Vehicle navigation method based on road abnormal event, electronic equipment and storage medium

Abstract

The invention provides a vehicle navigation method based on a road abnormal event, electronic equipment and a storage medium, and belongs to the technical field of vehicles, and the method comprises the following steps: obtaining image data of a driving road on which a first vehicle runs; identifying a road anomaly event of the driving road based on the image data; and uploading the road abnormal event to a navigation end, so that the navigation end obtains a first auxiliary navigation path for avoiding the road abnormal event based on the road abnormal event, and sending the first auxiliary navigation path to the first vehicle and / or the second vehicle through the navigation end. According to the invention, the intelligent driving vehicle can avoid road abnormal conditions in time, so that the safety of the vehicle and a driver is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle navigation method, electronic equipment and storage medium based on abnormal road events. Background Art

[0002] In the field of intelligent assisted driving technology, Navigation on Autopilot (NOA) is gradually becoming one of the key research and development breakthrough functions of many vehicle host manufacturers. In related technologies, the method for updating the electronic map used by the vehicle for NOA is usually that the vehicle uploads the road image data to the cloud server, and the cloud server periodically identifies road anomalies and updates the map data in the background, and then sends the updated electronic map to the vehicle. In this way, due to the time interval for the upload cycle to trigger the update of the electronic map and the delay in transmitting image data between the vehicle and the cloud server, it is very likely that the vehicle will not be able to avoid road anomalies in time during NOA, causing serious harm to the vehicle and the driver. Summary of the invention

[0003] The main purpose of the embodiments of the present application is to propose a vehicle navigation method, electronic device and storage medium based on road abnormality events, aiming to enable intelligent driving vehicles to avoid road abnormalities in a timely manner, thereby ensuring the safety of the vehicle and the driver.

[0004] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application proposes a vehicle navigation method based on road abnormal events, the method comprising:

[0005] Acquiring image data of a road on which the first vehicle is traveling;

[0006] identifying a road abnormality event on the driving road based on the image data;

[0007] The abnormal road event is uploaded to the navigation end, so that the navigation end obtains a first auxiliary navigation path to avoid the abnormal road event based on the abnormal road event, and sends the first auxiliary navigation path to the first vehicle and / or the second vehicle through the navigation end.

[0008] In some embodiments, the method further comprises:

[0009] Receiving the first auxiliary navigation path sent by the navigation terminal;

[0010] Automatic assisted navigation driving is performed based on the first assisted navigation path.

[0011] In some embodiments, the abnormal road event is also used by the navigation terminal to update the electronic map data. After uploading the abnormal road event to the navigation terminal, the method further includes:

[0012] Receiving updated electronic map data sent by the navigation terminal;

[0013] Automatic assisted navigation driving is performed based on the updated electronic map data.

[0014] In some embodiments, the method further comprises:

[0015] Performing navigation path planning based on the abnormal road event to obtain a second auxiliary navigation path that avoids the abnormal road event;

[0016] Automatic assisted navigation driving is performed based on the second assisted navigation path.

[0017] To achieve the above-mentioned purpose, a second aspect of an embodiment of the present application proposes another vehicle navigation method based on abnormal road events, which is applied to a navigation terminal. The method includes:

[0018] Receiving a road abnormality event uploaded by a first vehicle; wherein the road abnormality event is obtained by the first vehicle performing abnormality recognition on image data of a road on which the first vehicle is traveling;

[0019] Performing navigation path planning based on the abnormal road event to obtain a first auxiliary navigation path that avoids the abnormal road event;

[0020] The first assisted navigation route is transmitted to the first vehicle and / or the second vehicle.

[0021] In some embodiments, the method further comprises:

[0022] updating the electronic map data based on the abnormal road event to obtain updated electronic map data;

[0023] The updated electronic map data is sent to the first vehicle and / or the second vehicle.

[0024] In some embodiments, the road abnormality event includes: an abnormal road location;

[0025] Before sending the updated electronic map data to the second vehicle, the method further includes:

[0026] Obtaining navigation paths used by at least two preset vehicles for intelligent driving;

[0027] Determining a navigation path including the abnormal position of the road as a target navigation path;

[0028] A vehicle using the target navigation path is determined as the second vehicle.

[0029] To achieve the above-mentioned purpose, a third aspect of an embodiment of the present application proposes a vehicle navigation device based on abnormal road events, the device is applied to a first vehicle, and the device includes:

[0030] An acquisition module, used to acquire image data of a road on which the first vehicle is traveling;

[0031] an abnormality recognition module, used for recognizing abnormal road events on the driving road based on the image data;

[0032] a first transmission module, configured to upload the abnormal road event to a navigation terminal, so that the navigation terminal obtains a first auxiliary navigation path for avoiding the abnormal road event based on the abnormal road event, and sends the first auxiliary navigation path to the first vehicle and / or the second vehicle through the navigation terminal;

[0033] Alternatively, the device is applied to a navigation terminal, and the device includes:

[0034] A receiving module, configured to receive a road abnormality event uploaded by a first vehicle; wherein the road abnormality event is obtained by the first vehicle performing abnormality recognition on image data of a road on which the first vehicle is traveling;

[0035] A path planning module, used for performing navigation path planning based on the abnormal road event to obtain a first auxiliary navigation path that avoids the abnormal road event;

[0036] The second transmission module is used to send the first auxiliary navigation path to the first vehicle and / or the second vehicle.

[0037] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a vehicle, the vehicle includes an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the method described in the first aspect when executing the computer program.

[0038] To achieve the above-mentioned purpose, the fifth aspect of an embodiment of the present application proposes a navigation terminal, which is configured with an electronic device, the electronic device including a memory and a processor, the memory storing a computer program, and the processor implementing the method described in the second aspect when executing the computer program.

[0039] To achieve the above-mentioned purpose, the sixth aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, and the memory stores a computer program. When the electronic device is applied to a vehicle, the processor implements the method described in the first aspect when executing the computer program, and when the electronic device is applied to a navigation terminal, the processor implements the method described in the second aspect when executing the computer program.

[0040] To achieve the above-mentioned purpose, the seventh aspect of an embodiment of the present application proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the method described in the first aspect above, or implements the method described in the second aspect above.

[0041] To achieve the above objectives, the eighth aspect of an embodiment of the present application proposes a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the method provided in the first aspect above, or implements the method provided in the second aspect above.

[0042] The vehicle navigation method, device, vehicle, navigation terminal, electronic device, computer-readable storage medium and computer program product based on road abnormality events proposed in the present application obtain image data of the road on which the first vehicle is traveling, and identify the road based on the image data, thereby obtaining a road abnormality event, and uploading the road abnormality event to the navigation terminal. In this way, the navigation terminal can directly plan the navigation path based on the road abnormality event, thereby obtaining a first auxiliary navigation path that can avoid the road abnormality event, and the navigation terminal sends the first auxiliary navigation path to the first vehicle and / or the second vehicle, so that the first vehicle and / or the second vehicle can use the first auxiliary navigation path control to perform intelligent driving and timely avoid abnormal situations occurring on the road.

