Navigation method and device, electronic equipment, storage medium and computer program product

Abstract

The embodiment of the invention provides a navigation method and device, electronic equipment, a storage medium and a computer program product, which are at least applied to the field of maps or traffic, and the method comprises the following steps: displaying a navigation map and a virtual vehicle correspondingly moving along with the driving of a target vehicle in the navigation map in a navigation interface; a navigation path of the virtual vehicle is displayed in the navigation map; under the condition that the virtual vehicle is displayed in a steering area of the navigation map and a maneuvering point located in the steering area has a similar intersection, displaying a similar intersection warning mark at the similar intersection; the steering area comprises a driving interval of a preset distance in front of the maneuvering point in the navigation path; the close intersection warning mark is used for prompting and prohibiting the target vehicle from driving to the close intersection. According to the method, warning rendering is carried out on the close intersections in the navigation path, so that a user is effectively reminded, and the phenomenon that a driver walks at a wrong intersection to cause yawing is avoided.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of maps, and relate to but are not limited to a navigation method, device, electronic device, storage medium and computer program product. Background Art

[0002] With the rapid development of computer technology and communication technology, vehicle navigation has been widely used in people's daily travel. At present, online navigation functions are widely used. For example, online car-hailing applications, navigation applications, map applications, etc. all need to provide vehicle driving navigation functions.

[0003] In the related art, the terminal displays a map within a certain range around the user through a navigation interface, and there are many similar wrong intersections in the navigation guidance process, which will cause a lot of interference to the correct intersection turns in the navigation path.

[0004] However, there is no warning or reminder for a nearby wrong intersection in the related art, which may cause the driver to often enter a nearby wrong intersection, take the wrong road, and cause deviation. Summary of the invention

[0005] The embodiments of the present application provide a navigation method, device, electronic device, storage medium and computer program product, which can at least be applied to the field of maps or transportation. By rendering warnings for similar intersections in the navigation path, users can be effectively reminded to avoid drivers going to the wrong intersection and causing deviation.

[0006] The technical solution of the embodiment of the present application is implemented as follows:

[0007] An embodiment of the present application provides a navigation method, comprising: displaying a navigation interface, the navigation interface being used to navigate a target vehicle; displaying a navigation map and a virtual vehicle that moves accordingly with the travel of the target vehicle in the navigation interface; displaying a navigation path of the virtual vehicle in the navigation map; displaying a close intersection warning sign at a turning area of ​​the navigation map when the virtual vehicle is displayed in a turning area of ​​the navigation map and when a close intersection exists at a maneuvering point located in the turning area; the turning area includes a driving interval of a preset distance before the maneuvering point in the navigation path; and the close intersection warning sign is used to prompt that the target vehicle is prohibited from traveling to the close intersection.

[0008] An embodiment of the present application provides a navigation device, the device comprising: a navigation interface display module, used to display a navigation interface, the navigation interface being used to navigate a target vehicle; a map display module, used to display a navigation map in the navigation interface and a virtual vehicle that moves accordingly with the travel of the target vehicle in the navigation map; the navigation path of the virtual vehicle is displayed in the navigation map; a warning sign display module, used to display a close intersection warning sign at a turning area of ​​the navigation map when the virtual vehicle is displayed in a turning area of ​​the navigation map, and when a close intersection exists at a maneuvering point located in the turning area; the turning area includes a driving interval of a preset distance before the maneuvering point in the navigation path; the close intersection warning sign is used to prompt that the target vehicle is prohibited from traveling to the close intersection.

[0009] In some embodiments, when the virtual vehicle is displayed in the turning area of ​​the navigation map, the navigation map is a lane-level navigation map; the lane-level navigation map includes at least one lane of the road where the navigation path is located; the adjacent intersection warning sign includes at least one of the following: a warning lane line and a warning bubble sign; the warning sign display module is also used to display the target lane where the navigation path of the virtual vehicle is located in the lane-level navigation map; the warning lane line is added to the lane line of the target lane, the warning lane line covers the lane line of the target lane, and the warning lane line blocks the adjacent intersection; the warning bubble sign is added at the adjacent intersection, and the warning bubble sign covers the adjacent intersection.

[0010] In some embodiments, the warning sign display module is further used to add the warning lane line with specific attribute parameters to the lane line of the target lane in a preset display manner when the virtual vehicle is displayed at a specific distance from the adjacent intersection.

[0011] In some embodiments, the warning sign display module is also used for: if the lane attribute of the target lane is a left-turn lane, determining the display position of the adjacent intersection warning sign to be at the adjacent intersection on the left side of the target lane; if the lane attribute of the target lane is a right-turn lane, determining the display position of the adjacent intersection warning sign to be at the adjacent intersection on the right side of the target lane; if the lane attribute of the target lane is a roundabout lane, determining the display position of the adjacent intersection warning sign to be at the adjacent intersection on the right side of the target lane.

[0012] In some embodiments, along the extension direction of the target lane, the adjacent intersection includes a first end close to the virtual vehicle and a second end away from the virtual vehicle; if the lane attribute of the target lane is a left-turn lane, the starting position of the warning lane line is located at the rear of the virtual vehicle and intersects with the left lane line of the target lane, and the end position of the warning lane line is located at a preset length away from the second end and intersects with the left lane line of the target lane; and, the warning lane line coincides with the left lane line of the target lane between the starting position and the end position; if the lane attribute of the target lane is a right-turn lane, the starting position of the warning lane line is located at the rear of the virtual vehicle and intersects with the right lane line of the target lane. the position where the virtual vehicle intersects with the right lane line of the target lane, the end position of the warning lane line is located at a position that is a preset length away from the second end and intersects with the right lane line of the target lane; and the warning lane line coincides with the right lane line of the target lane between the starting position and the end position; if the lane attribute of the target lane is a roundabout lane, the starting position of the warning lane line is located at the rear of the virtual vehicle and intersects with the right lane line of the target lane, and the end position of the warning lane line is located at a position that is a preset length away from the second end and intersects with the right lane line of the target lane; and the warning lane line coincides with the right lane line of the target lane between the starting position and the end position; the starting position and the end position constitute the display position.

[0013] In some embodiments, the device also includes: a position determination module, which is used to determine the starting point and end point of the warning lane line in the shared lane for straight going and right turn in the same manner as the right turn lane if the lane attribute of the target lane is a shared lane for straight going and right turn; if the lane attribute of the target lane is a shared lane for straight going and left turn, the starting point and end point of the warning lane line in the shared lane for straight going and left turn in the same manner as the left turn lane.

[0014] In some embodiments, the position determination module is also used to: if the lane attribute of the target lane is a lane shared by straight going, left turns and right turns, determine the turning direction corresponding to the turning area in the navigation path; if the turning direction is a left turn, determine the starting position and end position of the warning lane line in the lane shared by straight going, left turns and right turns in the same manner as the left turn lane; if the turning direction is a right turn, determine the starting position and end position of the warning lane line in the lane shared by straight going, left turns and right turns in the same manner as the right turn lane.

[0015] In some embodiments, the device also includes: a starting position following module, which is used to change the starting position of the warning lane line accordingly following the change of the position of the virtual vehicle when the virtual vehicle travels along the target lane; a warning lane line erasing module, which is used to erase the warning lane line in the navigation map when the virtual vehicle travels along the target lane to the second end of the adjacent intersection, so as to control the warning lane line to disappear.

[0016] In some embodiments, the warning bubble identifier includes a warning text; and a bubble display position of the warning bubble identifier is located at a midpoint of a connecting line between the first end and the second end.

[0017] In some embodiments, the device also includes: a warning bubble erasing module, which is used to erase the warning bubble icon in the navigation map when the virtual vehicle travels along the target lane to the location of the adjacent intersection and the tangent of the front of the virtual vehicle intersects with the midpoint position to control the warning bubble icon to disappear.

[0018] In some embodiments, the device also includes: a map switching module, which is used to switch the navigation map to a lane-level navigation map if the current position of the target vehicle is less than a distance threshold from the turning position corresponding to the maneuvering point, and display at least one lane of the road where the navigation path is located in the lane-level navigation map and the lane line of each lane.

[0019] In some embodiments, in the navigation path, the driving interval located before the turning area and connected to the turning area is a lane changing area; the device also includes: a lane changing area display module, used to display the lane changing area in the lane-level navigation map; a passable lane reminder sign display module, used to display a passable lane reminder sign in the lane changing area; the passable lane reminder sign is located at the position where the virtual vehicle is currently displayed; the passable lane reminder sign covers all lanes that the target vehicle is currently passable, and the passable lane reminder sign has a gradient shape from wide to narrow.

[0020] In some embodiments, the warning sign display module is also used to: if there is only one current passable lane for the target vehicle on the navigation path, then a close intersection warning sign is displayed at the close intersection when the virtual vehicle is displayed in the lane change area of ​​the navigation map.

