Navigation method, electronic equipment and storage medium

Abstract

The invention provides a navigation method, electronic equipment and a storage medium, and relates to the technical field of traffic navigation. The method comprises the steps that under the condition that it is determined that a preset range where a target road section is located comprises a plurality of terminals, according to obtained motion information of the plurality of terminals relative to the target road section, the convergence probability of the plurality of target terminals is determined, and the convergence probability of the plurality of target terminals represents the probability that the plurality of target terminals reach the target road section at the same time; under the condition of determining that the convergence probability of the plurality of target terminals is greater than a preset probability threshold, generating a navigation strategy for the target terminals based on the motion information and weight information of each target terminal relative to the target road section; and sending the navigation strategy to each target terminal. Therefore, each target terminal can sequentially pass through the target road section based on the navigation strategy without depending on indication signals of hardware equipment such as traffic lights, the proportion of abnormal conditions such as traffic jam or traffic paralysis of the target road section is reduced, and the traffic safety is improved.

Description

Technical Field

[0001] The present application relates to the technical field of traffic navigation, and in particular to a navigation method, an electronic device and a storage medium. Background Art

[0002] At present, traffic information in cities mainly relies on hardware equipment such as traffic lights to sort out vehicles and pedestrians. However, if the hardware equipment fails or is under maintenance, the road section where the hardware equipment is used for traffic sorting will not be able to provide traffic instructions to vehicles and pedestrians, resulting in traffic congestion or even traffic paralysis on the road section. Summary of the invention

[0003] The present application provides a navigation method, an electronic device and a storage medium.

[0004] An embodiment of the present application provides a navigation method, the method comprising: when it is determined that a preset range where a target section is located includes multiple terminals, determining a convergence probability of the multiple target terminals based on acquired motion information of the multiple terminals relative to the target section, the convergence probability of the multiple target terminals representing the probability that the multiple target terminals simultaneously reach the target section; when it is determined that the convergence probability of the multiple target terminals is greater than a preset probability threshold, generating a navigation strategy for the target terminal based on the motion information and weight information of each target terminal relative to the target section; and sending the navigation strategy to each target terminal.

[0005] An embodiment of the present application provides a navigation method, which includes: when it is determined that the current terminal is within a preset range where the target road section is located, sending movement information of the current terminal relative to the target road section to a server; in response to a navigation strategy sent by the server, generating a traffic signal instructing the device carrying the current terminal to pass through the target road section according to the navigation strategy.

[0006] An embodiment of the present application provides an electronic device, including: one or more processors; a memory, on which one or more programs are stored. When the one or more programs are executed by one or more processors, the one or more processors implement any one of the navigation methods in the embodiments of the present application.

[0007] An embodiment of the present application provides a readable storage medium, which stores a computer program. When the computer program is executed by a processor, any one of the navigation methods in the embodiments of the present application is implemented.

[0008] According to the navigation method, electronic device and storage medium of the embodiment of the present application, when it is determined that a preset range where a target road section is located includes multiple terminals, the convergence probability of the multiple target terminals is determined based on the acquired motion information of the multiple terminals relative to the target road section, and based on the convergence probability, it can be determined whether each target terminal can converge on the target road section to form a traffic jam, wherein the convergence probability of the multiple target terminals represents the probability that the multiple target terminals reach the target road section at the same time; when it is determined that the convergence probability of the multiple target terminals is greater than a preset probability threshold, it is determined that each target terminal will converge on the target road section. At this time, based on the motion information and weight information of each target terminal relative to the target road section, a navigation strategy for the target terminal is generated, so that the navigation strategy can reflect the motion situation of each target terminal, and the weight information corresponding to the motion information of different target terminals relative to the target road section is different, so that when the navigation strategy for the target terminal is sent to each target terminal, each target terminal can pass through the target road section in sequence based on the navigation strategy, without relying on the indication signal of hardware devices such as traffic lights, thereby reducing the proportion of abnormalities such as traffic congestion or traffic paralysis on the target road section and improving traffic safety.

[0009] With regard to the above embodiments and other aspects of the present application and their implementation, further description is provided in the accompanying drawings, detailed description and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 A flowchart of a navigation method provided in an embodiment of the present application is shown.

[0011] Figure 2 A flowchart of a navigation method provided by another embodiment of the present application is shown.

[0012] Figure 3 A block diagram showing the composition of a server provided in one embodiment of the present application is shown.

[0013] Figure 4 A block diagram showing the composition of a terminal provided in one embodiment of the present application is shown.

[0014] Figure 5 A block diagram showing the composition of a navigation system provided by an embodiment of the present application is shown.

[0015] Figure 6 A flowchart of a working method of a navigation system provided in an embodiment of the present application is shown.

[0016] Figure 7 A schematic diagram of a target road section provided in an embodiment of the present application is shown.

[0017] Figure 8A structural diagram showing an exemplary hardware architecture of a computing device capable of implementing the navigation method and apparatus according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present application more clear, the embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0019] In the current road traffic process, vehicles usually rely on hardware equipment such as traffic lights to pass through different traffic sections in sequence. However, if the hardware equipment fails or is under maintenance, or if there are no traffic lights on some relatively remote sections, multiple vehicles and pedestrians who need to pass through the section need to determine whether they can safely pass through the section through human autonomous observation and other methods. Since the driver's field of vision is limited and pedestrians or vehicles in all directions cannot be observed, it is easy to cause misjudgment, resulting in traffic accidents, or abnormalities such as traffic congestion, which reduces traffic safety.

[0020] The present application provides a navigation method, an electronic device and a storage medium to solve the above problems.

[0021] Figure 1 FIG. 1 is a flow chart of a navigation method provided by an embodiment of the present application. The navigation method can be applied to a server or a vehicle-mounted terminal or other device. Figure 1 As shown, the navigation method in the embodiment of the present application includes but is not limited to the following steps.

[0022] Step S101 : when it is determined that a preset range where a target road section is located includes a plurality of terminals, a convergence probability of the plurality of target terminals is determined according to acquired motion information of the plurality of terminals relative to the target road section.

[0023] The convergence probability of multiple target terminals represents the probability that the multiple target terminals reach the target section at the same time.

[0024] Step S102 : when it is determined that the convergence probability of the multiple target terminals is greater than a preset probability threshold, a navigation strategy for the target terminal is generated based on the motion information and weight information of each target terminal relative to the target road segment.

[0025] Step S103: Send the navigation strategy to each target terminal.

[0026] In this embodiment, when it is determined that a plurality of terminals are included in a preset range where a target road section is located, the convergence probability of the plurality of target terminals is determined based on the acquired motion information of the plurality of terminals relative to the target road section. Based on the convergence probability, it can be determined whether each terminal can converge on the target road section to form a traffic jam, wherein the convergence probability of the plurality of target terminals represents the probability that the plurality of target terminals simultaneously reach the target road section. When it is determined that the convergence probability of the plurality of target terminals is greater than a preset probability threshold, it is determined that each target terminal will converge on the target road section. At this time, based on the motion information and weight information of each target terminal relative to the target road section, a navigation strategy for the target terminal is generated, so that the navigation strategy can reflect the motion situation of each target terminal. Different target terminals have different weight information corresponding to their motion information relative to the target road section. Therefore, when the navigation strategy is sent to each target terminal, each target terminal can sequentially pass through the target road section based on the navigation strategy without relying on the indication signal of hardware devices such as traffic lights, thereby reducing the proportion of abnormalities such as traffic jams or traffic paralysis on the target road section and improving traffic safety.