[0043] In this way, compared to uploading road image data to a cloud server, and then having the cloud server periodically identify images to extract road anomalies and update electronic maps, the embodiment of the present application directly uploads road anomaly events to the navigation terminal, and enables the navigation terminal to directly use road anomalies for navigation route planning, thereby avoiding the long delay in transmitting image data and saving time for periodically identifying image data to obtain road anomaly events, thereby enabling intelligent driving vehicles to promptly avoid road anomaly events occurring on the road, and ensuring the safety of intelligent driving of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1A schematic diagram of a scenario in which a vehicle and a navigation terminal involved in an embodiment of the present application apply a vehicle navigation method based on abnormal road events provided in an embodiment of the present application;

[0045] Figure 2 A schematic diagram of the steps of the vehicle navigation method based on abnormal road events provided in some embodiments of the present application;

[0046] Figure 3a A schematic diagram of a road construction scene in some embodiments of the vehicle navigation method based on road abnormal events provided in an embodiment of the present application;

[0047] Figure 3b A schematic diagram of another road construction scenario in some embodiments of the vehicle navigation method based on road abnormal events provided in an embodiment of the present application;

[0048] Figure 3c A schematic diagram of another road construction scenario in some embodiments of the vehicle navigation method based on road abnormal events provided in the embodiments of the present application;

[0049] Figure 3d A schematic diagram of another road construction scenario in some embodiments of the vehicle navigation method based on road abnormal events provided in the embodiments of the present application;

[0050] Figure 4 A schematic diagram of the steps of the vehicle navigation method based on abnormal road events provided in the embodiment of the present application in other embodiments;

[0051] Figure 5 A schematic diagram of the steps of the vehicle navigation method based on abnormal road events provided in some other embodiments of the present application;

[0052] Figure 6 A schematic diagram of the steps of the vehicle navigation method based on abnormal road events provided in the embodiment of the present application in some other embodiments;

[0053] Figure 7 A schematic diagram of the steps of the vehicle navigation method based on abnormal road events provided in the embodiment of the present application in some other embodiments;

[0054] Figure 8 A schematic diagram of the steps of the vehicle navigation method based on abnormal road events provided in some other embodiments of the present application;

[0055] Fig. 9 A schematic diagram of the steps of the vehicle navigation method based on abnormal road events provided in some other embodiments of the present application;

[0056] Fig.10A schematic diagram of the implementation flow involved in some embodiments of the vehicle navigation method based on abnormal road events provided in the embodiments of the present application;

[0057] Fig.11 Image data of the driving road involved in some embodiments of the vehicle navigation method based on road abnormality events provided in the embodiments of the present application;

[0058] Fig.12 A schematic diagram of the structure of a transmission device for abnormal road events provided in an embodiment of the present application;

[0059] Fig.13 It is a schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0061] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0063] First, the overall concept of the vehicle navigation method based on road abnormal events provided in an embodiment of the present application is described.

[0064] In the related art, intelligent driving of vehicles, especially automatic assisted navigation driving, cannot be separated from the use of electronic map data of the driving road. At present, in the process of updating the electronic map data according to the actual road conditions, each vehicle usually uploads the collected image information directly to the cloud server during driving, and the cloud server periodically triggers the recognition of the large amount of image information collected by the vehicle to determine whether there is any abnormality on the driving road of the vehicle. Then, when the abnormality is recognized, the electronic map data is updated according to the abnormal information of the road. However, on the one hand, there is a long delay in uploading the image data to the cloud server, and on the other hand, there is a certain time interval for the periodic triggering recognition image to update the map by the cloud server, which will inevitably lead to the abnormal situation on the driving road of the vehicle. Update in the electronic map cannot be timely, which will cause the vehicle that is using the electronic map for intelligent driving to be unable to avoid the abnormal situation on the driving road in time, thereby causing serious harm to the vehicle and the driver.

[0065] Based on this, the embodiments of the present application provide a vehicle navigation method, device, vehicle, navigation terminal, electronic device, computer-readable storage medium and computer program product based on road abnormality events, aiming to enable intelligent driving vehicles to avoid road abnormalities in a timely manner, thereby ensuring the safety of the vehicle and the driver.

[0066] The embodiment of the present application obtains image data of the road on which the first vehicle is traveling, and identifies the road based on the image data, thereby obtaining a road abnormality event, and uploading the road abnormality event to the navigation terminal. In this way, the navigation terminal can directly plan a navigation path based on the road abnormality event, thereby obtaining a first auxiliary navigation path that can avoid the road abnormality event, and the navigation terminal sends the first auxiliary navigation path to the first vehicle and / or the second vehicle, so that the first vehicle and / or the second vehicle can use the first auxiliary navigation path for intelligent driving and timely avoid abnormal situations occurring on the road.

[0067] In this way, compared to uploading road image data to a cloud server, and then having the cloud server periodically identify images to extract road anomalies and update electronic maps, the embodiment of the present application directly uploads road anomaly events to the navigation terminal, and enables the navigation terminal to directly use road anomalies for navigation route planning, thereby avoiding the long delay in transmitting image data and saving the time for periodically identifying image data to obtain road anomaly events, thereby enabling intelligent driving vehicles to promptly avoid road anomaly events occurring on the road, and ensuring the safety of intelligent driving of the vehicle.

[0068] Based on the overall concept of the above-mentioned embodiments of the present application, further specific embodiments of the vehicle navigation method based on road abnormal events, devices, vehicles, electronic devices, computer-readable storage media, and computer program products provided in the embodiments of the present application are proposed. First, each specific embodiment of the vehicle navigation method based on road abnormal events provided in the embodiments of the present application is described in detail.

[0069] It should be noted that the vehicle navigation method based on road abnormal events provided in the embodiment of the present application relates to the field of intelligent driving and vehicle technology. The vehicle navigation method based on road abnormal events provided in the embodiment of the present application can be applied to information transmission between the vehicle and the navigation terminal for vehicle intelligent driving. In addition, the vehicle navigation method based on road abnormal events provided in the embodiment of the present application can also be software for information transmission between the vehicle and the navigation terminal. In some embodiments, the vehicle can be the vehicle itself, or it can be a vehicle-mounted terminal on the vehicle, or it can be an electronic device such as a smart phone, a tablet computer, a laptop computer, a desktop computer, etc. associated with the vehicle, and the association with the vehicle means that the communication data can be exchanged with the vehicle based on the network. The navigation terminal can be a backend server terminal device of the vehicle, which can be configured as an independent physical server, or it can be configured as a server cluster or distributed system composed of multiple physical servers, and it can also be configured to provide cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN) and cloud servers for basic cloud computing services such as big data and artificial intelligence platforms. In addition, the navigation terminal can also be a common terminal device with data processing capabilities and an Internet of Things device. The software may be an application, a computer program, and a storage medium carrying the computer program for implementing the vehicle navigation method based on abnormal road events. It should be understood that based on different design requirements of actual applications, in different feasible embodiments, the vehicle, the navigation terminal, and the software, etc., may of course also be in other forms not listed here, and the vehicle navigation method based on abnormal road events provided in the embodiments of the present application does not specifically limit this.

