Vehicle-mounted navigation route switching method and device, equipment and storage medium
By precalculating the backup navigation route before the vehicle enters the next intersection and switching during yaw, the problem of delayed navigation response after the vehicle is yawed is solved, and the purpose of timely feedback on the target navigation route during the navigation process is achieved.
Patent Information
- Application Number
- CN202411168876.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-23
- Publication Date
- 2024-12-13
AI Technical Summary
The navigation response after the vehicle is yawed will be delayed, which will prevent the driver from obtaining new navigation routes in time, and may miss important intersections or enter non-optimal routes.
Calculate the backup navigation route before the vehicle enters the next intersection, and switch to the target navigation route when yaw occurs, obtain the backup navigation route from the cache, and filter out the nearest and smallest route as the target navigation based on the current location and heading. route.
Reduces navigation response delays, ensuring that drivers get navigation routes in a timely manner and avoids navigation delays and misleading caused by yaw.
Smart Images
Figure CN119124189A_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the field of vehicle navigation technology, and in particular, relates to a method, device, equipment and storage medium for switching a vehicle navigation route. Background Art
[0002] In-car navigation uses the in-car GPS (Global Positioning System) in conjunction with an electronic map. It can easily and accurately tell the driver the shortest or fastest route to the destination and is one of the tools drivers often use when traveling.
[0003] At present, when the vehicle terminal finds that the vehicle has deviated, it needs to upload the vehicle information to the server. The server recalculates the route based on the vehicle information and sends the new navigation route to the vehicle terminal. Since it takes a long time to recalculate the route, the navigation response will be delayed. If there is a fork in the road immediately after the deviation, it is even possible that the driver cannot get the new navigation route in time because the route calculation has not been completed, and thus misses important intersections or drives into a non-optimal route. Therefore, how to improve the response delay of navigation after the vehicle deviates and timely feedback the driver the new navigation route is a problem that needs to be solved in this field. Summary of the invention
[0004] The embodiments of the present application provide a method, device, equipment and storage medium for switching a vehicle-mounted navigation route, thereby at least to a certain extent solving the problem of delayed navigation response after the vehicle deviates and untimely feedback of the driver's new navigation route.
[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.
[0006] According to a first aspect of an embodiment of the present application, a method for switching a vehicle navigation route is provided, comprising:
[0007] Obtain the intersection information of the next intersection on the vehicle's driving route;
[0008] Determining an alternate navigation route for the vehicle at the next intersection according to the intersection information;
[0009] In the case that the vehicle deviates at the next intersection, a target navigation route is selected from the backup navigation routes, and the vehicle-mounted navigation route is switched to the target navigation route.
[0010] In some embodiments of the present application, based on the above solution, determining the alternate navigation route of the vehicle at the next intersection according to the intersection information includes:
[0011] determining a backup driving behavior of the vehicle at the next intersection according to the intersection information;
[0012] Sending the alternate driving behavior to a server so that the server calculates an alternate navigation route for the vehicle at the next intersection based on the alternate driving behavior;
[0013] The alternate navigation route is received and cached.
[0014] In some embodiments of the present application, based on the above solution, the step of selecting a target navigation route from the backup navigation routes includes:
[0015] Obtaining the alternate navigation route from a cache;
[0016] A target navigation route is selected from the backup navigation routes according to the current position and current heading of the vehicle.
[0017] In some embodiments of the present application, based on the aforementioned solution, the step of selecting a target navigation route from the backup navigation routes according to the current position and current heading of the vehicle includes:
[0018] determining a distance between the current location and each of the alternate navigation routes;
[0019] Determining an angle between the current heading and a tangent line of each of the alternate navigation routes;
[0020] The alternate navigation route with the shortest distance and the smallest angle is determined as the target navigation route
[0021] In some embodiments of the present application, based on the above solution, the method for switching the vehicle navigation route further includes:
[0022] After the vehicle arrives at the next intersection, determining the current position, current heading, current heading angle and vehicle navigation route of the vehicle;
[0023] When the current position, the current heading, the current heading angle and the vehicle-mounted navigation route satisfy the yaw condition, it is determined that the vehicle yaws at the next intersection.
