Navigation method and device and electronic equipment

Abstract

The invention provides a navigation method and device and electronic equipment, and relates to the technical field of navigation, and the method comprises the following steps: determining a target route from an initial position to a target position; the target route comprises identification information of all network camera devices passed by the vehicle from the starting position to the destination position; sending the reference feature information of the vehicle to a corresponding network camera device; receiving a navigation request sent by the first network camera equipment; determining a first orientation of a previous network camera device relative to the first network camera device and a second orientation of a next network camera device relative to the first network camera device in the target route based on the routing list; the vehicle is navigated based on the first orientation and the second orientation. According to the invention, based on the routing list, all the network camera devices passing from the starting position to the destination position realize navigation of the vehicle, and a satellite positioning system is not needed, so that the navigation of the vehicle can be realized under the condition that the satellite positioning system fails.

Description

Technical Field

[0001] The present invention relates to the field of navigation technology, and in particular to a navigation method, device and electronic equipment. Background Art

[0002] Navigation function is widely used in daily life, military, scientific research and other fields, and has become an indispensable science and technology in contemporary society.

[0003] In the related art, a satellite positioning system is usually installed on a vehicle's onboard equipment or a mobile terminal such as a user's mobile phone, and the vehicle is navigated by the satellite positioning system.

[0004] However, in the above-mentioned related technologies, if the satellite positioning system fails, it is impossible to navigate the vehicle. Summary of the invention

[0005] In view of the problems existing in the prior art, embodiments of the present invention provide a navigation method, device and electronic device.

[0006] The present invention provides a navigation method, which is applied to a server, and the method comprises:

[0007] Determine a target route from a starting position to a destination position; the target route includes identification information of all network camera devices that the vehicle passes through from the starting position to the destination position;

[0008] Sending reference feature information of the vehicle to a corresponding network camera device based on identification information of the network camera device;

[0009] receiving a navigation request sent by a first network camera device; the navigation request is sent by the first network camera device when it is determined that the vehicle is located in a monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information; the first network camera device is any network camera device among all the network camera devices except the first network camera device and the last network camera device;

[0010] Determine, based on a route list, a first position of a previous network camera device of the first network camera device relative to the first network camera device, and a second position of a next network camera device of the first network camera device relative to the first network camera device in the target route; the route list includes identification information of every two network cameras installed on the road and a first corresponding relationship between the relative positions of the two network cameras;

[0011] The vehicle is navigated based on the first location and the second location.

[0012] According to a navigation method provided by the present invention, the route list further includes a second correspondence between identification information of every two network camera devices installed on the road and the distance between the two network camera devices;

[0013] Determining a target route from a starting location to a destination location includes:

[0014] Acquire identification information of the network camera device corresponding to the starting position and identification information of the network camera device corresponding to the destination position based on the position list; the position list includes a correspondence between the identification information of the network camera device and the position;

[0015] Determine the shortest path from the starting position to the destination position based on the second corresponding relationship, the identification information of the network camera device corresponding to the starting position, and the identification information of the network camera device corresponding to the destination position;

[0016] The shortest path is determined as the target route.

[0017] According to a navigation method provided by the present invention, navigating the vehicle based on the first position and the second position includes:

[0018] Searching the target turn corresponding to the first direction and the second direction in the turn direction table; the target turn is the direction of the vehicle traveling from the first network camera device to the next network camera device; the turn direction table includes the direction of the previous network camera device adjacent to the second network camera device in the driving direction relative to the second network camera device, the direction of the next network camera device adjacent to the second network camera device relative to the second network camera device, and the corresponding relationship between the turns;

[0019] The vehicle is navigated based on the target turn.

[0020] According to a navigation method provided by the present invention, navigating the vehicle based on the target turning includes:

[0021] The target turn is sent to a terminal device corresponding to the vehicle, or the target turn is sent to a terminal device corresponding to the vehicle through the first network camera device; wherein the target turn is used to instruct the terminal device to navigate the vehicle based on the target turn.

[0022] According to a navigation method provided by the present invention, the method further includes:

[0023] Receiving roadblock information sent by a third network camera device;

[0024] A target route from the starting location to the destination location is updated based on the roadblock information.

[0025] The present invention also provides a navigation method, which is applied to a first network camera device, and the method comprises:

[0026] Receiving reference characteristic information of the vehicle sent by the server;

[0027] When it is determined that the vehicle is located in the monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information, a navigation request is sent to the server; the navigation request is used to instruct the server to determine, based on a routing list, a first position of the previous network camera device of the first network camera device relative to the first network camera device and a second position of the next network camera device of the first network camera device relative to the first network camera device in a target route; the routing list includes identification information of every two network camera devices installed on a road, and a first corresponding relationship between the relative positions of the two network camera devices; the first position and the second position are used to navigate the vehicle.

[0028] According to a navigation method provided by the present invention, the method further includes:

[0029] receiving a target turn sent by the server; the target turn is a turn corresponding to the first orientation and the second orientation found by the server in a turn orientation table; the turn orientation table includes a direction of a previous network camera device adjacent to the second network camera device in a driving direction relative to the second network camera device, a direction of a next network camera device adjacent to the second network camera device relative to the second network camera device, and a corresponding relationship between turns;

[0030] The target turn is sent to a terminal device corresponding to the vehicle; the target turn is used to instruct the terminal device to navigate the vehicle based on the target turn.

[0031] A navigation device provided according to the present invention comprises:

[0032] A first determining unit is used to determine a target route from a starting position to a destination position; the target route includes identification information of all network camera devices that the vehicle passes through from the starting position to the destination position;

[0033] A first sending unit, configured to send reference feature information of the vehicle to a corresponding network camera device based on identification information of the network camera device;

[0034] A first receiving unit is used to receive a navigation request sent by a first network camera device; the navigation request is sent by the first network camera device when it is determined that the vehicle is located in a monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information;

[0035] a second determining unit, for determining, based on a route list, a first position of a previous network camera device of the first network camera device relative to the first network camera device, and a second position of a next network camera device of the first network camera device relative to the first network camera device in the target route; the first network camera device is any network camera device except the first network camera device and the last network camera device among all the network camera devices; the route list includes identification information of every two network camera devices installed on the road, and a first corresponding relationship between the relative positions of the two network camera devices;

[0036] A navigation unit is used to navigate the vehicle based on the first position and the second position.

