Lane-level navigation method and related device

Abstract

The invention discloses a lane-level navigation method and a related device, and the method comprises the steps: an electronic device displays a first lane-level navigation route, and carries out navigation according to the first lane-level navigation route; the first lane level navigation route indicates a driving path between the current position and the destination address of the vehicle and a recommended lane at any position in the driving path; when the vehicle runs on the first yaw early warning road section, detecting whether the current running lane of the vehicle belongs to a recommended lane of the first lane level navigation route at the current position of the vehicle; the first yaw early warning road section is determined based on non-variable lane information and / or a preset distance; if the lane belongs to the recommended lane, displaying a second lane-level navigation route; the second lane level navigation route is determined based on the current position of the vehicle, the current driving lane of the vehicle and the destination address of the first lane level navigation route. In this way, the yaw risk can be detected in advance, the yaw route can be displayed in time, the anxiety of the user in driving yaw is effectively reduced, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of electronic technology, and in particular to a lane-level navigation method and related devices. Background Art

[0002] With the development of the automobile industry and urban transportation, map applications have become an important application on mobile phones and other terminal devices, and map navigation is a commonly used function of map applications. The map navigation function of map applications provides cars with navigation routes from the starting point to the destination to assist users in driving and easily cope with the increasingly complex traffic road network.

[0003] When using the map navigation function of the map application, vehicles often deviate from the original navigation route due to taking the wrong lane or missing the ramp, triggering navigation deviation, and the map application replans a new navigation route. However, the current map application has the problem of taking a long time to determine the deviation and the navigation route planning is not timely after the deviation, which can easily cause users to feel anxious and violate traffic regulations, which may cause driving safety problems and face driver's license deduction points and fines.

[0004] At present, how to deal with the deviation during driving navigation and improve the user's driving navigation experience still needs further research. Summary of the invention

[0005] The embodiments of the present application provide a lane-level navigation method and related devices, which can detect the risk of deviation in advance and display the deviation route in time, thereby effectively reducing the user's anxiety about driving deviation and improving the user's driving navigation experience.

[0006] In a first aspect, the present application provides a lane-level navigation method, the method comprising: an electronic device displays a first lane-level navigation route and navigates according to the first lane-level navigation route; the first navigation route comprises at least one deviation warning section, the first lane-level navigation route indicates the driving path between the current position of the vehicle and the destination address and the recommended lane at any position in the driving path; when the vehicle is traveling on the first deviation warning section, detecting whether the vehicle has a deviation risk; the above-mentioned at least one deviation warning section comprises a first deviation warning section; the first deviation warning section is determined based on non-variable lane information and / or a preset distance; if there is a deviation risk, the electronic device displays a second lane-level navigation route; the second lane-level navigation route is determined based on the current position of the vehicle, the current driving lane of the vehicle and the destination address of the first lane-level navigation route; wherein, detecting whether the vehicle has a deviation risk comprises: detecting whether the current driving lane of the vehicle belongs to the recommended lane of the first lane-level navigation route at the current position of the vehicle; if not, there is a deviation risk; otherwise, there is no deviation risk.

[0007] In the implementation of the embodiment of the present application, the lane-level navigation route is marked with a deviation warning section; when the user drives and navigates along the lane-level navigation route through an electronic device, the electronic device performs deviation detection in advance in each deviation warning section; when it is detected that the user's vehicle has a deviation risk, the lane-level navigation route after the deviation is displayed in advance. In this way, the user can be aware of the current deviation risk in a timely manner and respond to the deviation risk in a timely manner (for example, changing lanes to the recommended lane of the original navigation route in a timely manner). Observing the lane-level navigation route after the deviation in advance can reduce the user's anxiety caused by deviation and effectively improve the user experience when driving navigation deviates.

[0008] In an embodiment of the present application, the starting address of the second lane-level navigation route is located at the current position of the above-mentioned vehicle, the destination address of the second lane-level navigation route is the destination address of the first lane-level navigation route, and the recommended lane of the second lane-level navigation route at the starting position includes the current lane of the above-mentioned vehicle.

[0009] In the embodiment of the present application, the first lane-level navigation route may be referred to as the original navigation route, and the second lane-level navigation route may be referred to as the detour route.

[0010] In one implementation, the first deviation warning section is a non-variable road section; the non-variable lane information includes the starting position, the ending position and the length of the non-variable road section. In the implementation of the present application, a deviation warning section is set on the non-variable road section to perform deviation detection in advance on the non-variable road section, effectively improving the timeliness of the deviation warning.

[0011] In one implementation, the first deviation warning section is determined based on a section at a preset distance before the intersection and a non-variable road section; the non-variable lane information includes the starting position, the ending position and the length of the non-variable road section. By implementing the embodiment of the present application, each deviation warning section that may have a deviation risk in the lane-level navigation route is reasonably set, so that deviation detection can be performed in advance in the deviation warning section, effectively improving the timeliness of the deviation warning.

[0012] In one implementation, if there is a risk of deviation, the electronic device simultaneously displays the first lane-level navigation route and the second lane-level navigation route; when the vehicle continues to drive along the non-recommended lane of the first lane-level navigation route, the electronic device stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route. By implementing the embodiment of the present application, for the scenario where the user continues to drive along the non-recommended lane, by displaying the deviated route in advance, and stopping displaying the original navigation route at an appropriate time and switching to navigation according to the deviated route, the consistency and timeliness of the navigation route display when the user's driving navigation deviates can be ensured, reducing the user's anxiety about the temporary lack of navigation route prompts / inconsistency with the actual driving road when the vehicle deviates, reducing the possibility of the user changing lanes illegally, and improving the user's driving safety.

[0013] In one implementation, the first deviation warning section is a non-variable road section, and the method further includes: if there is a deviation risk, when the vehicle is traveling on the first deviation warning section, the electronic device automatically stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route. In implementing the embodiment of the present application, when the deviation warning section is a non-variable road section, after the deviation risk is detected, since the user cannot change lanes to the recommended lane on the non-variable road section, the electronic device automatically stops displaying the original navigation route and switches to navigation according to the deviation route, so as to reduce the possibility of the user changing lanes illegally and improve the user's driving safety. In one implementation, after the electronic device stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route, it includes: the electronic device outputs a new route navigation prompt, and the new route navigation prompt is used to prompt that navigation has been performed according to the second lane-level navigation route.

[0014] In one implementation, when the vehicle continues to travel along the first lane, the electronic device stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route, including: after detecting that the vehicle is at risk of deviation, if it is not detected that the vehicle's driving lane belongs to the recommended lane of the first lane-level navigation route within a specific duration, within a specific driving distance of the vehicle, or before the vehicle reaches a specific position of the deviation warning section, the electronic device stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route. By implementing the embodiments of the present application and reasonably setting the timing of stopping displaying the original navigation route and switching to navigation according to the deviated route, the continuity of the navigation route display when the user deviates during driving navigation can be ensured, the user's anxiety about the navigation route not being consistent with the actual driving road when the vehicle deviates can be reduced, the possibility of the user changing lanes illegally can be reduced, and the user's driving safety can be improved.

[0015] In one implementation, the deviation warning section does not include a variable road section, and the variable road section is a section between the recommended lane and the non-recommended lane of the first lane-level navigation route in the first deviation warning section where lanes can be changed; when the vehicle continues to travel along the first lane, the electronic device stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route, including: after detecting that the vehicle has a deviation risk, after a specific time period, after a specific driving distance of the vehicle, or when the vehicle reaches a specific position of the deviation warning section, the electronic device automatically stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route. When implementing the embodiment of the present application, in the case where the deviation warning section does not include a variable road section, the original navigation route is automatically stopped from being displayed at an appropriate time and switched to navigation according to the deviation route, which can ensure the continuity of the navigation route display when the user deviates during driving navigation, reduce the user's anxiety that the navigation route does not conform to the actual driving road when the vehicle deviates, reduce the possibility of the user changing lanes illegally, and improve the user's driving safety.

[0016] In one implementation, the method further includes: if there is a risk of deviation, outputting a first prompt message; the first prompt message is used to prompt one or more of the following: the risk of deviation of the vehicle, information of the second lane-level navigation route; the information of the second lane-level navigation route includes one or more of the following: the length of the second lane-level navigation route, the time taken to travel the second lane-level navigation route, the road condition of the second lane-level navigation route, the difference in the length of the second lane-level navigation route and the first lane-level navigation route, and the difference in the time taken to travel the second lane-level navigation route and the first lane-level navigation route. By implementing the embodiment of the present application, the risk of deviation is detected in advance, and the user is promptly prompted with information about the risk of deviation of the vehicle and the deviated route after the deviation, so that the user can respond to the above-mentioned risk of deviation in a timely manner, reduce the possibility of subsequent deviation, reduce the anxiety of the user when driving the navigation deviation, and improve the safety of the user's driving.

[0017] In one implementation, if there is a risk of deviation, and the first deviation warning section includes a variable road section, the first prompt information is used to prompt the user that the vehicle may deviate, and change lanes to the recommended lane; if there is a risk of deviation, and the first deviation warning section does not include a variable road section, the first prompt information is used to prompt the vehicle to deviate, and the current lane change may be illegal; the variable road section is the section that can change lanes between the recommended lane and the non-recommended lane of the first lane-level navigation route in the first deviation warning section. When implementing the embodiment of the present application, in the case where the deviation warning section includes a variable road section, the user is prompted to change lanes to the recommended lane of the original navigation route in time to avoid deviation; in the case where the deviation warning section does not include a variable road section, the user is prompted that the current lane change may be illegal, thereby reducing the possibility of the user changing lanes illegally and improving the user's driving safety.

[0018] In one implementation, after the electronic device simultaneously displays the first lane-level navigation route and the second lane-level navigation route, it also includes: when it is detected that the vehicle's driving lane belongs to the recommended lane of the first lane-level navigation route at the vehicle's current position, the electronic device stops displaying the second lane-level navigation route and continues to navigate according to the first lane-level navigation route. In the implementation of the present application, for the scenario where the user returns to the original navigation route, based on the prompt of the deviated route, the user can return to the original navigation route in time; after the user returns to the original navigation route, the deviated route is stopped from being displayed, which can also ensure the continuity of the navigation route display when the user's driving navigation deviates, and effectively improve the user experience when the user's driving deviates.

[0019] In one implementation, after the electronic device stops displaying the second lane-level navigation route and continues to navigate according to the first lane-level navigation route, the electronic device also includes: outputting an original route navigation prompt, where the original route navigation prompt is used to prompt to continue navigating according to the first lane-level navigation route.

[0020] In one implementation, the method further includes: in response to the first operation, the electronic device sends a first request to the server; the first request is used to request the planning of a lane-level navigation route; the electronic device receives first data; the first data indicates the first lane-level navigation route and the deviation warning section in the first lane-level navigation route. By implementing the embodiment of the present application, the server can provide the electronic device with services for planning lane-level navigation routes and determining deviation warning sections, thereby reducing the computing power requirements and load on the electronic device.

[0021] In one implementation, after detecting that the vehicle has a risk of deviation, the method further includes: the electronic device sends a second request to the server; the second request is used to request the planning of a lane-level navigation route, and the second request includes the current position of the vehicle, the current driving lane of the vehicle, and the destination address of the first lane-level navigation route; the electronic device receives second data; the first data indicates the second lane-level navigation route and the deviation warning section in the second lane-level navigation route. By implementing the embodiment of the present application, the server can provide the electronic device with services for planning lane-level navigation routes and determining deviation warning sections, thereby reducing the computing power requirements and load on the electronic device.