[0024] In some embodiments of the present application, based on the aforementioned scheme, the yaw condition is that the current position exceeds the preset range of the vehicle navigation route, the angle between the current heading and the tangent of the vehicle navigation route is greater than the preset angle, and the current heading angle is greater than the preset heading angle.
[0025] In some embodiments of the present application, based on the above solution, determining the current position of the vehicle includes:
[0026] The current position of the vehicle is determined based on the vehicle's global positioning system and inertial measurement unit.
[0027] According to a second aspect of an embodiment of the present application, a switching device for an on-vehicle navigation route is provided, comprising: an information acquisition module for acquiring intersection information of the next intersection on a vehicle's driving route; a backup navigation route module for determining an backup navigation route of the vehicle at the next intersection based on the intersection information; and a navigation route switching module for screening out a target navigation route from the backup navigation routes and switching the on-vehicle navigation route to the target navigation route when the vehicle deviates from the next intersection.
[0028] In some embodiments of the present application, based on the aforementioned scheme, the backup navigation route module is also used to determine the backup driving behavior of the vehicle at the next intersection according to the intersection information; send the backup driving behavior to the server so that the server calculates the backup navigation route of the vehicle at the next intersection based on the backup driving behavior; receive and cache the backup navigation route.
[0029] In some embodiments of the present application, based on the aforementioned scheme, the navigation route switching module is further used to obtain the backup navigation route from the cache; and filter out the target navigation route from the backup navigation route according to the current position and current heading of the vehicle.
[0030] In some embodiments of the present application, based on the aforementioned scheme, the navigation route switching module is also used to determine the distance between the current position and each of the backup navigation routes; determine the angle between the current heading and the tangent of each of the backup navigation routes; and determine the backup navigation route with the shortest distance and the smallest angle as the target navigation route.
[0031] In some embodiments of the present application, based on the aforementioned scheme, the navigation route switching module is also used to determine the current position, current heading, current heading angle and on-board navigation route of the vehicle after the vehicle arrives at the next intersection; when the current position, current heading, current heading angle and on-board navigation route meet the yaw condition, determine that the vehicle has yawed at the next intersection.
[0032] In some embodiments of the present application, based on the aforementioned scheme, the yaw condition is that the current position exceeds the preset range of the vehicle navigation route, the angle between the current heading and the tangent of the vehicle navigation route is greater than the preset angle, and the current heading angle is greater than the preset heading angle.
[0033] In some embodiments of the present application, based on the aforementioned scheme, the navigation route switching module is also used to determine the current position of the vehicle according to the global positioning system and inertial measurement unit of the vehicle.
[0034] According to a third aspect of an embodiment of the present application, a switching device for an in-vehicle navigation route is provided, comprising a processor and a memory, wherein the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the steps of the method described in any one of the first aspects above are implemented.
[0035] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor is prompted to implement the steps of the method described in any one of the first aspects above.
[0036] In the present application, the intersection information of the next intersection on the driving route of the vehicle is obtained; the backup navigation route of the vehicle at the next intersection is determined according to the intersection information; in the case that the vehicle deviates at the next intersection, the target navigation route is screened out from the backup navigation route, and the vehicle navigation route is switched to the target navigation route. The technical solution provided by the present application can calculate the backup navigation route before the vehicle enters the next intersection. After the vehicle enters the next intersection and deviates, the target navigation route is directly called from the backup navigation route for navigation, without the need to recalculate the navigation route, thereby reducing the navigation response delay caused by the vehicle deviation during the navigation process, and achieving the purpose of timely feedback of the target navigation route to the driver.