[0070] In addition, the vehicle navigation method based on road abnormal events provided by the embodiment of the present application can also be used in many general or special computer system environments or configurations. For example: vehicles, personal computers, server computers, handheld devices or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, personal computers (Personal Computer, PC), minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0071] For ease of understanding and explanation, the following text takes the vehicle and navigation terminal applying the vehicle navigation method based on road abnormal events provided by the embodiment of the present application as an example to explain in detail the various specific embodiments of the present application. The implementation of the vehicle navigation method based on road abnormal events provided by the embodiment of the present application by any of the above-mentioned terminal subject applications can refer to the process of the vehicle and navigation terminal applying the vehicle navigation method based on road abnormal events described below.

[0072] It should be noted that the collection and acquisition of relevant data in each specific implementation manner of this application complies with the requirements of laws and regulations.

[0073] Please refer to Figure 1 , Figure 1 A schematic diagram of a scenario in which a vehicle and a navigation terminal involved in an embodiment of the present application apply a vehicle navigation method based on abnormal road events provided in an embodiment of the present application.

[0074] like Figure 1 As shown, in some embodiments, the first vehicle and the second vehicle can each transmit information to the navigation end through the communication connection between the first vehicle and the navigation end. Among them, the first vehicle can upload the road abnormality event obtained by identifying the image data of the road being traveled to the navigation end during driving. After receiving the road abnormality event, the navigation end immediately plans the navigation path based on the road abnormality event to obtain a first auxiliary navigation path that can avoid the road abnormality event, and then the navigation end sends the first auxiliary navigation path to the first vehicle and / or the second vehicle. After receiving the first auxiliary navigation path, the first vehicle and / or the second vehicle can use the first auxiliary navigation path control to perform intelligent driving and timely avoid the road abnormality event occurring on the driving road.

[0075] Figure 2 The following is a flowchart of the steps of the vehicle navigation method based on abnormal road events in some embodiments of the present application. It should be understood that although Figure 2 The following other steps flow chart shows the execution order of some method steps, but based on different design requirements of actual applications, the vehicle navigation method based on abnormal road events provided by the embodiment of the present application can certainly adopt an execution order different from the method steps shown in the figure. That is, Figure 2 The order of the method steps shown does not constitute a limitation on the execution logic order of the vehicle navigation method based on road abnormal events provided in the embodiment of the present application. Figure 2 Reasonable changes in the order of the steps of the method shown should be included in the protection scope of the vehicle navigation method based on road abnormal events provided in the embodiments of the present application.

[0076] like Figure 2 As shown, in some embodiments, the vehicle and the navigation terminal apply the vehicle navigation method based on abnormal road events provided by the embodiments of the present application, which may include steps S201 to S203.

[0077] Step S201: Acquire image data of a road on which a first vehicle is traveling.

[0078] When the first vehicle is traveling, real-time image acquisition is performed on the road on which the first vehicle is traveling to obtain image data of the road.

[0079] It should be noted that the first vehicle may be a vehicle that is performing intelligent driving. Alternatively, the first vehicle may also be a vehicle that is driving under the control of a driver. In addition, the first vehicle may capture images of the road on which it is traveling through an image acquisition device configured by itself (such as a vehicle-side camera) to obtain image data, or the first vehicle may also receive image data of the road on which the first vehicle is traveling sent by an electronic device associated with itself. The electronic device associated with the first vehicle may capture image data of the road on which it is traveling by controlling its own image acquisition device.

[0080] Step S202: Identify abnormal road events on the driving road based on the image data.

[0081] After acquiring the image data of the driving road, the first vehicle immediately performs real-time recognition processing on the image data at the local end to identify abnormal conditions occurring on the driving road, thereby obtaining abnormal road events.

[0082] It should be noted that the first vehicle can specifically perform content recognition, classification and other processing on the image data to identify in real time abnormal road events occurring on the driving road.

[0083] In some embodiments, the first vehicle may identify image data of the driving road, and after identifying an abnormal situation occurring on the driving road, record information of the road corresponding to the abnormal situation, thereby generating a road abnormality event.

[0084] In some embodiments, the road abnormality event includes at least one of the following information: road abnormality type, road abnormality location, navigation route to which the road belongs, road travel direction, and road abnormality lane.

[0085] It should be noted that the navigation route to which the road belongs refers to the navigation route that the first vehicle is traveling on as indicated by the electronic map used by the first vehicle for intelligent driving. The road travel direction refers to the driving direction of the first vehicle when traveling on the navigation route indicated by the electronic map.

[0086] When the first vehicle identifies the image data of the driving road, it can identify abnormal conditions occurring on the driving road, including: the type of road abnormality (for example, the road section where the abnormality occurs is one or more of landslide, ground depression, road fracture, road construction, etc.), the road abnormality position of the road section where the abnormality occurs on the driving road (for example, the abnormality starting point, end point, road width, etc.), the navigation route to which the road belongs (the navigation route that the first vehicle is traveling on corresponding to the electronic map used for the current driving road during intelligent driving), the road travel direction (the driving direction of the first vehicle indicated in the electronic map), and the road abnormal lane (such as one or more of the first lane, the second lane, ... and the n lanes of the driving road that are blocked by the road section where the abnormality occurs on the current driving road).

[0087] Then, the first vehicle can encapsulate the identified road anomaly type, road anomaly position, navigation route the first vehicle is traveling, driving direction of the first vehicle, and road anomaly lane information to generate a road anomaly event occurring on the current driving road. Alternatively, the first vehicle can also directly use one of the identified road anomaly type, road anomaly position, navigation route the first vehicle is traveling, driving direction of the first vehicle, and road anomaly lane information as a road anomaly event occurring on the current driving road.

[0088] Step S203: uploading the abnormal road event to the navigation end, so that the navigation end obtains a first auxiliary navigation path to avoid the abnormal road event based on the abnormal road event, and sends the first auxiliary navigation path to the first vehicle and / or the second vehicle through the navigation end.

[0089] After the first vehicle obtains the road abnormality event by identifying the image data of the driving road, it can immediately upload the road abnormality event to the navigation end through the communication connection between the navigation end and the navigation end. Therefore, the navigation end can directly plan the navigation path based on the road abnormality event, thereby obtaining a first auxiliary navigation path that can avoid the road abnormality event occurring on the driving road, and the navigation end sends the first auxiliary navigation path to the first vehicle and / or the second vehicle, so that the first vehicle and / or the second vehicle can use the first auxiliary navigation path for intelligent driving, and timely avoid the section of the driving road where the road abnormality event occurs.

