-track is determined. The sub-navigation information corresponding to each original driving sub-track is compared with the sub-navigation information of each target navigation sub-path. If the sub-navigation information corresponding to the original driving sub-track is inconsistent with the sub-navigation information of the target navigation sub-path, the sub-navigation information of the target navigation sub-path is corrected by using the sub-navigation information corresponding to the original driving sub-track, and the target navigation information is generated, so that the generated target navigation information is consistent with the original driving track, and the accuracy of the generated target navigation information is ensured.

[0044] In a second aspect, the application provides a navigation information generation device, and the device method comprises:

[0045] A first acquisition module acquires an original driving track, and determines a first track with navigation information and a second track without navigation information in the original driving track;

[0046] A second acquisition module acquires an original navigation path corresponding to the first track;

[0047] A splicing module splices the second track and the original navigation path to generate a target navigation path;

[0048] A generation module identifies the target navigation path to generate target navigation information corresponding to the target navigation path.

[0049] The navigation information generation device provided by the embodiment of the present application obtains an original driving track, and determines a first track with navigation information and a second track without navigation information in the original driving track, thereby ensuring the accuracy of the determined first track and second track. The original navigation path corresponding to the first track is obtained; the second track and the original navigation path are spliced to generate a target navigation path, thereby ensuring the accuracy of the generated target navigation path. The target navigation path is identified, and target navigation information corresponding to the target navigation path is generated, thereby ensuring the accuracy of the generated target navigation information corresponding to the target navigation path. The above device realizes generation of the target navigation path corresponding to the original driving track of the user and the target navigation information corresponding to the target navigation path according to the original driving track of the user, thereby solving the problems of repeated, missing or incorrect navigation information in the driving route selected by the user. Moreover, the target navigation path and the target navigation information are generated according to the user demand, thereby improving the flexibility of generation of the target navigation path and the target navigation information.

[0050] In a third aspect, the present application provides an electronic device, comprising a memory and a processor, the memory and the processor are communicatively connected with each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the navigation information generation method of the first aspect or any of the corresponding embodiments thereof.

[0051] In a fourth aspect, the present application provides a computer readable storage medium, which stores computer instructions, and the computer instructions are used to make a computer execute the navigation information generation method of the first aspect or any of the corresponding embodiments thereof.

[0052] In a fifth aspect, the present application provides a computer program product, which comprises computer instructions, and the computer instructions are used to make a computer execute the navigation information generation method of the first aspect or any of the corresponding embodiments thereof. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the specific embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0054] Figure 1 is a flowchart of a navigation information generation method according to an embodiment of the present application;

[0055] Figure 2 is a flowchart of another navigation information generation method according to an embodiment of the present application;

[0056] Figure 3 is a flowchart of another navigation information generation method according to an embodiment of the present application;

[0057] Figure 4 is a structural block diagram of a navigation information generation apparatus according to an embodiment of the present application;

[0058] Figure 5 is a hardware structure schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0060] In the process of driving a vehicle, the vehicle generally follows a navigation path from a starting point to a destination, but the user may have a personalized route requirement, and may deviate. After manual deviation, there is no navigation for the route after deviation. For example, a vehicle reaches a terminal point B from a starting point A, and the navigation path is to first pass through C point and then D point from A point to finally reach B point. However, after reaching C point according to the navigation path, the user selects to pass through E point to finally reach B point, thereby causing deviation. In addition, the path from C point to E point and / or from E point to B point may not be included in the navigation software due to location reasons or other reasons. Therefore, the navigation path information saved by the vehicle end may repeat the navigation information from A point to C point, and lack the navigation information from C point to E point and / or from E point to B point, or the navigation information from C point to E point is incorrect.

[0061] Therefore, how to generate a navigation path with complete and correct navigation information according to the user's requirement is crucial to the user.

[0062] It should be noted that the navigation information generation method provided in the embodiments of the present application can be a navigation information generation apparatus, which can be realized by software, hardware or a combination of software and hardware to become part or all of an electronic device. The electronic device can be a control device of a vehicle end, or a terminal device or a server device. The electronic device is not limited in the embodiments of the present application. In the following method embodiments, the execution subject is taken as an example to be described.

[0063] According to the embodiment of the present application, a navigation information generation method is provided. It should be noted that the steps shown in the flowchart can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from here.

[0064] In the embodiment, a navigation information generation method is provided, which can be used in the electronic device described above, Figure 1 is a flowchart of the navigation information generation method according to the embodiment of the present application, as shown in Figure 1 The flowchart includes the following steps:

[0065] In step S101, the original driving trajectory is obtained, and the first trajectory with navigation information and the second trajectory without navigation information in the original driving trajectory are determined.