[0021] An embodiment of the present application provides an electronic device, comprising: a memory for storing executable instructions; and a processor for implementing the above-mentioned navigation method when executing the executable instructions stored in the memory.

[0022] An embodiment of the present application provides a computer program product, which includes executable instructions stored in a computer-readable storage medium; wherein a processor of an electronic device reads the executable instructions from the computer-readable storage medium and implements the above-mentioned navigation method when executing the executable instructions.

[0023] An embodiment of the present application provides a computer-readable storage medium storing executable instructions for causing a processor to execute the executable instructions to implement the above-mentioned navigation method.

[0024] The embodiments of the present application have the following beneficial effects: in the process of navigating the target vehicle, a navigation interface is displayed on the electronic device, and a navigation map and a virtual vehicle that moves accordingly with the travel of the target vehicle in the navigation map are displayed in the navigation interface; wherein the navigation path of the virtual vehicle is displayed in the navigation map; and when the virtual vehicle is displayed in the turning area of ​​the navigation map, and there is a close intersection at the maneuvering point located in the turning area, a close intersection warning sign is displayed at the close intersection; the turning area here includes a driving interval of a preset distance before the maneuvering point in the navigation path; the close intersection warning sign here is used to prompt that the target vehicle is prohibited from driving to the close intersection. In this way, by rendering a warning for the close intersection in the navigation path, the user can be effectively reminded of the close intersection, thereby avoiding the driver from going to the wrong intersection and causing deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is an optional architecture diagram of a navigation system provided in an embodiment of the present application;

[0026] Figure 2 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0027] Figure 3 This is an optional flowchart of the navigation method provided in the embodiment of the present application;

[0028] Figure 4 is another optional flowchart of the navigation method provided in the embodiment of the present application;

[0029] Figure 5 It is a schematic diagram of switching the navigation map to the lane-level navigation map;

[0030] Figure 6 It is a lane-level navigation map that displays passable lane reminder signs;

[0031] Figure 7 is a schematic diagram of a display interface of a straight zone provided in an embodiment of the present application;

[0032] Figure 8is a schematic diagram of a display interface of a lane change area provided in an embodiment of the present application;

[0033] Fig. 9 is a schematic diagram of a display interface of a steering area provided in an embodiment of the present application;

[0034] Fig.10 is a schematic diagram of a display interface after turning provided in an embodiment of the present application;

[0035] Fig.11 is a system timing diagram of the navigation method provided in an embodiment of the present application;

[0036] Fig.12 It is a schematic diagram of a four-interval guidance strategy for navigation provided in an embodiment of the present application;

[0037] Fig.13 is a schematic diagram of a method for rendering a warning lane line provided in an embodiment of the present application;

[0038] Fig.14 It is a schematic diagram of a rendering method of a warning bubble logo provided in an embodiment of the present application;

[0039] Fig.15 It is a schematic diagram of the display effect of displaying a warning bubble mark provided in an embodiment of the present application;

[0040] Fig.16 This is a schematic diagram of the disappearance timing of the warning bubble mark provided in the embodiment of the present application;

[0041] Fig.17 It is a schematic diagram of the disappearance timing of the warning lane line provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0043] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. Unless otherwise defined, all technical and scientific terms used in the embodiments of the present application have the same meaning as those commonly understood by those skilled in the art of the technical field of the embodiments of the present application. The terms used in the embodiments of the present application are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0044] Before describing the navigation method in the embodiment of the present application, the professional terms involved in the embodiment of the present application are first explained:

[0045] (1) Lane lines are used to indicate solid white lines, dashed white lines, solid yellow lines, dashed yellow lines, and road boundary markings that separate different lanes on the road displayed on the navigation map.

[0046] (2) Bird's-eye view refers to a picture taken from a normal perspective during driving. Lane lines, intersections, turning intersections, and lane lines corresponding to parallel intersections such as adjacent intersections will also be displayed in the bird's-eye view.

[0047] (3) In response, it is used to indicate the conditions or states on which the executed operations depend. When the dependent conditions or states are met, one or more operations executed may be in real time or with a set delay. Unless otherwise specified, there is no restriction on the order in which the multiple operations executed are executed.

[0048] (4) Navigation path: refers to the route calculated based on the set navigation starting point and navigation end point, that is, starting from the navigation starting point and passing through a series of roads, and finally reaching the navigation end point. In the embodiment of the present application, the navigation path may include the recommended lane for each road to be passed, and whether to include intersection information of nearby intersections when turning in the turning area of ​​the lane. Of course, the navigation path may also distinguish lanes on some roads and not distinguish lanes on some roads.

[0049] (5) Road-level navigation (also known as non-lane-level navigation): refers to the presence of road-level data in the map data. The road data can be presented during vehicle navigation, and road-level positioning and route guidance can be achieved. During vehicle navigation, the navigation interface only presents the roads in the navigation route, and does not present the specific lanes on the road.

[0050] (6) Lane-level navigation: refers to the presence of lane-level data in the map data. Lane-level data can be presented during vehicle navigation, enabling lane-level positioning and route guidance. During vehicle navigation, the navigation interface can not only present the roads in the navigation route, but also the specific lanes on the roads. Lane-level navigation is more accurate than road-level navigation.

[0051] There are many similar intersections in the navigation guidance process, which will cause a lot of interference with the correct intersection turns in the navigation path. The navigation does not provide any navigation guidance and warning prompts for similar wrong intersections. During driving, users often enter similar wrong intersections, thus taking the wrong road and causing deviation. After the deviation, users are often in a panic because they don’t know how to go, which greatly increases the risk of driving.

[0052] Based on the above problems, the embodiments of the present application prevent users from taking the wrong intersections by rendering warnings for nearby wrong intersections in navigation (for example, highlighting lane lines, adding bubble prompts, etc.).

[0053] Among them, in the navigation method provided by the embodiment of the present application, first, a navigation interface is displayed, and the navigation interface is used to navigate the target vehicle; then, a navigation map and a virtual vehicle that moves accordingly with the driving of the target vehicle in the navigation map are displayed in the navigation interface; the navigation path of the virtual vehicle is displayed in the navigation map; finally, when the virtual vehicle is displayed in the turning area of ​​the navigation map and there is a close intersection at the maneuvering point located in the turning area, a close intersection warning sign is displayed at the close intersection; the turning area includes a driving interval of a preset distance before the maneuvering point in the navigation path; the close intersection warning sign is used to prompt that the target vehicle is prohibited from driving to the close intersection. In this way, by rendering a warning for the close intersection in the navigation path, the user can be effectively reminded of the close intersection, so as to avoid the driver from going to the wrong intersection and causing deviation.

[0054] Here, firstly, an exemplary application of the navigation device of the embodiment of the present application is described, and the navigation device is an electronic device for implementing the navigation method. In one implementation, the navigation device (i.e., electronic device) provided in the embodiment of the present application can be implemented as a terminal or a server. In one implementation, the navigation device provided in the embodiment of the present application can be implemented as a laptop, a tablet computer, a desktop computer, a mobile phone, a portable music player, a personal digital assistant, a dedicated messaging device, a portable game device, an intelligent robot, an intelligent home appliance, and an intelligent vehicle-mounted device, etc., any terminal with a map display function and a navigation function; in another implementation, the navigation device provided in the embodiment of the present application can also be implemented as a server, wherein the server can be an independent physical server, or a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks (CDN, Content Delivery Network), and big data and artificial intelligence platforms. The terminal and the server can be directly or indirectly connected by wired or wireless communication, which is not limited in the embodiment of the present application. Next, an exemplary application when the navigation device is implemented as a terminal will be described.

[0055] See also Figure 1 , Figure 1It is an optional architecture diagram of the navigation system provided by the embodiment of the present application. In order to support any map application, the map application can provide accurate navigation function for the driver. The map application can have a navigation function, and the terminal of the embodiment of the present application is at least installed with the map application. The navigation system 10 includes at least a terminal 100, a network 200, a server 300 and a data terminal 400, wherein the server 300 is a server of the map application, and the data terminal 400 is used to store map data of different geographical areas, and the map data includes but is not limited to the location data of all maneuvering points in each geographical area, road information (such as road speed limit information, the number of lanes on the road, etc.), lane attributes (such as whether the lane is a left turn lane, a straight lane or a right turn lane, etc.), and road grade (such as the road grade of a highway city express road or a city road, etc.). The terminal 100 can constitute the navigation device of the embodiment of the present application, that is, the navigation method of the embodiment of the present application is implemented on the terminal 100. Of course, in other embodiments, the server 300 can also constitute the navigation device of the embodiment of the present application, and the background calculation of navigation is performed by the server 300, so as to display the navigation map on the terminal 100 to realize the driving navigation of the driver. The terminal 100 is connected to the server 300 via the network 200. The network 200 may be a wide area network or a local area network, or a combination of the two.