[0037] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0038] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:
[0039] Figure 1 A schematic diagram showing a flow chart of a method for switching a vehicle navigation route in an embodiment;
[0040] Figure 2 Shows Figure 1 A demonstration diagram of an alternate navigation route;
[0041] Figure 3 Shows Figure 1 A demonstration diagram showing the vehicle yaws at the next intersection;
[0042] Figure 4 Shows Figure 1 A demonstration diagram of switching the vehicle navigation route to the target navigation route;
[0043] Figure 5 A block diagram of a switching device for an in-vehicle navigation route in one embodiment is shown;
[0044] Figure 6 A schematic diagram of the structure of a switching device for an in-vehicle navigation route in an embodiment is shown. DETAILED DESCRIPTION
[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0046] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.
[0047] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.
[0048] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.
[0049] In order to enable those skilled in the art to better understand the present application, the application scenarios involved in the present application are first briefly described.
[0050] In the related art, after the vehicle terminal finds that the vehicle has deviated, it needs to upload the vehicle information to the server. The server recalculates the route based on the vehicle information and sends the new navigation route to the vehicle terminal. The vehicle terminal displays and broadcasts the new navigation route. This process takes a long time, and the user will perceive a significant delay, and may even miss an important intersection due to this delay. Based on this, the present application designs a method for switching vehicle navigation routes, which calculates a backup navigation route before the vehicle enters the next intersection. After the vehicle enters the next intersection and deviates, the target navigation route is directly called from the backup navigation route for navigation. There is no need to recalculate the navigation route, which reduces the navigation response delay caused by vehicle deviation during navigation, and achieves the purpose of timely feedback of the target navigation route to the driver.
[0051] Figure 1 FIG. 1 is a flow chart showing a method for switching a vehicle navigation route in an embodiment. Figure 1 As shown, in some embodiments, the method for switching the in-vehicle navigation route may include the following steps 101 to 103.
[0052] In step 101, the intersection information of the next intersection on the driving route of the vehicle is obtained.
[0053] It should be noted that the main application scenario of in-vehicle navigation is urban road navigation. In urban road navigation, due to the complexity of real-time road conditions, deviation is a very high-frequency driving scenario. Under the premise of complying with traffic rules, all deviation behaviors must occur at intersections where deviation can occur. It is impossible to deviate at intersections that do not have the conditions for turning or U-turning. For example, U-turning on a one-way lane usually does not occur. Based on this premise, the switching method of the in-vehicle navigation route of this application is designed.
[0054] It is understandable that the next intersection refers to the first intersection on the vehicle's route at a certain distance along the vehicle's driving direction. In the implementation process, the vehicle terminal can obtain the intersection information of the next intersection through the map, and the intersection information can be information such as the lane separation of the intersection.
[0055] In step 102, an alternate navigation route for the vehicle at the next intersection is determined based on the intersection information.
[0056] During the implementation process, the vehicle terminal can determine the backup navigation route in a variety of ways according to the intersection information.
[0057] In some embodiments, an alternate driving behavior of the vehicle at the next intersection can be determined based on the intersection information; the alternate driving behavior is sent to a server so that the server calculates an alternate navigation route of the vehicle at the next intersection based on the alternate driving behavior; and the alternate navigation route is received and cached.
[0058] Figure 2 Shows Figure 1 A demonstration diagram of an alternative navigation route in . Figure 2 As shown, the backup driving behaviors of the vehicle at the next intersection are left turn, right turn and U-turn. The left turn corresponds to potential route 1, the right turn corresponds to potential route 2, and the U-turn corresponds to potential route 3. Potential routes 1 to 3 are all backup navigation routes.
[0059] The server estimates the route based on the alternate driving behavior, and can obtain the alternate navigation route corresponding to each alternate driving behavior. After the vehicle terminal obtains the alternate navigation route, it caches the alternate navigation route and the original vehicle navigation route for backup. By using the server to estimate the route and then caching the alternate navigation route, the instantaneous network bandwidth demand can be reduced and the response speed of the vehicle navigation can be improved.
[0060] In step 103, when the vehicle deviates at the next intersection, the target navigation route is selected from the backup navigation routes, and the vehicle-mounted navigation route is switched to the target navigation route.