[0066] Optionally, the electronic device can obtain the original driving trajectory corresponding to the target vehicle from the storage space. Then, according to the navigation information corresponding to the original driving trajectory stored in the storage space, the first trajectory with navigation information and the second trajectory without navigation information in the original driving trajectory are determined.

[0067] Optionally, the electronic device can also receive the original driving trajectory and the navigation information corresponding to the original driving trajectory input by the user, or receive the original driving trajectory and the navigation information corresponding to the original driving trajectory sent by other devices. Then, the first trajectory with navigation information and the second trajectory without navigation information in the original driving trajectory are determined.

[0068] Among them, the second trajectory can be a driving trajectory that is not included in the navigation software, so the second trajectory does not have navigation information.

[0069] In step S102, the original navigation path corresponding to the first trajectory is obtained.

[0070] Optionally, the electronic device can determine the original navigation path corresponding to the first trajectory according to the navigation information corresponding to the first trajectory.

[0071] Optionally, the electronic device can also receive the original navigation path corresponding to the first trajectory sent by other devices.

[0072] It should be noted that the original navigation path is a road level path, and the original navigation path can include multiple lanes. The first trajectory is a lane level trajectory, that is, the first trajectory can be a drivable lane trajectory selected from the multiple lanes corresponding to the original navigation path.

[0073] In step S103, the second trajectory and the original navigation path are spliced to generate a target navigation path.

[0074] Specifically, the electronic device can splice the second trajectory and the original navigation path according to the position information of the second trajectory and the position information of the original navigation path, to generate the target navigation path.

[0075] This step will be described in detail below.

[0076] In step S104, the target navigation path is identified to generate target navigation information corresponding to the target navigation path.

[0077] Specifically, the electronic device can identify the target navigation path, determine the vehicle execution action and drivable lane corresponding to the target navigation path according to the identification result, and then generate target navigation information corresponding to the target navigation path according to the vehicle execution action and drivable lane corresponding to the target navigation path.

[0078] For example, the electronic device can identify the target navigation path, determine the vehicle execution action corresponding to each intersection of the target navigation path and the drivable lane in each sub-path corresponding to the target navigation path according to the identification result, and then generate target navigation information corresponding to the target navigation path.

[0079] This step will be described in detail below.

[0080] The navigation information generation method provided in this embodiment acquires an original driving trajectory, and determines a first trajectory with navigation information and a second trajectory without navigation information in the original driving trajectory, ensuring the accuracy of the determined first trajectory and second trajectory. The original navigation path corresponding to the first trajectory is acquired, the second trajectory and the original navigation path are spliced to generate a target navigation path, thereby ensuring the accuracy of the generated target navigation path. The target navigation path is identified to generate target navigation information corresponding to the target navigation path, ensuring the accuracy of the generated target navigation information corresponding to the target navigation path. The above method realizes the generation of a target navigation path corresponding to the original driving trajectory and target navigation information corresponding to the target navigation path according to the original driving trajectory of the user, thereby solving the problems of repeated, missing or incorrect navigation information in the driving route selected by the user. Moreover, the target navigation path and target navigation information are generated according to user demand, thereby improving the flexibility of generating the target navigation path and target navigation information.

[0081] In this embodiment, a navigation information generation method is provided, which can be used in the above-mentioned electronic device, Figure 2 is a flowchart of the navigation information generation method according to an embodiment of the present application, as Figure 2 shown, the flow includes the following steps:

[0082] In step S201, the original driving track is acquired, and a first track with navigation information and a second track without navigation information in the original driving track are determined.

[0083] For this step, please refer to the description of step S101 above, which will not be repeated here.

[0084] In step S202, the original navigation path corresponding to the first track is acquired.

[0085] For this step, please refer to the description of step S102 above, which will not be repeated here.

[0086] In step S203, the second track and the original navigation path are spliced to generate a target navigation path.

[0087] Specifically, step S203 above can include the following steps:

[0088] In step S2031, the second track is analyzed to determine the driving direction and the driving distance corresponding to the second track.

[0089] Specifically, the electronic device can recognize the second track and analyze the recognition result to determine the driving direction and the driving distance corresponding to the second track.

[0090] In step S2032, a generated navigation path corresponding to the second track is generated according to the driving direction and the driving distance corresponding to the second track.

[0091] Specifically, the electronic device can generate a generated navigation path corresponding to the second track according to the driving direction and the driving distance corresponding to the second track.

[0092] In step S2033, the generated navigation path and the original navigation path are spliced according to the positional relationship between the generated navigation path and the original navigation path to generate a target navigation path.