[0056] When implementing real-time navigation of vehicle driving, the terminal 100 runs a map application to obtain map data from the server 300. After obtaining the map data, the terminal 100 displays a navigation interface on the current interface, and the navigation interface is used to navigate the target vehicle; and, when the driven target vehicle is moving, the navigation map and the virtual vehicle that moves accordingly with the driving of the target vehicle in the navigation map are displayed in the navigation interface; the navigation path of the virtual vehicle is displayed in the navigation map. At the same time, when the virtual vehicle is displayed in the turning area of ​​the navigation map, and there is a close intersection at the maneuvering point located in the turning area, a close intersection warning sign is displayed at the close intersection; the turning area includes a driving interval of a preset distance before the maneuvering point in the navigation path; the close intersection warning sign is used to prompt that the target vehicle is prohibited from driving to the close intersection.

[0057] During the implementation process, when the terminal 100 runs the map application, it can send a map data acquisition request or a navigation request to the server 300 to request the acquisition of map data. After obtaining the map data fed back by the server 300, the navigation map is rendered based on the map data, so that the rendered navigation map is displayed on the current interface. In addition, since the map data includes data of nearby intersections, when the target vehicle drives to the turning area, at this time on the terminal 100, the virtual vehicle corresponding to the target vehicle in the map application is displayed in the turning area of ​​the navigation map. If it is analyzed in the map data at this time that there is a nearby intersection at the maneuvering point in the turning area, a nearby intersection warning sign can be displayed to prompt the driver not to drive the target vehicle to the nearby intersection.

[0058] The navigation method provided in the embodiment of the present application can also be implemented based on a cloud platform and through cloud technology. For example, the server 300 can be a cloud server. The map data of different geographical areas are obtained through the cloud server, and the map data is packaged and stored in the data terminal 400, or the navigation path is planned based on the map data through the cloud server. When the navigation starting point and the navigation end point input by the driver are obtained, the navigation path between the navigation starting point and the navigation end point is generated.

[0059] In some embodiments, a cloud storage may be provided, which may be the data terminal 400, and map data of different geographical areas may be stored in the cloud storage. Thus, when a map data acquisition request or navigation request sent by a terminal is received, the map data between the navigation start point and the navigation end point may be directly acquired from the cloud storage, so as to realize rapid navigation path planning based on the acquired map data.

[0060] It should be noted here that cloud technology refers to a hosting technology that unifies hardware, software, network and other resources in a wide area network or local area network to achieve data computing, storage, processing and sharing. Cloud technology is a general term for network technology, information technology, integration technology, management platform technology, application technology, etc. based on the cloud computing business model. It can form a resource pool that is used on demand and is flexible and convenient. Cloud computing technology will become an important support. The background services of the technical network system require a large amount of computing and storage resources, such as video websites, picture websites and more portal websites. With the high development and application of the Internet industry, in the future, each item may have its own identification mark, and all need to be transmitted to the background system for logical processing. Data of different levels will be processed separately. All kinds of industry data require strong system backing support, which can be achieved through cloud computing.

[0061] Figure 2is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application, Figure 2 The electronic device shown may be a navigation device, which includes: at least one processor 310, a memory 350, at least one network interface 320 and a user interface 330. The various components in the navigation device are coupled together via a bus system 340. It is understood that the bus system 340 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 340 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, the bus system 340 is not shown in FIG. Figure 2 Various buses are labeled as bus system 340 .

[0062] The processor 310 can be an integrated circuit chip with signal processing capabilities, such as a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., where the general-purpose processor can be a microprocessor or any conventional processor, etc.

[0063] The user interface 330 includes one or more output devices 331 that enable presentation of media content, and one or more input devices 332 .

[0064] The memory 350 may be removable, non-removable or a combination thereof. Exemplary hardware devices include solid-state memory, hard disk drive, optical disk drive, etc. The memory 350 may optionally include one or more storage devices physically away from the processor 310. The memory 350 includes a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memory. The non-volatile memory may be a read-only memory (ROM), and the volatile memory may be a random access memory (RAM). The memory 350 described in the embodiment of the present application is intended to include any suitable type of memory. In some embodiments, the memory 350 can store data to support various operations, and examples of these data include programs, modules, and data structures or subsets or supersets thereof, as exemplarily described below.

[0065] An operating system 351 includes system programs for processing various basic system services and performing hardware-related tasks, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic businesses and processing hardware-based tasks; a network communication module 352 is used to reach other computing devices via one or more (wired or wireless) network interfaces 320. Exemplary network interfaces 320 include: Bluetooth, wireless compatibility certification (WiFi), and Universal Serial Bus (USB), etc.; an input processing module 353 is used to detect one or more user inputs or interactions from one of the one or more input devices 332 and translate the detected inputs or interactions.

[0066] In some embodiments, the device provided in the embodiments of the present application can be implemented in software. Figure 2 A navigation device 354 stored in the memory 350 is shown. The navigation device 354 may be a navigation device in an electronic device, which may be software in the form of a program or a plug-in, and includes the following software modules: a navigation interface display module 3541, a map display module 3542, and a warning sign display module 3543. These modules are logical, and therefore may be arbitrarily combined or further split according to the functions implemented. The functions of each module will be described below.

[0067] In some embodiments, the device provided in the embodiments of the present application can be implemented in hardware. As an example, the device provided in the embodiments of the present application can be a processor in the form of a hardware decoding processor, which is programmed to execute the navigation method provided in the embodiments of the present application. For example, the processor in the form of a hardware decoding processor can adopt one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs) or other electronic components.

[0068] The navigation method provided in each embodiment of the present application can be executed by an electronic device, wherein the electronic device can be a server or a terminal, that is, the navigation method provided in each embodiment of the present application can be executed by a server, can be executed by a terminal, or can be executed through interaction between a server and a terminal.

[0069] Figure 3This is an optional flowchart of the navigation method provided in the embodiment of the present application. Figure 3 The steps shown are explained as Figure 3 As shown, the navigation method is described by taking the execution subject of the terminal as an example, and the method includes the following steps S101 to S103:

[0070] Step S101, displaying a navigation interface, where the navigation interface is used to navigate a target vehicle.

[0071] In the embodiment of the present application, when the terminal runs a map application or a navigation application and performs navigation, a navigation interface may be displayed on the client of the map application or the navigation application.

[0072] The navigation interface is an interface for displaying an electronic navigation map. The electronic map related to the road in the navigation interface is called a navigation map. In the process of navigating the target vehicle, the navigation interface displays a navigation path, which includes straight roads, curved roads, and turning roads, as well as a virtual vehicle corresponding to the target vehicle. Of course, the target vehicle can also be referred to by other marks in the navigation interface, such as arrows, circles, etc. The target vehicle is the vehicle traveling on the actual road in the vehicle navigation, and the virtual vehicle is the vehicle corresponding to the target vehicle displayed in the navigation interface. The position difference between the virtual position of the virtual vehicle in the navigation map and the real position of the target vehicle on the actual road is less than the position difference distance threshold.

[0073] Step S102, displaying a navigation map and a virtual vehicle that moves accordingly with the travel of the target vehicle in the navigation map in the navigation interface; the navigation map displays a navigation path of the virtual vehicle.

[0074] In one implementation process, the navigation interface can have multiple navigation perspectives, including head-on and north-up. Head-on means that the top of the navigation map changes with the driving direction of the target vehicle. For example, when the target vehicle is traveling to the west, the top of the navigation map is facing the west. When the target vehicle is traveling to the east, the top of the navigation map is facing the east. In this way, when the driver refers to the navigation map, he only needs to judge which direction to turn by looking left and right, which is convenient for the driver to control the driving direction of the vehicle. North-up means that the orientation of the navigation map always keeps the top as north, which is fixed and unchanged, and will not change with the driving of the target vehicle. The driver mainly determines which direction to turn by the direction or adjusting the navigation device to the north direction. It is suitable for drivers with a good sense of direction, and allows the driver to grasp the driving direction of the vehicle at any time. The embodiment of the present application is mainly applicable to the navigation mode with the navigation perspective of head-on.

[0075] In another implementation process, the road conditions displayed in the navigation interface can be three-dimensional, and the navigation interface is a navigation interface of a three-dimensional electronic navigation map. Of course, the road environment displayed in the navigation interface can also be flat, and the navigation interface is a navigation interface of a two-dimensional electronic navigation map. The driver or user can select or switch according to actual needs.

[0076] For example, when a user needs vehicle navigation, the user can start an application that supports vehicle navigation (such as a map application or a navigation application) through the terminal, and display a navigation interface for navigating the target vehicle in the map application or the navigation application. The virtual vehicle displayed in the navigation interface moves in the navigation map as the target vehicle travels.