[0061] In some embodiments, after the vehicle arrives at the next intersection, the vehicle's current position, current heading, current heading angle and on-board navigation route are determined; when the current position, current heading, current heading angle and on-board navigation route meet the yaw condition, it is determined that the vehicle has yawed at the next intersection.
[0062] During implementation, the current location of the vehicle may be determined based on the vehicle's global positioning system and inertial measurement unit.
[0063] It is understandable that the vehicle terminal will obtain GPS signals at certain intervals. After obtaining the GPS signals, the vehicle terminal can obtain the current longitude and latitude coordinates of the vehicle according to the GPS signals, and determine the current position of the vehicle in the map by comparing the current longitude and latitude coordinates with the longitude and latitude coordinates in the map. During the GPS signal interval (usually 10HZ), the vehicle terminal can obtain the current acceleration and current angular velocity of the vehicle in the XYZ three axes through the IMU (Inertial Measurement Unit), and calculate the offset relative to the current position determined by the GPS signal based on the current acceleration and current angular velocity, and then determine the current position of the vehicle in the map during the GPS signal interval. By alternating the above process, the current position of the vehicle can be obtained uninterruptedly.
[0064] Figure 3 Shows Figure 1 A demonstration diagram of the vehicle yaw at the next intersection. Figure 3As shown, the in-vehicle navigation will draw a navigation route on the map based on the vehicle's current position, vehicle heading, road conditions and other auxiliary information, and determine the route envelope based on the navigation route, which is within the preset range of the navigation route. If the vehicle's current position is within the route envelope of the navigation route, even if it is not on the navigation route, it can be assumed that the vehicle has not deviated, and if the vehicle's current position is not within the route envelope, the deviation condition judgment will be triggered.
[0065] In some embodiments, the yaw condition is that the current position exceeds a preset range of the vehicle navigation route, the angle between the current heading and the tangent of the vehicle navigation route is greater than a preset angle, and the current heading angle is greater than a preset heading angle.
[0066] It can be understood that the current position exceeds the preset range of the vehicle navigation route means that the current position exceeds the route envelope of the vehicle navigation route, the current heading angle refers to the angle between the current heading and the north direction, and the preset heading angle can be a theoretical heading angle calculated under the simulated navigation state.
[0067] It should be noted that the yaw condition in the embodiment of the present application does not require a duration judgment, for example, it is not necessary to determine the yaw condition only when the current position exceeds the preset range of the vehicle navigation route and lasts for N seconds, the angle between the current heading and the tangent of the vehicle navigation route is greater than the preset angle and lasts for N seconds, and the current heading angle is greater than the preset heading angle and lasts for N seconds. This is because the backup navigation route is pre-calculated in the present application, and even if the user returns to the original vehicle navigation route, the route can be switched in a short time without waiting and without interrupting the navigation experience.
[0068] In some embodiments, alternate navigation routes are obtained from a cache; and a target navigation route is screened out from the alternate navigation routes based on the current position and current heading of the vehicle.
[0069] As mentioned above, the vehicle terminal will cache multiple alternate navigation routes. After determining the actual driving behavior of the vehicle at the next intersection, it is necessary to obtain all the alternate navigation routes from the cache and then select the most suitable alternate navigation route.
[0070] During the implementation process, the distance between the current position and each backup navigation route can be determined; the angle between the current heading and the tangent of each backup navigation route can be determined; and the backup navigation route with the shortest distance and the smallest angle can be determined as the target navigation route.
[0071] Of course, in other embodiments, the target navigation route can also be screened out from the backup navigation routes based only on the current position of the vehicle, for example, selecting the backup navigation route closest to the current position as the target navigation route; or the target navigation route can be screened out from the backup navigation routes based only on the current heading, for example, selecting the backup navigation route with the smallest angle between the tangent and the current heading as the target navigation route.