[0027] In some exemplary embodiments, the movement information of multiple terminals relative to the target section includes: distance information of the multiple terminals relative to the target section and speed information of the multiple terminals relative to the target section. The convergence probability of the multiple target terminals includes the time convergence probability, which characterizes whether there is an intersection in the time periods when the various target terminals arrive at the target section.

[0028] Determining the convergence probability of multiple target terminals based on the acquired motion information of multiple terminals relative to the target section in step S101 can be implemented in the following manner: determining the time period for each terminal to arrive at the target section based on a preset time estimation coefficient, the distance information of the multiple terminals relative to the target section, and the speed information of the multiple terminals relative to the target section, wherein the multiple terminals include the target terminal; determining the time convergence probability of the multiple target terminals based on the time period for each terminal to arrive at the target section.

[0029] The preset time estimation coefficient may be a coefficient preset according to actual needs for calculating the time period range. For example, the preset time estimation coefficient may be set to different thresholds such as 10%, 20%, etc., and this application does not limit this.

[0030] For example, when the preset time estimation coefficient is set to 10%, after calculating the time when each target terminal arrives at the target section through the distance information of the target terminal relative to the target section and the speed information of the target terminal, the time is multiplied by (1-10%) and (1+10%) respectively to obtain the upward floating range to that time, thereby obtaining the time period when each target terminal arrives at the target section.

[0031] Furthermore, the time periods when each target terminal arrives at the target section are compared. For example, when the time periods when each target terminal arrives at the target section are set to be adjacent, the convergence probability corresponding to the adjacent moments is set to the preset probability threshold. When it is determined that the time periods when each target terminal arrives at the target section have an intersection, it can be determined that the time convergence probability is greater than the preset probability threshold; when it is determined that there is no intersection between the time periods when each target terminal arrives at the target section, it can be determined that the time convergence probability is less than or equal to the preset probability threshold.

[0032] The convergence probability of multiple target terminals is determined by the time period when multiple target terminals arrive at the target section, so as to determine whether each target terminal can converge on the target section based on the convergence probability, so as to plan the driving route of each target terminal in advance, reduce the probability of abnormal occurrence such as collision of the target terminal on the target section, and improve traffic safety.

[0033] In some exemplary embodiments, the movement information of the target terminal relative to the target road section also includes: the number of waiting terminals in the driving direction of the target terminal relative to the target road section; the weight information includes: the waiting weight corresponding to the number of waiting terminals in the same driving direction as the target terminal relative to the target road section; the more the number of waiting terminals, the higher the waiting weight.

[0034] In some exemplary embodiments, the step S102 of generating a navigation strategy for the target terminal based on the motion information and weight information of each target terminal relative to the target road segment may be implemented in the following manner:

[0035] Generate a navigation strategy for the target terminal based on at least one of the following information and its corresponding weight information:

[0036] User identity information of the target terminal and its corresponding first weight;

[0037] Destination information of the target terminal and its corresponding second weight;

[0038] The traffic condition information corresponding to the target terminal and its corresponding third weight.

[0039] For example, when the user identity information of the target terminal is at least one of an elderly person, a child, and a disabled person, the first weight can be set to 1.2; when the user identity information of the target terminal is an ordinary adult, the first weight can be set to 1; wherein, the user identity information of each target terminal can be determined based on the registration information when each target terminal registers to the communication system.

[0040] When the destination of the target terminal is a hospital, school or other place that needs to be reached urgently, the second weight can be set to 1.2; otherwise, the second weight is set to 1.

[0041] The road condition information corresponding to the target terminal includes: the road section where the target terminal is located is a main road or a road section with a traffic volume greater than a preset traffic volume threshold (the corresponding third weight is set to 1.2); the road section where the target terminal is located is an ordinary road section (for example, urban roads, auxiliary roads, etc. with a traffic volume less than or equal to the preset traffic volume threshold, the third weight can be set to 1).

[0042] In some embodiments, a navigation policy for the target terminal may also be generated based on the courtesy weight of the target terminal and / or the compliance navigation weight of the target terminal.

[0043] The courtesy weight of the target terminal is determined when the communication coefficients of the target terminals in different driving directions are similar. If a target terminal makes a courtesy (i.e., lets other vehicles pass the target section first), the courtesy weight of the target terminal will increase; if a target terminal does not make a courtesy (i.e., does not let other vehicles pass the target section first), the courtesy weight of the target terminal will decrease.

[0044] The target terminal's navigation compliance weight is a weight determined based on the number of times each target terminal complies with the navigation system's scheduling. Among them, the more times a target terminal complies with the navigation system's scheduling, the higher the target terminal's navigation compliance weight; otherwise, the target terminal's navigation compliance weight is lower. For example, the initial navigation compliance weight is set to 1. If the target terminal complies with the navigation system's scheduling times greater than the preset times threshold, the initial navigation compliance weight can be increased to 1.1; if the target terminal complies with the navigation system's scheduling times less than or equal to the preset times threshold, the initial navigation compliance weight can be reduced to 0.9.

[0045] Based on the above at least one information and its corresponding weight information, a navigation strategy is generated, so that the obtained navigation strategy can reflect the weight information corresponding to information of different dimensions, making the navigation strategy more fair.

[0046] In some exemplary embodiments, the movement information of the target terminal relative to the target road section also includes: the number of waiting terminals in the driving direction of the target terminal relative to the target road section; the weight information includes: the waiting weight corresponding to the number of waiting terminals in the same driving direction as the target terminal relative to the target road section.

[0047] The more waiting terminals corresponding to the driving direction, the higher the waiting weight. For example, the initial waiting weight is set to 1. If a waiting terminal is added in a driving direction in the target road section, the waiting weight corresponding to the driving direction is increased by 0.1 on the basis of 1. In particular, the maximum value of the number of waiting terminals corresponding to the driving direction can be set to 20.

[0048] By setting the waiting weight, the waiting weight can reflect the number of waiting terminals corresponding to the driving direction of the target terminal relative to the target road section, so that the final navigation strategy can take into account multiple waiting terminals in different driving directions, so that each waiting terminal in the driving direction with a high waiting weight can pass through the target road section first, so as to reduce the traffic pressure on the target road section.

[0049] In some exemplary embodiments, the movement information of the multiple terminals relative to the target road segment further includes: the driving directions of the multiple terminals relative to the target road segment, and the driving directions include at least a first direction and a second direction.

[0050] Generating a navigation strategy for the target terminal based on the motion information and weight information of each target terminal relative to the target section in step S102 can be implemented in the following manner: based on the weight corresponding to the first direction, taking a weighted average of the motion information of each target terminal in the first direction to determine the pass coefficient corresponding to the first direction; based on the weight corresponding to the second direction, taking a weighted average of the motion information of each target terminal in the second direction to determine the pass coefficient corresponding to the second direction; generating a navigation strategy for the target terminal based on the pass coefficient corresponding to the first direction, the pass coefficient corresponding to the second direction, the speed information of each target terminal relative to the target section, and the distance information of each target terminal relative to the target section.

[0051] Among them, the weight corresponding to the first direction may include multiple weights (for example, the user identity information of the target terminal and its corresponding first weight, the destination of the target terminal and its corresponding second weight, the road condition information corresponding to the target terminal and its corresponding third weight, the courtesy weight of the target terminal, the navigation compliance weight of the target terminal, and the waiting weight corresponding to the number of waiting terminals corresponding to the driving direction of the target terminal relative to the target road section, etc.); the weight corresponding to the second direction may also include multiple weights (for example, the user identity information of the target terminal and its corresponding first weight, the destination of the target terminal and its corresponding second weight, the road condition information corresponding to the target terminal and its corresponding third weight, the courtesy weight of the target terminal, the navigation compliance weight of the target terminal, and the waiting weight corresponding to the number of waiting terminals corresponding to the driving direction of the target terminal relative to the target road section, etc.).