[0077] The vehicle navigation of the embodiment of the present application may adopt non-lane level navigation (i.e., road level navigation) or lane level navigation. When non-lane level navigation is adopted, the navigation map displayed is a non-lane level navigation map, and non-lane level navigation can simplify the electronic map interface; when lane level navigation is adopted, the navigation map displayed is a lane level navigation map, and lane level navigation can achieve more accurate navigation. Here, lane level navigation is taken as an example. The electronic map interface displays multiple lanes in the road where the vehicle is located, and the current lane where the vehicle is located. The navigation path passing through the current lane can be a route that extends along the current lane, or a route that changes from the current lane to other lanes ahead of the vehicle. In road level navigation, the electronic map interface displays the road where the vehicle is located and the road where the vehicle is not located. The navigation path passing through the current road can be a route that extends along the current road, or a route that changes from the current road to other roads ahead of the vehicle.

[0078] In the navigation map, the navigation path may be rendered in a color different from that of the road and lane. For example, in a non-lane-level navigation map corresponding to non-lane-level navigation, a path line of different colors may be displayed on the road corresponding to the navigation path, and the path line is used to identify the path driven by the driver; in a lane-level navigation map corresponding to lane-level navigation, a path line of different colors may be displayed on the target lane where the target vehicle will travel corresponding to the navigation path.

[0079] Step S103, when the virtual vehicle is displayed in the turning area of ​​the navigation map and there is a close intersection at the maneuvering point located in the turning area, a close intersection warning sign is displayed at the close intersection.

[0080] In the embodiment of the present application, the navigation map includes four driving intervals: a straight zone, a lane change zone, a turning zone, and a zone after turning. The straight zone refers to the driving zone where the vehicle is driving straight. In the straight zone, a non-lane-level navigation map can be displayed. The driver can determine the current straight distance of driving through the non-lane-level navigation map. The lane change zone refers to the driving zone where the target vehicle changes lanes. In this lane change zone, lanes can be changed to the left or to the right. The lane change direction of the lane change zone will be determined according to the location of the next maneuvering point in the navigation path or according to the turning direction corresponding to the turning zone, that is, it is determined whether to change lanes to the left or to the right in the lane change zone. In the embodiment of the present application, the lane change zone is located before the turning zone and is connected to the turning zone. That is to say, before the turn is required, the driver will be reminded to change lanes in time in the turning zone to prevent the problem of missing the accurate turning intersection due to the inability to change lanes at the intersection when turning. In some embodiments, when the target vehicle drives into the lane changing area, the virtual vehicle is displayed in the lane changing area of ​​the navigation map, and a passable lane reminder sign can also be displayed in the navigation map. The passable lane reminder sign covers all lanes that are currently passable to the target vehicle, and the passable lane reminder sign has a gradient shape from wide to narrow. The passable lane reminder sign is used to remind the driver of the current passable lane and the direction in which lane change is required.

[0081] The turning area refers to the turning driving interval where the target vehicle turns left or right. The turning area includes the accurate turning intersection in the current navigation path and the driving interval of a preset length connected to the lane change area before the turning intersection, that is, the turning area includes the driving interval of a preset distance before the maneuvering point in the navigation path. After turning refers to the driving interval after the target vehicle turns at the accurate turning intersection.

[0082] In the embodiment of the present application, when the target vehicle drives to the turning area, if it is determined that there is a close intersection at the maneuvering point at the end of the turning area, a close intersection warning sign can be displayed, and at this time, the virtual vehicle is displayed in the turning area of ​​the navigation map. The close intersection warning sign is used to prompt that the target vehicle is prohibited from driving to the close intersection.

[0083] In some embodiments, when the target vehicle drives to the lane change area, if it is determined that there is a close intersection at the maneuvering point at the end of the turning area, the close intersection warning sign can be displayed, and at this time, the virtual vehicle is displayed in the lane change area of ​​the navigation map. In addition, during the driving process of the target vehicle, when the target vehicle drives to the position corresponding to the turning area, the virtual vehicle is displayed in the turning area of ​​the navigation map, and the close intersection warning sign is continuously displayed.

[0084] Here, the maneuvering point refers to a location point in the navigation path where a turn is required, for example, a left turn intersection or a right turn intersection.

[0085] In other embodiments, while displaying warning signs for nearby intersections, corresponding prompts can also be output synchronously by voice or vibration, thereby improving the nearby intersection reminder capability in multiple dimensions and achieving effective reminders.

[0086] For example, when you are a certain distance away from a similar intersection (for example, 200 meters), in addition to displaying a similar intersection warning sign at the similar intersection according to the method provided in the embodiment of the present application, you can also give a voice reminder "There is a similar right turn intersection ahead, please be careful not to enter the similar intersection."

[0087] The navigation method provided by the embodiment of the present application displays a navigation interface on an electronic device during navigation of a target vehicle, and displays a navigation map and a virtual vehicle that moves accordingly with the travel of the target vehicle in the navigation map in the navigation interface; wherein the navigation path of the virtual vehicle is displayed in the navigation map; and when the virtual vehicle is displayed in the turning area of ​​the navigation map, and there is a close intersection at the maneuvering point located in the turning area, a close intersection warning sign is displayed at the close intersection; the turning area here includes a driving interval of a preset distance before the maneuvering point in the navigation path; the close intersection warning sign here is used to prompt that the target vehicle is prohibited from driving to the close intersection. In this way, by rendering a warning for the close intersection in the navigation path, the user can be effectively reminded of the close intersection, thereby avoiding the driver from going to the wrong intersection and causing deviation.

[0088] In some embodiments, the navigation system includes at least a terminal, a server and a data terminal, wherein a map application is installed on the terminal, and the navigation process is realized by running the map application. The server is the background server of the map application, and the data terminal is used to store map data of different geographical areas, and the map data includes but is not limited to the location data of all maneuvering points in each geographical area, road information (such as road speed limit information, number of lanes on the road, etc.), lane attributes (such as whether the lane is a left turn lane, a straight lane or a right turn lane, etc.), and road grade (such as the road grade of expressway, city expressway or urban road, etc.).

[0089] The following will describe the navigation method in the embodiment of the present application in combination with the functions of the terminal, server and data terminal in the navigation system. It should be noted that the navigation method here is a navigation method implemented by the terminal interacting with the server and data terminal, which is substantially the same as the navigation method executed by the terminal in the above embodiment. The only difference is that the actions performed by the server and the data terminal during the execution of the navigation method are also described in the embodiment of the present application, and some steps can be executed by both the terminal and the server. Therefore, for the steps in this embodiment that are the same as those in the above embodiment but have different execution subjects, this embodiment is only an exemplary description. In the process of implementation, they can be executed by any execution subject, and the embodiment of the present application does not limit this.

[0090] Figure 4 is another optional flowchart of the navigation method provided in the embodiment of the present application, such as Figure 4 As shown, the method includes the following steps S201 to S220:

[0091] Step S201: The terminal receives an input operation from a user at a client.

[0092] Here, the input operation is used to input the navigation starting point and the navigation end point. In the implementation process, the user can input the navigation starting point and the navigation end point through the client of the map application, or can locate the current location, obtain the navigation starting point, and input the navigation end point at the same time.

[0093] Step S202: The terminal encapsulates the navigation start point location and the navigation end point location into a navigation request.

[0094] Step S203: the terminal sends a navigation request to the server.

[0095] Step S204: the server performs navigation path planning based on the navigation starting point position and the navigation ending point position to generate an initial navigation path.

[0096] In the embodiment of the present application, the server can respond to the navigation request, parse the navigation request, and obtain the navigation starting position and the navigation end position. Then, based on the navigation starting position and the navigation end position, a navigation path is planned for the target vehicle. When planning the navigation path, map data between the navigation starting position and the navigation end position can be obtained from the data end, so as to plan an initial navigation path that can travel from the navigation starting position to the navigation end position based on the map data.

[0097] In some embodiments, when planning the initial navigation path, if there are multiple routes between the navigation starting point and the navigation ending point, multiple initial navigation paths can be planned, and the multiple initial navigation paths can be provided to the terminal for display so that the user can choose.

[0098] Step S205: the server sends the initial navigation path to the terminal.

[0099] Step S206: The terminal displays a navigation interface on the current interface, where the navigation interface is used to navigate the target vehicle corresponding to the terminal.

[0100] Step S207, displaying a navigation map, an initial navigation path in the navigation map, and a virtual vehicle that moves accordingly with the travel of the target vehicle in the navigation interface; the real-time navigation path of the virtual vehicle is displayed in the navigation map.

[0101] Step S208: During the driving of the target vehicle, the terminal collects the current position in real time through the position sensor.

[0102] In an embodiment of the present application, the terminal can determine the current location through positioning technology, and the terminal can also be a vehicle-mounted terminal on the target vehicle, which can locate the target vehicle through the positioning module (i.e., position sensor) of the target vehicle to determine the current location of the target vehicle.

[0103] Step S209: The terminal sends the current location to the server.

[0104] Step S210: The server performs real-time calibration on the target vehicle according to its current position to obtain the calibrated current position of the vehicle.