[0022] In a second aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory, wherein the memory is coupled to the processor, the memory is used to store computer program code, the computer program code comprises computer instructions, and when the processor reads the computer instructions from the memory, the electronic device executes the lane-level navigation method described in the first aspect.

[0023] In a third aspect, an embodiment of the present application provides a computer storage medium, including computer instructions, which, when executed on an electronic device, enables a communication device to execute a lane-level navigation method in any possible implementation of the first aspect.

[0024] In a fourth aspect, an embodiment of the present application provides a computer program product, which, when executed on a computer, enables the computer to execute the lane-level navigation method in any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figures 1A to 1C A user interface diagram of a navigation method provided in an embodiment of the present application;

[0026] Figure 2A A schematic diagram of a communication system provided in an embodiment of the present application;

[0027] Figure 2B A schematic diagram of a lane-level navigation system provided in an embodiment of the present application;

[0028] Figure 3 A schematic diagram of a user interface for a lane-level navigation route provided in an embodiment of the present application;

[0029] FIG. 4A to FIG. 4E Schematic diagram of several deviation warning sections provided in the embodiments of the present application;

[0030] FIG. 5A to FIG. 5D A schematic diagram of a user interface for entering a lane-level navigation interface provided in an embodiment of the present application;

[0031] FIG. 5E to FIG. 5H A schematic diagram of a user interface in an application scenario provided by an embodiment of the present application;

[0032] FIG. 5I to FIG. 5K A schematic diagram of a user interface in another application scenario provided by an embodiment of the present application;

[0033] Figure 6 A schematic diagram of a method flow of a lane-level navigation method provided in an embodiment of the present application;

[0034] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0035] Figure 8 A schematic diagram of the structure of a server provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in the text is only a description of the association relationship of the associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0037] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0038] The term "user interface (UI)" in the following embodiments of the present application refers to a medium interface for interaction and information exchange between an application or operating system and a user, which realizes the conversion between the internal form of information and the form acceptable to the user. The user interface is a source code written in a specific computer language such as Java and extensible markup language (XML). The interface source code is parsed and rendered on an electronic device, and finally presented as content that can be recognized by the user. The commonly used form of user interface is a graphical user interface (GUI), which refers to a user interface related to computer operation displayed in a graphical manner. It can be a visual interface element such as text, icons, buttons, menus, tabs, text boxes, dialog boxes, status bars, navigation bars, widgets, etc. displayed on the display screen of an electronic device.

[0039] In traditional navigation methods, such as Figure 1A As shown, the user drives according to the navigation route planned by the map application of the electronic device (such as a mobile phone, a car-mounted device); the electronic device determines the actual vehicle position (i.e., the position of the electronic device 100) based on the GPS information of the electronic device; the electronic device 100 displays the navigation route and the vehicle position, and the vehicle position displayed by the electronic device is usually bound to the navigation route and may have a certain deviation from the actual vehicle position; the electronic device determines whether the actual vehicle position continues to match the navigation route. Figure 1B As shown in FIG, when it is detected that the actual vehicle position continues to mismatch with the navigation route, the vehicle is determined to be off course, and a voice announcement is made to remind the user that the vehicle is off course; as shown in FIG. Figure 1B As shown in the figure, when the vehicle deviates, before displaying the new navigation route, the vehicle position displayed by the electronic device is still bound to the original navigation route, which deviates from the actual vehicle position. Figure 1C As shown, after determining that the vehicle is off course, a new navigation route is replanned and displayed according to the actual vehicle position, and the vehicle position displayed by the electronic device is bound to the new navigation route. The above navigation method has the following problems:

[0040] (1) Delayed deviation prompts. Deviation detection is performed only after the user has taken the wrong road. The vehicle’s actual position is continuously identified as not matching the navigation route and then it is determined to be a deviation. Only after the deviation is confirmed will the user be prompted through voice broadcast. This results in the user being unable to adjust the driving route in time to avoid further deviation.

[0041] (2) The new route is not displayed in time after the deviation. It takes a certain amount of time from the vehicle actually starting to deviate to the map application detecting the deviation. After the deviation is detected, the map application will re-plan the route based on the current vehicle position and display it. During this period of time, if the user is aware of the deviation but cannot see the new navigation route, it will cause anxiety in the user, which may lead to driving safety issues and traffic violations by the user, such as reversing the original navigation route, changing lanes illegally, etc.

[0042] The embodiment of the present application provides a lane-level navigation method, in which the map application sets a deviation warning section before the intersection and road section where deviation may occur. When the user uses the lane-level navigation function of the map application of the electronic device 100 to assist in driving, the electronic device 100 performs deviation detection in advance in the deviation warning section; when it is detected that the user's vehicle has a deviation risk, a deviation warning prompt is given in time, and the deviation route is planned and displayed. In this way, the user can be aware of the possibility of deviation in advance, adjust the driving route in time, and obtain relevant information of the deviation route after deviation (such as guide lines, time consumption, road conditions, etc.), reduce the user's anxiety caused by deviation, and effectively improve the user experience when driving navigation deviates.

[0043] The following is an introduction to the communication system 10 involved in the lane-level navigation method provided in an embodiment of the present application.

[0044] Figure 2A The system architecture of the communication system 10 provided in the embodiment of the present application is exemplarily shown. Figure 2A As shown, the communication system 10 includes an electronic device 100 and a server 200. The electronic device 100 can communicate with the server 200 through a communication network.

[0045] Among them, the electronic device 100 can run a map application. The map application can be an application (Application, APP) with a navigation function, or it can be an application applet with a navigation function. This application does not specifically limit the APP that can access the above application applet (such as social APP, payment APP, etc.). The map application can provide basic map display, map display during navigation, and map display in other modes. This application does not specifically limit the map type of the above map display, for example, including one or more of the following map types: basic map, 3D map, heat map, satellite map, topographic map, indoor map, bus map, custom layer, high-definition road map, etc.

[0046] In the embodiment of the present application, the map application running on the electronic device 100 has functions such as lane-level navigation and deviation detection. The above map type can provide a lane-level map, and the lane-level map can display the aforementioned lane-level navigation route. The user can use the functions such as lane-level navigation and deviation recognition of the map application of the electronic device 100 through interactive methods such as clicking, touching, pressing, voice, and gestures.

[0047] In the embodiment of the present application, the map application of the electronic device 100 can request the server 200 to plan a lane-level navigation route with a deviation warning section marked through the above communication network. By performing deviation detection in advance on the deviation warning section, a deviation warning can be issued in time and a deviation route can be displayed.

[0048] The electronic device 100 may be a mobile phone, a tablet computer, a desktop computer, a laptop computer, a handheld computer, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a cellular phone, a personal digital assistant (PDA), an augmented reality (AR) device, a virtual reality (VR) device, an artificial intelligence (AI) device, a wearable device (such as a smart bracelet), a vehicle-mounted device, a smart home device (such as a smart TV, a smart screen, a large-screen device, etc.) and / or a smart city device. The embodiment of the present application does not impose any special restrictions on the specific type of the electronic device 100.

[0049] The server 200 carries the cloud service of the map application, and provides basic map display, real-time lane-level navigation and other services for the map application of the electronic device 100 through a network request service interface, including planning and issuing lane-level navigation routes with marked deviation warning sections for the map application.

[0050] The server 200 may be a single server, or a server cluster consisting of multiple servers, or a cloud computing center. The server 200 involved in the embodiment of the present application may also be referred to as a cloud server, a cloud, or a cloud side.

[0051] The communication network may include local area networks (LAN) and / or wide area networks (WAN). The communication network may be implemented using any known network communication protocol, which may be various wired or wireless communication protocols, such as Ethernet, universal serial bus (USB), FIREWIRE, global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), Bluetooth, wireless fidelity (Wi-Fi), NFC, voice over Internet protocol (VoIP), communication protocols supporting network slicing architecture, or any other suitable communication protocols.

[0052] It should be understood that Figure 2A The system structure diagram of the communication system provided in the embodiment of the present application is only a schematic diagram, and does not constitute a specific limitation on the communication system 10. The communication system 10 may include more or less devices than shown in the figure, for example, it may also include a wireless relay device and a wireless backhaul device ( Figure 2A ), which is not shown in the figure and is not limited here.

[0053] Figure 2B The system architecture of a lane-level navigation system provided in an embodiment of the present application is exemplarily shown.

[0054] like Figure 2B As shown, the electronic device 100 includes modules such as a map application, a high-precision positioning module, a network communication module, a camera module, and a radar module, and the server 200 includes a cloud navigation module.

[0055] The cloud navigation module is used to interact with the map application on the electronic device 100 to provide the user with the navigation route planning function of the map application for one or more travel modes such as walking, public transportation, driving, and taxi. The driving navigation route planning function includes: planning a lane-level navigation route according to the starting address and destination address uploaded by the map application, calculating the deviation warning section in the lane-level navigation route, and sending the route data of the lane-level navigation route with the deviation warning section marked to the electronic device 100.

[0056] The high-precision positioning module combines the hardware of the electronic device 100 (such as GPS), intelligent positioning algorithms, fusion positioning and other technologies to provide high-precision positioning information to obtain the current geographical location of the electronic device 100, and realize the real-time location display and real-time navigation functions of the user in the map application. In one implementation, the high-precision positioning module is a sub-meter high-precision positioning module, and the real-time positioning error is less than 1 meter.

[0057] In the driving navigation route planning function and the real-time navigation function provided by the electronic device 100, the current geographical location of the electronic device 100 can be regarded as the current location of the vehicle.

[0058] The network communication module connects to the Internet through wired or wireless communication to transmit data, so as to realize the function of interaction between the electronic device 100 and the server 200 and other devices.

[0059] The camera module is used to perceive the surrounding environment through images collected by the camera; by performing graphic processing on the images collected by the camera, the electronic device 100 can realize the function of identifying the current driving lane.

[0060] Optionally, the electronic device 100 is a vehicle-mounted device, and one or more cameras can be configured on the front, rear, left and right sides of the vehicle body, and the camera module includes the one or more cameras. Optionally, the electronic device 100 is a mobile terminal such as a mobile phone, and the vehicle body is configured with a camera module. The mobile phone can establish a communication connection with the vehicle-mounted device and obtain the image captured by the camera module through the vehicle-mounted device.

[0061] The radar module is used to sense the surrounding environment through ultrasonic radar, millimeter wave radar or laser radar, so as to enable the electronic device 100 to identify the current driving lane.

[0062] Optionally, the electronic device 100 is a vehicle-mounted device, the vehicle body is equipped with one or more radars, and the radar module includes the one or more radars. Optionally, the electronic device 100 is a mobile terminal such as a mobile phone, the vehicle body is equipped with a radar module, the mobile phone can establish a communication connection with the vehicle-mounted device, and the mobile phone can obtain the radar information collected by the radar module through the vehicle-mounted device.

[0063] The camera module is optional, and the radar module is also optional. In some embodiments, not limited to the camera module and the radar module, the electronic device 100 can also sense the surrounding environment and identify the current driving lane in other ways.

[0064] The following is an introduction to the relevant concepts involved in the lane-level navigation method provided in the embodiment of the present application.

[0065] (1) Road refers to a passage for vehicles to travel and connect two places.