[0052] For example, the basic value corresponding to each different motion information is set to 1. For the first direction, the first weight can be multiplied by the basic value corresponding to the user identity information of the target terminal, the second weight can be multiplied by the basic value corresponding to the destination of the target terminal, the third weight can be multiplied by the basic value corresponding to the road condition information corresponding to the target terminal, the courtesy weight of the target terminal can be multiplied by the basic courtesy coefficient (for example, set to 1), the navigation compliance weight of the target terminal can be multiplied by the basic navigation coefficient (for example, set to 1), and the waiting weight can be multiplied by the number of waiting terminals corresponding to the driving direction of the target terminal relative to the target road section; then, the above product values ​​are added to obtain the communication coefficient corresponding to the first direction.

[0053] Similarly, the calculation method of the communication coefficient corresponding to the second direction is the same as the communication coefficient corresponding to the first direction, which will not be repeated here.

[0054] Furthermore, based on the traffic coefficient corresponding to the first direction, the traffic coefficient corresponding to the second direction, the speed information of each waiting terminal and the distance information of each waiting terminal relative to the target section, the time for each waiting terminal in different directions to pass through the target section can be determined, so that the traffic order of each waiting terminal in different directions can be planned respectively (for example, if the communication coefficient corresponding to the first direction is higher than the communication coefficient corresponding to the second direction, then the waiting terminals in the first direction can be planned to pass through the target section first, and after all the waiting terminals in the first direction have passed through the target section, the waiting terminals in the second direction can be allowed to pass through the target section in turn), thereby generating a navigation strategy so that the navigation strategy can instruct multiple target terminals in different directions to pass through the target section smoothly, thereby improving traffic safety.

[0055] In some optional embodiments, the navigation strategy generated above, the motion information and weight information corresponding to each target terminal in different directions may be stored in a database based on the target road segment as an index, so as to facilitate subsequent data analysis.

[0056] In some exemplary embodiments, the movement information of multiple terminals relative to the target section includes: the distance information of the multiple terminals relative to the target section; the convergence probability of multiple target terminals includes the distance convergence probability, which represents the probability of whether there is an intersection when each target terminal moves to the target section.

[0057] In step S101, the convergence probability of multiple target terminals is determined based on the acquired motion information of multiple terminals relative to the target section. This can be achieved in the following way: when it is determined that the distance information of each target terminal relative to the target section is less than a preset distance threshold, the distance convergence probability is determined based on the distance information of each target terminal relative to the target section and a preset distance estimation coefficient.

[0058] The preset distance estimation coefficient may be a coefficient preset according to actual needs for calculating the distance between the terminal and the target section. The preset distance threshold may be set differently according to the type of the target terminal.

[0059] For example, when it is determined that the target terminal is a vehicle-mounted terminal, the preset distance threshold can be set as the distance threshold of the vehicle-mounted terminal relative to the target road section (for example, 100 meters or 150 meters, etc.); when it is determined that the target terminal is a terminal held by a pedestrian, the preset distance threshold can be set as the distance threshold of the terminal held by the pedestrian relative to the target road section (for example, 5 meters or 10 meters, etc.); when it is determined that the target terminal is a terminal used by a driver of a non-motor vehicle (for example, a bicycle, etc.), the preset distance threshold can be set as the distance threshold of the terminal used by the driver of the non-motor vehicle relative to the target road section (for example, 15 meters or 20 meters, etc.).

[0060] Through the above-mentioned different distance thresholds, it is possible to clearly determine whether each target terminal is within the preset range of the target section, and based on the distance information of each target terminal relative to the target section, determine whether each target terminal has the probability of cross-traffic when it moves to the target section, thereby determining the distance convergence probability, so as to determine whether each target terminal can converge on the target section based on the distance convergence probability, thereby planning the driving route of each target terminal in advance, reducing the probability of abnormal occurrence such as collision of the target terminal on the target section, and improving traffic safety.

[0061] In some exemplary embodiments, multiple terminals include a terminal to be processed; before determining the convergence probability of multiple target terminals based on the acquired motion information of the multiple terminals relative to the target section in step S101, the method also includes: when it is determined that the relative distance between the terminal to be processed and the target section has not changed within a preset time period, and other terminals with the same driving direction as the terminal to be processed have passed the target section, interacting with the terminal to be processed through messages to determine whether the terminal to be processed needs navigation services; when it is determined that the terminal to be processed does not need navigation services, deleting the terminal to be processed from the multiple terminals, and deleting the motion information of the terminal to be processed relative to the target section.

[0062] For example, in the direction of movement from east to west, there are multiple terminals (e.g., terminal 1, terminal 2, terminal 3, terminal 4, and terminal 5, etc.). By confirming the location information of terminal 2, terminal 3, terminal 4, and terminal 5, it is determined that the relative distances between the above four terminals and the target section have changed; at this time, it is the turn of terminal 1 to pass through the target section in sequence, but through the acquired location information of terminal 1, it is determined that the relative distance between terminal 1 and the target section has not changed within the preset time length, and other terminals with the same travel direction as the terminal to be processed (i.e., terminal 2, terminal 3, terminal 4, and terminal 5) have passed through the target section. The server can send a navigation confirmation request to terminal 1 to obtain whether terminal 1 needs the server to provide navigation services for it.

[0063] When the server receives the navigation confirmation response fed back by terminal 1 (for example, the navigation confirmation response carries a stop navigation flag, etc.), it can be determined that terminal 1 does not need the server to provide navigation services for it (for example, terminal 1 may not need to pass through the target section at this time, but stays on the roadside at a certain distance from the target section, or terminal 1 has reached its destination and does not need to pass through the target section at this time). Therefore, the terminal to be processed can be deleted from multiple terminals, and the movement information of the terminal to be processed relative to the target section can be deleted to reduce the data processing pressure of the server.

[0064] In some optional embodiments, the server may also set a timer while sending a confirmation navigation request to terminal 1. If no confirmation navigation response is received from terminal 1 within the preset time period set by the timer, it can also be determined that terminal 1 no longer needs the server to provide navigation services for it, and the server can delete the movement information of terminal 1.

[0065] In some exemplary embodiments, the navigation strategy for the target terminal includes: a strategy displayed in the form of a traffic signal, the traffic signal includes a virtual traffic light signal, and / or a voice prompt signal.

[0066] For example, a red light is used to indicate that it is prohibited to pass through the target section, a green light indicates that it is possible to pass through the target section, and a yellow light indicates waiting at the target section; and / or, based on a voice prompt signal, a traffic prompt is given to the driver of the vehicle carrying the current terminal (such as, "Please pass the current section in sequence", or, "Please drive carefully, there are many vehicles converging on the section ahead, slow down", or "Please stop driving, there are vehicles passing on the section ahead", etc.).

[0067] By displaying the navigation strategy in the form of the above-mentioned different traffic signals, the target terminal can quickly confirm whether it can pass the target section based on the traffic signal after obtaining the navigation strategy, so that the target terminal can control the braking system of the vehicle carrying the target terminal to ensure that the vehicle can pass the target section quickly and safely.

[0068] In some exemplary embodiments, after executing step S103 of sending the navigation strategy to each target terminal, the method further includes: obtaining real-time location information of each target terminal; determining, based on the real-time location information of each target terminal, that at least one target terminal has passed the target section, and when there are still target terminals that have not passed the target section, updating the navigation strategy based on the motion information and weight information of the target terminals that have not passed the target section relative to the target section.