[0105] In some embodiments, the target vehicle may be equipped with sensors such as cameras, radars, or laser radars. The target vehicle or terminal sends image data sent back by position sensors such as cameras, radars, or laser radars to the server in real time, so that the server performs real-time calibration of the current position collected by the position sensor of the target vehicle based on the image data to determine whether the current position of the target vehicle is accurate, and further performs navigation path planning according to the current position of the target vehicle after accurate calibration.

[0106] Step S211: The server performs real-time navigation path planning based on the calibrated vehicle current position and navigation destination position to generate a real-time navigation path.

[0107] Step S212: the server sends the real-time navigation path to the terminal.

[0108] Step S213: the terminal displays the real-time navigation path on the current interface.

[0109] Step S214: when the virtual vehicle is displayed in the turning area of ​​the navigation map, the navigation map is switched to a lane-level navigation map.

[0110] In the embodiment of the present application, when the target vehicle drives to the turning area, if it is determined that there is a close intersection at the maneuvering point located in the turning area (for example, it may be a maneuvering point located at the end of the turning area), a close intersection warning sign may be displayed, and at this time, the virtual vehicle is displayed in the turning area of ​​the navigation map. The close intersection warning sign is used to prompt that the target vehicle is prohibited from driving to the close intersection.

[0111] Of course, in some embodiments, when the target vehicle drives to the lane change area, if it is determined that there is a close intersection at the maneuvering point located in the turning area, the close intersection warning sign can be displayed, and at this time, the virtual vehicle is displayed in the lane change area of ​​the navigation map. In addition, during the driving process of the target vehicle, when the target vehicle drives to the position corresponding to the turning area, the virtual vehicle is displayed in the turning area of ​​the navigation map, and the close intersection warning sign will continue to be displayed.

[0112] The lane-level navigation map includes at least one lane of the road where the navigation path is located and the lane lines of each lane. Here, the lanes displayed in the lane-level navigation map are virtual lanes, which are virtual displays corresponding to actual lanes in actual geographical locations. Lane lines refer to lane dividing lines located on both sides of the virtual lanes, which are used to represent the white solid lines, white dashed lines, yellow solid lines, yellow dashed lines, etc. that separate different virtual lanes on the road displayed in the navigation map, as well as lane lines marked by road boundaries.

[0113] In some embodiments, when the distance between the current position of the target vehicle and the turning position corresponding to the maneuvering point is less than a distance threshold, the navigation map can be switched to a lane-level navigation map, and at least one lane of the road where the navigation path is located in the lane-level navigation map and the lane lines of each lane can be displayed. Figure 5 Shown is a schematic diagram of switching the navigation map to a lane-level navigation map.

[0114] In other embodiments, the user may also manually switch on the navigation interface, i.e., manually switch the navigation map to a lane-level navigation map; or, automatically switch the navigation map to a lane-level navigation map at a prompt location with a prompt mark; or, automatically switch the navigation map to a lane-level navigation map in a congested road section; or, automatically switch the navigation map to a lane-level navigation map in a tunnel; or, automatically switch the navigation map to a lane-level navigation map at an F-intersection; or, automatically switch the navigation map to a lane-level navigation map when the distance to a toll station is less than a preset distance.

[0115] In some embodiments, in the navigation path, the driving section located before the turning area and connected to the turning area is a lane change area; the lane change area can be displayed in the lane-level navigation map; a passable lane reminder sign is displayed in the lane change area; the passable lane reminder sign is located at the position currently displayed by the virtual vehicle; the passable lane reminder sign covers all lanes that the target vehicle can currently pass, and the passable lane reminder sign has a gradient shape from wide to narrow. Figure 6 As shown, a lane-level navigation map is displayed showing a passable lane reminder sign 601 .

[0116] Step S215: When there is a nearby intersection at the maneuvering point located in the turning area, the target lane where the navigation path of the virtual vehicle is located is displayed in the lane-level navigation map.

[0117] Here, the turning area includes a driving interval of a preset distance before the maneuvering point in the navigation path. The target lane refers to the lane that the virtual vehicle should take when driving normally according to the navigation path.

[0118] In the embodiment of the present application, the warning sign for the adjacent intersection includes at least one of the following: a warning lane line and a warning bubble sign. A warning lane line can be added to the lane line of the target lane, the warning lane line covers the lane line of the target lane, and the warning lane line blocks the adjacent intersection; in this way, the warning lane line can be used to remind the driver not to enter the adjacent intersection. In addition, a warning bubble sign can be added at the adjacent intersection, the warning bubble sign covers the adjacent intersection, and in this way, the warning bubble sign can also be used to remind the driver not to enter the adjacent intersection.

[0119] In some embodiments, when the virtual vehicle is displayed at a specific distance from the adjacent intersection, the warning lane line with specific attribute parameters can be added to the lane line of the target lane in a preset display mode. Here, the preset display mode includes but is not limited to any of the following: flashing display, color gradient display, bouncing display on the lane line of the target lane, etc.

[0120] Step S216, determining the display position of the warning sign at the adjacent intersection according to the lane attribute of the target lane.

[0121] The near intersection warning sign is used to indicate that the target vehicle is prohibited from driving to the near intersection. For example, according to the lane attributes of the target lane, the display position of the near intersection warning sign is determined in at least the following seven situations:

[0122] Case 1: The approaching intersection warning sign includes a warning lane line. If the lane attribute of the target lane is a left-turn lane, the display position of the approaching intersection warning sign is determined to be at the approaching intersection on the left side of the target lane.

[0123] In the embodiment of the present application, for the case of a left-turn lane, the adjacent intersection warning sign includes a warning lane line with specific attribute parameters; along the extension direction of the target lane, the adjacent intersection includes a first end close to the virtual vehicle and a second end away from the virtual vehicle. If the lane attribute of the target lane is a left-turn lane, the starting position of the warning lane line is located at the rear of the virtual vehicle and intersects with the left lane line of the target lane, and the end position of the warning lane line is located at a preset length from the second end and intersects with the left lane line of the target lane; and the warning lane line overlaps with the left lane line of the target lane between the starting position and the end position; the starting position and the end position constitute the display position of the adjacent intersection warning sign.

[0124] Here, the specific attribute parameters include, but are not limited to: the length parameter of the warning lane line, the extension length parameter at both ends, the width parameter, the color parameter and the shape parameter, etc. The user can set the attribute parameters of the warning lane line in the map application to obtain the specific attribute parameters. For example, the user can enter the extension length of the warning lane line at both ends as 5 meters, the width as twice the width of the lane line, and the color as bright red. The user can also select the display mode of the warning lane line in the map application, wherein the warning lane line with different attribute parameters can be presented in the form of a warning lane line sample map in the map application. When the user selects any sample map, the attribute parameter corresponding to the sample map can be determined as the specific attribute parameter. In the process of displaying the warning lane line, the warning lane line can be displayed according to the same graphic as the sample map. Of course, the warning lane line can also have the default system-set attribute parameters.

[0125] Case 2: The adjacent intersection warning sign includes a warning lane line. If the lane attribute of the target lane is a right-turn lane, the display position of the adjacent intersection warning sign is determined to be at the adjacent intersection on the right side of the target lane.

[0126] In the embodiment of the present application, for the right-turn lane, the adjacent intersection warning sign includes a warning lane line with specific attribute parameters; along the extension direction of the target lane, the adjacent intersection includes a first end close to the virtual vehicle and a second end away from the virtual vehicle. If the lane attribute of the target lane is a right-turn lane, the starting position of the warning lane line is located at the rear of the virtual vehicle and intersects with the right lane line of the target lane, and the end position of the warning lane line is located at a preset length from the second end and intersects with the right lane line of the target lane; and the warning lane line overlaps with the right lane line of the target lane between the starting position and the end position; the starting position and the end position constitute the display position of the adjacent intersection warning sign.

[0127] Case 3: The adjacent intersection warning sign includes a warning lane line. If the lane attribute of the target lane is a roundabout lane, the display position of the adjacent intersection warning sign is determined to be the adjacent intersection on the right side of the target lane.

[0128] In the embodiment of the present application, for the case of a roundabout lane, the adjacent intersection warning sign includes a warning lane line with specific attribute parameters; along the extension direction of the target lane, the adjacent intersection includes a first end close to the virtual vehicle and a second end away from the virtual vehicle. If the lane attribute of the target lane is a roundabout lane, the starting position of the warning lane line is located at the rear of the virtual vehicle and intersects with the right lane line of the target lane, and the end position of the warning lane line is located at a preset length from the second end and intersects with the right lane line of the target lane; and the warning lane line overlaps with the right lane line of the target lane between the starting position and the end position; the starting position and the end position constitute the display position of the adjacent intersection warning sign.

[0129] Case 4: The warning sign for the near intersection includes a warning lane line. If the lane attribute of the target lane is a lane shared by straight and right turns, the display position of the warning sign for the near intersection is determined to be the near intersection on the right side of the target lane. In other words, the starting position and the end position of the warning lane line under the lane shared by straight and right turns are determined in the same way as the right turn lane.