[0072] Figure 4 Shows Figure 1 A demonstration diagram of switching the vehicle navigation route to the target navigation route. Figure 4 As shown, the vehicle terminal uses the found alternative navigation route as the target navigation route, and switches the original vehicle navigation route to the target navigation route. There is no need to wait for the duration of the yaw state, nor does it need to wait for the server to recalculate the route. The yaw determination time and the route calculation time can be greatly shortened, so that the response time is not increased due to yaw determination and recalculation during the navigation process.
[0073] In the above-mentioned method for switching the vehicle navigation route, the intersection information of the next intersection on the driving route of the vehicle is obtained; the backup navigation route of the vehicle at the next intersection is determined according to the intersection information; in the case that the vehicle deviates at the next intersection, the target navigation route is screened out from the backup navigation route, and the vehicle navigation route is switched to the target navigation route. The technical solution provided by the present application can calculate the backup navigation route before the vehicle enters the next intersection. After the vehicle enters the next intersection and deviates, the target navigation route is directly called from the backup navigation route for navigation, without the need to recalculate the navigation route, thereby reducing the navigation response delay caused by the vehicle deviation during the navigation process, and achieving the purpose of timely feedback of the target navigation route to the driver.
[0074] The following describes an embodiment of the device of the present application, which can be used to execute the method for switching the vehicle navigation route in the above embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method for switching the vehicle navigation route in the above embodiment of the present application.
[0075] Figure 5 FIG. 1 is a block diagram of a switching device for a vehicle navigation route in an embodiment. Figure 5 As shown, the switching device for the in-vehicle navigation route of the embodiment of the present application includes: an information acquisition module 501, used to obtain the intersection information of the next intersection on the vehicle's driving route; a backup navigation route module 502, used to determine the backup navigation route of the vehicle at the next intersection according to the intersection information; a navigation route switching module 503, used to filter out a target navigation route from the backup navigation routes and switch the in-vehicle navigation route to the target navigation route when the vehicle deviates at the next intersection.
[0076] In some embodiments of the present application, based on the aforementioned scheme, the backup navigation route module 502 is also used to determine the backup driving behavior of the vehicle at the next intersection according to the intersection information; send the backup driving behavior to the server so that the server calculates the backup navigation route of the vehicle at the next intersection based on the backup driving behavior; receive and cache the backup navigation route.
[0077] In some embodiments of the present application, based on the aforementioned scheme, the navigation route switching module 503 is further used to obtain the backup navigation route from the cache; and filter out the target navigation route from the backup navigation route according to the current position and current heading of the vehicle.
[0078] In some embodiments of the present application, based on the aforementioned scheme, the navigation route switching module 503 is also used to determine the distance between the current position and each of the backup navigation routes; determine the angle between the current heading and the tangent of each of the backup navigation routes; and determine the backup navigation route with the shortest distance and the smallest angle as the target navigation route.
[0079] In some embodiments of the present application, based on the aforementioned scheme, the navigation route switching module 503 is also used to determine the current position, current heading, current heading angle and on-board navigation route of the vehicle after the vehicle arrives at the next intersection; when the current position, current heading, current heading angle and on-board navigation route meet the yaw condition, determine that the vehicle has yawed at the next intersection.
[0080] In some embodiments of the present application, based on the aforementioned scheme, the yaw condition is that the current position exceeds the preset range of the vehicle navigation route, the angle between the current heading and the tangent of the vehicle navigation route is greater than the preset angle, and the current heading angle is greater than the preset heading angle.
[0081] In some embodiments of the present application, based on the aforementioned solution, the navigation route switching module 503 is further used to determine the current position of the vehicle according to the global positioning system and inertial measurement unit of the vehicle.
[0082] Based on the same inventive concept, the present application embodiment also provides a switching device for a vehicle navigation route, referring to Figure 6 , shows a schematic diagram of the structure of a vehicle navigation route switching device in an embodiment of the present application, wherein the vehicle navigation route switching device includes one or more memories 604, one or more processors 602, and at least one computer program (computer program instruction) stored in the memory 604 and executable on the processor 602, and the processor 602 implements the method described above when executing the computer program.