[0069] Among them, by obtaining the real-time location information of each target terminal (for example, positioning each target terminal through a preset positioning method, thereby obtaining the real-time location information of each target terminal, such as the longitude and latitude information corresponding to the target terminal, etc.), the distance and direction of each target terminal relative to the target section can be known, and then based on the distance and direction, it is determined whether each target terminal has passed the target section.

[0070] When there is at least one target terminal that has passed the target section and there are still target terminals that have not passed the target section, the motion information of the target terminal that has passed the target section can be deleted, and the navigation strategy can be updated based on the motion information of the remaining target terminals that have not passed the target section relative to the target section, and their corresponding weight information, so that the updated navigation strategy can provide navigation strategies for the remaining target terminals that have not passed the target section, so that the remaining target terminals that have not passed the target section can pass the target section sequentially, thereby improving the accuracy of the navigation strategy.

[0071] Figure 2 FIG. 2 is a flow chart of a navigation method provided by another embodiment of the present application. The navigation method can be applied to a terminal, such as a vehicle-mounted terminal and / or a terminal held by a pedestrian. Figure 2 As shown, the navigation method in the embodiment of the present application includes but is not limited to the following steps.

[0072] Step S201: When it is determined that the current terminal is within a preset range where the target road section is located, movement information of the current terminal relative to the target road section is sent to a server.

[0073] Among them, the preset range includes: at least one of: the distance threshold of the vehicle-mounted terminal relative to the target road section, the distance threshold of the terminal held by the pedestrian relative to the target road section, and the distance threshold of the terminal used by the driver of a non-motor vehicle (for example, a bicycle, etc.) relative to the target road section.

[0074] By determining whether different types of terminals are within the preset range of the target section based on different distance thresholds, the movement information of different types of terminals relative to the target section can be accurately obtained, thereby reducing the terminal data stored on the server and improving the server's processing efficiency of the movement information of each terminal.

[0075] Step S202: In response to the navigation strategy sent by the server, a traffic signal is generated to instruct the device carrying the current terminal to pass through the target road section according to the navigation strategy.

[0076] The navigation strategy is a strategy generated by the server based on the motion information of each terminal relative to the target section and the weight information corresponding to the motion information when it is determined that the convergence probability meets the preset probability threshold.

[0077] In this embodiment, by determining that the current terminal is within a preset range of the target road section, the movement information of the current terminal relative to the target road section is sent to the server, so that the server can accurately obtain the movement information of multiple terminals relative to the target road section, and determine the convergence probability of multiple target terminals based on the obtained movement information of the multiple terminals relative to the target road section. Based on the convergence probability, it can be determined whether each target terminal can converge on the target road section to form a traffic jam. When it is determined that the convergence probability of multiple target terminals is greater than a preset probability threshold, it is determined that the target terminals will converge on the target road section. At this time, the server generates a navigation strategy for the target terminal based on the motion information and weight information of each target terminal relative to the target road section, so that the navigation strategy for the target terminal can reflect the motion situation of each target terminal. The motion information of different target terminals relative to the target road section corresponds to different weight information. Therefore, when the navigation strategy is sent to each target terminal, each target terminal generates a traffic signal instructing the device carrying the current terminal to pass through the target road section according to the navigation strategy when receiving the navigation strategy sent by the server, and then passes through the target road section according to the traffic signal. This can be independent of the indication signals of hardware devices such as traffic lights, reduce the proportion of abnormalities such as traffic congestion or traffic paralysis on the target road section, and improve traffic safety.

[0078] In some exemplary embodiments, the traffic signal includes a virtual traffic light signal and / or a voice prompt signal.

[0079] For example, a red light is used to indicate that it is prohibited to pass through the target section, a green light indicates that it is possible to pass through the target section, and a yellow light indicates waiting at the target section; and / or, based on a voice prompt signal, a traffic prompt is given to the driver of the vehicle carrying the current terminal (such as, "Please pass the current section in sequence", or, "Please drive carefully, there are many vehicles converging on the section ahead, slow down", or "Please stop driving, there are vehicles passing on the section ahead", etc.).

[0080] After generating a traffic signal indicating that the vehicle carrying the current terminal passes through the target section according to the navigation strategy, the terminal can determine whether it can pass through the target section based on the traffic signal, thereby controlling the braking system of the vehicle carrying the terminal and improving the driving safety of the vehicle.

[0081] In some exemplary embodiments, the device carrying the current terminal includes a vehicle; after executing step S202 in response to the navigation strategy sent by the server, generating a traffic signal instructing the device carrying the current terminal to pass through the target road section according to the navigation strategy, it also includes: when it is determined that the traffic signal is a stop signal, sending a stop signal to the braking system of the vehicle carrying the current terminal; when it is determined that the traffic signal is a pass signal, sending a start signal to the braking system of the vehicle carrying the current terminal.

[0082] It should be noted that when the traffic signal is a stop signal, it means that other vehicles need to pass through the target section, and a stop signal is sent to the braking system of the vehicle carrying the current terminal (the stop signal is used to control the braking system, such as reducing the corresponding driving speed of the braking system so that the vehicle gradually stops on the target section); when the traffic signal is a pass signal, it means that there are no safety hazards on the target section and the vehicle can pass smoothly. At this time, a start signal is sent to the braking system of the vehicle carrying the current terminal so that the braking system can increase the vehicle's driving speed and control the vehicle to quickly pass through the target section, thereby improving the vehicle's driving safety.

[0083] The following is a detailed description of the device according to the embodiment of the present application in conjunction with the accompanying drawings. Figure 3 FIG. 1 shows a block diagram of a server provided by an embodiment of the present application. Figure 3 As shown, the server 300 includes but is not limited to the following modules.

[0084] The determination module 301 is configured to determine the convergence probability of multiple target terminals based on the acquired motion information of the multiple terminals relative to the target section when it is determined that the preset range where the target section is located includes multiple terminals. The convergence probability of multiple target terminals represents the probability that the multiple target terminals reach the target section at the same time.

[0085] The generation module 302 is configured to generate a navigation strategy for the target terminal based on the motion information and weight information of each target terminal relative to the target road section when it is determined that the convergence probability of multiple target terminals is greater than a preset probability threshold.

[0086] The first sending module 303 is configured to send a navigation strategy to each target terminal.

[0087] It should be noted that the server 300 in this embodiment can implement any navigation method applied to the server in the embodiments of the present application.

[0088] According to the device of the embodiment of the present application, when a determination module is used to determine that a preset range where a target section is located includes multiple terminals, the convergence probability of the multiple target terminals is determined based on the acquired motion information of the multiple terminals relative to the target section. Based on the convergence probability, it can be clarified whether each terminal can converge on the target section to form a traffic jam, wherein the convergence probability of the multiple target terminals represents the probability that the multiple target terminals reach the target section at the same time; when a generation module is used to determine that the convergence probability of the multiple target terminals is greater than a preset probability threshold, it is determined that each target terminal will converge on the target section. At this time, based on the motion information and weight information of each target terminal relative to the target section, a navigation strategy for the target terminal is generated, so that the navigation strategy can reflect the motion situation of each target terminal, and the weight information corresponding to the motion information of different target terminals relative to the target section is different; the first sending module is used to send the navigation strategy to each target terminal, so that each target terminal can pass through the target section sequentially based on the navigation strategy, without relying on the indication signal of hardware devices such as traffic lights, thereby reducing the proportion of abnormalities such as traffic congestion or traffic paralysis on the target section and improving traffic safety.