[0037] A navigation device provided according to the present invention comprises:

[0038] A second receiving unit, used for receiving reference characteristic information of the vehicle sent by the server;

[0039] A second sending unit is used to send a navigation request to the server when it is determined that the vehicle is located in the monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information; the navigation request is used to instruct the server to determine, based on a routing list, a first position of the previous network camera device of the first network camera device relative to the first network camera device and a second position of the next network camera device of the first network camera device relative to the first network camera device in a target route; the routing list includes identification information of every two network camera devices installed on the road, and a first corresponding relationship between the relative positions of the two network camera devices; the first position and the second position are used to navigate the vehicle.

[0040] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the above-mentioned navigation methods is implemented.

[0041] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and the computer program, when executed by a processor, implements any of the above-mentioned navigation methods.

[0042] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the navigation method described above is implemented.

[0043] The navigation method, device and electronic device provided by the present invention, the server determines the target route based on the starting position and destination position input by the user, the target route includes the identification information of all network camera devices that the vehicle passes from the starting position to the destination position, sends the reference feature information of the vehicle to the corresponding network camera device based on the identification information of the network camera device, and when receiving the navigation request sent by the first network camera device when it is determined that the vehicle is located in the monitoring screen and the collected feature information of the vehicle matches the reference feature information, the server determines the first position of the previous network camera device of the first network camera device in the target route relative to the first network camera device and the second position of the next network camera device of the first network camera device relative to the first network camera device based on the route list, and finally navigates the vehicle based on the first position and the second position. It can be seen that the present invention realizes the navigation of the vehicle based on the route list and all network camera devices that pass from the starting position to the destination position, without using the satellite positioning system, so that the navigation of the vehicle can be realized when the satellite positioning system fails. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1 This is one of the flowcharts of the navigation method provided by the embodiment of the present invention;

[0046] Figure 2 is a schematic diagram of a navigation scenario provided by an embodiment of the present invention;

[0047] Figure 3 This is a second flowchart of the navigation method provided by an embodiment of the present invention;

[0048] Figure 4 is an interactive schematic diagram of a navigation method provided by an embodiment of the present invention;

[0049] Figure 5 It is one of the structural schematic diagrams of the navigation device provided by the embodiment of the present invention;

[0050] Figure 6 This is a second structural diagram of a navigation device provided by an embodiment of the present invention;

[0051] Figure 7 It is a schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] Combine the following Figure 1-Figure 4 The navigation method of the present invention is described.

[0054] Figure 1 is one of the flowcharts of the navigation method provided by the embodiment of the present invention, such as Figure 1 As shown, applied to the server, the navigation method includes the following steps:

[0055] Step 101: determine a target route from a starting position to a destination position; the target route includes identification information of all network camera devices that a vehicle passes through from the starting position to the destination position.

[0056] The network camera device is a network camera (IP Camera, IPC), and the identification information of the network camera device may be an IP address or a name of the network camera device.

[0057] For example, when navigation is needed, the user can input the starting position, destination position and reference feature information of the vehicle on the application of the terminal device corresponding to the vehicle, so that the terminal device packages the starting position, destination position and reference feature information of the vehicle input by the user into a request message and sends it to the server. The server can determine all network camera devices that the vehicle passes from the starting position to the destination position based on the starting position, destination position and layout information of all network camera devices installed on the road in the received request message, generate a target route based on the identification information of all network camera devices, and store the target route in correspondence with the reference feature information of the vehicle. In this way, the target route of each vehicle requesting navigation can be stored on the server. Figure 2 is a schematic diagram of a navigation scenario provided by an embodiment of the present invention, such as Figure 2 As shown, each box is a real-world building or other entity, and the boxes are roads for vehicles to travel on. Figure 2 B in the figure represents the starting position of the vehicle input by the user. Figure 2A in the figure represents the destination position of the vehicle input by the user, IPC B is the network camera device installed at position B, IPC A is the network camera device installed at position A, IPC1 to IPC6 are network camera devices installed at respective intersections, and the server can determine the target route from the starting position B to the destination position A based on the layout information of respective network camera devices. For example, the target route is the identification information of IPC B->the identification information of IPC4->the identification information of IPC2->the identification information of IPC1->the identification information of IPC A.

[0058] Table 1 Figure 2 The location list of the navigation scene shown in Table 1 includes the corresponding relationship between the name of the IPC, the Internet Protocol Address (IP) of the IPC and the installation location of the IPC. Figure 2 Taking IPC A, IPC B, IPC1, IPC2 and IPC4 in the navigation scenario shown as an example, if the identification information is an IP address, the target route from the starting location B to the destination location A can be 192.168.*.5—>192.168.*.4—>192.168.*.3—>192.168.*.2—>192.168.*.1.

[0059] Table 1

[0060] Name of IPC IP address of the IPC Installation location IPC A 192.168.*.1 A IPC1 192.168.*.2 1 IPC2 192.168.*.3 2 IPC4 192.168.*.4 4 IPC B 192.168.*.5 B

[0061] Step 102: Send reference feature information of the vehicle to a corresponding network camera device based on the identification information of the network camera device.

[0062] For example, when determining a target route from a starting location to a destination location, the server sends reference feature information of the vehicle input by the user to each network camera device on the target route based on the identification information of the network camera device included in the target route, and the reference feature information of the vehicle includes at least one of the following: the vehicle's license plate number, the vehicle's model, the vehicle's color, and the vehicle's brand; it can be understood that when the vehicle's reference feature information includes the vehicle's license plate number, the vehicle's model, the vehicle's color, and the vehicle's brand at the same time, it can better characterize the uniqueness of the vehicle.