[0083] Among them, Figure 6 In the embodiment of the present invention, a bus architecture (represented by bus 600) is shown, which may include any number of interconnected buses and bridges, and bus 600 links various circuits including one or more processors represented by processor 602 and memory represented by memory 604. Bus 600 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. Bus interface 605 provides an interface between bus 600 and receiver 601 and transmitter 603. Receiver 601 and transmitter 603 may be the same element, namely a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 602 is responsible for managing bus 600 and general processing, while memory 604 may be used to store data used by processor 602 when performing operations.
[0084] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor is prompted to implement the steps of the method as described above.
[0085] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on a computer-readable medium or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of the present application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hard wiring, or a combination of any of these. In addition, each functional unit may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit.
[0086] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.
[0087] The units described as separate components may or may not be physically separated, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed in multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.
[0088] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly or all or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store computer program instructions.
[0089] The above description is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.
Claims
1. A method for switching a vehicle navigation route, characterized in that: include: Obtain the intersection information of the next intersection on the vehicle's driving route; Determining an alternate navigation route for the vehicle at the next intersection according to the intersection information; In the case that the vehicle deviates at the next intersection, a target navigation route is selected from the backup navigation routes, and the vehicle-mounted navigation route is switched to the target navigation route.
2. The method for switching the vehicle navigation route according to claim 1, characterized in that: The determining, according to the intersection information, an alternate navigation route for the vehicle at the next intersection includes: determining a backup driving behavior of the vehicle at the next intersection according to the intersection information; Sending the alternate driving behavior to a server so that the server calculates an alternate navigation route for the vehicle at the next intersection based on the alternate driving behavior; The alternate navigation route is received and cached.
3. The method for switching the vehicle navigation route according to claim 2, characterized in that: The step of selecting a target navigation route from the backup navigation routes includes: Obtaining the alternate navigation route from a cache; A target navigation route is selected from the backup navigation routes according to the current position and current heading of the vehicle.
4. The method for switching the vehicle navigation route according to claim 3, characterized in that: The step of selecting a target navigation route from the backup navigation routes according to the current position and current heading of the vehicle includes: determining a distance between the current location and each of the alternate navigation routes; Determining an angle between the current heading and a tangent line of each of the alternate navigation routes; The backup navigation route with the shortest distance and the smallest angle is determined as the target navigation route.
5. The method for switching the vehicle navigation route according to any one of claims 1 to 4, characterized in that: Also includes: After the vehicle arrives at the next intersection, determining the current position, current heading, current heading angle and vehicle navigation route of the vehicle; When the current position, the current heading, the current heading angle and the vehicle-mounted navigation route satisfy the yaw condition, it is determined that the vehicle yaws at the next intersection.
6. The method for switching the vehicle navigation route according to claim 5, characterized in that: The yaw condition is that the current position exceeds a preset range of the vehicle navigation route, the angle between the current heading and the tangent of the vehicle navigation route is greater than a preset angle, and the current heading angle is greater than a preset heading angle.
7. The method for switching the vehicle navigation route according to claim 5, characterized in that: Determining the current position of the vehicle comprises: The current position of the vehicle is determined based on the vehicle's global positioning system and inertial measurement unit.
8. A switching device for a vehicle navigation route, characterized in that: include: An information acquisition module, used to obtain the intersection information of the next intersection on the vehicle's driving route; An alternate navigation route module, used to determine an alternate navigation route for the vehicle at the next intersection according to the intersection information; The navigation route switching module is used to select a target navigation route from the backup navigation routes and switch the vehicle-mounted navigation route to the target navigation route when the vehicle deviates at the next intersection.
9. A vehicle navigation route switching device, comprising a processor and a memory, characterized in that: The memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the steps of the method according to any one of claims 1 to 7 are implemented.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, which, when executed by a processor, prompt the processor to implement the steps of the method according to any one of claims 1 to 7.