[0089] Figure 4 FIG. 1 shows a block diagram of a terminal provided by an embodiment of the present application. Figure 4 As shown, the terminal 400 includes but is not limited to the following modules.

[0090] The second sending module 401 is configured to send the movement information of the current terminal relative to the target section to the server when it is determined that the current terminal is in a preset range where the target section is located.

[0091] The processing module 402 is configured to generate, in response to the navigation strategy sent by the server, a traffic signal instructing the device carrying the current terminal to pass through the target road section according to the navigation strategy.

[0092] It should be noted that the server in this embodiment can implement any navigation method applied to the terminal in the embodiments of the present application.

[0093] According to the device of the embodiment of the present application, when it is determined that the current terminal is in a preset range where the target road section is located, the second sending module sends the movement information of the current terminal relative to the target road section to the server, so that the server can accurately obtain the movement information of multiple terminals relative to the target road section, and determine the convergence probability of multiple target terminals based on the obtained movement information of the multiple terminals relative to the target road section. Based on the convergence probability, it can be determined whether the various target terminals can converge on the target road section to form traffic congestion. When it is determined that the convergence probability of multiple target terminals is greater than a preset probability threshold, it is determined that the target terminals will converge on the target road section. At this time, the server generates a navigation strategy for the target terminal based on the motion information and weight information of each target terminal relative to the target road section, so that the navigation strategy for the target terminal can reflect the motion situation of each target terminal. The weight information corresponding to the motion information of different target terminals relative to the target road section is different. Therefore, when the navigation strategy is sent to each target terminal, the processing module of each target terminal generates a traffic signal instructing the device carrying the current terminal to pass through the target road section according to the navigation strategy when receiving the navigation strategy sent by the server, and then passes through the target road section according to the traffic signal. This can be independent of the indication signals of hardware devices such as traffic lights, reduce the proportion of abnormalities such as traffic congestion or traffic paralysis on the target road section, and improve traffic safety.

[0094] Figure 5 FIG. 1 is a block diagram showing the components of a navigation system provided by an embodiment of the present application. Figure 5 As shown, the navigation system includes but is not limited to the following devices: a server 510 and a terminal 520 .

[0095] The server 510 includes a communication-connected data filtering module 511, a core scheduling module 512, a communication module 513, a setting module 514, and a database module 515. The terminal 520 includes multiple terminals, such as a vehicle-mounted terminal (not shown in the figure) and / or a terminal held by a pedestrian (not shown in the figure).

[0096] The data filtering module 511 is used to filter invalid data. For example, when it is determined that the relative distance between a terminal to be processed among multiple terminals and the target section has not changed within a preset time period, and other terminals with the same driving direction as the terminal to be processed have passed the target section, a message interaction is performed with the terminal to be processed to determine whether the terminal to be processed needs navigation service; when it is determined that the terminal to be processed does not need navigation service, the terminal to be processed is deleted from the multiple terminals, and the movement information of the terminal to be processed relative to the target section is deleted. Interference information can be deleted to ensure the accuracy of navigation data.

[0097] In some optional embodiments, a timeout threshold may be set. When no confirmation navigation response is received from a certain (or some) terminal to be processed, if the timeout threshold is exceeded at the current moment, the motion information of the terminal to be processed is determined to be interference information.

[0098] The terminal to be processed may be a vehicle-mounted terminal, and the vehicle carrying the vehicle-mounted terminal stops on the roadside waiting for someone and turns on the navigation system, and there is an intersection in front of the terminal to be processed. Alternatively, the terminal to be processed is a terminal used by a pedestrian, who turns on the navigation system and chats with others on the roadside. The data generated by the above-mentioned terminals to be processed are all interference data.

[0099] The above-mentioned terminals to be processed are only examples, which can be specifically set according to actual needs. Other terminals to be processed that are not described are also within the protection scope of this application and will not be described in detail here.

[0100] The core scheduling module 512 is used to generate a navigation strategy for the target terminal based on the motion information and weight information of each target terminal relative to the target road section when it is determined that the convergence probability of multiple target terminals is greater than a preset probability threshold.

[0101] The navigation strategy is used to schedule target terminals in various directions of the target road section so that the terminals in various directions can pass through the target road section in sequence. The target road section may be a road section with multiple directions of travel, such as a crossroad.

[0102] The communication module 513 is used to enable the server 510 to communicate with each terminal in the navigation system. For example, based on the Internet communication method, the server 510 obtains the real-time data uploaded by each terminal (for example, the movement information of the terminal relative to the target road section, etc.), and when it is determined that the convergence probability of multiple target terminals is greater than the preset probability threshold, the server 510 generates a navigation strategy for the target terminal based on the movement information and weight information of each target terminal relative to the target road section; and sends the navigation strategy to each target terminal.

[0103] In some exemplary embodiments, the communication module 513 may also use a short-distance communication method (e.g., a Bluetooth communication method, a communication hotspot, etc.) to enable short-distance communication between various target terminals. For example, one of the target terminals is used as a main processing device, and the main processing device obtains real-time data transmitted by other target terminals based on the short-distance communication method, and generates a navigation strategy based on each real-time data, and sends the navigation strategy to other target terminals, so that other target terminals can pass through the target section in sequence based on the navigation strategy.

[0104] In some exemplary embodiments, the communication module 513 may also be implemented using a sensing device to obtain real-time data of each target terminal based on the sensing device.

[0105] The setting module 514 is used to set various data thresholds in the navigation system. For example, the data thresholds include but are not limited to the following values:

[0106] 1) The distance threshold of the terminal relative to the target road section. For example, the distance threshold of the vehicle-mounted terminal relative to the target road section can be set to 100 meters, the distance threshold of the terminal held by pedestrians relative to the target road section can be set to 5 meters, and the distance threshold of the terminal used by drivers of non-motor vehicles (such as bicycles, etc.) relative to the target road section can be set to 10 meters, etc. Through the above different distance thresholds, it can be clear whether each terminal enters the preset range of the target road section.

[0107] 2) Preset time estimation coefficient. For example, if the preset time estimation coefficient is set to 20%, the time when each target terminal arrives at the target section can be determined based on the distance information of the target terminal relative to the target section in different directions and the speed information of the target terminal. Then, based on the time, the time period when each target terminal arrives at the target section can be obtained by floating up and down 20%.

[0108] For example, the time when the target terminal in the first direction reaches the target section is 10 seconds after the current time, and the time when the target terminal in the second direction reaches the target section is 8 seconds after the current time. Based on the preset time estimation coefficient (i.e., 20%), 10 seconds and 8 seconds are floated up and down respectively, and it can be determined that the time period when the target terminal in the first direction reaches the target section is 8 seconds to 12 seconds after the current time, and the time period when the target terminal in the second direction reaches the target section is 6.4 seconds to 9.6 seconds after the current time. Based on the above time period, it can be determined that the target terminal in the first direction and the target terminal in the second direction have an intersection in the target section.

[0109] 3) Weights corresponding to different information, for example, the user identity information of the target terminal and its corresponding first weight, the destination of the target terminal and its corresponding second weight, the road condition information corresponding to the target terminal and its corresponding third weight, the courtesy weight of the target terminal, the navigation compliance weight of the target terminal, the waiting weight corresponding to the number of waiting terminals corresponding to the driving direction of the target terminal relative to the target road section, etc.

[0110] For example, when the user identity information of the target terminal is at least one of an elderly person, a child, and a disabled person, the first weight can be set to 1.2; when the user identity information of the target terminal is an ordinary adult, the first weight can be set to 1; wherein, the user identity information of each target terminal can be determined based on the registration information when each target terminal registers to the communication system.