[0063] Step 103, receiving a navigation request sent by a first network camera device; the navigation request is sent by the first network camera device when it is determined that the vehicle is located in the monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information; the first network camera device is any network camera device among all the network camera devices except the first network camera device and the last network camera device.

[0064] For example, each network camera device on the target route receives the reference feature information of the vehicle sent by the server. For any first network camera device on the target route except the first network camera device and the last network camera device, when it is detected that the vehicle is located in the monitoring screen of the first network camera device, it is considered that the vehicle has arrived at the position corresponding to the first network camera device, so as to determine the driving position of the vehicle. At this time, the feature information of the vehicle is collected, and the collected feature information of the vehicle is matched with the received reference feature information. When the collected feature information of the vehicle matches the received reference feature information, it indicates that the vehicle in the monitoring screen is the vehicle specified by the user that needs to be navigated. At this time, the first network camera device sends a navigation request to the server, and the navigation request can carry the identification information of the first network camera device and the feature information of the vehicle.

[0065] It should be noted that the target route determined by the server includes identification information of all network camera devices that the vehicle passes through from the starting position to the destination position. When the server sends the reference feature information of the vehicle to the first network camera device included in the target route, it can also send first numbering information to the first network camera device, and the first numbering information is used to indicate that the first network camera device is the first network camera device in the target route; when the server sends the reference feature information of the vehicle to the last network camera device included in the target route, it can also send second numbering information to the last network camera device, and the second numbering information is used to indicate that the last network camera device is the last network camera device in the target route; when the server receives the navigation request sent by the first network camera device, it can directly send a straight-ahead instruction to the terminal device corresponding to the vehicle, or send a straight-ahead instruction to the terminal device corresponding to the vehicle through the first network camera device. When the terminal device receives the straight-ahead instruction, it can output the straight-ahead instruction to facilitate the user to perform a straight-ahead operation on the vehicle to achieve navigation of the vehicle. When the server receives the navigation request sent by the last network camera device, it sends the destination location to the last network camera device. When the last network camera device determines that the vehicle has entered the range corresponding to the target location, it sends a destination location arrival message to the terminal device corresponding to the vehicle. When the terminal device receives the destination location arrival message, it can output the destination location arrival message to facilitate the user to know that the destination location has been reached and this navigation has ended.

[0066] Step 104: determining, based on a routing list, a first position of a previous network camera device of the first network camera device relative to the first network camera device and a second position of a next network camera device of the first network camera device relative to the first network camera device in the target route; the routing list includes identification information of every two network camera devices installed on the road and a first corresponding relationship between the relative positions of the two network camera devices.

[0067] For example, when the server receives a navigation request sent by the first network camera device, it searches for a target route corresponding to the characteristic information of the vehicle in the navigation request, and determines, based on a routing list, a first position of the previous network camera device of the first network camera device relative to the first network camera device, and a second position of the next network camera device of the first network camera device relative to the first network camera device in the target route corresponding to the characteristic information of the vehicle.

[0068] Table 2 Figure 2 The routing list of the navigation scene shown in Table 2 includes the corresponding relationship between the IP address of the source network camera device, the IP address of the destination network camera device and the relative position. Figure 1 Taking IPC A, IPC B, IPC1, IPC2 and IPC4 in the navigation scenario shown as examples, the IP address of the source network camera device is referred to as the source IP address in Table 2, and the IP address of the destination network camera device is referred to as the destination IP address in Table 2; wherein, the source network camera device is the network camera device that the vehicle needs to pass when driving to the position corresponding to the target network camera device.

[0069] Table 2

[0070]

[0071]

[0072] It should be noted that the relative position in Table 2 is based on the network camera device corresponding to the source IP address as a reference system. Assuming that the target route from the starting position B to the destination position A is 192.168.*.5—>192.168.*.4—>192.168.*.3—>192.168.*.2—>192.168.*.1, taking the first network camera device as IPC4 as an example, the previous network camera device of IPC4 (192.168.*.4) in the target route is IPC B (192.168.*.5), and the next network camera device of IPC4 (192.168.*.4) in the target route is IPC2 (192.168.*.3). Based on the routing list shown in Table 2, IPC can be determined. The first direction of B (192.168.*.5) relative to IPC4 (192.168.*.4) is south, and the second direction of IPC2 (192.168.*.3) relative to IPC4 (192.168.*.4) is west. Without relying on the satellite positioning system for navigation, IPC1, IPC2, IPC4, IPC A and IPC B are used to navigate the vehicle from the starting position B to the destination position A.

[0073] It should be noted that the distance in Table 2 may be the shortest reachable distance, that is, the shortest distance that the vehicle actually travels from the position corresponding to the current network camera device to the next network camera device, and is not a displacement distance.

[0074] It should be noted that the relative orientations in Table 2 are based on Figure 1 The navigation scenario shown is described by way of example. In actual application, it can be set based on the specific layout of the network camera devices installed in the traffic system, and the present invention will not be described in detail here.

[0075] Step 105: Navigate the vehicle based on the first position and the second position.

[0076] For example, after determining the first position of the previous network camera device of the first network camera device relative to the first network camera device and the second position of the next network camera device of the first network camera device relative to the first network camera device in the target route, the turns corresponding to the first position and the second position can be determined based on the vehicle turning rules, and the turns corresponding to the first position and the second position can be sent to the terminal device, so that the terminal device outputs the turns corresponding to the first position and the second position to guide the user to navigate the vehicle from the first network camera device to the next network camera device.