[0090] In some embodiments, when uploading the road anomaly event to the navigation end, the first vehicle may also simultaneously upload a request for real-time processing of the road anomaly to the navigation end, so that the navigation end responds to the request and directly performs navigation route planning based on the road anomaly event.

[0091] In other embodiments, the first vehicle may also negotiate with the navigation end in advance that after the first vehicle uploads the road abnormality event to the navigation end, the navigation end will immediately process the road abnormality event accordingly, so that the navigation end responds to the request and directly plans the navigation route based on the road abnormality event.

[0092] It should be noted that after receiving the road abnormality event uploaded by the first vehicle, the navigation terminal can notify the local navigation planning engine to record the road abnormality position in the road abnormality event to participate in route planning, thereby obtaining a first auxiliary navigation path that can avoid the road abnormality position. In addition, the navigation terminal can send the first auxiliary navigation path to the first vehicle and / or the second vehicle in real time through broadcasting and other technologies. The second vehicle can be another vehicle traveling behind the first vehicle.

[0093] In the embodiment of the present application, the first vehicle performs real-time image acquisition of the driving road during driving to obtain image data of the driving road, and then immediately performs real-time recognition on the image data at the local end to identify abnormal conditions occurring on the driving road, thereby obtaining abnormal road events, and then uploads the abnormal road events to the navigation end through the first vehicle. Thus, the navigation end can directly perform navigation route planning based on the abnormal road events, thereby obtaining a first auxiliary navigation route that can avoid abnormal road events occurring on the driving road, and the navigation end sends the first auxiliary navigation route to the first vehicle and / or the second vehicle, so that the first vehicle and / or the second vehicle can use the first auxiliary navigation route for intelligent driving, and timely avoid the section of the driving road where abnormal road events occur.

[0094] In this way, compared to uploading road image data to the navigation terminal, and then the navigation terminal periodically identifying the image to extract road anomalies and update the electronic map, the embodiment of the present application directly uploads the road anomaly events to the navigation terminal, and enables the navigation terminal to directly use the road anomaly events for navigation path planning, which not only avoids the long delay in transmitting image data, but also saves the time for periodically identifying image data to obtain anomaly information, so that the intelligent driving vehicle can avoid abnormal situations on the road in time, so that the safety of the vehicle's intelligent driving is guaranteed.

[0095] In some embodiments, the image data of the driving road includes first image data of the road ahead of the first vehicle. The first vehicle can perform real-time image acquisition of the road ahead when performing intelligent driving (such as automatic assisted navigation driving) on ​​the driving road, thereby obtaining the first image data.

[0096] Based on this, when the first vehicle executes the above step S202: identifying abnormal road events on the driving road based on the image data, it can specifically follow the following steps.

[0097] First, the first vehicle recognizes abnormality on a road ahead of the first vehicle based on first image data.

[0098] Then, when the first vehicle recognizes the first abnormal information, it continues to identify abnormalities on the lateral road of the first vehicle based on the second image data. The first abnormal information is used to characterize the abnormal situation occurring on the road ahead of the first vehicle, and the second image data is image data obtained by real-time image acquisition of the lateral road when the first vehicle performs intelligent driving on the driving road.

[0099] Then, when the first vehicle recognizes the second abnormal information, it continues to identify abnormalities on the road behind the first vehicle based on the third image data. The second abnormal information is used to characterize the abnormal situation occurring on the lateral road of the first vehicle, and the third image data is the image data obtained by real-time image acquisition of the road behind the first vehicle when the first vehicle performs intelligent driving on the driving road.

[0100] Finally, when the first vehicle recognizes the third abnormal information, it generates a road abnormality event including the first abnormal information, the second abnormal information and the third abnormal information, wherein the third abnormal information is used to characterize the abnormal situation occurring on the road behind the vehicle.

[0101] For example, please refer to Figures 3a to 3d. When the first vehicle is driving intelligently on the road, it first collects image data (first image data) of the road ahead through the camera at the head position / top position, and automatically identifies the construction pile barrels, signs, etc. or the triangle sign of the accident by analyzing the image data, thereby identifying the abnormal situation of construction in front of the driving route of the first vehicle. In this way, the first vehicle starts to collect relevant data such as the construction location and the lane to which it belongs through the camera to generate the first abnormal information. At this time, the first vehicle can start uploading the first abnormal information to the navigation end. Thereafter, the first vehicle further collects image data (second image data) through the lateral camera to record the lane position, length, etc. to generate the second abnormal information. The first vehicle can upload the second abnormal information to the navigation end after generating the second abnormal information. Finally, the first vehicle collects image data (third image data) through the rear camera to record the construction completion position to generate the third abnormal information. The first vehicle can also upload the third abnormal information to the navigation end after generating the third abnormal information. Alternatively, after generating the third abnormal information, the first vehicle may also package the previously generated first abnormal information, the second abnormal information and the third abnormal information together to generate a road abnormal event, and upload the road abnormal event to the navigation terminal.

[0102] In this embodiment, when the first vehicle uses a camera to collect road image data, the front-end camera is used to collect road image data for identification of road abnormalities (such as road construction scenes), and when the abnormality is identified, the abnormal road information is collected and uploaded to the cloud. Thereafter, the abnormal information of the road to the side of the first vehicle is recorded by the camera on the side of the first vehicle and uploaded to the cloud. In addition, the abnormal information of the road behind the first vehicle is recorded by the camera at the rear of the first vehicle and uploaded to the cloud.

[0103] In this way, by using the camera of the first vehicle to collect images in different directions for identifying road abnormal events, the accuracy of identifying road abnormal events can be improved, thereby further ensuring that the auxiliary navigation path obtained by the navigation end based on the road abnormal event planning can effectively avoid the sections of the driving road where road abnormal events occur.

[0104] After the first vehicle uploads the abnormal road event to the navigation end, the first vehicle and / or the second vehicle can receive the first auxiliary navigation path fed back by the navigation end, and use the first auxiliary navigation path to control the first vehicle to avoid the abnormal situation on the driving road.

[0105] Please refer to Figure 4 , Figure 4 A schematic flowchart of the steps of the vehicle navigation method based on abnormal road events provided in the embodiment of the present application in other embodiments.

[0106] like Figure 4 As shown, in some embodiments, the vehicle navigation method based on abnormal road events provided in the embodiments of the present application may also include the following steps S401 and S402.

[0107] Step S401: receiving the first auxiliary navigation path sent by the navigation terminal.

[0108] Step S402: performing automatic assisted navigation driving based on the first assisted navigation path.

[0109] After the first vehicle uploads the road abnormality event identified in real time to the navigation terminal, and the navigation terminal plans a first auxiliary navigation path, the navigation terminal can also send the first auxiliary navigation path to the first vehicle. Therefore, when the first vehicle receives the first auxiliary navigation path, it immediately uses the first auxiliary navigation path for automatic assisted navigation driving, so as to timely avoid the road section where the road abnormality event occurs.