[0111] When the destination of the target terminal is a hospital, school or other place that needs to be reached urgently, the second weight can be set to 1.2; otherwise, the second weight is set to 1.

[0112] The road condition information corresponding to the target terminal includes: the road section where the target terminal is located is a main road or a road section with a traffic volume greater than a preset traffic volume threshold (the corresponding third weight is set to 1.2); the road section where the target terminal is located is an ordinary road section (for example, urban roads, auxiliary roads, etc. with a traffic volume less than or equal to the preset traffic volume threshold, the third weight can be set to 1).

[0113] The courtesy weight of the target terminal is determined to be similar to the communication coefficients of the target terminals in different driving directions. If a target terminal makes a courtesy (i.e., lets other vehicles pass the target section first), the courtesy weight of the target terminal will increase; if a target terminal does not make a courtesy (i.e., does not let other vehicles pass the target section first), the courtesy weight of the target terminal will decrease.

[0114] For example, a target terminal in a first direction and a target terminal in a second direction meet on a target road section. If the target terminal in the first direction yields, i.e., allows the target terminal in the second direction to pass through the target road section first, the yielding weight of the target terminal in the first direction will be increased from the initial setting of 1 to 1.1;

[0115] If the target terminal in the first direction does not make a courtesy move, that is, the target terminal in the first direction passes through the target section first, and the target terminal in the second direction passes through the target section later, the courtesy weight of the target terminal in the first direction will be reduced from the initial setting of 1 to 0.9.

[0116] The target terminal's navigation compliance weight is determined based on the number of times each target terminal complies with the navigation system's scheduling. The more times a target terminal complies with the navigation system's scheduling, the higher the target terminal's navigation compliance weight; otherwise, the target terminal's navigation compliance weight is lower.

[0117] For example, the initial navigation compliance weight is set to 1. If the target terminal complies with the navigation system's scheduling times greater than the preset times threshold, the initial navigation compliance weight can be increased to 1.1; if the target terminal complies with the navigation system's scheduling times less than or equal to the preset times threshold, the initial navigation compliance weight can be reduced to 0.9.

[0118] The waiting weight is a weight determined based on the number of waiting terminals corresponding to the driving direction of the target terminal relative to the target road section, wherein the more waiting terminals corresponding to the driving direction, the higher the waiting weight. For example, the initial waiting weight is set to 1. If one waiting terminal is added in a driving direction of the target road section, the waiting weight corresponding to the driving direction is increased by 0.1 on the basis of 1. In particular, the maximum value of the number of waiting terminals corresponding to the driving direction can be set to 20.

[0119] Database module 515 is used to store, based on the identifier of the target road section as an index, movement information of multiple terminals within a preset range of the target road section relative to the target road section, and various data thresholds (for example, a distance threshold of the terminal relative to the target road section, a preset time estimation coefficient, user identity information of the target terminal and its corresponding first weight, the destination of the target terminal and its corresponding second weight, road condition information corresponding to the target terminal and its corresponding third weight, the courtesy weight of the target terminal, the navigation compliance weight of the target terminal, the waiting weight corresponding to the number of waiting terminals corresponding to the driving direction of the target terminal relative to the target road section, etc.).

[0120] Among them, the navigation strategy includes: a strategy displayed in the form of a traffic signal, the traffic signal includes a virtual traffic light signal (for example, a red light indicates that it is prohibited to pass through the target section, a green light indicates that it is possible to pass through the target section, and a yellow light indicates waiting at the target section), and / or a voice prompt signal.

[0121] The terminal 520 is used to send the movement information of the current terminal relative to the target road section to the server when it is determined that it is in the preset range where the target road section is located; in response to the navigation strategy sent by the server, generate a traffic signal instructing the device carrying the current terminal to pass through the target road section according to the navigation strategy, and the traffic signal includes a virtual traffic light signal and / or a voice prompt signal; when it is determined that the traffic signal obtained by the terminal 520 is a stop signal, send a stop signal to the brake system of the vehicle carrying the terminal 520; when it is determined that the traffic signal obtained by the terminal 520 is a pass signal, send a start signal to the brake system of the vehicle carrying the terminal 520. The terminal 520 can be a terminal supporting automatic driving.

[0122] It should be noted that the server 510 in the navigation system can generate a navigation strategy for the target terminal based on the motion information and weight information of each target terminal relative to the target section when there is no traffic light on the target section and the convergence probability of multiple target terminals is greater than a preset probability threshold; thereby, when the navigation strategy is sent to each target terminal, each target terminal can pass through the target section sequentially based on the navigation strategy without relying on the indication signals of hardware devices such as traffic lights, thereby reducing the proportion of abnormalities such as traffic congestion or traffic paralysis on the target section and improving traffic safety.

[0123] Figure 6 A flowchart of a working method of a navigation system provided by an embodiment of the present application is shown. Figure 6 As shown, the working method of the navigation system includes but is not limited to the following steps.

[0124] Step S601 : When the terminal 520 determines that it is in a preset range where the target road segment is located, the terminal 520 sends movement information of the terminal 520 relative to the target road segment to the server 510 .

[0125] The user of the terminal 520 may be any one of a pedestrian, a motor vehicle driver, and a non-motor vehicle driver. The preset range may be set as follows: the distance threshold of the vehicle-mounted terminal relative to the target road section may be set to 100 meters, the distance threshold of the terminal held by pedestrians relative to the target road section may be set to 5 meters, and the distance threshold of the terminal used by drivers of non-motor vehicles (e.g., bicycles, etc.) relative to the target road section may be set to 10 meters, etc. When different terminals enter the corresponding preset range, their movement information relative to the target road section needs to be sent to the server 510.

[0126] Step S602 : based on the identifier of the target road segment, the server 510 stores the acquired motion information of multiple terminals relative to the target road segment and each data threshold value that matches the identifier of the target road segment in the database module 515 .

[0127] The movement information of the multiple terminals relative to the target road section includes: the movement information of the multiple terminals that enter the preset range where the target road section is located relative to the target road section.

[0128] Step S603: the server 510 determines whether the convergence probability of the multiple target terminals is greater than a preset probability threshold.

[0129] The convergence probability of multiple target terminals represents the probability that the multiple target terminals reach the target section at the same time. The convergence probability of multiple target terminals includes: time convergence probability and / or distance convergence probability. The distance convergence probability is used to represent the probability of whether there is an intersection when each target terminal moves to the target section, and the time convergence probability is used to represent whether there is an intersection in the time period when each target terminal reaches the target section.

[0130] For example, when it is determined that the distance information of each target terminal relative to the target section is less than a preset distance threshold, the distance convergence probability is determined based on the distance information of each target terminal relative to the target section and a preset distance estimation coefficient. Among them, the preset distance estimation coefficient can be a coefficient pre-set according to actual needs for calculating the distance between the terminal and the target section. The distance information of each target terminal relative to the target section includes: the distance of the terminal held by the pedestrian relative to the target section is within a first preset distance range (for example, 5 meters), and / or, the distance of the vehicle relative to the target section is within a second preset distance range (for example, 100 meters or 10 meters, etc.).

[0131] For another example, according to a preset time estimation coefficient, distance information of multiple terminals relative to the target section, and speed information of multiple terminals relative to the target section, the time period for each terminal to reach the target section is determined, wherein the terminals include the target terminal; according to the time period for each terminal to reach the target section, the time convergence probability of multiple target terminals is determined.

[0132] If it is determined that the convergence probability of the multiple target terminals is greater than the preset probability threshold, step S604 is executed; otherwise, the process ends.