[0093] Specifically, the electronic device can determine the position information corresponding to the generated navigation path and the position information corresponding to the original navigation path. Then, the electronic device determines the splicing position corresponding to the generated navigation path and the original navigation path according to the position information corresponding to the generated navigation path and the position information corresponding to the original navigation path, splices the generated navigation path and the original navigation path according to the determined splicing position, and generates a target navigation path.

[0094] In an optional embodiment of the present application, after the target navigation path is generated, the electronic device can recognize the curvature of the generated target navigation path, determine whether the target navigation path has unreasonable turns, U-turns, or the like according to the recognition result, and adjust and correct the unreasonable position of the target navigation path if there is.

[0095] Step S204, the target navigation path is identified to generate target navigation information corresponding to the target navigation path.

[0096] For this step, please refer to the introduction of step S104 above, which will not be repeated here.

[0097] The navigation information generation method provided in this embodiment analyzes the second trajectory to determine the driving direction and driving distance corresponding to the second trajectory, ensuring the accuracy of the determined driving direction and driving distance corresponding to the second trajectory. According to the driving direction and driving distance corresponding to the second trajectory, the generated navigation path corresponding to the second trajectory is generated, ensuring the accuracy of the generated navigation path. According to the positional relationship between the generated navigation path and the original navigation path, the generated navigation path and the original navigation path are spliced to generate a target navigation path, ensuring the accuracy of the generated target navigation path and the correspondence between the original driving trajectory and the target navigation path.

[0098] In this embodiment, a navigation information generation method is provided, which can be used in the electronic device described above, Figure 3 is a flowchart of the navigation information generation method according to an embodiment of the present application, as Figure 3 shown, the flow includes the following steps:

[0099] Step S301, obtaining an original driving trajectory, and determining a first trajectory with navigation information and a second trajectory without navigation information in the original driving trajectory.

[0100] For this step, please refer to the introduction of step S201 above, which will not be repeated here.

[0101] Step S302, obtaining an original navigation path corresponding to the first trajectory.

[0102] For this step, please refer to the introduction of step S202 above, which will not be repeated here.

[0103] Step S303, splicing the second trajectory and the original navigation path to generate a target navigation path.

[0104] For this step, please refer to the introduction of step S203 above, which will not be repeated here.

[0105] Step S304, identifying the target navigation path to generate target navigation information corresponding to the target navigation path.

[0106] Specifically, the above step S304 can include the following steps:

[0107] Step S3041, identifying the target navigation path to determine the geometric features corresponding to the target navigation path.

[0108] Specifically, the electronic device can identify the target navigation path, and determine the geometric features corresponding to the target navigation path.

[0109] The geometric features can be the direction change, the bending degree, etc. of the target navigation path.

[0110] At step S3042, the target navigation path is sliced according to the geometric features corresponding to the target navigation path, to generate a plurality of target navigation sub-paths.

[0111] Specifically, the electronic device can determine the intersections in the target navigation path according to the geometric features corresponding to the target navigation path, and then slice the target navigation path according to the intersections in the target navigation path to generate a plurality of target navigation sub-paths.

[0112] For example, the electronic device can slice and divide at a preset distance before and after the intersection in the target navigation path, to generate a plurality of target navigation sub-paths.

[0113] At step S3043, the sub-navigation information corresponding to each target navigation sub-path is obtained.

[0114] Specifically, the target navigation sub-paths include original navigation sub-paths and generated navigation sub-paths, the original navigation sub-paths are obtained by slicing the original navigation path, and the generated navigation sub-paths are obtained by slicing the generated navigation path, the generated navigation path is generated by the second trajectory; the step S3043 can include the following steps:

[0115] At step a1, the sub-navigation information corresponding to each original navigation sub-path is extracted from the original navigation information corresponding to the original navigation path according to the relationship between each original navigation sub-path and the original navigation path.

[0116] Specifically, the electronic device can obtain the original navigation path and the navigation information corresponding to the original navigation path from the storage space, or receive the original navigation path and the navigation information corresponding to the original navigation path sent by other devices.

[0117] The electronic device can extract the sub-navigation information corresponding to each original navigation sub-path from the original navigation information corresponding to the original navigation path according to the position of each original navigation sub-path in the original navigation path.

[0118] At step a2, the sub-navigation information corresponding to each generated navigation sub-path is determined according to the position of each generated navigation sub-path in the generated navigation path.

[0119] Optionally, the electronic device can receive the navigation information corresponding to the generated navigation path input by the user or received from other devices. Then, the electronic device can extract the sub-navigation information corresponding to each generated navigation sub-path from the navigation information corresponding to the generated navigation path according to the position of each generated navigation sub-path in the generated navigation path.