[0130] In the embodiment of the present application, for the case where a lane is shared by straight driving and right turning, the warning sign for the near intersection includes a warning lane line with specific attribute parameters; along the extension direction of the target lane, the near intersection includes a first end close to the virtual vehicle and a second end away from the virtual vehicle. If the lane attribute of the target lane is a lane shared by straight driving and right turning, the starting position of the warning lane line is located at the rear of the virtual vehicle and intersects with the right lane line of the target lane, and the end position of the warning lane line is located at a preset length from the second end and intersects with the right lane line of the target lane; and the warning lane line overlaps with the right lane line of the target lane between the starting position and the end position; the starting position and the end position constitute the display position of the warning sign for the near intersection.

[0131] Case 5: The warning sign for the near intersection includes a warning lane line. If the lane attribute of the target lane is a lane shared by straight and left turns, the display position of the warning sign for the near intersection is determined to be the near intersection on the left side of the target lane. In other words, the starting position and the end position of the warning lane line under the lane shared by straight and left turns are determined in the same way as the left turn lane.

[0132] In the embodiment of the present application, for the case where a lane is shared by straight driving and left turning, the warning sign for the near intersection includes a warning lane line with specific attribute parameters; along the extension direction of the target lane, the near intersection includes a first end close to the virtual vehicle and a second end away from the virtual vehicle. If the lane attribute of the target lane is a lane shared by straight driving and left turning, the starting position of the warning lane line is located at the rear of the virtual vehicle and intersects with the left lane line of the target lane, and the end position of the warning lane line is located at a preset length from the second end and intersects with the left lane line of the target lane; and the warning lane line overlaps with the left lane line of the target lane between the starting position and the end position; the starting position and the end position constitute the display position of the warning sign for the near intersection.

[0133] Case 6: The warning sign at a nearby intersection includes a warning lane line. If the lane attribute of the target lane is a lane shared by straight going, left turning and right turning, the turning direction corresponding to the turning area in the navigation path can be determined first; if the turning direction is a left turn, the starting point and end point of the warning lane line under the lane shared by straight going, left turning and right turning are determined in the same way as the left turn lane; if the turning direction is a right turn, the starting point and end point of the warning lane line under the lane shared by straight going, left turning and right turning are determined in the same way as the right turn lane.

[0134] Case 7: The warning sign at the adjacent intersection includes a warning bubble sign, which includes a warning text; the bubble display position of the warning bubble sign is located at the midpoint of the connecting line between the first end and the second end.

[0135] In some embodiments, the warning signs at adjacent intersections may also include warning lane lines and warning bubble signs at the same time. In this case, the above-mentioned situations one to six are superimposed on situation seven respectively. For the superimposed situation, please refer to the description of the above-mentioned situations one to seven, and the embodiments of this application will not be repeated.

[0136] In some embodiments, if there is only one current passable lane for the target vehicle on the navigation path, a close intersection warning sign may be displayed at the close intersection when the virtual vehicle is displayed in the lane change area of ​​the navigation map.

[0137] It should be noted that the method provided in the embodiment of the present application is applicable to both the driving mode in which the cab is on the left side of the target vehicle and the driving mode in which the cab is on the right side of the target vehicle.

[0138] Step S217, displaying the warning lane line at the display position of the warning lane line.

[0139] Step S218: When the virtual vehicle is traveling along the target lane, the starting position of the warning lane line changes accordingly with the change of the position of the virtual vehicle.

[0140] Step S219, when the virtual vehicle travels along the target lane to the location of the adjacent intersection and the tangent line of the front of the virtual vehicle intersects with the midpoint, the warning bubble mark is erased in the navigation map to control the warning bubble mark to disappear.

[0141] In some embodiments, the warning bubble logo may disappear in a gradual fading and erasing manner.

[0142] Step S220, when the virtual vehicle travels along the target lane to the second end of the adjacent intersection, the warning lane line is erased in the navigation map to control the warning lane line to disappear.

[0143] In some embodiments, the warning lane line may also disappear in a fading and erasing manner.

[0144] After the warning lane line disappears, if the navigation end position has not yet been reached, return to step S208 to continue to collect the current position in real time through the position sensor and complete the entire navigation process.

[0145] The navigation method provided in the embodiment of the present application, during the process of navigating the target vehicle, performs warning rendering for the nearby intersections in the navigation path, for example, by rendering warning lane lines and warning bubble signs at the nearby intersections, thereby effectively reminding the user of the nearby intersections and preventing the driver from going into the wrong intersection and causing deviation.

[0146] The following is an explanation of an exemplary application of the embodiments of the present application in a practical application scenario.

[0147] An embodiment of the present application provides a navigation method, in which a user is prevented from taking a wrong intersection by rendering a warning (for example, highlighting lane lines, adding bubble prompts, etc.) for nearby wrong intersections in navigation.

[0148] In the embodiment of the present application, the navigation adopts a four-zone guidance strategy, including: straight zone 701 (such as Figure 7 As shown, the non-lane level navigation map is displayed), the lane change area 801 (such as Figure 8 As shown, of course, if there is no need to change lanes, the adjacent intersection warning sign rendering will appear directly, that is, the wrong intersection warning rendering and bubble prompt will appear directly), turning area 901 (such as Fig. 9 ) and after turning 1001 (as shown Fig.10 shown).

[0149] After completing the lane change guidance in the lane change area, if there is a nearby wrong intersection at the maneuvering point, the wrong intersection will be rendered with virtual lane lines after the vehicle completes the lane change and before reaching the maneuvering point, and a warning bubble will be added at the wrong intersection to remind the user not to enter. In addition, when only one lane does not require a lane change, the wrong intersection will be rendered with virtual lane lines when entering the lane change area, and a warning sign for a nearby intersection will be added at the wrong intersection to remind the user not to enter.

[0150] Fig.11 is a system timing diagram of the navigation method provided in the embodiment of the present application, such as Fig.11 As shown, the navigation method includes the following processes:

[0151] First, the vehicle position is calibrated: the vehicle sends image data sent back by sensors such as cameras / radars / lidars in real time, and the server (i.e. the background server of the in-vehicle map navigation APP) calibrates the vehicle position in real time.

[0152] Then, the server combines the calibrated vehicle position data and destination data to plan the navigation path, and sends the successfully planned navigation path to the in-vehicle map navigation APP for display in the interface, and sends the navigation path to the data end at the same time.

[0153] Then, the data end combines the navigation path to obtain the location data of all maneuvering points in the navigation path, and binds them to the road grade where these location data are located. The road grade includes highways, urban roads and city roads.

[0154] In addition, the intersection location data within 500 meters of each maneuvering point can be obtained before reaching the maneuvering point, and the data can be sent to the server at the same time.

[0155] Finally, the server calculates in real time whether the position of the target vehicle has reached a certain range from the nearest maneuvering point to the target vehicle (i.e., whether it is less than the distance threshold, for example, within 2 kilometers for expressways and within 1 kilometer for urban roads). If it has reached a certain range, the scale and pitch angle are adjusted to enter the lane-level navigation state from the non-lane-level navigation state, thereby presenting a lane-level navigation map. In the lane-level navigation state, after the lane change guidance is carried out and before the turn (if no lane change action is required, it is directly incorporated before the turn), the red warning lane line and warning bubble are issued until the position of the target vehicle passes the wrong intersection (i.e., the adjacent intersection) and the adjacent intersection warning sign disappears.

[0156] In the present application embodiment, Fig.12 As shown, the navigation adopts a four-zone guidance strategy, including: a straight zone, a lane change zone, a turning zone (including a turning zone 1 before an adjacent intersection and a turning zone 2 after an adjacent intersection) and guidance strategies corresponding to the four zones after the turn.

[0157] Among them, guide lines are used for guidance in the straight-ahead area to emphasize the information of beyond-visual-distance ahead; guide lines and guide surfaces are used to guide in the lane-changing area to emphasize the recommended lanes and vehicle lane-changing actions; guide lines and guide surfaces are used to guide in the turning area to emphasize the recommended lanes and vehicle turning actions; guide lines and guide surfaces are used to guide after turning to emphasize the recommended lanes after turning.

[0158] In the turning area, the wrong intersection warning guidance is carried out, and the warning signs of the adjacent intersections are displayed. If there is only one passable lane at present, there is no need to change lanes, and the wrong intersection warning guidance is started in the lane change area. The rendering method of the adjacent intersection warning signs (warning lane lines and warning bubble signs) is as follows:

[0159] First, the rendering method of the warning lane line: Fig.13 As shown, the warning lane line is displayed as AC segment. The starting point A of the warning lane line is the intersection of the rear of the vehicle and the right lane line of the vehicle, and the end point C of the warning lane line. The fixed distance from C to the intersection B of the right lane line of the vehicle and the far end of the wrong intersection is 5 meters; there is a 5-meter gradient erasing effect at the starting point A and the end point C. The position of the warning lane line point A is erased in real time following the vehicle's driving path.