[0066] (2) Lane refers to a passage for a single column of vehicles traveling in the same direction. Common lanes include straight lanes, left-turn lanes, and right-turn lanes. A road includes one or more lanes. For example, a road includes: 1 left-turn lane, 2 straight lanes, and 1 right-turn lane, a total of four lanes.

[0067] (3) Lane-level navigation refers to a navigation method that combines high-precision road data and high-precision positioning information of the vehicle to plan lane-level navigation routes. Lane-level navigation may include: recommending lanes, recommending the best driving lane, guiding users to change lanes in advance, and displaying the driving direction and speed limit of specific lanes. Users can use lane-level navigation to understand the lane division on the current road and which lane their vehicle is currently traveling in. Lane-level navigation can restore the real road scene with high precision during the navigation process, provide users with lane-level driving action guidance, reduce the difficulty of users understanding navigation, and improve driving safety and driving experience.

[0068] The above-mentioned high-precision road data may include but is not limited to the number of lanes, lane width, lane travel direction, road signs in the lane, lane connection relationship, lane index and other data of each road. The high-precision positioning information of the above-mentioned vehicle can be obtained by positioning through the global positioning system (global positioning system, GPS) or ultra-wide band (ultrawide band, UWB) positioning technology and the like. The high-precision positioning of the vehicle can accurately locate the vehicle to the lane, that is, obtain the lane-level position of the vehicle. The above-mentioned high-precision positioning can be sub-meter positioning (that is, the positioning error range is within 1 meter). The embodiment of the present application does not limit the positioning method of the vehicle.

[0069] In an embodiment of the present application, the electronic device 100 can receive a destination address entered by a user in a map application, and obtain high-precision road data between the current location of the electronic device 100 and the destination address entered by the user; a lane-level navigation route can be displayed based on the above high-precision road data.

[0070] In some embodiments, the guide lines of the lane-level navigation route indicate the driving path from the current location of the vehicle to the destination address, as well as the recommended lanes at any location in the driving path. The lane-level navigation route can also display the road information and intersection information of the roads passed by the navigation route in high definition.

[0071] In some embodiments, the road information includes some or all of the following: basic static road conditions, real-time dynamic road conditions, number of lanes, lane geometry, lane curvature, lane centerline, lane width, vehicle travel direction, lane speed limit, road signs in the lane, lane lines, lane connection relationship, lane where the vehicle is located, and other information. For example, the basic static road conditions of the road include information such as curbs, guardrails, tunnels, traffic signs, toll booths, traffic signal indicators, turn arrows, crossbars, etc.; for example, the real-time dynamic road conditions of the road include information such as traffic accident conditions, road construction conditions, road closure conditions, lane closure conditions, traffic control, etc. The direction of the lane line is usually consistent with the lane travel direction. For example, the lane line includes white dashed lines, white solid lines, white guide lines, yellow dashed lines, yellow solid lines, double white dashed lines, double white solid lines, double yellow solid lines, and other lane line types.

[0072] In some embodiments, the intersection information includes some or all of the following: intersection type, intersection stop line location and other information. An intersection is the intersection of two or more roads, and is also the place where vehicles and pedestrian traffic gather, turn and evacuate. Generally speaking, the intersection types can be divided according to the number of intersecting roads. For example, they can be divided into three-way, four-way and multi-way. According to the way of intersection, the intersection types include plane intersection and three-dimensional intersection. The embodiment of the present application does not specifically limit the road type of the intersection. The intersection stop line is usually set in front of the traffic light and the sidewalk, perpendicular to the direction of road traffic, and is usually used to indicate slow down and give way / stop and give way; the lane line in front of the intersection stop line is usually a solid white line.

[0073] In some embodiments, when the electronic device 100 displays the lane-level navigation route, it also displays the lane-level driving guidance information. The lane-level driving guidance information is used to provide the user with guidance on driving operations according to the lane-level navigation route.

[0074] For example, Figure 3 A schematic diagram of a lane-level navigation route displayed by an electronic device 100 based on high-precision road data is shown.

[0075] Figure 3The number of lanes on each road shown is 4. From left to right according to the direction of the vehicle's travel, they are the first lane, the second lane, the third lane and the fourth lane. Lane signs are also shown on each lane. The lane markings of the first lane, the second lane and the third lane are all straight ahead signs. The lane sign of the fourth lane is a right turn sign. The vehicle is currently in the third lane. The guide line of the lane-level navigation route indicates that the recommended lanes for the vehicle at the current position include the above four lanes; it also indicates that after going straight ahead for a distance, the vehicle will pass through an intersection and drive to the right turn road. The recommended lane before the next intersection is the above fourth lane (i.e., the first lane on the right). The vehicle needs to change lanes to the fourth lane before driving to the right turn road. The driving guidance information instructs the user to "go straight for 1.1 kilometers and turn right. Please change lanes to the first lane on the right in time."

[0076] Traditional road-level navigation usually refers to a navigation method that combines low-precision road data and vehicle positioning to plan a road-level guided navigation route. Road-level navigation may include: recommending the best driving route, displaying the vehicle's driving direction and speed limit, etc. However, the accuracy of road-level navigation is not as high as that of lane-level navigation. Road-level navigation cannot display the number of lanes on the road the vehicle is currently traveling on, nor can it display which lane the vehicle is in.

[0077] Figures 1A to 1C FIG. 1 shows a schematic diagram of an electronic device 100 displaying a road-level navigation route based on low-precision road data. Figure 1A As shown, the road-level navigation route can only display the driving direction and guide lines of the vehicle. Among them, the guide lines indicate the driving path between the current location of the electronic device 100 and the destination address, and cannot indicate which lane the vehicle is on.

[0078] (4) Deviation warning section: refers to the detection section set up before the intersection where deviation may occur, in the section where deviation may occur, or before the section where deviation may occur. After detecting that the vehicle enters the section, the vehicle is detected in advance to see if there is a risk of deviation; after detecting that the vehicle is at risk of deviation, a deviation warning is issued, and the navigation route after the deviation is planned and displayed in advance.

[0079] For ease of description, the embodiment of the present application refers to the above-mentioned pre-planned navigation route after the deviation as the deviation route.

[0080] In one implementation, if the vehicle's current driving lane does not belong to the recommended lane of the lane-level navigation route at the vehicle's current position, the electronic device 10 predicts that the vehicle will deviate if it continues to travel along the current driving lane.

[0081] In some embodiments, when driving and navigating, taking the wrong turn at an intersection may cause deviation; the section of the road before the intersection X (e.g., 100 meters) meters is marked as a deviation warning section, the deviation warning section is located between the vehicle and the intersection, and one end of the deviation warning section is the entrance to the intersection. The embodiment of the present application does not specifically limit the intersection type of the intersection.

[0082] For ease of description, in the embodiment of the present application, the section before the X meters of the intersection may be referred to as the section before the X meters of the intersection.

[0083] Exemplary, reference Figure 4A After driving straight for 1.1 kilometers, the vehicle will pass through a fork in the road. The lane-level navigation route instructs the vehicle to turn right at the fork in the road and drive into the right-turn fork. Before turning right, the vehicle needs to change lanes to the right lane (i.e., the fourth lane), otherwise it will deviate. The section of road X meters before the fork in the road is marked as a deviation warning section. After entering this section, the electronic device 100 detects in advance whether the vehicle has a deviation risk.

[0084] In some embodiments, the road section where deviation may occur refers to a non-variable road section where driving in the wrong lane may cause deviation. A non-variable road section refers to a road section where some or all lanes in the same driving direction cannot be changed.

[0085] Optionally, the road sections where deviation may occur may include road sections where lane lines are long white solid lines and road sections where lane lines are white guide lines. Optionally, the road sections where deviation may occur may include road sections where the front lane lines are long white solid lines / white guide lines at specific locations (e.g., intersections, tunnels, etc.). The road sections where deviation may occur may also include other types of road sections, which are not specifically limited here.

[0086] The following embodiments are mainly described by taking a road section with a long white solid line as an example. For ease of description, the embodiments of the present application may refer to a road section with a long white solid line as a long white solid line section.

[0087] Long white solid line means that the lane line is a solid white line and the length is greater than the preset distance (for example, 10 meters). It is usually set at intersections, traffic lights and before tunnels. A long white solid line is set between two lanes to indicate that vehicles are not allowed to cross or press the line, that is, they cannot change lanes or overtake. When driving navigation, if you are not driving in the recommended lane of the navigation route before a long white solid line section, you may deviate because you cannot change lanes after entering this section.

[0088] For example, Figure 4BAs shown, there are long white solid lines in and in front of the tunnel. You cannot change lanes after entering the Changbai solid line section. The lane-level navigation route indicates that the vehicle needs to take the right lane after exiting the tunnel. The vehicle needs to change lanes to the right lane before entering the Changbai solid line section, otherwise it will deviate. The map application marks the above Changbai solid line section as a deviation warning section.

[0089] White guide lines are V-shaped and are distributed in parallel. They are usually set at entrances and exits, intersections, etc. A guide line is set between two lanes to indicate that vehicles are not allowed to cross or press the line, that is, they cannot change lanes or overtake.

[0090] In some embodiments, the road section before the intersection is the above-mentioned section where deviation may occur (for example, section 1), and the intersection is adjacent to one end of section 1. The combined section of section 1 and the section X meters before the intersection is marked as a deviation warning section, that is, the longer section between the above-mentioned section 1 and the section X meters before the intersection is marked as a deviation warning section.

[0091] Exemplary, reference Figure 4C and Figure 4D There is a long white solid line before the intersection. You cannot change lanes after entering the long white solid line section. The lane-level navigation route instructs the vehicle to turn right at the intersection and enter the right-turn fork. Before entering the long white solid line section before the intersection, you need to change lanes to the right lane, otherwise you will deviate. The above-mentioned long white solid line section is a section where deviation may occur. Figure 4C As shown in , if the length of the Changbai solid line segment is less than or equal to X meters, the map application marks the X-meter section before the intersection as a deviation warning section; Figure 4D As shown, the length of the Changbai solid line segment is greater than X meters, and the map application marks the above Changbai solid line segment as a deviation warning segment.

[0092] In some embodiments, the first X meters of the road section where deviation may occur (such as road section 1) is marked as a deviation warning section. The deviation warning section is located between the vehicle and the road section 1, and one end of the deviation warning section borders the road section 1.

[0093] Exemplary, reference Figure 4E , section 1 is a long white solid line section before the intersection, and the map application marks the section X meters before the above-mentioned Changbai solid line section as a deviation warning section.

[0094] The following introduces the application scenarios of the lane-level navigation method provided in the embodiments of the present application.

[0095] In some application scenarios, lanes can be changed between the recommended lane and the non-recommended lane of the lane-level navigation route in all sections of the deviation warning section. After the vehicle enters the deviation warning section, if the vehicle is not driving in the recommended lane, based on the deviation warning prompt of the electronic device 100, the user can control the vehicle to change lanes to the recommended lane. For example, see Figure 4A and Figure 4E In the deviation warning section shown, lane change is possible between the recommended lane (i.e., the fourth lane) of the lane-level navigation route and the adjacent non-recommended lane (i.e., the third lane).

[0096] In some application scenarios, in all sections of the deviation warning section, lane changes between the recommended lane and the non-recommended lane of the lane-level navigation route are not allowed; after the vehicle enters the deviation warning section, if the vehicle is not driving in the recommended lane, the vehicle cannot change lanes to the recommended lane and can only drive off course. For example, see Figure 4B and Figure 4D In the deviation warning section shown, there is a long white solid line between the recommended lane of the lane-level navigation route (i.e., the fourth lane) and the adjacent non-recommended lane (i.e., the third lane), and lane changing is not allowed.