[0077] It should be noted that when the vehicle travels to the monitoring screen of the next network camera device of the first network camera device in the target route, the next network camera device collects the characteristic information of the vehicle, and supervises the navigation right of the vehicle when the collected characteristic information of the vehicle matches the reference characteristic information. The specific workflow of the next network camera device is the same as that of the first network camera device, until the vehicle travels to the monitoring screen of the last network camera device in the target route, the last network camera device sends a message of arrival at the destination location to the terminal device corresponding to the vehicle, thereby completing the navigation of the vehicle from the starting location to the destination location.

[0078] It should be noted that the present invention can be applied in an urban traffic system with simple roads. If a vehicle wants to travel from a starting position to a destination position by relying on an application of a terminal device without the aid of a satellite positioning system, it can use a network camera device to collect feature information of the vehicle. When the collected feature information of the vehicle matches the reference feature information, a navigation request is sent to a server, so that the server determines, based on a routing list, a first position of the previous network camera device of the network camera device relative to the network camera device and a second position of the next network camera device of the network camera device relative to the network camera device in the target route. Finally, the vehicle is navigated based on the first position and the second position, thereby realizing the navigation function.

[0079] It should be noted that the server can also search for the distance between each two adjacent network camera devices in the target route in Table 2, determine the total distance from the starting position to the destination position based on the distance between each two adjacent network camera devices, and send the total distance to the terminal device corresponding to the vehicle for display, so that the user can know the total distance from the starting position to the destination position.

[0080] The navigation method provided by the present invention is that the server determines the target route based on the starting position and the destination position input by the user, the target route includes the identification information of all network camera devices that the vehicle passes from the starting position to the destination position, and sends the reference feature information of the vehicle to the corresponding network camera device based on the identification information of the network camera device. When receiving the navigation request sent by the first network camera device when it is determined that the vehicle is located in the monitoring screen and the collected feature information of the vehicle matches the reference feature information, the server determines the first position of the previous network camera device of the first network camera device in the target route relative to the first network camera device and the second position of the next network camera device of the first network camera device relative to the first network camera device based on the routing list, and finally navigates the vehicle based on the first position and the second position. It can be seen that the present invention realizes the navigation of the vehicle based on the routing list and all network camera devices that pass from the starting position to the destination position, without using the satellite positioning system, so that the navigation of the vehicle can be realized when the satellite positioning system fails.

[0081] In one embodiment, as shown in Table 2, the routing list further includes identification information of every two network camera devices installed on the road and a second correspondence between the two network camera devices; the above step 101 of determining the target route from the starting position to the destination position can be specifically implemented in the following manner:

[0082] Based on the location list, obtain the identification information of the network camera device corresponding to the starting location and the identification information of the network camera device corresponding to the destination location; based on the second corresponding relationship, the identification information of the network camera device corresponding to the starting location, and the identification information of the network camera device corresponding to the destination location, determine the shortest path from the starting location to the destination location; determine the shortest path as the target route.

[0083] The location list includes the corresponding relationship between the identification information and the location of the network camera device; for each network camera device, the distance between the network camera device and other network camera devices can be calculated based on the satellite positioning function in the network camera device, so as to obtain the distance between every two network camera devices in Table 2. It should be pointed out that the distance is the actual reachable distance of satellite positioning, not the displacement distance.

[0084] For example, taking the starting location B and the destination location A input by the user as an example, the server can obtain the IP address 192.168.*.5 of the network camera device corresponding to the starting location B and the IP address 192.168.*.1 of the network camera device corresponding to the destination location A in the location list shown in Table 1, and based on the path-finding algorithm, combined with the second correspondence between the IP addresses and distances of every two corresponding network camera devices in the routing list, determine the shortest path from the starting location to the destination location, and determine the shortest path as the target route.

[0085] It should be noted that the pathfinding algorithm may be an A* algorithm, an IDA* algorithm, or a JPS algorithm, etc., and the present invention does not limit this.

[0086] It should be noted that other paths from the starting position to the destination position can also be determined based on the path-finding algorithm, and other paths can be determined as the target route. For example, other paths are longer than the shortest path but have no uphill paths, etc. The specific path can be determined based on user needs, and the present invention is not limited to this.

[0087] In this embodiment, a target route from a starting location to a destination location may be determined based on the location list and the route list. The method for determining the target route is relatively simple.

[0088] In one embodiment, the above step 105 performs navigation on the vehicle based on the first position and the second position, which can be implemented in the following manner:

[0089] The target turns corresponding to the first orientation and the second orientation are searched in a turn orientation table, and the vehicle is navigated based on the target turns.

[0090] Among them, the target turning is the direction of the vehicle traveling from the first network camera device to the next network camera device; the turning direction table includes the direction of the previous network camera device adjacent to the second network camera device in the driving direction relative to the second network camera device, the direction of the next network camera device adjacent to the second network camera device relative to the second network camera device, and the corresponding relationship between the turnings.

[0091] For example, Table 3 is a turn direction table. As shown in Table 3, the turn direction table includes the direction of the previous network camera device adjacent to the second network camera device in the driving direction relative to the second network camera device, the direction of the next network camera device adjacent to the second network camera device in the driving direction relative to the second network camera device, and the corresponding relationship between the turns. Here, the second network camera device is any network camera device installed on the road. Figure 2 For example, assuming that the vehicle has traveled from the position corresponding to IPC B to the position corresponding to IPC4, if the next step is to travel from the position corresponding to IPC4 to the position corresponding to IPC2, then IPC B is the previous IPC of IPC4, IPC2 is the next IPC of IPC4, the first direction of IPC B relative to IPC4 is south, and the second direction of IPC2 relative to IPC4 is west. In the turning direction table, it can be found that the target turn corresponding to the first direction of south and the second direction of west is a left turn, and the left turn is sent to the terminal device corresponding to the vehicle. The terminal device outputs a left turn, and the user then turns the vehicle left, thereby realizing navigation of the vehicle from the position corresponding to the first network camera device to the position corresponding to the next network camera device, that is, realizing the vehicle traveling from the position corresponding to IPC4 to the position corresponding to IPC2.