[0110] In some embodiments, the first vehicle may synchronously upload a request for feedback of the auxiliary navigation path to the navigation terminal, so that after the navigation terminal plans the first auxiliary navigation path, it responds to the request and feeds back the first auxiliary navigation path to the first vehicle in real time.

[0111] In other embodiments, the first vehicle may negotiate with the navigation terminal in advance, so that after the navigation terminal plans and obtains the first auxiliary navigation path, it feeds back the first auxiliary navigation path to the first vehicle in real time.

[0112] In some other embodiments, the first vehicle can also evaluate the time to reach the section of the road where the road abnormality event occurs in combination with the current speed of intelligent driving on the road, and then request the navigation end to plan and obtain the first auxiliary navigation path before this time and feedback the first auxiliary navigation path, so that the first vehicle can use the first auxiliary navigation path to timely avoid the road abnormality event before reaching the section where the road abnormality event occurs. Alternatively, the navigation end can also obtain the speed of the first vehicle performing intelligent driving on the road when planning the first auxiliary navigation path based on the road abnormality event, so as to evaluate the time for the first vehicle to reach the section where the road abnormality event occurs, so as to plan and obtain the first auxiliary navigation path before this time and feedback it to the first vehicle, so that the first vehicle can use the first auxiliary navigation path to timely avoid the section of the road where the road abnormality event occurs before reaching the section where the road abnormality event occurs.

[0113] In this embodiment, after the first vehicle uploads the road abnormality event identified in real time to the navigation end, and the navigation end plans the first auxiliary navigation path, the navigation end sends the first auxiliary navigation path to the first vehicle, so that the first vehicle can receive the first auxiliary navigation path and immediately use the first auxiliary navigation path for driving, thereby enabling the first vehicle to timely avoid the section of the road where the road abnormality event occurs.

[0114] In this way, this embodiment can enable the first vehicle that is about to pass through the abnormal road to avoid the abnormal road event in time based on the first auxiliary navigation path, thereby ensuring that the first vehicle and its driver will not be harmed due to the untimely update of the road abnormality during the intelligent driving process. That is, this embodiment can ensure the safety of the first vehicle in intelligent driving.

[0115] In some embodiments, after the first vehicle uploads the road anomaly event identified in real time to the navigation terminal, and the navigation terminal plans a first auxiliary navigation path, the navigation terminal may also send the first auxiliary navigation path to a second vehicle behind the first vehicle. When the second vehicle receives the first auxiliary navigation path, it may use the first auxiliary navigation path to perform automatic assisted navigation driving on the road where the road anomaly event is located, thereby avoiding the section of the road where the road anomaly event occurs.

[0116] After uploading the abnormal road event to the navigation end, the first vehicle can also receive updated electronic map data fed back by the navigation end, and use the updated electronic map data to avoid the section of the driving road where the abnormal road event occurs.

[0117] It should be noted that the updated electronic map data may be obtained by updating the electronic map data based on the abnormal road event by the navigation terminal. After the first vehicle uploads the abnormal road event to the navigation terminal, the navigation terminal may also use the abnormal road event to update the electronic map data.

[0118] In addition, the electronic map data is electronic map data related to intelligent driving, for example, the electronic map data may be high-definition electronic map data used when the vehicle performs NOA.

[0119] It should be understood that, based on different design requirements of actual applications, in different feasible implementations, the types of intelligent driving performed by the vehicle are different, and even if the types of intelligent driving performed by the vehicle are the same, the types of electronic map data used by the vehicle are also different, but no matter what the specific type of the electronic map data is, as long as these implementations belong to the same concept as the embodiments in this application, they should be included in the embodiments of the vehicle navigation method based on abnormal road events provided in the embodiments of this application. That is, the vehicle navigation method based on abnormal road events provided in the embodiments of this application is not limited to the specific type of electronic map data.

[0120] Please refer to Figure 5 , Figure 5 A schematic flowchart of the steps of a vehicle navigation method based on abnormal road events in some further embodiments provided in an embodiment of the present application.

[0121] like Figure 5 As shown, in some embodiments, after the above-mentioned step S203: uploading the abnormal road event to the navigation end, the vehicle navigation method based on abnormal road events provided in the embodiment of the present application may also include the following steps S501 and S502.

[0122] Step S501: receiving updated electronic map data sent by the navigation terminal.

[0123] Step S502: performing automatic assisted navigation driving based on the updated electronic map data.

[0124] The first vehicle uploads the road abnormality event obtained by real-time identification to the navigation end, so that the navigation end updates the electronic map data related to the intelligent driving based on the road abnormality event to obtain updated electronic map data. After that, the navigation end sends the updated electronic map data to the first vehicle. After receiving the updated electronic map data, the first vehicle immediately uses the updated electronic map data for automatic assisted navigation driving, so as to timely avoid the section of the driving road where the road abnormality event occurs.

[0125] In some embodiments, the first vehicle can evaluate the time to reach the section where the road abnormality event occurs on the driving road in combination with the current speed at which the first vehicle is controlled to perform intelligent driving on the driving road, and then request the navigation terminal to update the electronic map data related to intelligent driving based on the road abnormality event before this time, obtain the updated electronic map data and feed it back to the first vehicle, so that the first vehicle can use the updated electronic map data for automatic assisted navigation driving before reaching the section where the road abnormality event occurs, and timely avoid the section where the road abnormality event occurs. Alternatively, the navigation terminal can also obtain the speed at which the first vehicle performs intelligent driving on the driving road, so as to evaluate the time at which the first vehicle reaches the section where the road abnormality event occurs, so as to update the electronic map data related to intelligent driving based on the road abnormality event before this time, obtain the updated electronic map data and feed it back to the first vehicle, so that the first vehicle can use the updated electronic map data for automatic assisted navigation driving before reaching the section where the road abnormality event occurs, and timely avoid the section where the road abnormality event occurs.

[0126] In this embodiment, the first vehicle uploads the road abnormality event obtained by real-time identification to the navigation end, so that the navigation end updates the electronic map data, and the navigation end sends the updated electronic map data to the first vehicle, so that the first vehicle uses the updated electronic map data for automatic assisted navigation driving, so as to timely avoid the section of the road where the road abnormality event occurs.

[0127] In this way, this embodiment can also enable the first vehicle that is about to pass through an abnormal road to timely avoid abnormal road events on the driving road based on the updated electronic map data, thereby ensuring that the first vehicle and its driver will not be harmed due to untimely updates of road abnormalities during the intelligent driving process. That is, this embodiment can also ensure the safety of the first vehicle in intelligent driving.

[0128] After identifying the abnormal road event, the first vehicle can also directly plan a second auxiliary navigation path based on the abnormal road event at the local end, and then use the second auxiliary navigation path to avoid the section of the driving road where the abnormal road event occurs.

[0129] Please refer to Figure 6 , Figure 6 A schematic flowchart of the steps of a vehicle navigation method based on abnormal road events in some further embodiments provided in an embodiment of the present application.