[0097] In some application scenarios, some sections of the deviation warning section (e.g. Figure 4C The recommended lanes and non-recommended lanes of the lane-level navigation route in the front section shown in the figure can be changed between lanes. Some sections (such as Figure 4C Lane changes are not allowed between the recommended lane and the non-recommended lane of the lane-level navigation route in the terminal segment shown in FIG. Figure 4C After the vehicle enters the front section of the deviation warning section, if the vehicle is not driving in the recommended lane, the vehicle can change lanes to the recommended lane and continue to drive according to the original navigation route; after the vehicle enters the end section of the deviation warning section, if the vehicle is not driving in the recommended lane, the vehicle cannot change lanes to the recommended lane and can only deviate.

[0098] In the embodiment of the present application, the road section between the recommended lane and the non-recommended lane in the deviation warning section where lanes can be changed can be referred to as the variable road section in the deviation warning section. The road section between the recommended lane and the non-recommended lane where lanes cannot be changed can be referred to as the non-variable road section in the deviation warning section.

[0099] FIG. 5A to FIG. 5E An example user interface for entering a lane-level navigation interface is shown.

[0100] like Figure 5A As shown, the electronic device 100 can display a user interface 11. The user interface 11 can include one or more application icons. For example, a map application icon 101. The application icon can open the corresponding application. Figure 5BAs shown, in response to an operation (e.g., a touch operation) on the map application icon 101, the electronic device 100 may display a user interface 12. The user interface 12 may be a home page of the map application. The user interface 12 may include a search box 102 and a map display area 103. The map display area 103 may display map information so that the user can view the location of each area.

[0101] like Figure 5C As shown, in response to the operation of inputting a destination address (such as a science park) in the search box 102, the electronic device 100 can display map information of the area where the destination address is located in the map display area 103, as well as a navigation control 104 and a route control 105. Figure 5D As shown, in response to an operation (eg, a touch operation) on the route control 105 , the electronic device 100 may display the user interface 13 . The user interface 13 may include an address box 201 , a navigation bar 202 , a map display area 203 , route information 204 , and a navigation control 205 .

[0102] The address box 201 includes a start address bar 201A, a destination address bar 201B, and a switch control 201C. The initial start address in the start address bar 201A is the current location of the electronic device 100; the destination address in the destination address bar 201B is the destination address entered by the user in the search box 102; the user can modify the start address and the destination address in the address box 201. The switch control 201C is used to switch the start address and the destination address in the address box 201.

[0103] The navigation bar 202 includes multiple travel options, such as a driving option 202A. When a travel option in the navigation bar 202 is selected, the map display area 203 displays an overview guide line of the navigation route from the starting address to the destination address under the travel mode, and the overview guide line indicates the driving path from the starting address to the destination address. The route information 204 displays the length and time of the navigation route, and the navigation control 205 is used to trigger the electronic device 100 to navigate based on the above navigation route. Figure 5D As shown, when the driving option 202A is selected, the map display area 203 displays an overview guide line 206 of the driving navigation route.

[0104] like Figure 5D and Figure 5E As shown, in response to an operation (e.g., a touch operation) on the navigation control 205, the electronic device 100 can display the navigation interface 14. The navigation interface 14 is used to display a lane-level navigation route from the starting address to the destination address, and provide a lane-level navigation function for the user based on the navigation route. The navigation interface 14 displays a guide line 302 from the vehicle position to the destination address in the lane-level navigation route in the map display area 301.

[0105] The navigation interface 14 may also display driving guidance information 303, vehicle speed 304, overview control 305, distance information 306, more controls 307, and exit control 308. The vehicle speed 304 is used to indicate the real-time speed of the vehicle (i.e., the real-time speed of the electronic device 100); the overview control 305 is used to trigger the electronic device 100 to switch the lane-level navigation route in the map display area 301 to the road-level navigation route; the distance information 306 is used to display the remaining distance length and time consumed based on the above lane-level navigation route; the more controls 307 are used to trigger more navigation function options; and the exit control 308 is used to trigger the exit of driving navigation.

[0106] like Figure 5C and Figure 5E As shown, in response to an operation (eg, a touch operation) on the navigation control 104 , the electronic device 100 may directly display the navigation interface 14 .

[0107] The guide line 302 of the lane-level navigation route indicates that the vehicle turns right at the next intersection. The following is an example of an example in which the deviation warning section is the first X-meter section / long white solid line section of the intersection. When the electronic device 100 detects that the vehicle enters the deviation warning section, it starts to detect whether the vehicle has a deviation risk.

[0108] In some embodiments, if it is detected that the vehicle's driving lane does not belong to the recommended lane of the lane-level navigation route at the vehicle's current position, and the vehicle will deviate if it continues to travel along the current lane, the electronic device 100 determines that the vehicle is at risk of deviation.

[0109] In some embodiments, if it is detected that the vehicle's driving lane does not belong to the recommended lane of the lane-level navigation route at the vehicle's current position, and in part or all of the remaining sections of the deviation warning (i.e., the section from the vehicle's current position to the end of the deviation warning section), the recommended lane and non-recommended lane of the lane-level navigation route are changeable (i.e., there are variable road sections), then the electronic device 100 predicts that the vehicle may deviate; if it is detected that the vehicle's driving lane does not belong to the recommended lane of the lane-level navigation route at the vehicle's current position, and in all of the remaining sections of the deviation warning, both the recommended lane and non-recommended lane of the lane-level navigation route are not changeable (i.e., there are no variable road sections), then the electronic device 100 predicts that the vehicle will deviate.

[0110] In some embodiments, the recommended lanes for the lane-level navigation route in the above-mentioned deviation warning section only include the right lane (ie, the fourth lane).

[0111] In some embodiments, Figure 5EAs shown, before entering the deviation warning section, the recommended lanes of the lane-level navigation route include all lanes (i.e., the first lane to the fourth lane); in the deviation warning section, as approaching the next intersection, the recommended lanes gradually decrease to the fourth lane. In one implementation, starting from one end of the deviation warning section close to the vehicle, the recommended lanes of the lane-level navigation route in the first Y meters (e.g., 10 meters) of the deviation warning section include the second lane, the third lane, and the fourth lane, the recommended lanes from the Y+1 meter to the Z meter (e.g., 11 to 20 meters) of the deviation warning section include the third lane and the fourth lane, and the recommended lanes from the Z+1 meter to the end of the deviation warning section include only the fourth lane.

[0112] For deviation warning, there are variable road sections in the remaining sections, and it is predicted that the vehicle may deviate. FIG. 5E to FIG. 5H An example user interface is shown.

[0113] In some embodiments, when there is a variable road section in the remaining section of the deviation warning and it is predicted that the vehicle may deviate, the electronic device 100 plans the lane-level deviation route after the deviation based on the current position of the vehicle, the current driving lane and the destination address, and displays the guide line of the deviated route and the guide line of the original navigation route at the same time, and outputs the deviation warning prompt. Among them, the deviation warning prompt is used to prompt the user "may deviate, please change lanes safely"; it is also used to prompt the user with relevant information of the deviated route, such as the road conditions of the deviated route (for example, the current section may be illegal), the length of the journey and the time taken for the journey, the difference in the length of the deviated route and the original navigation route, the difference in the time taken for the journey (for example, the deviated route is 2 minutes slower than the original navigation route), etc. The electronic device 100 can output the deviation warning prompt in one or more ways such as text, pictures, animations, and voice.

[0114] In the embodiment of the present application, the guide line of the deviated route and the guide line of the original navigation route are displayed in different display forms to facilitate user distinction. For example, one or more display elements such as color, brightness, and filling content of the two are different.

[0115] For example, Figure 5E As shown, the recommended lane (i.e., the fourth lane) and the non-recommended lane (i.e., the third lane) in the front section of the deviation warning section can be changed; the recommended lane and the non-recommended lane in the end section of the deviation warning section (i.e., the Changbai solid line section) cannot be changed. Fig. 5F As shown, the vehicle is traveling in the third lane, and the recommended lane for the lane-level navigation route at the current position of the vehicle is the right lane (i.e., the fourth lane); there is a variable road section in the remaining section of the deviation warning, and the electronic device 100 predicts that the vehicle may deviate, obtains the deviated route after the deviation, and displays the guide lines of the deviated route and the original navigation route at the same time, and outputs the deviation warning prompt through voice broadcast and driving guidance information 303. It can be understood that Fig. 5F The third lane in which the vehicle is currently located is shown as a recommended lane for the deviation route.

[0116] It can be understood that if the recommended lanes of the lane-level navigation route in the above-mentioned deviation warning section only include the fourth lane, when the vehicle passes through the third lane and enters the deviation warning section, the electronic device 100 will predict that the vehicle may deviate. If the recommended lanes do not include the third lane starting from the Z+1th meter of the above-mentioned deviation warning section, the electronic device 100 will predict that the vehicle may deviate when the vehicle passes through the third lane and reaches the Z+1th meter of the above-mentioned deviation warning section.

[0117] In some embodiments, after predicting that the vehicle may deviate and outputting the deviated route and the deviated warning prompt, if it is detected that the vehicle has not changed lanes to the recommended lane of the original navigation route within a specific duration, within a specific driving distance of the vehicle, or before a specific position of the deviated warning section, and continues to travel along the recommended lane of the deviated route, the electronic device 100 stops displaying the original navigation route, continues to display the deviated route, provides lane-level navigation function based on the deviated route, and outputs a new route navigation prompt. The new route navigation prompt is used to prompt the user "already driving and navigating according to the new route, please drive safely". The electronic device 100 can output the new route navigation prompt in one or more ways such as text, pictures, animations, and voice.

[0118] In some embodiments, the deviation warning prompt is also used to prompt "If the user does not change lanes to the recommended lane, the new route (i.e., the deviated route) will be switched after a specific period of time, a specific driving distance, or at a specific position of the deviation warning section."

[0119] In one implementation, the specific duration, specific driving distance, and specific position of the deviation warning section are fixed. For example, the specific duration is 5 seconds; the specific driving distance is 30 meters; when there is an immutable road section in the remaining deviation warning section, the specific position of the deviation warning section is the starting point of one end of the immutable road section close to the vehicle.

[0120] For example, Fig. 5F and Figure 5G As shown, the long white solid line segment at the end of the deviation warning segment is the above-mentioned immutable road segment; after the electronic device 100 outputs the deviation warning prompt, when the vehicle travels to the Changbai solid line segment, the electronic device 100 detects that the vehicle continues to travel along the third lane recommended by the deviation route and does not change lanes to the fourth lane recommended by the original navigation route. The electronic device 100 stops displaying the original navigation route, performs lane-level navigation according to the deviation route, and outputs a new route navigation prompt through voice broadcast and driving guidance information 303.

[0121] In one implementation, the specific position of the above-mentioned deviation warning section can be the end of the deviation warning section; that is, when the vehicle has completed the deviation warning section, if it is detected that the vehicle has not changed lanes to the recommended lane of the original navigation route, the electronic device 100 stops displaying the original navigation route and continues to display the deviation route.