[0133] Step S604: the server 510 generates a navigation strategy for the target terminal based on the motion information and weight information of each target terminal relative to the target road segment.

[0134] Wherein, the motion information of multiple terminals relative to the target road section also includes: the driving directions of multiple terminals relative to the target road section, and the driving directions include at least a first direction and a second direction. The navigation strategy can be generated in the following manner: based on the weight corresponding to the first direction, the motion information of each target terminal in the first direction is weighted averaged to determine the pass coefficient corresponding to the first direction; based on the weight corresponding to the second direction, the motion information of each target terminal in the second direction is weighted averaged to determine the pass coefficient corresponding to the second direction; based on the pass coefficient corresponding to the first direction, the pass coefficient corresponding to the second direction, the speed information of each target terminal relative to the target road section, and the distance information of each target terminal relative to the target road section, a navigation strategy for the target terminal is generated.

[0135] For example, Figure 7FIG. 1 is a schematic diagram of a target road section provided by an embodiment of the present application. Figure 7 As shown, car A is traveling from west to east, and the speed of car A is 40 kilometers per hour (km / h); car B is traveling from south to north, and the speed of car B is 30km / h.

[0136] If the preset range is set to be 100 meters from the center point (i.e., the target road section), when car B is 50 meters away from the center point, it is determined that car B has entered the preset range of the target road section. At this time, the vehicle terminal in car B needs to send the movement information of car B relative to the target road section to the server 510. Correspondingly, if car A has also entered the preset range of the target road section (for example, car A is 100 meters away from the target road section), at this time, the vehicle terminal in car A also needs to send the movement information of car A relative to the target road section to the server 510.

[0137] When the server 510 receives the movement information of the above-mentioned car A and car B, the server 510 will calculate the time period for car A to reach the target section (i.e., 100m / 40km / h*(1±20%), about 5.5 seconds to 8.3 seconds) and the time period for car B to reach the target section (i.e., 50m / 30km / h*(1±20%), about 3.7 seconds to 5.5 seconds) according to the preset time estimation coefficient (e.g., 20%), the distance information of car B relative to the target section (e.g., 50 meters), the driving speed of car B (e.g., 30km / h), the distance information of car A relative to the target section (e.g., 100 meters), and the driving speed of car A (e.g., 40km / h). By comparing the time periods for car A and car B to reach the target section, it can be determined that car A and car B have an intersection at the target section, that is, car A and car B will meet at the target section.

[0138] If the destinations of car A and car B are both common destinations and both are motor vehicles, but the road section where car A is located is a main road and the road section where car B is located is a secondary road, and there are no waiting vehicles in their respective driving directions (that is, it can be determined that the waiting time and the number of waiting terminals are both 0), then the server 510 determines to generate a navigation strategy based on the weights corresponding to the above-mentioned multiple different information, wherein the navigation strategy includes car A passing through the target section first, and then car B passing through the target section.

[0139] Step S605: the server 510 sends a navigation strategy to each target terminal.

[0140] refer to Figure 7 , the server 510 sends the navigation strategy to the vehicle-mounted terminal in car A and the vehicle-mounted terminal in car B respectively.

[0141] Step S606: When receiving the navigation strategy sent by the server 510, the target terminal generates a traffic signal instructing the vehicle carrying the target terminal to pass through the target road section according to the navigation strategy.

[0142] The traffic signal includes a virtual traffic light signal and / or a voice prompt signal.

[0143] refer to Figure 7 When the on-board terminal in car A receives the navigation strategy, it will generate a virtual traffic light signal (for example, a green light signal); when the on-board terminal in car B receives the navigation strategy, it will also generate a virtual traffic light signal (for example, a red light signal).

[0144] The on-board terminal in car A sends a start signal to the brake system of car A based on the green light signal, so that car A can pass the target section smoothly. The on-board terminal in car B sends a stop signal to the brake system of car B based on the red light signal, so that car B can temporarily stop at the target section.

[0145] It should be noted that after car A passes the target section, server 510 can know based on the motion information corresponding to the target section that, in the current period, only car B needs to navigate. At this time, the navigation strategy is updated so that car B can obtain the updated virtual traffic light signal (for example, a green light signal) so that car B can pass the target section smoothly.

[0146] In some exemplary embodiments, the vehicles waiting in different directions may include multiple vehicles, for example, Figure 7 There are multiple waiting vehicles in the driving direction from east to west (for example, there are 12 waiting vehicles), and there are 4 waiting vehicles in the driving direction from south to north. At this time, the server 510 will update the waiting weight corresponding to the number of waiting terminals corresponding to the driving direction based on the number of waiting vehicles in different driving directions. For example, the waiting weight corresponding to the driving direction from east to west is updated to 2.2, while the waiting weight corresponding to the driving direction from south to north is 1.4. Further, based on different waiting weights, the navigation strategy is updated. In the updated navigation strategy, vehicles in the driving direction from east to west are given priority to pass through the target section. After all vehicles in the driving direction from east to west have passed through the target section, the navigation strategy is updated again to allow vehicles in the driving direction from south to north to pass through the target section.

[0147] In this embodiment, when it is determined that a plurality of terminals are included in a preset range where a target road section is located, the convergence probability of the plurality of target terminals is determined based on the acquired motion information of the plurality of terminals relative to the target road section. Based on the convergence probability, it can be determined whether each target terminal can converge on the target road section to form a traffic jam, wherein the convergence probability of the plurality of target terminals represents the probability that the plurality of target terminals simultaneously reach the target road section. When it is determined that the convergence probability of the plurality of target terminals is greater than a preset probability threshold, it is determined that each target terminal will converge on the target road section. At this time, based on the motion information and weight information of each target terminal relative to the target road section, a navigation strategy for the target terminal is generated, so that the navigation strategy can reflect the motion situation of each target terminal. Different target terminals have different weight information corresponding to their motion information relative to the target road section. Therefore, when the navigation strategy for the target terminal is sent to each target terminal, each target terminal can sequentially pass through the target road section based on the navigation strategy without relying on the indication signal of hardware devices such as traffic lights, thereby reducing the proportion of abnormalities such as traffic jams or traffic paralysis on the target road section and improving traffic safety.

[0148] It should be clear that the present application is not limited to the specific configurations and processes described in the above embodiments and shown in the figures. For the convenience and brevity of description, a detailed description of the known methods is omitted here, and the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, which will not be repeated here.

[0149] Figure 8 A structural diagram showing an exemplary hardware architecture of a computing device capable of implementing the navigation method and apparatus according to an embodiment of the present application.

[0150] like Figure 8 As shown, the computing device 800 includes an input device 801, an input interface 802, a central processing unit 803, a memory 804, an output interface 805, and an output device 806. The input interface 802, the central processing unit 803, the memory 804, and the output interface 805 are connected to each other via a bus 807, and the input device 801 and the output device 806 are connected to the bus 807 via the input interface 802 and the output interface 805, respectively, and then connected to other components of the computing device 800.

[0151] Specifically, the input device 801 receives input information from the outside and transmits the input information to the central processing unit 803 through the input interface 802; the central processing unit 803 processes the input information based on the computer executable instructions stored in the memory 804 to generate output information, temporarily or permanently stores the output information in the memory 804, and then transmits the output information to the output device 806 through the output interface 805; the output device 806 outputs the output information to the outside of the computing device 800 for user use.

[0152] In one embodiment, Figure 8 The computing device shown may be implemented as an electronic device, which may include: a memory configured to store a program; and a processor configured to run the program stored in the memory to execute the navigation method described in the above embodiment.