[0160] Secondly, the rendering method of the warning bubble logo: Fig.14 As shown in the figure, first determine the display position of the warning bubble logo. The intersection of the right lane line of the vehicle and the white solid lines on both sides of the wrong intersection is the DB segment (where point D is the first end of the intersection close to the virtual vehicle, and point B is the second end of the intersection far from the virtual vehicle). The center point of the DB segment is point P, which is the display position of the warning bubble logo. Fig.15 The figure shows the display effect of the warning bubble logo.

[0161] In the embodiment of the present application, after the vehicle passes through the wrong intersection, the warning signs of the adjacent intersections (warning lane lines and warning bubble signs) disappear as follows:

[0162] First, the warning bubble icon disappears first. The disappearance time is as follows: Fig.16 As shown in the figure, the intersection of the right lane line of the vehicle and the solid white lines on both sides of the wrong intersection is segment DB, and the center point of segment DB is point P. Point P is the display position of the warning bubble. When the front tangent line intersects point P, the warning bubble gradually disappears.

[0163] Secondly, the warning lane line disappears, and the disappearance time is as follows: Fig.17 As shown, at the intersection DB of the right lane line of the vehicle and the solid white lines on both sides of the wrong intersection, when the tangent line of the front of the vehicle intersects point B, the warning lane line gradually disappears.

[0164] From the perspective of the user (e.g., the driver), the navigation method provided in the embodiment of the present application can solve the problem that when the user needs to make a corresponding turning action during driving, the user can avoid entering a similar wrong intersection through the warning prompt of a nearby wrong intersection, avoid the occurrence of deviation, and greatly increase the user's driving certainty and sense of security. This helps to improve the user's trust in navigation products and map products.

[0165] It is understandable that in the embodiments of the present application, the content involving user information, such as the navigation path, navigation starting point, navigation end point and other information during the user's driving process, if it involves data related to user information or corporate information, when the embodiments of the present application are applied to specific products or technologies, it is necessary to obtain user permission or consent, or to blur this information to eliminate the correspondence between this information and the user; and the relevant data collection and processing should be strictly in accordance with the requirements of relevant national laws and regulations when applied in examples, and the informed consent or separate consent of the subject of personal information should be obtained, and subsequent data use and processing should be carried out within the scope of authorization of laws and regulations and the subject of personal information.

[0166] The following is a description of an exemplary structure of the navigation device 354 provided in the present application as a software module. In some embodiments, for example, Figure 2 As shown, the navigation device 354 includes: a navigation interface display module 3541, used to display a navigation interface, and the navigation interface is used to navigate the target vehicle; a map display module 3542, used to display a navigation map in the navigation interface and a virtual vehicle that moves accordingly with the travel of the target vehicle in the navigation map; the navigation path of the virtual vehicle is displayed in the navigation map; a warning sign display module 3543, used to display a close intersection warning sign at the close intersection when the virtual vehicle is displayed in a turning area of ​​the navigation map, and when there is a close intersection at the maneuvering point located in the turning area; the turning area includes a driving interval of a preset distance before the maneuvering point in the navigation path; the close intersection warning sign is used to prompt that the target vehicle is prohibited from traveling to the close intersection.

[0167] In some embodiments, when the virtual vehicle is displayed in the turning area of ​​the navigation map, the navigation map is a lane-level navigation map; the lane-level navigation map includes at least one lane of the road where the navigation path is located; the adjacent intersection warning sign includes at least one of the following: a warning lane line and a warning bubble sign; the warning sign display module is also used to display the target lane where the navigation path of the virtual vehicle is located in the lane-level navigation map; the warning lane line is added to the lane line of the target lane, the warning lane line covers the lane line of the target lane, and the warning lane line blocks the adjacent intersection; the warning bubble sign is added at the adjacent intersection, and the warning bubble sign covers the adjacent intersection.

[0168] In some embodiments, the warning sign display module is further used to add the warning lane line with specific attribute parameters to the lane line of the target lane in a preset display manner when the virtual vehicle is displayed at a specific distance from the adjacent intersection.

[0169] In some embodiments, the warning sign display module is also used for: if the lane attribute of the target lane is a left-turn lane, determining the display position of the adjacent intersection warning sign to be at the adjacent intersection on the left side of the target lane; if the lane attribute of the target lane is a right-turn lane, determining the display position of the adjacent intersection warning sign to be at the adjacent intersection on the right side of the target lane; if the lane attribute of the target lane is a roundabout lane, determining the display position of the adjacent intersection warning sign to be at the adjacent intersection on the right side of the target lane.

[0170] In some embodiments, along the extension direction of the target lane, the adjacent intersection includes a first end close to the virtual vehicle and a second end away from the virtual vehicle; if the lane attribute of the target lane is a left-turn lane, the starting position of the warning lane line is located at the rear of the virtual vehicle and intersects with the left lane line of the target lane, and the end position of the warning lane line is located at a preset length away from the second end and intersects with the left lane line of the target lane; and, the warning lane line coincides with the left lane line of the target lane between the starting position and the end position; if the lane attribute of the target lane is a right-turn lane, the starting position of the warning lane line is located at the rear of the virtual vehicle and intersects with the right lane line of the target lane. the position where the virtual vehicle intersects with the right lane line of the target lane, the end position of the warning lane line is located at a position that is a preset length away from the second end and intersects with the right lane line of the target lane; and the warning lane line coincides with the right lane line of the target lane between the starting position and the end position; if the lane attribute of the target lane is a roundabout lane, the starting position of the warning lane line is located at the rear of the virtual vehicle and intersects with the right lane line of the target lane, and the end position of the warning lane line is located at a position that is a preset length away from the second end and intersects with the right lane line of the target lane; and the warning lane line coincides with the right lane line of the target lane between the starting position and the end position; the starting position and the end position constitute the display position.

[0171] In some embodiments, the device also includes: a position determination module, which is used to determine the starting point and end point of the warning lane line in the shared lane for straight going and right turn in the same manner as the right turn lane if the lane attribute of the target lane is a shared lane for straight going and right turn; if the lane attribute of the target lane is a shared lane for straight going and left turn, the starting point and end point of the warning lane line in the shared lane for straight going and left turn in the same manner as the left turn lane.

[0172] In some embodiments, the position determination module is also used to: if the lane attribute of the target lane is a lane shared by straight going, left turns and right turns, determine the turning direction corresponding to the turning area in the navigation path; if the turning direction is a left turn, determine the starting position and end position of the warning lane line in the lane shared by straight going, left turns and right turns in the same manner as the left turn lane; if the turning direction is a right turn, determine the starting position and end position of the warning lane line in the lane shared by straight going, left turns and right turns in the same manner as the right turn lane.

[0173] In some embodiments, the device also includes: a starting position following module, which is used to change the starting position of the warning lane line accordingly following the change of the position of the virtual vehicle when the virtual vehicle travels along the target lane; a warning lane line erasing module, which is used to erase the warning lane line in the navigation map when the virtual vehicle travels along the target lane to the second end of the adjacent intersection, so as to control the warning lane line to disappear.

[0174] In some embodiments, the warning bubble identifier includes a warning text; and a bubble display position of the warning bubble identifier is located at a midpoint of a connecting line between the first end and the second end.

[0175] In some embodiments, the device also includes: a warning bubble erasing module, which is used to erase the warning bubble icon in the navigation map when the virtual vehicle travels along the target lane to the location of the adjacent intersection and the tangent of the front of the virtual vehicle intersects with the midpoint position to control the warning bubble icon to disappear.

[0176] In some embodiments, the device also includes: a map switching module, which is used to switch the navigation map to a lane-level navigation map if the current position of the target vehicle is less than a distance threshold from the turning position corresponding to the maneuvering point, and display at least one lane of the road where the navigation path is located in the lane-level navigation map and the lane line of each lane.

[0177] In some embodiments, in the navigation path, the driving interval located before the turning area and connected to the turning area is a lane changing area; the device also includes: a lane changing area display module, used to display the lane changing area in the lane-level navigation map; a passable lane reminder sign display module, used to display a passable lane reminder sign in the lane changing area; the passable lane reminder sign is located at the position where the virtual vehicle is currently displayed; the passable lane reminder sign covers all lanes that the target vehicle is currently passable, and the passable lane reminder sign has a gradient shape from wide to narrow.

[0178] In some embodiments, the warning sign display module is also used to: if there is only one current passable lane for the target vehicle on the navigation path, then a close intersection warning sign is displayed at the close intersection when the virtual vehicle is displayed in the lane change area of ​​the navigation map.

[0179] It should be noted that the description of the device of the embodiment of the present application is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment, so it is not repeated. For technical details not disclosed in the embodiment of the device, please refer to the description of the method embodiment of the present application for understanding.