[0122] In one implementation, the specific duration and specific driving distance are dynamically determined according to actual conditions. Optionally, the specific duration and specific driving distance are determined according to the length of the variable road segment in the remaining road segment of the deviation warning, for example, the specific duration is equal to 80% of the duration estimated by the electronic device 100 for the vehicle to pass through the variable road segment (for example, the duration is equal to the distance length divided by the vehicle speed); the specific driving distance is equal to 80% of the distance length of the variable road segment.

[0123] In some embodiments, after predicting that the vehicle may deviate and outputting the deviated route and the deviated warning prompt, if it is detected that the vehicle changes lanes to the recommended lane of the original navigation route and continues to travel within a specific duration, within a specific driving distance of the vehicle, or before a specific position of the deviated warning section, the deviated route will stop being displayed, the original navigation route will continue to be displayed, the lane-level navigation function will continue to be provided based on the original navigation route, and the original route navigation prompt can be output. The original route navigation prompt is used to prompt the user to "continue to travel and navigate according to the original navigation route, please drive safely." The electronic device 100 can output the original route navigation prompt in one or more ways such as text, pictures, animations, and voice.

[0124] For example, Fig. 5F and Figure 5H As shown, when the vehicle is detected to change lanes from the third lane to the fourth lane recommended by the original navigation route, the electronic device 100 stops displaying the deviated route, performs lane-level navigation according to the original navigation route, and outputs the navigation prompt of the original route through voice broadcast.

[0125] For the deviation warning, there is no variable road section in the remaining section, and the vehicle is predicted to deviate. FIG. 5I to FIG. 5K An example user interface is shown.

[0126] In some embodiments, when there is no variable road section in the remaining section of the deviation warning and the vehicle is predicted to deviate, the electronic device 100 plans the lane-level deviation route after the deviation based on the current position of the vehicle, the current driving lane and the destination address, and displays the guide lines of the deviation route and the original navigation route at the same time, and outputs the deviation warning prompt. Among them, the deviation warning prompt is used to prompt the user that "the vehicle is deviating, changing lanes on the current section may violate traffic regulations, and will switch to a new route soon, please drive safely"; it is also used to prompt the user with relevant information on the deviation route, which can refer to the relevant description of the above embodiment.

[0127] Exemplary, reference Fig.5I In the lane-level navigation route shown, the deviation warning section before the next intersection is a long white solid line section, and the recommended lanes and non-recommended lanes in the deviation warning section cannot be changed. Figure 5J As shown, after the vehicle travels to the deviation warning section, the third lane where the vehicle is located does not belong to the recommended lane (i.e., the fourth lane) of the lane-level navigation route, and the long white solid line section cannot be changed into a lane, and the electronic device 100 predicts that the vehicle will deviate; the electronic device 100 simultaneously displays the guide lines of the deviated route and the original navigation route, and outputs the deviation warning prompt through voice broadcast and driving guidance information 303.

[0128] For example, Figure 5K As shown, after the electronic device 100 outputs the deviation warning prompt for a preset duration (e.g., 3 seconds), it stops displaying the original navigation route, continues to display the deviated route, provides lane-level navigation function based on the deviated route, and outputs a new route navigation prompt, such as "We have been driving and navigating according to the new route. Changing lanes on the current section may violate the rules. Please drive safely."

[0129] In some embodiments, there is no variable road segment in the remaining section of the deviation warning. After the deviation risk is detected, if the vehicle is not detected to change lanes to the recommended lane of the original navigation route within a specific duration, within a specific driving distance of the vehicle, or before a specific position of the deviation warning section, and continues to travel along the recommended lane of the deviated route, the electronic device 100 stops displaying the original navigation route, continues to display the deviated route, and provides a lane-level navigation function based on the deviated route; if the vehicle is detected to change lanes to the above-mentioned recommended lane, the yawed route is stopped, the original navigation route is continued to be displayed, and the lane-level navigation function is continued based on the original navigation route.

[0130] In some embodiments, when there are no variable road sections in the remaining sections of the deviation warning and it is predicted that the vehicle will deviate, the electronic device 100 obtains the lane-level deviation route after the deviation, directly switches the original navigation route to the deviation route, provides lane-level navigation function based on the deviation route, and outputs navigation prompts for the new route.

[0131] The following describes in detail the method flow of the lane-level navigation method provided by the embodiment of the present application in combination with the aforementioned embodiment.

[0132] For example, Figure 6 A method flow of a lane-level navigation method is shown, and the method flow includes part or all of steps S101 to S112.

[0133] S101. In response to a first operation, a map application of the electronic device 100 sends a first request to a cloud navigation module of the server 200, where the first request is used to request to obtain a lane-level navigation route.

[0134] For example, see FIG. 5C to FIG. 5EAs described above, the search box 102 of the user interface 12 of the map application displays the destination address entered by the user. The first operation may include an operation (such as a touch operation) performed by the user on the navigation control 104 / route control 105. The first operation is used to obtain a lane-level navigation route from the current location of the electronic device 100 to the destination address.

[0135] For example, see Figure 5D and Figure 5E The address box 201 of the user interface 13 of the map application displays the starting address and the destination address confirmed by the user. The first operation may include an operation (such as a touch operation) performed by the user on the navigation control 205. The first operation is used to obtain a lane-level navigation route from the starting address in the address box 201 to the destination address.

[0136] S102 . In response to the first request, the cloud navigation module of the server 200 obtains the lane-level navigation route 1 and the deviation warning section in the lane-level navigation route 1 based on the starting address and the destination address.

[0137] In the embodiment of the present application, lane-level navigation route 1 may also be referred to as a first lane-level navigation route.

[0138] In some embodiments, the first request includes a start address and a destination address. Figure 5D As shown, the starting address may be the current location of the electronic device 100 (i.e., the current location of the vehicle). The cloud navigation module of the server 200 combines high-precision road data to plan a lane-level navigation route 1 based on the starting address and the destination address. The guide line of the lane-level navigation route 1 indicates the driving path from the starting address to the destination address, as well as the recommended lanes at any position in the driving path. Specifically, the lane-level navigation route can refer to the relevant description of the aforementioned embodiment, which will not be repeated here.

[0139] In some embodiments, when the vehicle is currently located on a traffic road with divided lanes and the starting address is the current location of the vehicle, the first request also includes the lane the vehicle is currently in. The cloud navigation module of the server 200 combines high-precision road data to plan a lane-level navigation route 1 based on the current location of the vehicle, the current lane and the destination address. It is understandable that the lane-level navigation route obtained may be different for different vehicle driving lanes.

[0140] Combined with high-precision road data, the cloud navigation module of the server 200 can accurately obtain the road information and intersection information that the lane-level navigation route 1 passes through, including the type of intersection, the location of the stop line at the intersection, the number of lanes, the type of lane line, the road condition and other information; based on the above road information and intersection information, all deviation warning sections that the lane-level navigation route 1 passes through can be calculated. The deviation warning section is used to perform deviation detection in advance, and when a deviation risk is detected, a deviation warning prompt is given to the user.

[0141] In the embodiment of the present application, the first deviation warning section is determined based on the non-variable lane information and / or the preset distance in the lane-level navigation route 1.

[0142] In some embodiments, the deviation warning section includes a section at a preset distance (e.g., X meters) before the intersection, and / or a non-variable road section; the non-variable lane information includes the starting position, ending position, and length of the non-variable road section.

[0143] The deviation warning sections involved in the embodiments of the present application include some or all of the following types: sections X meters before the intersection, sections where deviation may occur (such as non-variable road sections), sections X meters before the above sections where deviation may occur, etc. Optionally, the above sections where deviation may occur may include sections where the lane lines are long white solid lines, and sections where the lane lines are white guide lines. Optionally, the above sections where deviation may occur may include sections where the front lane lines are long white solid lines / white guide lines at specific locations (such as intersections, tunnels, etc.). For example, see Figure 4A and Figure 4C The deviation warning section may be the section X meters before the intersection. For example, the deviation warning section may be the aforementioned section where deviation may occur, for example Figure 4B The long white solid line section before the tunnel is shown. Figure 4D The long white solid line section before the intersection is shown. Specifically, the deviation warning section can refer to the relevant description of the above embodiment, which will not be repeated here.

[0144] In some embodiments, the deviation warning section includes the section X meters before the intersection and the Changbai solid line section. The cloud navigation module of the server 200 obtains the deviation warning section in the lane-level navigation route 1, specifically including steps A1 to A3.

[0145] A1. The cloud navigation module marks the first X meters of each intersection passed by the lane-level navigation route 1 as a deviation warning section. Among them, the first X meters of the intersection close to the vehicle side is marked as the starting point of the deviation warning section, and the entrance to the intersection is marked as the end point of the deviation warning section.

[0146] In some embodiments, if there is a stop line before the intersection, the location of the stop line is marked as the end point of the above-mentioned deviation warning section.

[0147] A2. The cloud navigation module marks each long white solid line segment that the lane-level navigation route 1 passes through as a deviation warning segment. The starting point of the long white solid line segment close to the vehicle is marked as the starting point of the deviation warning segment, and the starting point of the other end of the long white solid line segment is marked as the end point of the deviation warning segment.

[0148] A3. Among the deviation warning sections determined in step A1 and step A2, if there is an overlap between the section X meters before the intersection and the Changbai solid line section, the collection section of the overlapping section X meters before the intersection and the Changbai solid line section is marked as a deviation warning section.

[0149] In one implementation, the entrance to the intersection is marked as the end point of the deviation warning section; determine whether the distance between the starting point of the long white solid line before the intersection and the entrance is greater than X meters; if greater, take the starting point of the long white solid line as the starting point of the deviation warning section; otherwise, take X meters before the intersection as the starting point of the deviation warning section.

[0150] In implementing the embodiments of the present application, various types of deviation warning sections are fully considered, so that deviation detection and deviation warning prompts can be performed in advance on the deviation warning sections, thereby effectively improving the timeliness of deviation warnings.

[0151] S103 . The cloud navigation module of the server 200 sends first data to the map application of the electronic device 100 . The first data indicates the lane-level navigation route 1 and the deviation warning section in the lane-level navigation route 1 .

[0152] The cloud navigation module plans a lane-level navigation route 1 based on the first request of the map application, and after marking the lane-level deviation warning section in the lane-level navigation route 1, sends the marking of the deviation warning section along with the data of the lane-level navigation route 1 to the map application of the electronic device 100. The lane-level deviation warning section can indicate lane-level information such as the number of lanes, lane lines, and recommended lanes in the deviation warning section.

[0153] Steps S101 to S103 are optional. In some embodiments, the electronic device 100 has the function of a cloud navigation module and stores high-precision road data locally. The electronic device 100 does not need to send a first request to the server and can plan a lane-level navigation route and mark a deviation warning section by itself.

[0154] S104 . Based on the first data, the map application of the electronic device 100 draws the lane-level navigation route 1 , displays the lane-level navigation route 1 , and navigates according to the lane-level navigation route 1 .

[0155] For example, see Figure 5D and Figure 5EAccording to the relevant description, after navigation starts, the map application of the electronic device 100 navigates according to the lane-level navigation route 1, and displays the guide line of the lane-level navigation route 1 and the vehicle's driving lane; the guide line indicates that the vehicle continues to go straight and turn right at the next intersection, and the recommended lanes for the lane-level navigation route 1 at the current position of the vehicle are the first lane to the fourth lane, and the recommended lane near the next intersection is the fourth lane.