[0120] Optionally, the sub-navigation information includes a vehicle action, and the step a2 can include the following steps:

[0121] Step a21, identifying the second trajectory to determine at least one vehicle action corresponding to the second trajectory.

[0122] Specifically, the electronic device can identify the second trajectory to determine the geometric features corresponding to the second trajectory. Then, according to the geometric features corresponding to the second trajectory, at least one vehicle action corresponding to the second trajectory is determined.

[0123] For example, if the direction of the segment in the second trajectory remains basically unchanged, it can be determined that the vehicle action is straight driving; if the direction of the segment in the second trajectory changes obviously to the left or right, it can be determined that the vehicle action is left or right turning; if the direction of the segment in the second trajectory changes by 180 degrees, it can be determined that the vehicle action is U-turn.

[0124] Wherein, the electronic device can use some mathematical algorithms and geometric analysis methods to assist in determining the vehicle action, such as calculating the included angle between line segments, determining the turning of the curve, etc.

[0125] Step a22, determining at least one vehicle action corresponding to the generated navigation path according to the correspondence between the generated navigation path and the second trajectory.

[0126] Specifically, the electronic device determines at least one vehicle action corresponding to the generated navigation path according to the correspondence between the generated navigation path and the second trajectory.

[0127] Step a23, determining each vehicle action corresponding to each generated navigation sub-path according to the position of each generated navigation sub-path in the generated navigation path.

[0128] Specifically, the electronic device can determine each vehicle action corresponding to each generated navigation sub-path from at least one vehicle action corresponding to the generated navigation path according to the position of each generated navigation sub-path in the generated navigation path.

[0129] Specifically, the sub-navigation information further includes a drivable lane, and the step a2 can include the following steps:

[0130] Step a24, obtaining the driving video data corresponding to the second trajectory.

[0131] Specifically, the electronic device can receive the driving video data corresponding to the second trajectory input by the user, query the driving video data corresponding to the second trajectory from the storage space of the vehicle, and receive the driving video data corresponding to the second trajectory sent by other devices.

[0132] The embodiments of the present application do not make specific limitations on the manner in which the electronic device obtains the driving video data corresponding to the second trajectory.

[0133] In step a25, lane recognition is performed on the driving video data to determine the drivable lane corresponding to the second trajectory.

[0134] Specifically, the electronic device can use a preset lane recognition model to perform lane recognition on each driving image in the driving video data, and then determine the drivable lane corresponding to the second trajectory according to the recognition result.

[0135] The preset lane recognition model can be a model based on manual features, such as a DPM (Deformable Parts Model) model, or a model based on a convolutional neural network, such as a YOLO (You Only Look Once) detector, an R-CNN (Region-based Convolutional Neural Networks) model, an SSD (Single Shot MultiBox) detector, and a Mask R-CNN (Mask Region-based Convolutional Neural Networks) model, etc. The embodiments of the present application do not make specific limitations on the preset lane recognition model.

[0136] In step a26, the drivable lane corresponding to the generated navigation path is determined based on the correspondence between the generated navigation path and the second trajectory.

[0137] Specifically, the electronic device can determine the drivable lane corresponding to the generated navigation path based on the correspondence between the generated navigation path and the second trajectory and the drivable lane corresponding to the second trajectory.

[0138] In step a27, the drivable lane corresponding to each generated navigation sub-path is determined according to the position of each generated navigation sub-path in the generated navigation path.

[0139] Specifically, the electronic device can determine the drivable lane corresponding to each generated navigation sub-path according to the position of each generated navigation sub-path in the generated navigation path.

[0140] In step S3044, the target navigation information corresponding to the target navigation path is generated according to the sub-navigation information corresponding to each target navigation sub-path.

[0141] Specifically, step S3044 can include the following steps:

[0142] In step b1, the backup navigation information is generated by splicing the sub-navigation information corresponding to each target navigation sub-path according to the positional relationship of each target navigation sub-path.

[0143] Specifically, the electronic device can determine the arrangement order of each target navigation sub-path according to the positional relationship of each target navigation sub-path. Then, the electronic device determines the arrangement order of the sub-navigation information corresponding to each target navigation sub-path according to the arrangement order of each target navigation sub-path.

[0144] The electronic device splices the sub-navigation information corresponding to each target navigation sub-path according to the arrangement order of the sub-navigation information corresponding to each target navigation sub-path to generate the backup navigation information.

[0145] In step b2, the original driving trajectory is divided according to the positional relationship of each target navigation sub-path in the target navigation path to generate the original driving sub-trajectory corresponding to each target navigation sub-path.