[0130] like Figure 6 As shown, in some embodiments, the vehicle navigation method based on abnormal road events provided in the embodiments of the present application may also include the following steps S601 and S602.

[0131] Step S601: performing navigation route planning based on the abnormal road event to obtain a second auxiliary navigation route that avoids the abnormal road event.

[0132] Step S602: Perform automatic assisted navigation driving based on the second assisted navigation path.

[0133] In addition to uploading the road abnormality event obtained by real-time identification to the navigation terminal to plan a first auxiliary navigation path through the navigation terminal, the first vehicle can also directly plan a navigation path based on the road abnormality event on the local terminal, thereby obtaining a second auxiliary navigation path that can avoid abnormal situations occurring on the driving road. In addition, the first vehicle also immediately uses the second auxiliary navigation path for intelligent driving to timely avoid the section of the driving road where the road abnormality event occurs.

[0134] It should be noted that, similar to the above-mentioned navigation terminal planning to obtain the first auxiliary navigation path based on the abnormal road event, when the first vehicle is equipped with a navigation planning engine on its own end, it directly notifies the navigation planning engine to record the abnormal road position in the abnormal road event to participate in route planning, thereby obtaining a second auxiliary navigation path that can avoid the road section where the abnormal road event occurs. Alternatively, when the electronic device associated with the first vehicle is equipped with a navigation planning engine, the first vehicle can also control the navigation planning engine through the associated electronic device to record the abnormal road position in the abnormal road event to participate in route planning, thereby obtaining a second auxiliary navigation path.

[0135] In this embodiment, the first vehicle directly performs navigation route planning based on the road abnormality event at the local end, thereby obtaining a second auxiliary navigation route that can avoid the section of the driving road where the road abnormality event occurs, and the second auxiliary navigation route is used for intelligent driving to timely avoid the section of the driving road where the road abnormality event occurs.

[0136] In this way, this embodiment can enable the first vehicle that is about to pass through the abnormal road to obtain the second auxiliary navigation path based on autonomous navigation path planning, so as to timely avoid the road abnormality event, thereby ensuring that the first vehicle and its driver will not be harmed due to the untimely update of the road abnormality during the intelligent driving process. That is, this embodiment can also ensure the safety of the first vehicle in intelligent driving.

[0137] Next, please refer to Figure 7 , Figure 7 A schematic flowchart of the steps of a vehicle navigation method based on abnormal road events in some further embodiments provided in an embodiment of the present application.

[0138] like Figure 7As shown, in some embodiments, the vehicle navigation method based on abnormal road events provided in the embodiments of the present application may also include steps S701 to S703.

[0139] Step S701: receiving a road abnormality event uploaded by a first vehicle; wherein the road abnormality event is obtained by the first vehicle performing abnormality recognition on image data of a road on which the first vehicle is traveling.

[0140] The navigation end receives the road abnormality event uploaded by the first vehicle through a communication connection with the first vehicle. The first vehicle collects real-time images of the driving road to obtain image data of the driving road during driving, and then the first vehicle performs real-time recognition on the image data at the end to identify abnormal conditions occurring on the driving road, thereby obtaining the road abnormality event.

[0141] Step S702: performing navigation route planning based on the abnormal road event to obtain a first auxiliary navigation route that avoids the abnormal road event.

[0142] After receiving the abnormal road event, the navigation end can directly plan a navigation route based on the abnormal road event, thereby obtaining a first auxiliary navigation route that can avoid the abnormal road event occurring on the driving road.

[0143] It should be noted that after receiving the road abnormality event uploaded by the first vehicle, the navigation end can notify the local navigation planning engine to record the abnormal road position in the road abnormality event to participate in route planning, thereby obtaining a first auxiliary navigation path that can avoid the road abnormality event.

[0144] Step S703: Sending the first auxiliary navigation path to the first vehicle and / or the second vehicle.

[0145] After planning the first auxiliary navigation path, the navigation end sends the first auxiliary navigation path to the first vehicle through the communication connection with the first vehicle, so that the first vehicle can use the first auxiliary navigation path for intelligent driving and timely avoid sections of the driving road where abnormal road events occur.

[0146] In addition, after planning the first auxiliary navigation path, the navigation end can also send the first auxiliary navigation path to the second vehicle through the communication connection with the second vehicle, so that the second vehicle can use the first auxiliary navigation path for intelligent driving to avoid the section of the road where abnormal road events occur after the first vehicle.

[0147] In an embodiment of the present application, the road abnormality event uploaded by the first vehicle is received by the navigation end, and a navigation path is planned directly based on the road abnormality event, so as to obtain a first auxiliary navigation path that can avoid the road abnormality event occurring on the driving road, and then send the first auxiliary navigation path to the first vehicle and / or the second vehicle, so that the first vehicle and / or the second vehicle can use the first auxiliary navigation path for intelligent driving and timely avoid the section of the driving road where the road abnormality event occurs.

[0148] In this way, compared to uploading road image data to the navigation terminal, and then the navigation terminal periodically identifying the image to extract road anomalies and update the electronic map, the embodiment of the present application directly uploads the road anomaly events to the navigation terminal, and enables the navigation terminal to directly use the road anomaly events for navigation path planning, which not only avoids the long delay in transmitting image data, but also saves the time for periodically identifying image data to obtain road anomaly events, so that the intelligent driving vehicle can timely avoid the sections of the road where road anomalies occur, so that the safety of the vehicle's intelligent driving is guaranteed.

[0149] In addition to planning the first auxiliary navigation route based on the road abnormality event, the navigation end can also update the electronic map data related to intelligent driving based on the road abnormality event, and send the updated electronic map data to the first vehicle and / or the second vehicle so that the first vehicle and / or the second vehicle can perform intelligent driving to avoid the section of the road where the road abnormality event occurs.

[0150] Please refer to Figure 8 , Figure 8 A schematic flowchart of the steps of a vehicle navigation method based on abnormal road events in some further embodiments provided in an embodiment of the present application.

[0151] like Figure 8 As shown, in some embodiments, the vehicle navigation method based on abnormal road events provided in the embodiments of the present application may also include step S801 and step S802 as shown below.

[0152] Step S801: updating the electronic map data based on the abnormal road event to obtain updated electronic map data.

[0153] Step S802: Send the updated electronic map data to the first vehicle and / or the second vehicle.

[0154] After receiving the road abnormality event uploaded by the first vehicle, the navigation end can also update the electronic map data related to intelligent driving based on the road abnormality event to obtain updated electronic map data. Thereafter, the navigation end sends the updated electronic map data to the first vehicle and / or the second vehicle, so that the first vehicle and / or the second vehicle can receive the updated electronic map data and immediately use the updated electronic map data for automatic assisted navigation driving, thereby timely avoiding the section of the driving road where the road abnormality event occurred.