[0156] S105. When the vehicle travels to the deviation warning section 1, the electronic device 100 detects whether there is a deviation risk for the vehicle; if so, execute S106 and S110.

[0157] In the embodiment of the present application, the lane-level navigation route 1 includes at least one deviation warning section, and the at least one deviation warning section includes a deviation warning section 1. The deviation warning section 1 may also be referred to as a first deviation warning section.

[0158] In some embodiments, the electronic device 100 obtains the current position of the vehicle through a high-precision positioning module; after the current position of the vehicle reaches the starting point of the deviation warning section 1, lane-level deviation detection is continuously performed to determine whether the vehicle has a deviation risk until the end point of the deviation warning section 1.

[0159] For example, see Fig. 5F For the related description, take the deviation warning section 1 as the section X meters before the intersection as an example. After the vehicle travels to the point X meters before the intersection, the electronic device 100 starts to perform lane-level deviation detection.

[0160] In some embodiments, lane-level deviation detection is performed to determine whether the vehicle has a deviation risk, specifically including: determining whether the vehicle's current driving lane belongs to the recommended lane of the lane-level navigation route 1 at the vehicle's current position; if not, the vehicle's driving position deviates from the guide line of the lane-level navigation route 1, and the map application determines that there is a deviation risk at present, and executes steps S106 to S109 (i.e., displaying the original navigation route and the deviated route at the same time), and / or step S110 (i.e., outputting a deviation warning prompt); if it does, the vehicle's current driving position has not deviated from the guide line of the lane-level navigation route 1, and the map application determines that there is no deviation risk at present, and continues to guide the user to drive normally according to the lane-level navigation route 1.

[0161] In some embodiments, the vehicle's current driving lane does not belong to the recommended lane of the lane-level navigation route 1 at the vehicle's current position, and the map application determines that there is a risk of deviation, specifically including: the vehicle's current driving lane does not belong to the above-mentioned recommended lane, and there is a variable road section in the remaining section of the deviation warning, and the map application predicts that the vehicle may deviate; the vehicle's current driving lane does not belong to the above-mentioned recommended lane, and there is no variable road section in the remaining section of the deviation warning, and the map application predicts that the vehicle will deviate.

[0162] In the embodiment of the present application, the map application of the electronic device 100 (such as an in-vehicle device) can identify the lane in which the user is currently traveling, that is, the lane in which the vehicle is traveling, through the high-precision positioning module, camera, laser radar, millimeter-wave radar and other modules of the device. Alternatively, the map application of the electronic device 100 (such as a mobile phone or other terminal device) can identify the lane in which the user is currently traveling through the high-precision positioning, camera, laser radar, millimeter-wave radar and other modules of other connected devices (such as in-vehicle devices).

[0163] S106. The map application of the electronic device 100 sends a second request to the cloud navigation module. The second request is used to request planning of a navigation route after continuing to drive along the current lane and causing deviation, that is, lane-level deviation route 1.

[0164] In this embodiment of the present application, the lane-level deviation route 1 may also be referred to as a second lane-level navigation route.

[0165] S107. In response to the second request, the cloud navigation module of the server 200 obtains a lane-level deviation route 1 and a deviation warning section in the deviation route based on the vehicle's current driving lane, current position and destination address.

[0166] In some embodiments, the second request includes the current position of the vehicle, the current lane of the vehicle, and the destination address of lane-level navigation route 1. The starting address of lane-level deviation route 1 is the current position of the vehicle, the destination address of lane-level deviation route 1 is the destination address of lane-level navigation route 1, and the recommended lane of lane-level deviation route 1 at the starting position includes the lane currently traveled by the vehicle. For details, please refer to the relevant description of step 102, which will not be repeated here.

[0167] S108 . The cloud navigation module of the server 200 sends second data to the map application of the electronic device 100 , where the second data indicates the lane-level deviation route 1 and the deviation detection section in the lane-level deviation route 1 .

[0168] S109. Based on the second data, the map application of the electronic device 100 draws the lane-level deviation route 1, and displays the lane-level navigation route 1 and the lane-level deviation route 1 at the same time.

[0169] For example, see Fig. 5F and Figure 5J After detecting the risk of vehicle deviation, the guidance lines of the original navigation route and the deviated route are displayed at the same time.

[0170] Steps S106 to S109 are optional. In some embodiments, the electronic device 100 has the function of a cloud navigation module, and the electronic device 100 does not need to send a second request to the server, and can plan a lane-level deviation route and mark a deviation warning section by itself.

[0171] S110. The map application of the electronic device 100 outputs a deviation warning prompt, where the deviation warning prompt is used to remind the user that the vehicle currently has a deviation risk.

[0172] In some embodiments, the deviation warning prompt is also used to prompt the user with relevant information of the lane-level deviation route 1, such as the length of the journey, the journey time, the road condition, and the difference from the lane-level navigation route 1. The deviation warning prompt may also be referred to as the first prompt information.

[0173] The electronic device 100 can output the yaw warning prompt through the device itself, or can output the yaw warning prompt through other connected devices. For example, the electronic device 100 is a mobile terminal device such as a mobile phone, and the other device can be a vehicle-mounted device such as a vehicle-mounted tablet, a wearable device such as a watch, a bracelet, etc.

[0174] The prompt information involved in the embodiments of the present application (such as the deviation warning prompt) can be output in one or more of the following ways: voice playback, interface text display, interface picture display, interface animation display, interface navigation route or car logo and other map display elements flashing, screen brightness change, device vibration, flash light flashing, vehicle interior ambient light light change, etc. The embodiments of the present application do not make specific limitations on this.

[0175] For example, see Fig. 5F , when it is detected that the vehicle has a risk of deviation and there is a variable road section in the deviation warning section, and the vehicle can change lanes back to the recommended lane of the lane-level navigation route 1, a deviation warning prompt is output through voice broadcast and driving guidance information 303 to prompt the user "may deviate, please change lanes safely". For example, see Figure 5J According to the relevant description, when it is detected that the vehicle has a risk of deviation and there is no variable road section in the deviation warning section, and the vehicle cannot change lanes back to the recommended lane of the lane-level navigation route 1, a deviation warning prompt is output through voice broadcast and driving guidance information 303, prompting the user that "the vehicle is deviating, and changing lanes in the current section may be illegal."

[0176] When implementing the embodiments of the present application, in a lane-level deviation warning section, if the user's actual driving lane deviates from the recommended lane of the lane-level navigation route, the map application can issue a deviation warning prompt in advance and display the yawed route after the deviation, so that the user can promptly perceive the guide line, road conditions, time and other information of the yawed route, reduce the user's deviation anxiety, reduce the possibility of the user changing lanes illegally in the deviation warning section, promote user safe driving, and improve the user experience of driving deviation.

[0177] Step S110 is optional. In some embodiments, the new route navigation prompt may not be output.

[0178] S111. The map application of the electronic device 100 detects that the vehicle has not changed lanes to the recommended lane of the lane-level navigation route 1, stops displaying the lane-level navigation route 1, navigates according to the lane-level deviation route 1, and outputs a new route navigation prompt; the new route navigation prompt is used to prompt the user that the vehicle has been driving according to the lane-level deviation route 1.

[0179] In some embodiments, after the electronic device simultaneously displays the lane-level navigation route 1 and the lane-level deviation route 1, if the vehicle continues to travel along the non-recommended lane of the first lane-level navigation route, the electronic device stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route.

[0180] In some embodiments, new route navigation prompts may not be output.

[0181] S112. The map application of the electronic device 100 detects that the vehicle has changed lanes to the recommended lane of the lane-level navigation route 1, stops displaying the lane-level deviation route 1, continues to navigate according to the lane-level navigation route 1, and outputs the original route navigation prompt; the original route navigation prompt is used to prompt the user to continue driving according to the lane-level navigation route 1.

[0182] In some embodiments, the original route navigation prompt may not be output.

[0183] In some embodiments, in the case where there are variable road sections in the remaining sections of the deviation warning, after the map application of the electronic device 100 determines that there is a risk of deviation of the vehicle, if it is not detected that the vehicle's driving lane belongs to the recommended lane of the lane-level navigation route 1 within a specific duration, within a specific driving distance of the vehicle, or before a specific position of the deviation warning section, the guide line of the lane-level navigation route 1 is stopped from being displayed, navigation is performed according to the lane-level deviation route 1, and navigation prompts for a new route are output; if it is detected that the vehicle's driving lane belongs to the recommended lane of the lane-level navigation route 1 within a specific duration, within a specific driving distance of the vehicle, or before a specific position of the deviation warning section, the guide line of the lane-level deviation route 1 is stopped from being displayed, navigation is continued according to the lane-level navigation route 1, and navigation prompts for the original route are output.

[0184] Specifically, the above-mentioned specific duration, specific driving distance, and specific position of the deviation warning section can refer to the relevant description of the aforementioned embodiment, which will not be repeated here.

[0185] For example, see Fig. 5F and Figure 5G After the deviation warning is output, it is detected that the vehicle continues to travel along the third lane recommended by the deviation route in the deviation warning section and does not change lanes to the fourth lane recommended by the original navigation route. The map application stops displaying the guide line of the original navigation route and navigates according to the lane-level deviation route 1.

[0186] By implementing the embodiments of the present application, for the scenario where the user continues to drive along the deviated route, the deviated route can be displayed in advance, so as to ensure the consistency and timeliness of the navigation route display when the user's driving navigation deviates, reduce the user's anxiety about the temporary lack of navigation route prompts / inconsistency with the actual driving road when the user deviates, reduce the possibility of the user changing lanes illegally, and improve the user's driving safety.

[0187] For example, see Fig. 5F and Figure 5H After the deviation warning is output, it is detected that the vehicle continues to travel along the third lane recommended by the deviation route in the deviation warning section and does not change lanes to the fourth lane recommended by the original navigation route. The map application stops displaying the guide line of the original navigation route and navigates according to the lane-level deviation route 1.

[0188] By implementing the embodiments of the present application, for the scenario where the user returns to the original navigation route, based on the deviation warning prompt and the deviation route prompt, the user can return to the original navigation route in time; when the electronic device 100 continues to drive along the original navigation route, it stops displaying the deviation route, and can also ensure the continuity of the navigation route display when the user's driving navigation deviates, effectively improving the user experience of the user when the driving deviates.

[0189] In some embodiments, reference Figure 5J and Figure 5K In the case where there is no variable road section in the remaining section of the deviation warning, the vehicle is detected to have a deviation risk. After the lane-level navigation route 1 and the lane-level deviation route 1 are displayed at the same time, after a specific time (for example, 3 seconds), a specific driving distance of the vehicle, or when the vehicle reaches a specific position on the deviation warning section, the lane-level navigation route 1 will automatically stop being displayed, and the lane-level deviation route 1 will continue to be displayed, and navigation will be carried out according to the lane-level deviation route 1, and a new route navigation prompt will be output. The aforementioned deviation warning prompt is also used to prompt the user that "navigation will be carried out according to the lane-level deviation route 1".

[0190] When the vehicle is detected to have a risk of deviation, and the vehicle cannot change lanes between the non-recommended lane and the recommended lane in the remaining section of the deviation warning, the vehicle will face penalty points and fines for changing lanes, and changing lanes on this section is likely to cause traffic accidents. Implementing the embodiment of the present application, in view of the above situation, promptly reminding the user that changing lanes in the current lane is illegal, and navigating according to the deviation route in time, can reduce the risk of illegal lane changes for users and effectively improve the user experience when the user is driving off course.