[0146] Specifically, the electronic device can divide the original driving trajectory according to the positional relationship of each target navigation sub-path in the target navigation path to generate the original driving sub-trajectory corresponding to each target navigation sub-path.

[0147] The generated original driving sub-trajectory has the same position as each target navigation sub-path.

[0148] In step b3, the vehicle execution action and the drivable lane corresponding to each original driving sub-trajectory are obtained to determine the sub-navigation information corresponding to each original driving sub-trajectory.

[0149] Specifically, the electronic device can identify the original driving sub-trajectory to determine the vehicle execution action corresponding to the original driving sub-trajectory. The electronic device can also identify the driving video data corresponding to the original driving sub-trajectory to determine the drivable lane corresponding to the original driving sub-trajectory. The electronic device determines the sub-navigation information corresponding to each original driving sub-trajectory according to the vehicle execution action and the drivable lane corresponding to each original driving sub-trajectory.

[0150] In step b4, the sub-navigation information corresponding to each original driving sub-trajectory is compared with the sub-navigation information of each target navigation sub-path.

[0151] Specifically, the electronic device can compare the sub-navigation information corresponding to each original driving sub-trajectory with the sub-navigation information of each target navigation sub-path.

[0152] In step b5, if the sub-navigation information corresponding to the original driving sub-trajectory is inconsistent with the sub-navigation information of the target navigation sub-path, the sub-navigation information of the target navigation sub-path is corrected by using the sub-navigation information corresponding to the original driving sub-trajectory to generate the target navigation information.

[0153] Specifically, if the sub-navigation information corresponding to the original driving sub-trajectory is inconsistent with the sub-navigation information of the target navigation sub-path, the electronic device can replace the sub-navigation information of the target navigation sub-path with the sub-navigation information corresponding to the original driving sub-trajectory to correct the backup navigation information and generate the target navigation information.

[0154] The navigation information generation method provided by the embodiments of the present application identifies the target navigation path, determines the geometric features corresponding to the target navigation path, and ensures the accuracy of the determined geometric features corresponding to the target navigation path. The target navigation path is sliced according to the geometric features corresponding to the target navigation path to generate a plurality of target navigation sub-paths, ensuring the accuracy of the generated plurality of target navigation sub-paths, and facilitating the generation of target navigation information corresponding to the target navigation path according to the plurality of target navigation sub-paths. The sub-navigation information corresponding to each original navigation sub-path is extracted from the original navigation information corresponding to the original navigation path according to the relationship between each original navigation sub-path and the original navigation path, ensuring the accuracy of the obtained sub-navigation information corresponding to the original navigation sub-path. The second trajectory is identified to determine at least one vehicle execution action corresponding to the second trajectory, ensuring the accuracy of the determined at least one vehicle execution action corresponding to the second trajectory. The at least one vehicle execution action corresponding to the generated navigation path is determined according to the correspondence between the generated navigation path and the second trajectory, ensuring the accuracy of the determined at least one vehicle execution action corresponding to the generated navigation path. The vehicle execution action corresponding to each generated navigation sub-path is determined according to the position of each generated navigation sub-path in the generated navigation path, ensuring the accuracy of the determined vehicle execution action corresponding to each generated navigation sub-path. The driving video data corresponding to the second trajectory is obtained; the lane is identified to determine the drivable lane corresponding to the second trajectory, ensuring the accuracy of the determined drivable lane corresponding to the second trajectory. The drivable lane corresponding to the generated navigation path is determined based on the correspondence between the generated navigation path and the second trajectory, ensuring the accuracy of the determined drivable lane corresponding to the generated navigation path. The drivable lane corresponding to each generated navigation sub-path is determined according to the position of each generated navigation sub-path in the generated navigation path, ensuring the accuracy of the determined drivable lane corresponding to each generated navigation sub-path.

[0155] According to the position relationship of each target navigation sub-path, the sub-navigation information corresponding to each target navigation sub-path is spliced to generate the standby navigation information, so as to ensure the accuracy of the generated standby navigation information. According to the position relationship of each target navigation sub-path in the target navigation path, the original driving track is divided to generate the original driving sub-track corresponding to each target navigation sub-path, so as to ensure the correspondence between the original driving sub-track and the target navigation sub-path. The vehicle execution action and the drivable lane corresponding to each original driving sub-track are obtained, and the sub-navigation information corresponding to each original driving sub-track is determined; the sub-navigation information corresponding to each original driving sub-track is compared with the sub-navigation information of each target navigation sub-path; if the sub-navigation information corresponding to the original driving sub-track is inconsistent with the sub-navigation information of the target navigation sub-path, the sub-navigation information of the target navigation sub-path is corrected by using the sub-navigation information corresponding to the original driving sub-track to generate the target navigation information, so as to ensure that the generated target navigation information is consistent with the original driving track, and further ensure the accuracy of the generated target navigation information.