[0153] In one embodiment, Figure 8 The computing device shown may be implemented as a navigation system, which may include: a memory configured to store a program; and a processor configured to run the program stored in the memory to execute the navigation method described in the above embodiment.

[0154] The above is only an exemplary embodiment of the present application and is not intended to limit the scope of protection of the present application. In general, various embodiments of the present application can be implemented in hardware or special circuits, software, logic or any combination thereof. For example, some aspects can be implemented in hardware, while other aspects can be implemented in firmware or software that can be executed by a controller, a microprocessor or other computing device, although the present application is not limited thereto.

[0155] Embodiments of the present application may be implemented by a processor executing computer program instructions, such as in a processor entity, or by hardware, or by a combination of software and hardware. The computer program instructions may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages.

[0156] The block diagram of any logic flow in the accompanying drawings of the present application can represent program steps, or can represent interconnected logic circuits, modules and functions, or can represent a combination of program steps and logic circuits, modules and functions. The computer program can be stored on a memory. The memory can have any type suitable for the local technical environment and can be implemented using any suitable data storage technology, such as but not limited to read-only memory (ROM), random access memory (RAM), optical memory device and system (digital versatile disc DVD or CD disc), etc. Computer-readable media may include non-transient storage media. The processor can be any type suitable for the local technical environment, such as but not limited to a general-purpose computer, a special-purpose computer, a microprocessor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a programmable logic device (FGPA) and a processor based on a multi-core processor architecture.

[0157] By way of exemplary and non-limiting examples, a detailed description of exemplary embodiments of the present application has been provided above. However, various modifications and adjustments to the above embodiments will be apparent to those skilled in the art when considered in conjunction with the accompanying drawings and claims, but will not depart from the scope of the present application. Therefore, the proper scope of the present application will be determined according to the claims.

Claims

1. A navigation method, characterized in that: The method comprises: In the case where it is determined that a preset range where the target section is located includes multiple terminals, determining a convergence probability of the multiple target terminals based on the acquired motion information of the multiple terminals relative to the target section, wherein the convergence probability of the multiple target terminals represents a probability that the multiple target terminals simultaneously reach the target section; In the case where it is determined that the convergence probability of the multiple target terminals is greater than a preset probability threshold, generating a navigation strategy for the target terminal based on the motion information and weight information of each of the target terminals relative to the target road section; The navigation strategy is sent to each of the target terminals.

2. The method according to claim 1, characterized in that: The movement information of the multiple terminals relative to the target road section includes: distance information of the multiple terminals relative to the target road section and speed information of the multiple terminals relative to the target road section, and the convergence probability of the multiple target terminals includes a time convergence probability, and the time convergence probability indicates whether there is an intersection in the time periods when the respective target terminals arrive at the target road section; The determining, based on the acquired motion information of the multiple terminals relative to the target road section, the convergence probability of the multiple target terminals includes: Determining a time period for each of the terminals to reach the target section according to a preset time estimation coefficient, distance information of the multiple terminals relative to the target section, and speed information of the multiple terminals relative to the target section, wherein the multiple terminals include the target terminal; The time convergence probability of the multiple target terminals is determined according to the time period when each of the terminals arrives at the target road section.

3. The method according to claim 2, characterized in that The movement information of the target terminal relative to the target road section further includes: the number of waiting terminals in the travel direction of the target terminal relative to the target road section; The weight information includes: a waiting weight corresponding to the number of waiting terminals having the same driving direction of the target terminal relative to the target road section; The greater the number of the waiting terminals, the higher the waiting weight.

4. The method according to claim 2, characterized in that: The movement information of the multiple terminals relative to the target road segment further includes: the driving directions of the multiple terminals relative to the target road segment, the driving directions including at least a first direction and a second direction; The generating a navigation strategy for the target terminal based on the motion information and weight information of each target terminal relative to the target road section includes: Based on the weight corresponding to the first direction, weighted averaging the motion information of each target terminal in the first direction to determine the pass coefficient corresponding to the first direction; Based on the weight corresponding to the second direction, weighted averaging the motion information of each target terminal in the second direction to determine the pass coefficient corresponding to the second direction; The navigation strategy for the target terminal is generated based on the traffic coefficient corresponding to the first direction, the traffic coefficient corresponding to the second direction, the speed information of each target terminal relative to the target section, and the distance information of each target terminal relative to the target section.

5. The method according to claim 1, characterized in that The generating a navigation strategy for the target terminal based on the motion information and weight information of each target terminal relative to the target road section includes: Generate a navigation strategy for the target terminal based on at least one of the following information and its corresponding weight information: The user identity information of the target terminal and its corresponding first weight; The destination information of the target terminal and its corresponding second weight; The road condition information corresponding to the target terminal and its corresponding third weight.

6. The method according to claim 1, characterized in that The movement information of the multiple terminals relative to the target road section includes: the distance information of the multiple terminals relative to the target road section; the convergence probability of the multiple target terminals includes the distance convergence probability, and the distance convergence probability represents the probability of whether each of the target terminals crosses the target road section when moving to the target road section; The determining, based on the acquired motion information of the multiple terminals relative to the target road section, the convergence probability of the multiple target terminals includes: When it is determined that the distance information of each target terminal relative to the target section is less than a preset distance threshold, the distance convergence probability is determined according to the distance information of each target terminal relative to the target section and a preset distance estimation coefficient.

7. The method according to any one of claims 1 to 6, characterized in that The multiple terminals include terminals to be processed; before determining the convergence probability of multiple target terminals based on the acquired motion information of the multiple terminals relative to the target road section, the method further includes: When it is determined that the relative distance between the terminal to be processed and the target road section has not changed within a preset time period, and other terminals traveling in the same direction as the terminal to be processed have passed the target road section, interacting with the terminal to be processed through messages to determine whether the terminal to be processed needs navigation services; When it is determined that the terminal to be processed does not need navigation service, the terminal to be processed is deleted from the multiple terminals, and the movement information of the terminal to be processed relative to the target road section is deleted.

8. The method according to any one of claims 1 to 6, characterized in that The navigation strategy for the target terminal includes: a strategy displayed in the form of a traffic signal, wherein the traffic signal includes a virtual traffic light signal and / or a voice prompt signal.

9. The method according to any one of claims 1 to 6, characterized in that After sending the navigation strategy to each of the target terminals, the method further includes: Acquiring real-time location information of each of the target terminals; Based on the real-time location information of each of the target terminals, when it is determined that at least one of the target terminals has passed the target section and there are still target terminals that have not passed the target section, the navigation strategy is updated based on the motion information and weight information of the target terminals that have not passed the target section relative to the target section.

10. A navigation method, characterized in that: The method comprises: When it is determined that the current terminal is within a preset range where the target road section is located, sending movement information of the current terminal relative to the target road section to a server; In response to the navigation strategy sent by the server, a traffic signal is generated to instruct the device carrying the current terminal to pass through the target road section according to the navigation strategy.

11. The method according to claim 10, characterized in that The device carrying the current terminal includes a vehicle; After generating, in response to the navigation strategy sent by the server, a traffic signal instructing the device carrying the current terminal to pass through the target road section according to the navigation strategy, the method further includes: In the case where it is determined that the traffic signal is a stop signal, sending the stop signal to a brake system of the vehicle; When it is determined that the traffic signal is a passing signal, a start signal is sent to a brake system of the vehicle.

12. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the navigation method as described in any one of claims 1 to 9, or the navigation method as described in any one of claims 10 to 11.

13. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the navigation method according to any one of claims 1 to 9 or the navigation method according to any one of claims 10 to 11 is implemented.

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