[0191] The structure of an electronic device 100 provided in an embodiment of the present application is introduced below.

[0192] Figure 7 A schematic structural diagram of an electronic device 100 is shown.

[0193] The electronic device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, a button 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a subscriber identification module (SIM) card interface 195, etc. The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc.

[0194] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 may include more or fewer components than shown in the figure, or combine some components, or separate some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0195] The processor 110 may include one or more processing units, for example, the processor 110 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0196] The controller can generate operation control signals according to the instruction operation code and timing signal to complete the control of instruction fetching and execution.

[0197] The processor 110 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. The memory may store instructions or data that the processor 110 has just used or cyclically used. If the processor 110 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 110, and thus improves the efficiency of the system.

[0198] In some embodiments, the processor 110 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0199] The I2C interface is a bidirectional synchronous serial bus, including a serial data line (SDA) and a serial clock line (SCL). In some embodiments, the processor 110 may include multiple groups of I2C buses. The processor 110 may be coupled to the touch sensor 180K, the charger, the flash, the camera 193, etc. through different I2C bus interfaces. For example: the processor 110 may be coupled to the touch sensor 180K through the I2C interface, so that the processor 110 communicates with the touch sensor 180K through the I2C bus interface, thereby realizing the touch function of the electronic device 100.

[0200] The I2S interface can be used for audio communication. In some embodiments, the processor 110 can include multiple I2S buses. The processor 110 can be coupled to the audio module 170 via the I2S bus to achieve communication between the processor 110 and the audio module 170. In some embodiments, the audio module 170 can transmit an audio signal to the wireless communication module 160 via the I2S interface to achieve the function of answering a call through a Bluetooth headset.

[0201] The PCM interface can also be used for audio communication, sampling, quantizing and encoding analog signals. In some embodiments, the audio module 170 and the wireless communication module 160 can be coupled via a PCM bus interface. In some embodiments, the audio module 170 can also transmit audio signals to the wireless communication module 160 via the PCM interface to realize the function of answering calls via a Bluetooth headset. Both the I2S interface and the PCM interface can be used for audio communication.

[0202] The UART interface is a universal serial data bus for asynchronous communication. The bus can be a bidirectional communication bus. It converts the data to be transmitted between serial communication and parallel communication. In some embodiments, the UART interface is generally used to connect the processor 110 and the wireless communication module 160. For example, the processor 110 communicates with the Bluetooth module in the wireless communication module 160 through the UART interface to implement the Bluetooth function. In some embodiments, the audio module 170 can transmit an audio signal to the wireless communication module 160 through the UART interface to implement the function of playing music through a Bluetooth headset.

[0203] The MIPI interface can be used to connect the processor 110 with peripheral devices such as the display screen 194 and the camera 193. The MIPI interface includes a camera serial interface (CSI), a display serial interface (DSI), etc. In some embodiments, the processor 110 and the camera 193 communicate via the CSI interface to implement the shooting function of the electronic device 100. The processor 110 and the display screen 194 communicate via the DSI interface to implement the display function of the electronic device 100.

[0204] The GPIO interface can be configured by software. The GPIO interface can be configured as a control signal or as a data signal. In some embodiments, the GPIO interface can be used to connect the processor 110 with the camera 193, the display 194, the wireless communication module 160, the audio module 170, the sensor module 180, etc. The GPIO interface can also be configured as an I2C interface, an I2S interface, a UART interface, a MIPI interface, etc.

[0205] The USB interface 130 is an interface that complies with the USB standard specification, and specifically can be a Mini USB interface, a Micro USB interface, a USB Type C interface, etc. The USB interface 130 can be used to connect a charger to charge the electronic device 100, and can also be used to transfer data between the electronic device 100 and a peripheral device. It can also be used to connect headphones to play audio through the headphones. The interface can also be used to connect other electronic devices, such as AR devices, etc.

[0206] It is understandable that the interface connection relationship between the modules illustrated in the embodiment of the present invention is only a schematic illustration and does not constitute a structural limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 may also adopt different interface connection methods in the above embodiments, or a combination of multiple interface connection methods.

[0207] The charging management module 140 is used to receive charging input from a charger. The charger may be a wireless charger or a wired charger. In some wired charging embodiments, the charging management module 140 may receive charging input from a wired charger through the USB interface 130. In some wireless charging embodiments, the charging management module 140 may receive wireless charging input through a wireless charging coil of the electronic device 100. While the charging management module 140 is charging the battery 142, it may also power the electronic device through the power management module 141.

[0208] The power management module 141 is used to connect the battery 142, the charging management module 140 and the processor 110. The power management module 141 receives input from the battery 142 and / or the charging management module 140, and supplies power to the processor 110, the internal memory 121, the display screen 194, the camera 193, and the wireless communication module 160. The power management module 141 can also be used to monitor parameters such as battery capacity, battery cycle number, battery health status (leakage, impedance), etc. In some other embodiments, the power management module 141 can also be set in the processor 110. In other embodiments, the power management module 141 and the charging management module 140 can also be set in the same device.

[0209] The wireless communication function of the electronic device 100 can be implemented through the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor and the baseband processor.

[0210] Antenna 1 and antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in electronic device 100 can be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve the utilization of antennas. For example, antenna 1 can be reused as a diversity antenna for a wireless local area network. In some other embodiments, the antenna can be used in combination with a tuning switch.

[0211] The mobile communication module 150 can provide solutions for wireless communications including 2G / 3G / 4G / 5G, etc., applied to the electronic device 100. The mobile communication module 150 may include at least one filter, a switch, a power amplifier, a low noise amplifier (LNA), etc. The mobile communication module 150 can receive electromagnetic waves from the antenna 1, and filter, amplify, and process the received electromagnetic waves, and transmit them to the modulation and demodulation processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modulation and demodulation processor, and convert it into electromagnetic waves for radiation through the antenna 1. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the processor 110. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the same device as at least some of the modules of the processor 110.

[0212] The modem processor may include a modulator and a demodulator. Among them, the modulator is used to modulate the low-frequency baseband signal to be sent into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After the low-frequency baseband signal is processed by the baseband processor, it is passed to the application processor. The application processor outputs a sound signal through an audio device (not limited to a speaker 170A, a receiver 170B, etc.), or displays an image or video through a display screen 194. In some embodiments, the modem processor may be an independent device. In other embodiments, the modem processor may be independent of the processor 110 and be set in the same device as the mobile communication module 150 or other functional modules.

[0213] The wireless communication module 160 can provide wireless communication solutions including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), etc., which are applied to the electronic device 100. The wireless communication module 160 can be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, demodulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 110. The wireless communication module 160 can also receive the signal to be sent from the processor 110, modulate the frequency, amplify it, and convert it into electromagnetic waves for radiation through the antenna 2.

[0214] In some embodiments, the antenna 1 of the electronic device 100 is coupled to the mobile communication module 150, and the antenna 2 is coupled to the wireless communication module 160, so that the electronic device 100 can communicate with the network and other devices through wireless communication technology. The wireless communication technology may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology. The GNSS may include a global positioning system (GPS), a global navigation satellite system (GLONASS), a Beidou navigation satellite system (BDS), a quasi-zenith satellite system (QZSS) and / or a satellite based augmentation system (SBAS).

[0215] The electronic device 100 implements the display function through a GPU, a display screen 194, and an application processor. The GPU is a microprocessor for image processing, which connects the display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 110 may include one or more GPUs that execute program instructions to generate or change display information.

[0216] The display screen 194 is used to display images, videos, etc. The display screen 194 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode or an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), Miniled, MicroLed, Micro-oLed, a quantum dot light-emitting diode (QLED), etc. In some embodiments, the electronic device 100 may include 1 or N display screens 194, where N is a positive integer greater than 1.

[0217] The electronic device 100 can realize the shooting function through ISP, camera 193, video codec, GPU, display screen 194 and application processor.

[0218] The ISP is used to process the data fed back by the camera 193. For example, when taking a photo, the shutter is opened, and the light is transmitted to the camera photosensitive element through the lens. The light signal is converted into an electrical signal, and the camera photosensitive element transmits the electrical signal to the ISP for processing and converts it into an image visible to the naked eye. The ISP can also perform algorithm optimization on the noise and brightness of the image. The ISP can also optimize the exposure, color temperature and other parameters of the shooting scene. In some embodiments, the ISP can be set in the camera 193.

[0219] The camera 193 is used to capture still images or videos. The object generates an optical image through the lens and projects it onto the photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, and then passes the electrical signal to the ISP to be converted into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard RGB, YUV or other format. In some embodiments, the electronic device 100 may include 1 or N cameras 193, where N is a positive integer greater than 1.

[0220] The digital signal processor is used to process digital signals, and can process not only digital image signals but also other digital signals. For example, when the electronic device 100 is selecting a frequency point, the digital signal processor is used to perform Fourier transform on the frequency point energy.

[0221] Video codecs are used to compress or decompress digital videos. The electronic device 100 may support one or more video codecs. Thus, the electronic device 100 may play or record videos in a variety of coding formats, such as Moving Picture Experts Group (MPEG) 1, MPEG2, MPEG3, MPEG4, etc.

[0222] NPU is a neural network (NN) computing processor. By drawing on the structure of biological neural networks, such as the transmission mode between neurons in the human brain, it can quickly process input information and can also continuously self-learn. Through NPU, applications such as intelligent cognition of electronic device 100 can be realized, such as image recognition, face recognition, voice recognition, text understanding, etc.

[0223] The internal memory 121 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM).

[0224] Random access memory may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM, for example, the fifth generation DDR SDRAM is generally referred to as DDR5 SDRAM), etc.; non-volatile memory may include disk storage devices and flash memory.

[0225] Flash memory can be divided into NOR FLASH, NAND FLASH, 3D NAND FLASH, etc. according to the operating principle; single-level cell (SLC), multi-level cell (MLC), triple-level cell (TLC), quad-level cell (QLC), etc. according to the storage unit potential level; universal flash storage (UFS), embedded multi media card (eMMC), etc. according to the storage specification.

[0226] The random access memory can be directly read and written by the processor 110, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, and can also be used to store user and application data.

[0227] The non-volatile memory may also store executable programs and user and application data, etc., and may be loaded into the random access memory in advance for direct reading and writing by the processor 110 .

[0228] The external memory interface 120 can be used to connect to an external non-volatile memory to expand the storage capacity of the electronic device 100. The external non-volatile memory communicates with the processor 110 through the external memory interface 120 to implement a data storage function. For example, files such as music and videos are stored in the external non-volatile memory.

[0229] The electronic device 100 can implement audio functions such as music playing and recording through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the headphone jack 170D, and the application processor.

[0230] The audio module 170 is used to convert digital audio information into analog audio signal output, and is also used to convert analog audio input into digital audio signals. The audio module 170 can also be used to encode and decode audio signals. In some embodiments, the audio module 170 can be arranged in the processor 110, or some functional modules of the audio module 170 can be arranged in the processor 110.

[0231] The speaker 170A, also called a "speaker", is used to convert an audio electrical signal into a sound signal. The electronic device 100 can listen to music or listen to a hands-free call through the speaker 170A.

[0232] The receiver 170B, also called a "earpiece", is used to convert audio electrical signals into sound signals. When the electronic device 100 receives a call or voice message, the voice can be received by placing the receiver 170B close to the human ear.