[0156] In the embodiment, a navigation information generation device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, implementation of hardware, or a combination of software and hardware, is also possible and contemplated.

[0157] The embodiment provides a navigation information generation device, as shown in the following Figure 4 The device includes:

[0158] The first obtaining module 401 obtains the original driving track, and determines a first track with navigation information and a second track without navigation information in the original driving track;

[0159] The second obtaining module 402 obtains the original navigation path corresponding to the first track;

[0160] The splicing module 403 splices the second track and the original navigation path to generate the target navigation path;

[0161] The generation module 404 identifies the target navigation path to generate the target navigation information corresponding to the target navigation path.

[0162] In some optional embodiments, the splicing module 403 is specifically configured to analyze the second trajectory, determine a driving direction and a driving distance corresponding to the second trajectory, generate a generated navigation path corresponding to the second trajectory according to the driving direction and the driving distance corresponding to the second trajectory, and splice the generated navigation path and the original navigation path according to a positional relationship between the generated navigation path and the original navigation path to generate a target navigation path.

[0163] In some optional embodiments, the generating module 404 is specifically configured to identify the target navigation path, determine a geometric feature corresponding to the target navigation path, perform slicing processing on the target navigation path according to the geometric feature corresponding to the target navigation path, generate a plurality of target navigation sub-paths, acquire sub-navigation information corresponding to each target navigation sub-path, and generate target navigation information corresponding to the target navigation path according to the sub-navigation information corresponding to each target navigation sub-path.

[0164] In some optional embodiments, the target navigation sub-paths include original navigation sub-paths and generated navigation sub-paths, the original navigation sub-paths are obtained by slicing the original navigation path, and the generated navigation sub-paths are obtained by slicing the generated navigation path, the generated navigation path being generated from the second trajectory. The generating module 404 is specifically configured to extract, from original navigation information corresponding to the original navigation path, sub-navigation information corresponding to each original navigation sub-path according to a relationship between each original navigation sub-path and the original navigation path, and determine sub-navigation information corresponding to each generated navigation sub-path according to a position of each generated navigation sub-path in the generated navigation path.

[0165] In some optional embodiments, the sub-navigation information includes a vehicle execution action. The generating module 404 is specifically configured to identify the second trajectory, determine at least one vehicle execution action corresponding to the second trajectory, determine at least one vehicle execution action corresponding to the generated navigation path according to a corresponding relationship between the generated navigation path and the second trajectory, and determine each vehicle execution action corresponding to each generated navigation sub-path according to a position of each generated navigation sub-path in the generated navigation path.

[0166] In some optional embodiments, the sub-navigation information further includes a drivable lane. The generating module 404 is specifically configured to acquire driving video data corresponding to the second trajectory, perform lane identification on the driving video data to determine a drivable lane corresponding to the second trajectory, determine a drivable lane corresponding to the generated navigation path based on the corresponding relationship between the generated navigation path and the second trajectory, and determine a drivable lane corresponding to each generated navigation sub-path according to a position of each generated navigation sub-path in the generated navigation path.

[0167] In some optional implementations, the generation module 404 is specifically used to: 1) stitch together the sub-navigation information corresponding to each target navigation sub-path according to their positional relationships to generate backup navigation information; 2) divide the original driving trajectory according to the positional relationships of each target navigation sub-path within the target navigation path to generate original driving sub-trajectories corresponding to each target navigation sub-path; 3) obtain the vehicle actions and drivable lanes corresponding to each original driving sub-trajectory to determine the sub-navigation information corresponding to each original driving sub-trajectory; 4) compare the sub-navigation information corresponding to each original driving sub-trajectory with the sub-navigation information of each target navigation sub-path; 5) if there is a discrepancy between the sub-navigation information corresponding to the original driving sub-trajectory and the sub-navigation information of the target navigation sub-path, then correct the sub-navigation information of the target navigation sub-path using the sub-navigation information corresponding to the original driving sub-trajectory to generate target navigation information.

[0168] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0169] In this embodiment, the navigation information generation device is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0170] This invention also provides an electronic device having the above-described features. Figure 4 The navigation information generation device shown.

[0171] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an optional embodiment of the present invention, such as... Figure 5 As shown, the electronic device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise as required. The processors can process instructions executed within the electronic device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple electronic devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 5 Take a processor 10 as an example.