[0180] The embodiment of the present application provides a computer program product, which includes an executable instruction, which is a computer instruction; the executable instruction is stored in a computer-readable storage medium. When a processor of an electronic device reads the executable instruction from the computer-readable storage medium and the processor executes the executable instruction, the electronic device executes the method described in the embodiment of the present application.

[0181] The present application embodiment provides a storage medium storing executable instructions, wherein the executable instructions are stored. When the executable instructions are executed by a processor, the processor will execute the method provided by the present application embodiment, for example, Figure 3 The method shown.

[0182] In some embodiments, the storage medium can be a computer-readable storage medium, for example, a ferroelectric random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPR OM), a flash memory, a magnetic surface memory, an optical disk, or a compact disk read-only memory (CD-ROM), etc.; it can also be various devices including one or any combination of the above memories.

[0183] In some embodiments, executable instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0184] As an example, executable instructions may, but need not correspond to, a file in a file system, may be stored as part of a file storing other programs or data, for example, in one or more scripts in a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions). As an example, executable instructions may be deployed to be executed on one electronic device, or on multiple electronic devices located at one location, or on multiple electronic devices distributed at multiple locations and interconnected by a communication network.

[0185] The above is only an embodiment of the present application and is not intended to limit the protection scope of the present application. Any modifications, equivalent substitutions and improvements made within the spirit and scope of the present application are included in the protection scope of the present application.

Claims

1. A navigation method, characterized in that: The method comprises: Displaying a navigation interface, wherein the navigation interface is used to navigate the target vehicle; A navigation map and a virtual vehicle that moves accordingly with the movement of a target vehicle in the navigation map are displayed in the navigation interface; a navigation path of the virtual vehicle is displayed in the navigation map; When the virtual vehicle is displayed in the turning area of ​​the navigation map and there is a close intersection at the maneuvering point located in the turning area, a close intersection warning sign is displayed at the close intersection; the turning area includes a driving interval at a preset distance before the maneuvering point in the navigation path; the close intersection warning sign is used to prompt that the target vehicle is prohibited from driving to the close intersection.

2. The method according to claim 1, characterized in that When the virtual vehicle is displayed in the turning area of ​​the navigation map, the navigation map is a lane-level navigation map; the lane-level navigation map includes at least one lane of the road where the navigation path is located; The adjacent intersection warning signs include at least one of the following: warning lane lines and warning bubble signs; The displaying of a warning sign for a nearby intersection at the nearby intersection includes: Displaying a target lane where the navigation path of the virtual vehicle is located in the lane-level navigation map; Adding the warning lane line to the lane line of the target lane, the warning lane line covers the lane line of the target lane, and the warning lane line blocks the adjacent intersection; The warning bubble logo is added at the adjacent intersection, and the warning bubble logo covers the adjacent intersection.

3. The method according to claim 2, characterized in that The adding the warning lane line to the lane line of the target lane includes: When the virtual vehicle is displayed at a position at a specific distance from the adjacent intersection, the warning lane line with specific attribute parameters is added to the lane line of the target lane in a preset display manner.

4. The method according to claim 2, characterized in that: The method further comprises: If the lane attribute of the target lane is a left-turn lane, determining the display position of the adjacent intersection warning sign to be at the adjacent intersection on the left side of the target lane; If the lane attribute of the target lane is a right-turn lane, determining the display position of the adjacent intersection warning sign to be at the adjacent intersection on the right side of the target lane; If the lane attribute of the target lane is a roundabout lane, the display position of the adjacent intersection warning sign is determined to be at the adjacent intersection on the right side of the target lane.

5. The method according to claim 4, characterized in that Along the extension direction of the target lane, the close intersection includes a first end close to the virtual vehicle and a second end far from the virtual vehicle; If the lane attribute of the target lane is a left-turn lane, the starting position of the warning lane line is located at the rear of the virtual vehicle and intersects with the left lane line of the target lane, and the ending position of the warning lane line is located at a position that is a preset length away from the second end and intersects with the left lane line of the target lane; and the warning lane line overlaps with the left lane line of the target lane between the starting position and the ending position; If the lane attribute of the target lane is a right-turn lane, the starting position of the warning lane line is located at the rear of the virtual vehicle and intersects with the right lane line of the target lane, and the ending position of the warning lane line is located at a position that is a preset length away from the second end and intersects with the right lane line of the target lane; and the warning lane line overlaps with the right lane line of the target lane between the starting position and the ending position; If the lane attribute of the target lane is a roundabout lane, the starting position of the warning lane line is located at the rear of the virtual vehicle and intersects with the right lane line of the target lane, and the ending position of the warning lane line is located at a position that is a preset length away from the second end and intersects with the right lane line of the target lane; and the warning lane line overlaps with the right lane line of the target lane between the starting position and the ending position; The starting point position and the ending point position constitute the display position.

6. The method according to claim 5, characterized in that The method further comprises: If the lane attribute of the target lane is a lane shared by straight and right turn, the starting position and the ending position of the warning lane line under the lane shared by straight and right turn are determined in the same manner as the right turn lane; If the lane attribute of the target lane is a lane shared by straight ahead and left turn, the starting position and the ending position of the warning lane line under the lane shared by straight ahead and left turn are determined in the same manner as the left turn lane.

7. The method according to claim 5, characterized in that The method further comprises: If the lane attribute of the target lane is a shared lane for straight driving, left turning and right turning, determining a turning direction corresponding to the turning area in the navigation path; If the turning direction is a left turn, the starting position and the ending position of the warning lane line in the lane shared by the straight-ahead, left-turn and right-turn lanes are determined in the same manner as the left-turn lane; If the turning direction is a right turn, the starting point and the ending point of the warning lane line in the lane shared by the straight-ahead, left-turn and right-turn lanes are determined in the same manner as the right-turn lane.

8. The method according to claim 5, characterized in that The method further comprises: When the virtual vehicle is traveling along the target lane, the starting position of the warning lane line changes accordingly with the change of the position of the virtual vehicle; When the virtual vehicle travels along the target lane to the second end of the adjacent intersection, the warning lane line is erased in the navigation map to control the warning lane line to disappear.

9. The method according to claim 5, characterized in that The warning bubble logo includes a warning text; The bubble display position of the warning bubble mark is located at the midpoint of the connecting line between the first end and the second end.

10. The method according to claim 9, characterized in that The method further comprises: When the virtual vehicle travels along the target lane to the location of the adjacent intersection and the tangent line of the front of the virtual vehicle intersects with the midpoint position, the warning bubble mark is erased in the navigation map to control the warning bubble mark to disappear.

11. The method according to any one of claims 1 to 10, characterized in that: The method further comprises: If the distance between the current position of the target vehicle and the turning position corresponding to the maneuvering point is less than a distance threshold, The navigation map is switched to a lane-level navigation map, and at least one lane of the road where the navigation path is located and a lane line of each lane in the lane-level navigation map are displayed.

12. The method according to claim 11, characterized in that In the navigation path, a driving section located before the turning area and connected to the turning area is a lane change area; the method further includes: displaying the lane change zone in the lane-level navigation map; Displaying a passable lane reminder sign in the lane change area; The passable lane reminder sign is located at the position where the virtual vehicle is currently displayed; the passable lane reminder sign covers all lanes that the target vehicle is currently passable, and the passable lane reminder sign has a gradient shape from wide to narrow.

13. The method according to claim 11, characterized in that The method further comprises: If there is only one current passable lane for the target vehicle on the navigation path, a close intersection warning sign is displayed at the close intersection when the virtual vehicle is displayed in the lane change area of ​​the navigation map.

14. A navigation device, characterized in that: The device comprises: A navigation interface display module, used to display a navigation interface, wherein the navigation interface is used to navigate the target vehicle; A map display module, used to display a navigation map and a virtual vehicle that moves accordingly with the travel of the target vehicle in the navigation map in the navigation interface; the navigation map displays a navigation path of the virtual vehicle; A warning sign display module is used to display a close intersection warning sign at a turning area of ​​the navigation map when the virtual vehicle is displayed and when there is a close intersection at a maneuvering point located in the turning area; the turning area includes a driving interval of a preset distance before the maneuvering point in the navigation path; the close intersection warning sign is used to prompt that the target vehicle is prohibited from driving to the close intersection.

15. An electronic device, characterized in that: include: A memory for storing executable instructions; A processor, configured to implement the navigation method according to any one of claims 1 to 13 when executing the executable instructions stored in the memory.

16. A computer-readable storage medium, characterized in that: Executable instructions are stored, which are used to cause a processor to execute the executable instructions to implement the navigation method described in any one of claims 1 to 13.

17. A computer program product or a computer program, the computer program product or the computer program comprising executable instructions, the executable instructions being stored in a computer readable storage medium; When the processor of the electronic device reads the executable instructions from the computer-readable storage medium and executes the executable instructions, the navigation method according to any one of claims 1 to 13 is implemented.

Images