[0092] Table 3

[0093]

[0094]

[0095] It should be noted that the steering in Table 3 is determined based on the front of the vehicle in the monitoring screen facing the network camera device. The target steering corresponding to the first orientation and the second orientation can realize the vehicle's navigation operations such as turning left, turning right, going straight or turning around; turning around refers to the target steering corresponding to the first orientation and the second orientation being the same.

[0096] It should be noted that the relative orientations in Table 3 are only examples. In actual application, they can be set based on the specific layout of the network camera devices installed in the traffic system, and the present invention will not go into details here.

[0097] In this embodiment, the target steering corresponding to the first orientation and the second orientation is determined by the steering direction table maintained by the server, and the vehicle is then controlled to travel from the current first network camera device to the direction of the next network camera device based on the target steering, which can replace the satellite positioning system to realize vehicle navigation.

[0098] In one embodiment, the above-mentioned navigation of the vehicle based on the target turning can be specifically implemented in the following manner:

[0099] The target turn is sent to a terminal device corresponding to the vehicle, or the target turn is sent to a terminal device corresponding to the vehicle through the first network camera device; wherein the target turn is used to instruct the terminal device to navigate the vehicle based on the target turn.

[0100] For example, the request message sent by the terminal device corresponding to the vehicle to the server may also include the identification information of the terminal device. When the server receives the request message sent by the terminal device, the server stores the identification information of the terminal device included in the request message and the reference characteristic information of the vehicle in correspondence with each other. After determining the target turn, the server may determine the identification information of the terminal device corresponding to the characteristic information of the vehicle in the navigation request based on the correspondence between the identification information of the terminal device and the reference characteristic information of the vehicle, and then send the target turn to the corresponding terminal device based on the determined identification information of the terminal device.

[0101] Alternatively, after determining the target turn, the server can send the target turn to the first network camera device based on the identification information of the first network camera device included in the navigation request, and the first network camera device then sends the received target turn to the terminal device corresponding to the vehicle in the monitoring screen of the first network camera device.

[0102] When the terminal device receives the target turn, it can display the target turn through the terminal device's display screen, or play the target turn through the terminal device's speaker, so that when the user knows the target turn, he can operate the vehicle based on the target turn to achieve navigation operations on the vehicle.

[0103] In this embodiment, the server directly sends the target turn to the terminal device corresponding to the vehicle, or sends the target turn to the terminal device corresponding to the vehicle through the first network camera device, which reflects the diversity of the target turn sending methods. In addition, the server directly sends the target turn to the terminal device corresponding to the vehicle, which can also improve navigation efficiency.

[0104] In one embodiment, the navigation method further comprises the following steps:

[0105] Receive roadblock information sent by a third network camera device; and update a target route from the starting position to the destination position based on the roadblock information.

[0106] The third network camera device is any network camera device on the target line.

[0107] For example, when the third network camera device on the target route detects that there is an obstacle on the road in the monitoring screen or the road is under construction, it can send roadblock information to the server. When receiving the roadblock information, the server considers that the road corresponding to the third network camera device is not suitable for vehicle driving at this time, and thus updates the previously determined target route from the starting position to the destination position based on the roadblock information sent by the third network camera device, so that the updated target route does not include the identification information of the third network camera device. When determining the first direction and the second direction subsequently, the determination is made based on the updated target route. The present invention will not be elaborated here.

[0108] In this embodiment, when the network camera device detects that there are obstacles on the road in the monitoring screen or the road is under construction, it sends roadblock information to the server, so that the server can update the target route based on the roadblock information in time, and then determine the first position and the second position based on the updated target route, thereby improving the accuracy of navigation.

[0109] Figure 3 FIG. 2 is a flowchart of a navigation method according to an embodiment of the present invention. Figure 3 As shown, applied to a first network camera device, the navigation method includes the following steps:

[0110] Step 301: Receive reference feature information of a vehicle sent by a server.

[0111] Step 302: When it is determined that the vehicle is located in the monitoring screen of the first network camera device and the collected characteristic information of the vehicle matches the reference characteristic information, a navigation request is sent to the server; the navigation request is used to instruct the server to determine, based on a routing list, a first position of the previous network camera device of the first network camera device relative to the first network camera device and a second position of the next network camera device of the first network camera device relative to the first network camera device in the target route; the routing list includes identification information of every two network camera devices installed on the road, and a first corresponding relationship between the relative positions of the two network camera devices; the first position and the second position are used to navigate the vehicle.

[0112] The navigation method provided by the present invention is that the first network camera device sends a navigation request to the server when it is determined that the vehicle is located in the monitoring screen and the collected feature information of the vehicle matches the reference feature information, so that the server determines the first position of the previous network camera device of the first network camera device in the target route relative to the first network camera device, and the second position of the next network camera device of the first network camera device relative to the first network camera device based on the route list, and finally navigates the vehicle based on the first position and the second position. It can be seen that the present invention realizes the navigation of the vehicle based on the route list and all the network camera devices passing from the starting position to the destination position, without using the satellite positioning system, so that the navigation of the vehicle can be realized when the satellite positioning system fails.

[0113] In one embodiment, the navigation method further comprises the following steps:

[0114] receiving a target turn sent by the server; the target turn is a turn corresponding to the first orientation and the second orientation found by the server in a turn orientation table; the turn orientation table includes a direction of a previous network camera device adjacent to the second network camera device in a driving direction relative to the second network camera device, a direction of a next network camera device adjacent to the second network camera device relative to the second network camera device, and a corresponding relationship between turns;

[0115] The target turn is sent to a terminal device corresponding to the vehicle; the target turn is used to instruct the terminal device to navigate the vehicle based on the target turn.

[0116] It should be noted that the specific implementation methods and technical effects of the first network camera device side can refer to the corresponding specific descriptions in the various embodiments of the server side, and the present invention will not be repeated here.