[0172] The processor 10 can be a central processing unit, a network processing unit, or a combination thereof. The processor 10 can further include a hardware chip. The hardware chip can be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device can be a complex programmable logic device, a field programmable logic device, a general array logic, or any combination thereof.

[0173] The memory 20 stores instructions executable by the at least one processor 10 to cause the at least one processor 10 to perform the methods illustrated in the above embodiments.

[0174] The memory 20 can include a program region and a data region. The program region can store an operating system and application programs required for at least one function. The data region can store data created according to the use of the electronic device, and the like. In addition, the memory 20 can include a high-speed random access memory, and can further include a non-transitory memory such as at least one of a magnetic disk storage device, a flash memory device, or other non-transitory solid state storage device. In some alternative embodiments, the memory 20 can optionally include a memory disposed remotely with respect to the processor 10, and these remote memories can be connected to the electronic device through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0175] The memory 20 can include a volatile memory such as a random access memory, and can include a non-volatile memory such as a flash memory, a hard disk, or a solid state disk. The memory 20 can include a combination of the above-mentioned types of memories.

[0176] The electronic device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 can be connected through a bus or other means, Figure 5 The connection through the bus is taken as an example.

[0177] The input device 30 can receive input digital or character information, and generate key signal inputs related to the user settings and function controls of the electronic device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, and the like. The output device 40 can include a display device, an auxiliary lighting device (e.g., an LED), a tactile feedback device (e.g., a vibration motor), and the like. The display device includes, but is not limited to, a liquid crystal display, a light emitting diode, a display, and a plasma display. In some alternative embodiments, the display device can be a touch screen.

[0178] The embodiments of the present application further provide a computer readable storage medium, and the method according to the embodiments of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or stored in a remote storage medium or a non-transitory machine readable storage medium and downloaded to a local storage medium through network, so that the method described herein can be processed by such software on a storage medium using a general purpose computer, a special purpose processor, or programmable or special hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid state disk, etc. Further, the storage medium can also include a combination of the above-mentioned memories. It can be understood that the computer, the processor, the microprocessor controller, or the programmable hardware includes a storage component that can store or receive software or computer code, when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0179] Part of the present application can be applied as a computer program product, for example, computer program instructions, when executed by a computer, the operation of the computer can invoke or provide the method and / or technical solutions according to the present application. Those skilled in the art should understand that the form of computer program instructions in computer readable medium includes but is not limited to source file, executable file, installation package file, etc. Correspondingly, the way of computer program instructions executed by computer includes but is not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Here, the computer readable medium can be any available computer readable storage medium or communication medium accessible to the computer.

[0180] Although the embodiments of the present application are described in conjunction with the accompanying drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A navigation information generation method characterized by comprising: The method comprises: obtaining an original driving track, and determining a first track with navigation information and a second track without navigation information in the original driving track; obtaining an original navigation path corresponding to the first track; splicing the second track and the original navigation path to generate a target navigation path; identifying the target navigation path to generate target navigation information corresponding to the target navigation path; wherein the identifying the target navigation path to generate the target navigation information corresponding to the target navigation path comprises: identifying the target navigation path to determine the geometric features corresponding to the target navigation path; determining the intersection in the target navigation path according to the geometric features corresponding to the target navigation path; slicing and dividing at a preset distance before and after the intersection in the target navigation path to generate a plurality of target navigation sub-paths; obtaining sub-navigation information corresponding to each target navigation sub-path; generating target navigation information corresponding to the target navigation path according to the sub-navigation information corresponding to each target navigation sub-path; wherein the target navigation sub-path includes an original navigation sub-path and a generated navigation sub-path, the original navigation sub-path is obtained by slicing the original navigation path; the generated navigation sub-path is obtained by slicing a generated navigation path, and the generated navigation path is generated from the second track; the obtaining of the sub-navigation information corresponding to each target navigation sub-path comprises: extracting the sub-navigation information corresponding to each original navigation sub-path from the original navigation information corresponding to the original navigation path according to the relationship between each original navigation sub-path and the original navigation path; determining the sub-navigation information corresponding to each generated navigation sub-path according to the position of each generated navigation sub-path in the generated navigation path; wherein the sub-navigation information includes a vehicle action; the determining of the sub-navigation information corresponding to each generated navigation sub-path according to the position of each generated navigation sub-path in the generated navigation path comprises: identifying the second track to determine the geometric features corresponding to the second track; determining at least one vehicle action corresponding to the second track according to the geometric features corresponding to the second track; determining at least one vehicle action corresponding to the generated navigation path according to the corresponding relationship between the generated navigation path and the second track; determining each vehicle action corresponding to each generated navigation sub-path according to the position of each generated navigation sub-path in the generated navigation path.