[0155] In some embodiments, the navigation terminal can evaluate the time when the first vehicle reaches the abnormal road section by obtaining the speed at which the first vehicle performs intelligent driving on the road, and update the electronic map data based on the road abnormality event before this time, obtain the updated electronic map data and feed it back to the first vehicle, so that the first vehicle can use the updated electronic map data for automatic assisted navigation driving and timely avoid the road section where the road abnormality event occurs before reaching the road section where the road abnormality event occurs.

[0156] In this embodiment, the navigation terminal updates the electronic map data based on the road abnormality event, and sends the updated electronic map data to the first vehicle and / or the second vehicle, so that the first vehicle and / or the second vehicle can use the updated electronic map data to timely avoid the section of the road where the road abnormality event occurs.

[0157] In this way, this embodiment can also enable the first vehicle and the second vehicle that will pass through the abnormal road after the first vehicle to timely avoid the road section where the abnormal road event occurs based on the updated electronic map data, thereby ensuring that the first vehicle and the second vehicle and their respective drivers will not be harmed due to the untimely update of the road abnormality during the intelligent driving process. That is, this embodiment can also ensure the safety of the first vehicle and the second vehicle in intelligent driving.

[0158] The navigation terminal can broadcast the first auxiliary navigation path or updated electronic map data to the second vehicle. In addition, the navigation terminal can also select the second vehicle that is about to pass the section where the road abnormality event occurs, and then send the first auxiliary navigation path or updated electronic map data to the second vehicle.

[0159] Please refer to Fig. 9 , Fig. 9 A schematic flowchart of the steps of a vehicle navigation method based on abnormal road events in some further embodiments provided in an embodiment of the present application.

[0160] In some embodiments, the road abnormality event includes: an abnormal road position. In this case, if Fig. 9As shown, before the navigation end sends the updated electronic map to the second vehicle, the vehicle navigation method based on abnormal road events provided in the embodiment of the present application may also include steps S901 to S903 as shown below.

[0161] Step S901: Obtain navigation paths preset for at least two vehicles to use for intelligent driving.

[0162] The navigation end obtains navigation paths used by at least two vehicles for intelligent driving (eg, automatic assisted navigation driving) through communication connections with the vehicles.

[0163] In some embodiments, the navigation terminal can broadcast instructions for querying the navigation path of the vehicle when performing intelligent driving to each vehicle, so that each vehicle can respond to the instruction to query the electronic map data currently used for intelligent driving, and extract the navigation path for intelligent driving from the electronic map data, and then upload the navigation path to the navigation terminal.

[0164] Step S902: Determine the navigation path including the abnormal road position as the target navigation path.

[0165] After obtaining each navigation path, the navigation end detects the navigation paths one by one, so as to confirm that among the multiple navigation paths, a target navigation path including an abnormal position of the road where an abnormal situation occurs on the driving road is included.

[0166] Step S903: Determine the vehicle using the target navigation path as the second vehicle.

[0167] After the navigation terminal detects one or more target navigation paths, based on the one-to-one correspondence between the navigation paths and the vehicles, it identifies at least one target vehicle that uses the target navigation path for intelligent driving from among the multiple vehicles, and then identifies the at least one target vehicle as the second vehicle that will pass through the section where the road abnormality event occurred. After that, the navigation terminal can send the updated electronic map data to the second vehicle in a targeted manner, so that the second vehicle uses the updated electronic map data to avoid the section where the road abnormality event occurred.

[0168] In this embodiment, the navigation terminal selects the second vehicle that is about to pass through the road section where the road abnormality event occurs, and directly sends the updated electronic map data to the second vehicle, so that the second vehicle can use the updated electronic map data to avoid the road section where the road abnormality event occurs. In this way, some second vehicles that cannot receive instructions from the navigation terminal through broadcasting can be prevented from receiving the updated electronic map data for intelligent driving. That is, this embodiment can accurately ensure the safety of the second vehicle in intelligent driving.

[0169] It should be noted that, before sending the first auxiliary navigation path to the second vehicle, the navigation end may first screen out the second vehicle that is about to pass through the road section where the abnormal road event occurs, and then send the first auxiliary navigation path to the second vehicle in a directionally manner.

[0170] Next, a complete embodiment of the vehicle navigation method based on abnormal road events provided in the embodiment of the present application is proposed.

[0171] Please refer to Fig.10 , Fig.10 A schematic diagram of the implementation flow involved in some embodiments of the vehicle navigation method based on abnormal road events provided in the embodiments of the present application.

[0172] like Fig.10 As shown, when the first vehicle uses high-definition electronic map data (HQ map) for intelligent driving, the vehicle-mounted camera collects image data of the road ahead of the vehicle during driving, and performs road anomaly recognition on the collected image data in real time on the local end. If an abnormality is found on the road (such as landslide, road depression, road construction), a road anomaly event is immediately generated and sent to the navigation end of the electronic map data (such as a cloud server, a distributed server cluster, etc.). Among them, the road anomaly event sent by the first vehicle to the navigation end may include the type of road anomaly (such as landslide, ground depression, road fracture, road construction, etc.), the location information of the abnormal road (such as the starting point, end point, road width, etc. of the abnormal road), the navigation route to which the road belongs, the direction of road travel, the abnormal lane of the road, and other information.

[0173] In addition, after receiving the road abnormality event uploaded by the first vehicle, the navigation end generates intelligence based on the data uploaded by the first vehicle through its own data processing center, and triggers three processes: Process 1, generates data intelligence, triggers the process of automatically updating the electronic map data, and updates the electronic map data in real time to obtain updated electronic map data; Process 2, notifies the local navigation planning engine to record the abnormal road position to participate in route planning to obtain a first auxiliary navigation path that can avoid the road section where the road abnormality event occurs; Process 3, sends the updated electronic map data / first auxiliary navigation path to the first vehicle and / or the second vehicle (the vehicle whose path planning includes the road abnormality position or the NOA driving vehicle) in the form of broadcast or over the air (OTA) service, so that the first vehicle and / or the second vehicle can timely avoid the road section where the road abnormality event occurs on the driving road according to the received updated electronic map data / first auxiliary navigation path.

[0174] Next, a complete embodiment of the vehicle navigation method based on road abnormal events provided in the embodiment of the present application is proposed in the scenario of a landslide on the road.

[0175] The first vehicle collects images of the road through the vehicle-side camera. Fig.11 After the image data is shown, the image data is analyzed and identified to determine that there is a road abnormality event of a landslide ahead of the driving road of the first vehicle, so that the first vehicle starts to collect information such as the abnormal position of the road, the navigation route to which the road belongs, the road travel direction, the abnormal lane of the road, and related data through the vehicle-side camera to generate a road abnormality event and upload it to the navigation end. After receiving the road abnormality event uploaded by the first vehicle, the navigation end triggers process 1, process 2 and process 3 in the above embodiment.