[0117] Figure 4 is an interactive schematic diagram of a navigation method provided by an embodiment of the present invention, such as Figure 4 As shown, the navigation method is applied to a server, a first network camera device and a terminal device, and includes the following steps:

[0118] Step 401: The server determines a target route from a starting position to a destination position; the target route includes identification information of all network camera devices that the vehicle passes through from the starting position to the destination position.

[0119] Step 402: The server sends reference feature information of the vehicle to a corresponding network camera device based on the identification information of the network camera device.

[0120] Step 403: When the first network camera device determines that the vehicle is located in the monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information, the first network camera device sends a navigation request to the server.

[0121] The first network camera device is any network camera device among all the network camera devices except the first network camera device and the last network camera device.

[0122] Step 404: The server determines, based on the routing list, a first position of a previous network camera device of the first network camera device relative to the first network camera device and a second position of a next network camera device of the first network camera device relative to the first network camera device in the target route.

[0123] The routing list includes identification information of every two network camera devices installed on the road and a first corresponding relationship between the relative positions of the two network camera devices.

[0124] Step 405: The server searches the turning direction table for the target turning corresponding to the first direction and the second direction.

[0125] Step 406: The server sends the target turn to the terminal device corresponding to the vehicle.

[0126] The target turning is used to instruct the terminal device to navigate the vehicle based on the target turning.

[0127] The navigation device provided by the present invention is described below. The navigation device described below and the navigation method described above can be referred to each other.

[0128] Figure 5 is one of the structural diagrams of the navigation device provided by the embodiment of the present invention, which is applied to a server, such as Figure 5 As shown, the navigation device 500 includes a first determination unit 501, a first sending unit 502, a first receiving unit 503, a second determination unit 504 and a navigation unit 505; wherein:

[0129] The first determining unit 501 is used to determine a target route from a starting position to a destination position; the target route includes identification information of all network camera devices that the vehicle passes through from the starting position to the destination position;

[0130] A first sending unit 502, configured to send reference feature information of the vehicle to a corresponding network camera device based on the identification information of the network camera device;

[0131] The first receiving unit 503 is used to receive a navigation request sent by the first network camera device; the navigation request is sent by the first network camera device when it is determined that the vehicle is located in the monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information;

[0132] The second determining unit 504 is used to determine, based on the route list, a first position of a previous network camera device of the first network camera device relative to the first network camera device, and a second position of a next network camera device of the first network camera device relative to the first network camera device in the target route; the first network camera device is any network camera device among all the network camera devices except the first network camera device and the last network camera device; the route list includes identification information of every two network camera devices installed on the road, and a first corresponding relationship between the relative positions of the two network camera devices;

[0133] The navigation unit 505 is configured to navigate the vehicle based on the first position and the second position.

[0134] The navigation device provided by the present invention, the server determines the target route based on the starting position and the destination position input by the user, the target route includes the identification information of all network camera devices that the vehicle passes from the starting position to the destination position, sends the reference feature information of the vehicle to the corresponding network camera device based on the identification information of the network camera device, and when receiving the navigation request sent by the first network camera device when it is determined that the vehicle is located in the monitoring screen and the collected feature information of the vehicle matches the reference feature information, the server determines the first position of the previous network camera device of the first network camera device in the target route relative to the first network camera device and the second position of the next network camera device of the first network camera device relative to the first network camera device based on the route list, and finally navigates the vehicle based on the first position and the second position. It can be seen that the present invention realizes the navigation of the vehicle based on the route list and all network camera devices that pass from the starting position to the destination position, without using the satellite positioning system, so that the navigation of the vehicle can be realized when the satellite positioning system fails.

[0135] Based on any of the above embodiments, the routing list further includes a second correspondence between identification information of every two network camera devices installed on the road and the distance between the two network camera devices;

[0136] The first determining unit 501 is specifically configured to:

[0137] Acquire identification information of the network camera device corresponding to the starting position and identification information of the network camera device corresponding to the destination position based on the position list; the position list includes a correspondence between the identification information of the network camera device and the position;

[0138] Determine the shortest path from the starting position to the destination position based on the second corresponding relationship, the identification information of the network camera device corresponding to the starting position, and the identification information of the network camera device corresponding to the destination position;

[0139] The shortest path is determined as the target route.

[0140] Based on any of the above embodiments, the navigation unit 505 is specifically used for:

[0141] Searching the target turn corresponding to the first direction and the second direction in the turn direction table; the target turn is the direction of the vehicle traveling from the first network camera device to the next network camera device; the turn direction table includes the direction of the previous network camera device adjacent to the second network camera device in the driving direction relative to the second network camera device, the direction of the next network camera device adjacent to the second network camera device relative to the second network camera device, and the corresponding relationship between the turns;

[0142] The vehicle is navigated based on the target turn.

[0143] Based on any of the above embodiments, the navigation unit 505 is further specifically configured to:

[0144] The target turn is sent to a terminal device corresponding to the vehicle, or the target turn is sent to a terminal device corresponding to the vehicle through the first network camera device; wherein the target turn is used to instruct the terminal device to navigate the vehicle based on the target turn.

[0145] Based on any of the above embodiments, the navigation device 500 further includes:

[0146] A third receiving unit, used to receive roadblock information sent by a third network camera device;

[0147] An updating unit is used to update a target route from the starting position to the destination position based on the roadblock information.

[0148] Figure 6 FIG. 2 is a second structural diagram of a navigation device provided by an embodiment of the present invention, which is applied to a server, such as Figure 6 As shown, the navigation device 600 includes a second receiving unit 601 and a second sending unit 602; wherein:

[0149] The second receiving unit 601 is used to receive the reference feature information of the vehicle sent by the server;

[0150] The second sending unit 602 is used to send a navigation request to the server when it is determined that the vehicle is located in the monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information; the navigation request is used to instruct the server to determine the first position of the previous network camera device of the first network camera device relative to the first network camera device and the second position of the next network camera device of the first network camera device relative to the first network camera device in the target route based on the routing list; the routing list includes identification information of every two network camera devices installed on the road, and a first corresponding relationship between the relative positions of the two network camera devices; the first position and the second position are used to navigate the vehicle.