2. The method of claim 1, wherein, The splicing of the second track and the original navigation path to generate a target navigation path comprises: analyzing the second track to determine the driving direction and the driving distance corresponding to the second track; generating a generated navigation path corresponding to the second track according to the driving direction and the driving distance corresponding to the second track; According to the position relationship between the generated navigation path and the original navigation path, the generated navigation path and the original navigation path are spliced to generate the target navigation path.

3. The method of claim 1, wherein, The sub-navigation information further includes drivable lanes, and the determination of the sub-navigation information corresponding to each generated navigation sub-path according to the position of each generated navigation sub-path in the generated navigation path includes: Obtain driving video data corresponding to the second trajectory; Perform lane recognition on the driving video data to determine drivable lanes corresponding to the second trajectory; Determine drivable lanes corresponding to the generated navigation path based on the correspondence between the generated navigation path and the second trajectory; Determine drivable lanes corresponding to each generated navigation sub-path according to the position of each generated navigation sub-path in the generated navigation path.

4. The method of claim 1, wherein, The generation of the target navigation information corresponding to the target navigation path according to the sub-navigation information corresponding to each target navigation sub-path includes: According to the position relationship between each target navigation sub-path, the sub-navigation information corresponding to each target navigation sub-path is spliced to generate backup navigation information; According to the position relationship between each target navigation sub-path in the target navigation path, the original driving trajectory is divided to generate an original driving sub-trajectory corresponding to each target navigation sub-path; Obtain vehicle execution actions and drivable lanes corresponding to each original driving sub-trajectory to determine sub-navigation information corresponding to each original driving sub-trajectory; Compare the sub-navigation information corresponding to each original driving sub-trajectory with the sub-navigation information of each target navigation sub-path; If the sub-navigation information corresponding to the original driving sub-trajectory is inconsistent with the sub-navigation information of the target navigation sub-path, the sub-navigation information of the target navigation sub-path is corrected using the sub-navigation information corresponding to the original driving sub-trajectory to generate the target navigation information.

5. A navigation information generating apparatus characterized by comprising: The device method includes: A first acquisition module acquires an original driving trajectory and determines a first trajectory with navigation information and a second trajectory without navigation information in the original driving trajectory; A second acquisition module acquires an original navigation path corresponding to the first trajectory; A splicing module splices the second trajectory and the original navigation path to generate a target navigation path; The generating module identifies the target navigation path and generates target navigation information corresponding to the target navigation path. The identification of the target navigation path and the generation of the target navigation information corresponding to the target navigation path include: identifying the target navigation path and determining the geometric features corresponding to the target navigation path; determining the intersections in the target navigation path according to the geometric features corresponding to the target navigation path; slicing and dividing at a preset distance before and after the intersections in the target navigation path to generate a plurality of target navigation sub-paths; obtaining sub-navigation information corresponding to each target navigation sub-path; generating target navigation information corresponding to the target navigation path according to the sub-navigation information corresponding to each target navigation sub-path; wherein the target navigation sub-paths include original navigation sub-paths and generated navigation sub-paths, the original navigation sub-paths are obtained by slicing the original navigation path; the generated navigation sub-paths are obtained by slicing a generated navigation path, and the generated navigation path is generated from the second trajectory; the obtaining of the sub-navigation information corresponding to each target navigation sub-path includes: extracting the sub-navigation information corresponding to each original navigation sub-path from the original navigation information corresponding to the original navigation path according to the relationship between each original navigation sub-path and the original navigation path; determining the sub-navigation information corresponding to each generated navigation sub-path according to the position of each generated navigation sub-path in the generated navigation path; wherein the sub-navigation information includes vehicle execution actions; the determination of the sub-navigation information corresponding to each generated navigation sub-path according to the position of each generated navigation sub-path in the generated navigation path includes: identifying the second trajectory and determining the geometric features corresponding to the second trajectory; determining at least one vehicle execution action corresponding to the second trajectory according to the geometric features corresponding to the second trajectory; determining at least one vehicle execution action corresponding to the generated navigation path according to the corresponding relationship between the generated navigation path and the second trajectory; and determining each vehicle execution action corresponding to each generated navigation sub-path according to the position of each generated navigation sub-path in the generated navigation path.

6. An electronic device, comprising: Comprise: a memory and a processor, which are connected in communication with each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the navigation information generation method of any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing a computer to execute the navigation information generation method of any one of claims 1 to 4.

8. A computer program product, characterised in that, The computer instructions are used to cause a computer to execute the navigation information generation method of any one of claims 1 to 4. The computer instructions are used to cause a computer to execute the navigation information generation method of any one of claims 1 to 4.

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