[0176] See also Fig.12 The embodiment of the present application also provides a transmission device for abnormal road events, which can implement the above-mentioned vehicle navigation method based on abnormal road events. The device can be applied to the first vehicle or to the cloud server. The device includes an acquisition module 1201, an abnormality identification module 1202, a first transmission module 1203, a receiving module 1204, a path planning module 1205 and a second transmission module 1206. Among them,

[0177] An acquisition module 1201 is used to acquire image data of a road on which a first vehicle is traveling;

[0178] An abnormality identification module 1202, used for identifying abnormal road events of the driving road based on the image data;

[0179] A first transmission module 1203 is used to upload the abnormal road event to the navigation terminal, so that the navigation terminal obtains a first auxiliary navigation path to avoid the abnormal road event based on the abnormal road event, and sends the first auxiliary navigation path to the first vehicle and / or the second vehicle through the navigation terminal;

[0180] In addition, the receiving module 1204 is used to receive the road abnormality event uploaded by the first vehicle; wherein the road abnormality event is obtained by the first vehicle performing abnormality recognition on the image data of the road on which the first vehicle travels;

[0181] A path planning module 1205 is used to plan a navigation path based on the abnormal road event to obtain a first auxiliary navigation path that avoids the abnormal road event;

[0182] The second transmission module 1206 is configured to send the first auxiliary navigation route to the first vehicle and / or the second vehicle.

[0183] In some embodiments, the transmission device for abnormal road events provided in the embodiments of the present application further includes an assisted driving control module for receiving the first auxiliary navigation path sent by the navigation end; and performing automatic assisted navigation driving based on the first auxiliary navigation path.

[0184] In some embodiments, the assisted driving control module is further used to receive updated electronic map data sent by the navigation terminal; and to perform automatic assisted navigation driving based on the updated electronic map data.

[0185] In some embodiments, the assisted driving control module is further used to plan a navigation path based on the abnormal road event to obtain a second auxiliary navigation path that avoids the abnormal road event; and to perform automatic assisted navigation driving based on the second auxiliary navigation path.

[0186] In some embodiments, the second transmission module 1206 is further used to update the electronic map data based on the abnormal road event to obtain updated electronic map data; and send the updated electronic map data to the first vehicle and / or the second vehicle.

[0187] In some embodiments, the road abnormality event includes: an abnormal road position; a second transmission module 1206, which is also used to obtain a navigation path used by at least two preset vehicles for intelligent driving; determine the navigation path containing the abnormal road position as the target navigation path; and determine the vehicle using the target navigation path as the second vehicle.

[0188] It should be noted that the specific implementation of the transmission device for abnormal road events provided in the embodiment of the present application is basically the same as the specific implementation of the vehicle navigation method based on abnormal road events described above, and will not be repeated here.

[0189] An embodiment of the present application also provides a vehicle, the vehicle includes an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the above-mentioned vehicle navigation method based on abnormal road events is implemented.

[0190] An embodiment of the present application further provides a navigation terminal, which includes an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the above-mentioned vehicle navigation method based on road abnormal events when executing the computer program.

[0191] The embodiment of the present application also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the above-mentioned vehicle navigation method based on road abnormal events when executing the computer program. The electronic device can be any intelligent terminal including a tablet computer, a vehicle-mounted computer, etc.

[0192] See also Fig.13 , Fig.13 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0193] The processor 1301 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0194] The memory 1302 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1302 can store an operating system and other applications. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1302, and the processor 1301 is used to call and execute the vehicle navigation method based on abnormal road events in the embodiment of this application;

[0195] Input / output interface 1303, used to implement information input and output;

[0196] The communication interface 1304 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0197] A bus 1305 that transmits information between the various components of the device (e.g., the processor 1301, the memory 1302, the input / output interface 1303, and the communication interface 1304);

[0198] The processor 1301 , the memory 1302 , the input / output interface 1303 and the communication interface 1304 are connected to each other in communication within the device via a bus 1305 .

[0199] An embodiment of the present application also provides a vehicle, which is equipped with an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the above-mentioned vehicle navigation method based on road abnormal events when executing the computer program.

[0200] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the vehicle navigation method based on abnormal road events is implemented.

[0201] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0202] The embodiment of the present application also provides a computer program product, including a computer program. The steps implemented when the computer program is executed by a processor are basically the same as the specific embodiment of the vehicle navigation method based on road abnormal events mentioned above, and will not be repeated here.

[0203] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0204] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0205] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0206] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0207] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0208] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0209] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as 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 devices or units, which can be electrical, mechanical or other forms.

[0210] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0211] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0212] 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, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0213] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A vehicle navigation method based on abnormal road events, characterized in that: The method comprises: Acquiring image data of a road on which the first vehicle is traveling; identifying a road abnormality event on the driving road based on the image data; The abnormal road event is uploaded to the navigation end, so that the navigation end obtains a first auxiliary navigation path to avoid the abnormal road event based on the abnormal road event, and sends the first auxiliary navigation path to the first vehicle and / or the second vehicle through the navigation end.

2. The method according to claim 1, characterized in that The method further comprises: Receiving the first auxiliary navigation path sent by the navigation terminal; Automatic assisted navigation driving is performed based on the first assisted navigation path.

3. The method according to claim 1, characterized in that The abnormal road event is also used by the navigation terminal to update the electronic map data. After uploading the abnormal road event to the navigation terminal, the method further includes: Receiving updated electronic map data sent by the navigation terminal; Automatic assisted navigation driving is performed based on the updated electronic map data.

4. The method according to claim 1, characterized in that The method further comprises: Performing navigation path planning based on the abnormal road event to obtain a second auxiliary navigation path that avoids the abnormal road event; Automatic assisted navigation driving is performed based on the second assisted navigation path.

5. A vehicle navigation method based on abnormal road events, characterized in that: The method is applied to a navigation terminal, and the method includes: Receiving a road abnormality event uploaded by a first vehicle; wherein the road abnormality event is obtained by the first vehicle performing abnormality recognition on image data of a road on which the first vehicle is traveling; Performing navigation path planning based on the abnormal road event to obtain a first auxiliary navigation path that avoids the abnormal road event; The first assisted navigation route is transmitted to the first vehicle and / or the second vehicle.

6. The method according to claim 5, characterized in that The method further comprises: updating the electronic map data based on the abnormal road event to obtain updated electronic map data; The updated electronic map data is sent to the first vehicle and / or the second vehicle.

7. The method according to claim 6, characterized in that The road abnormality event includes: abnormal road position; Before sending the updated electronic map data to the second vehicle, the method further includes: Obtaining navigation paths used by at least two preset vehicles for intelligent driving; Determining a navigation path including the abnormal position of the road as a target navigation path; A vehicle using the target navigation path is determined as the second vehicle.

8. The method according to any one of claims 1 to 4 or 5 to 7, characterized in that The road abnormality event includes at least one piece of information of a road abnormality type, a road abnormality location, a navigation route to which the road belongs, a road travel direction, and a road abnormality lane.

9. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the vehicle navigation method based on road abnormal events as described in any one of claims 1 to 4 or 5 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the vehicle navigation method based on abnormal road events according to any one of claims 1 to 4 or 5 to 7 is implemented.

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