[0151] In the navigation device provided by the present invention, when the first network camera device determines that the vehicle is located in the monitoring screen and the collected characteristic information of the vehicle matches the reference characteristic information, the first network camera device sends a navigation request to the server, so that the server determines the first position of the previous network camera device of the first network camera device in the target route relative to the first network camera device, and the second position of the next network camera device of the first network camera device relative to the first network camera device based on the route list, and finally navigates the vehicle based on the first position and the second position. It can be seen that the present invention realizes the navigation of the vehicle based on the route list and all the network camera devices passing from the starting position to the destination position, without using the satellite positioning system, so that the navigation of the vehicle can be realized when the satellite positioning system fails.

[0152] Based on any of the above embodiments, the navigation device 600 further includes:

[0153] a fourth receiving unit, configured to receive a target turn sent by the server; the target turn is a turn corresponding to the first orientation and the second orientation found by the server in a turn orientation table; the turn orientation table includes a direction of a previous network camera device adjacent to the second network camera device in a driving direction relative to the second network camera device, a direction of a next network camera device adjacent to the second network camera device relative to the second network camera device, and a corresponding relationship between turns;

[0154] The third sending unit is used to send the target turn to the terminal device corresponding to the vehicle; the target turn is used to instruct the terminal device to navigate the vehicle based on the target turn.

[0155] Figure 7 is a schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention, such as Figure 7 As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the navigation method, which includes: determining a target route from a starting position to a destination position; the target route includes identification information of all network camera devices that the vehicle passes from the starting position to the destination position;

[0156] Sending reference feature information of the vehicle to a corresponding network camera device based on identification information of the network camera device;

[0157] receiving a navigation request sent by a first network camera device; the navigation request is sent by the first network camera device when it is determined that the vehicle is located in a monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information; the first network camera device is any network camera device among all the network camera devices except the first network camera device and the last network camera device;

[0158] Determine, based on a route list, a first position of a previous network camera device of the first network camera device relative to the first network camera device, and a second position of a next network camera device of the first network camera device relative to the first network camera device in the target route; the route list includes identification information of every two network cameras installed on the road and a first corresponding relationship between the relative positions of the two network cameras;

[0159] The vehicle is navigated based on the first location and the second location.

[0160] Alternatively, the processor 710 may call the logic instructions in the memory 730 to execute the navigation method, which includes:

[0161] Receiving reference characteristic information of the vehicle sent by the server;

[0162] When it is determined that the vehicle is located in the monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information, a navigation request is sent to the server; the navigation request is used to instruct the server to determine, based on a routing list, a first position of the previous network camera device of the first network camera device relative to the first network camera device and a second position of the next network camera device of the first network camera device relative to the first network camera device in a target route; the routing list includes identification information of every two network camera devices installed on a road, and a first corresponding relationship between the relative positions of the two network camera devices; the first position and the second position are used to navigate the vehicle.

[0163] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0164] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the navigation method provided by the above methods, the method comprising: determining a target route from a starting position to a destination position; the target route includes identification information of all network camera devices that the vehicle passes through from the starting position to the destination position;

[0165] Sending reference feature information of the vehicle to a corresponding network camera device based on identification information of the network camera device;

[0166] receiving a navigation request sent by a first network camera device; the navigation request is sent by the first network camera device when it is determined that the vehicle is located in a monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information; the first network camera device is any network camera device among all the network camera devices except the first network camera device and the last network camera device;

[0167] Determine, based on a route list, a first position of a previous network camera device of the first network camera device relative to the first network camera device, and a second position of a next network camera device of the first network camera device relative to the first network camera device in the target route; the route list includes identification information of every two network cameras installed on the road and a first corresponding relationship between the relative positions of the two network cameras;

[0168] The vehicle is navigated based on the first location and the second location.

[0169] Alternatively, when the program instructions are executed by a computer, the computer can implement the following method:

[0170] Receiving reference characteristic information of the vehicle sent by the server;

[0171] When it is determined that the vehicle is located in the monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information, a navigation request is sent to the server; the navigation request is used to instruct the server to determine, based on a routing list, a first position of the previous network camera device of the first network camera device relative to the first network camera device and a second position of the next network camera device of the first network camera device relative to the first network camera device in a target route; the routing list includes identification information of every two network camera devices installed on a road, and a first corresponding relationship between the relative positions of the two network camera devices; the first position and the second position are used to navigate the vehicle.

[0172] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform the navigation method provided by the above methods, the method comprising: determining a target route from a starting position to a destination position; the target route includes identification information of all network camera devices that the vehicle passes from the starting position to the destination position;

[0173] Sending reference feature information of the vehicle to a corresponding network camera device based on identification information of the network camera device;

[0174] receiving a navigation request sent by a first network camera device; the navigation request is sent by the first network camera device when it is determined that the vehicle is located in a monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information; the first network camera device is any network camera device among all the network camera devices except the first network camera device and the last network camera device;

[0175] Determine, based on a route list, a first position of a previous network camera device of the first network camera device relative to the first network camera device, and a second position of a next network camera device of the first network camera device relative to the first network camera device in the target route; the route list includes identification information of every two network cameras installed on the road and a first corresponding relationship between the relative positions of the two network cameras;

[0176] The vehicle is navigated based on the first location and the second location.

[0177] Alternatively, when the computer program is executed by a processor, the following method is implemented:

[0178] Receiving reference characteristic information of the vehicle sent by the server;

[0179] When it is determined that the vehicle is located in the monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information, a navigation request is sent to the server; the navigation request is used to instruct the server to determine, based on a routing list, a first position of the previous network camera device of the first network camera device relative to the first network camera device and a second position of the next network camera device of the first network camera device relative to the first network camera device in a target route; the routing list includes identification information of every two network camera devices installed on a road, and a first corresponding relationship between the relative positions of the two network camera devices; the first position and the second position are used to navigate the vehicle.

[0180] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0181] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0182] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A navigation method, characterized in that: Applied to a server, the method comprises: Determine a target route from a starting position to a destination position; the target route includes identification information of all network camera devices that the vehicle passes through from the starting position to the destination position; Sending reference feature information of the vehicle to a corresponding network camera device based on identification information of the network camera device; receiving a navigation request sent by a first network camera device; the navigation request is sent by the first network camera device when it is determined that the vehicle is located in a monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information; the first network camera device is any network camera device among all the network camera devices except the first network camera device and the last network camera device; Determine, based on a route list, a first position of a previous network camera device of the first network camera device relative to the first network camera device, and a second position of a next network camera device of the first network camera device relative to the first network camera device in the target route; the route list includes identification information of every two network cameras installed on the road and a first corresponding relationship between the relative positions of the two network cameras; The vehicle is navigated based on the first location and the second location.

2. The navigation method according to claim 1, characterized in that: The routing list also includes a second correspondence between identification information of every two network camera devices installed on the road and the distance between the two network camera devices; Determining a target route from a starting location to a destination location includes: Acquire identification information of the network camera device corresponding to the starting position and identification information of the network camera device corresponding to the destination position based on the position list; the position list includes the correspondence between the identification information of the network camera device and the position; Determine the shortest path from the starting position to the destination position based on the second corresponding relationship, the identification information of the network camera device corresponding to the starting position, and the identification information of the network camera device corresponding to the destination position; The shortest path is determined as the target route.

3. The navigation method according to claim 1, characterized in that: The navigating the vehicle based on the first position and the second position includes: Searching the target turn corresponding to the first direction and the second direction in the turn direction table; the target turn is the direction of the vehicle traveling from the first network camera device to the next network camera device; the turn direction table includes the direction of the previous network camera device adjacent to the second network camera device in the driving direction relative to the second network camera device, the direction of the next network camera device adjacent to the second network camera device relative to the second network camera device, and the corresponding relationship between the turns; The vehicle is navigated based on the target turn.

4. The navigation method according to claim 3, characterized in that: The navigating the vehicle based on the target steering comprises: The target turn is sent to a terminal device corresponding to the vehicle, or the target turn is sent to a terminal device corresponding to the vehicle through the first network camera device; wherein the target turn is used to instruct the terminal device to navigate the vehicle based on the target turn.

5. The navigation method according to any one of claims 1 to 4, characterized in that: The method further comprises: Receiving roadblock information sent by a third network camera device; A target route from the starting location to the destination location is updated based on the roadblock information.

6. A navigation method, characterized in that: Applied to a first network camera device, the method comprises: Receiving reference characteristic information of the vehicle sent by the server; When it is determined that the vehicle is located in the monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information, a navigation request is sent to the server; the navigation request is used to instruct the server to determine, based on a routing list, a first position of the previous network camera device of the first network camera device relative to the first network camera device and a second position of the next network camera device of the first network camera device relative to the first network camera device in a target route; the routing list includes identification information of every two network camera devices installed on a road, and a first corresponding relationship between the relative positions of the two network camera devices; the first position and the second position are used to navigate the vehicle.

7. The navigation method according to claim 6, characterized in that: The method further comprises: receiving a target turn sent by the server; the target turn is a turn corresponding to the first orientation and the second orientation found by the server in a turn orientation table; the turn orientation table includes a direction of a previous network camera device adjacent to the second network camera device in a driving direction relative to the second network camera device, a direction of a next network camera device adjacent to the second network camera device relative to the second network camera device, and a corresponding relationship between turns; The target turn is sent to a terminal device corresponding to the vehicle; the target turn is used to instruct the terminal device to navigate the vehicle based on the target turn.

8. A navigation device, characterized in that: include: A first determining unit, configured to determine a target route from a starting location to a destination location; The target route includes identification information of all network camera devices that the vehicle passes through from the starting position to the destination position; A first sending unit, configured to send reference feature information of the vehicle to a corresponding network camera device based on identification information of the network camera device; A first receiving unit is used to receive a navigation request sent by a first network camera device; the navigation request is sent by the first network camera device when it is determined that the vehicle is located in a monitoring screen of the first network camera device and the collected feature information of the vehicle matches the reference feature information; a second determining unit, for determining, based on a route list, a first position of a previous network camera device of the first network camera device relative to the first network camera device, and a second position of a next network camera device of the first network camera device relative to the first network camera device in the target route; the first network camera device is any network camera device except the first network camera device and the last network camera device among all the network camera devices; the route list includes identification information of every two network camera devices installed on the road, and a first corresponding relationship between the relative positions of the two network camera devices; A navigation unit is used to navigate the vehicle based on the first position and the second position.

9. A navigation device, characterized in that: include: A second receiving unit, used for receiving reference characteristic information of the vehicle sent by the server; a second sending unit, configured to send a navigation request to the server when it is determined that the vehicle is located in the monitoring screen of the first network camera device and the collected characteristic information of the vehicle matches the reference characteristic information; the navigation request is used to instruct the server to determine, based on a route list, a first position of a previous network camera device of the first network camera device relative to the first network camera device and a second position of a next network camera device of the first network camera device relative to the first network camera device in a target route; the route list includes identification information of every two network camera devices installed on a road and a first corresponding relationship between the relative positions of the two network camera devices; The first position and the second position are used to navigate the vehicle.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the navigation method according to any one of claims 1 to 5 is implemented, or the navigation method according to claim 6 or 7 is implemented.

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