[0233] Microphone 170C, also called "microphone" or "microphone", is used to convert sound signals into electrical signals. When making a call or sending a voice message, the user can speak by approaching the microphone 170C with his mouth to input the sound signal into the microphone 170C.

[0234] The earphone interface 170D is used to connect a wired earphone and can be a USB interface 130 or a 3.5 mm open mobile terminal platform (OMTP) standard interface or a cellular telecommunications industry association of the USA (CTIA) standard interface.

[0235] The pressure sensor 180A is used to sense pressure signals and can convert pressure signals into electrical signals. There are many types of pressure sensors 180A, such as resistive pressure sensors, inductive pressure sensors, capacitive pressure sensors, and the like.

[0236] The gyro sensor 180B may be used to determine the motion posture of the electronic device 100. In some embodiments, the angular velocity of the electronic device 100 around three axes (ie, x, y, and z axes) may be determined by the gyro sensor 180B.

[0237] The air pressure sensor 180C is used to measure air pressure. In some embodiments, the electronic device 100 calculates the altitude through the air pressure value measured by the air pressure sensor 180C to assist positioning and navigation.

[0238] The magnetic sensor 180D includes a Hall sensor, and the electronic device 100 can detect the opening and closing of the flip leather case by using the magnetic sensor 180D.

[0239] The acceleration sensor 180E can detect the magnitude of the acceleration of the electronic device 100 in various directions (generally three axes).

[0240] The distance sensor 180F is used to measure the distance. The electronic device 100 can measure the distance by infrared or laser.

[0241] The proximity light sensor 180G may include, for example, a light emitting diode (LED) and a light detector, such as a photodiode. The light emitting diode may be an infrared light emitting diode.

[0242] The ambient light sensor 180L is used to sense the brightness of the ambient light. The electronic device 100 can adaptively adjust the brightness of the display screen 194 according to the sensed brightness of the ambient light.

[0243] The fingerprint sensor 180H is used to collect fingerprints. The electronic device 100 can use the collected fingerprint characteristics to implement fingerprint unlocking, access application locks, fingerprint photography, fingerprint call answering, etc.

[0244] The temperature sensor 180J is used to detect temperature. In some embodiments, the electronic device 100 uses the temperature detected by the temperature sensor 180J to execute a temperature processing strategy.

[0245] The touch sensor 180K is also called a "touch control device". The touch sensor 180K can be set on the display screen 194. The touch sensor 180K and the display screen 194 form a touch screen, also called a "touch control screen". The touch sensor 180K is used to detect touch operations acting on or near it. The touch sensor can pass the detected touch operation to the application processor to determine the type of touch event. Visual output related to the touch operation can be provided through the display screen 194. In other embodiments, the touch sensor 180K can also be set on the surface of the electronic device 100, which is different from the position of the display screen 194.

[0246] The bone conduction sensor 180M can obtain a vibration signal. In some embodiments, the bone conduction sensor 180M can obtain a vibration signal of a vibrating bone block of a human vocal part.

[0247] The key 190 includes a power key, a volume key, etc. The key 190 may be a mechanical key or a touch key. The electronic device 100 may receive key input and generate key signal input related to user settings and function control of the electronic device 100.

[0248] Motor 191 can generate vibration prompts. Motor 191 can be used for incoming call vibration prompts, and can also be used for touch vibration feedback.

[0249] Indicator 192 may be an indicator light, which may be used to indicate charging status, power changes, messages, missed calls, notifications, etc.

[0250] The SIM card interface 195 is used to connect a SIM card.

[0251] The following introduces the structure of a server 200 provided in an embodiment of the present application.

[0252] Figure 8 The structure of a server 200 provided in an embodiment of the present application is exemplified.

[0253] like Figure 8As shown, the server 200 may include: one or more processors 1001, a memory 1002, a communication interface 1003, a transmitter 1005, a receiver 1006, a coupler 1007, and an antenna 1008. These components may be connected via a bus 1004 or other means. Figure 8 Take bus connection as an example.

[0254] The communication interface 1003 can be used for the server 200 to communicate with other communication devices, such as the electronic device 100. Specifically, the communication interface 1003 can be a 3G communication interface, a 4G communication interface, a 5G communication interface, or a communication interface of a future new air interface. Not limited to a wireless communication interface, the server 200 can also be configured with a wired communication interface 1003, such as a local access network (LAN) interface. The transmitter 1005 can be used to transmit and process the signal output by the processor 1001. The receiver 1006 can be used to receive and process the mobile communication signal received by the antenna 1008.

[0255] In some embodiments of the present application, the transmitter 1005 and the receiver 1006 can be regarded as a wireless modem. In the server 200, the number of the transmitter 1005 and the receiver 1006 can be one or more. The antenna 1008 can be used to convert the electromagnetic energy in the transmission line into electromagnetic waves in the free space, or convert the electromagnetic waves in the free space into electromagnetic energy in the transmission line. The coupler 1007 is used to divide the mobile communication signal received by the antenna 1008 into multiple paths and distribute them to multiple receivers 1006.

[0256] The memory 1002 is coupled to the processor 1001 and is used to store various software programs and / or multiple sets of instructions. Specifically, the memory 1002 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more disk storage devices, flash memory devices or other non-volatile solid-state storage devices. The memory 1002 may store a network communication program, which may be used to communicate with one or more additional devices, one or more terminal devices, or one or more network devices.

[0257] In some embodiments of the present application, the memory 1002 may be used to store an implementation program of the application distribution method provided by one or more embodiments of the present application on the server 200 side. For the implementation of the application distribution method provided by one or more embodiments of the present application, please refer to the above embodiments.

[0258] The processor 1001 can be used to read and execute computer-readable instructions. Specifically, the processor 1001 can be used to call a program stored in the memory 1002, such as an implementation program of the application distribution method provided in one or more embodiments of the present application on the server 200 side, and execute the instructions contained in the program.

[0259] It should be noted that Figure 8 The server 200 shown is only one implementation of the embodiment of the present application. In actual applications, the server 200 may also include more or fewer components, which is not limited here.

[0260] For more details about the functions and working principles of the server 200, please refer to the relevant contents in the above embodiments, which will not be repeated here.

[0261] The various implementation modes of the present application can be combined arbitrarily to achieve different technical effects.

[0262] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state disk (SSD)), etc.

[0263] Those skilled in the art can understand that to implement all or part of the processes in the above-mentioned embodiments, the processes can be completed by computer programs to instruct related hardware, and the programs can be stored in computer-readable storage media. When the programs are executed, they can include the processes of the above-mentioned method embodiments. The aforementioned storage media include: ROM or random access memory RAM, magnetic disk or optical disk and other media that can store program codes.

[0264] In short, the above description is only an embodiment of the technical solution of the present invention, and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made according to the disclosure of the present invention shall be included in the protection scope of the present invention.

Claims

1. A lane-level navigation method, characterized in that: The method comprises: The electronic device displays a first lane-level navigation route and performs navigation according to the first lane-level navigation route; the first lane-level navigation route includes at least one deviation warning section, and the first lane-level navigation route indicates a driving path between a current position of the vehicle and a destination address and a recommended lane at any position in the driving path; When the vehicle is traveling on the first deviation warning section, detecting whether the vehicle has a deviation risk; the at least one deviation warning section includes the first deviation warning section; the first deviation warning section is determined based on non-variable lane information and / or a preset distance; If there is a risk of deviation, the electronic device displays a second lane-level navigation route; the second lane-level navigation route is determined based on the current position of the vehicle, the current lane of the vehicle and the destination address of the first lane-level navigation route; Among them, the detecting whether the vehicle has a deviation risk includes: detecting whether the current driving lane of the vehicle belongs to the recommended lane of the first lane-level navigation route at the current position of the vehicle; if not, there is a deviation risk; otherwise, there is no deviation risk.

2. The method according to claim 1, characterized in that The first deviation warning road section is a non-variable road section; the non-variable lane information includes a starting position, an ending position and a length of the non-variable road section.

3. The method according to claim 1, characterized in that The first deviation warning section is determined based on a section with a preset distance before the intersection and a non-variable road section; the non-variable lane information includes a starting position, an ending position and a length of the non-variable road section.

4. The method according to any one of claims 1 to 3, characterized in that: The method further includes: if there is a risk of deviation, the electronic device simultaneously displays the first lane-level navigation route and the second lane-level navigation route; When the vehicle continues to travel along the non-recommended lane of the first lane-level navigation route, the electronic device stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route.

5. The method according to claim 4, characterized in that When the vehicle continues to travel along the first lane, the electronic device stops displaying the first lane-level navigation route and performs navigation according to the second lane-level navigation route, including: After detecting that the vehicle has a risk of deviation, if it is not detected that the vehicle's driving lane belongs to the recommended lane of the first lane-level navigation route within a specific time period, within a specific driving distance of the vehicle, or before the vehicle reaches a specific position of the deviation warning section, the electronic device stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route.

6. The method according to claim 4, characterized in that The deviation warning section does not include a variable road section, and the variable road section is a section in the first deviation warning section where lanes can be changed between a recommended lane and a non-recommended lane of the first lane-level navigation route; When the vehicle continues to travel along the first lane, the electronic device stops displaying the first lane-level navigation route and performs navigation according to the second lane-level navigation route, including: After detecting that the vehicle is at risk of deviation, the electronic device automatically stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route after a specific period of time, a specific driving distance of the vehicle, or when the vehicle reaches a specific position of the deviation warning section.

7. The method according to claim 2, characterized in that The method further comprises: If there is a risk of deviation, when the vehicle travels on the first deviation warning section, the electronic device automatically stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route.

8. The method according to any one of claims 1 to 7, further comprising: If there is a risk of deviation, output the first prompt information; The first prompt information is used to prompt one or more of the following: the vehicle is at risk of deviation, and information of the second lane-level navigation route; The information of the second lane-level navigation route includes one or more of the following: the length of the second lane-level navigation route, the travel time of the second lane-level navigation route, the road condition of the second lane-level navigation route, the difference in length between the second lane-level navigation route and the first lane-level navigation route, and the difference in travel time between the second lane-level navigation route and the first lane-level navigation route.

9. The method according to claim 8, characterized in that If there is a risk of deviation, and the first deviation warning section includes a changeable road section, the first prompt information is used to prompt the user that the vehicle may deviate and change lanes to the recommended lane; If there is a risk of deviation, and the first deviation warning section does not include a changeable road section, the first prompt information is used to prompt the vehicle that the vehicle is deviating and that the current lane change may be illegal; The variable road section is a section in the first deviation warning section where lanes can be changed between a recommended lane and a non-recommended lane of the first lane-level navigation route.

10. The method according to any one of claims 4 to 7, characterized in that: After the electronic device simultaneously displays the first lane-level navigation route and the second lane-level navigation route, the electronic device further includes: When it is detected that the vehicle's driving lane belongs to the recommended lane of the first lane-level navigation route at the vehicle's current position, the electronic device stops displaying the second lane-level navigation route and continues to navigate according to the first lane-level navigation route.

11. The method according to any one of claims 1 to 10, characterized in that: The method further comprises: In response to the first operation, the electronic device sends a first request to the server; the first request is used to request planning of a lane-level navigation route; The electronic device receives first data; the first data indicates the first lane-level navigation route and a deviation warning section in the first lane-level navigation route.

12. The method according to any one of claims 1 to 11, characterized in that: After detecting that the vehicle has a risk of deviation, the method further includes: The electronic device sends a second request to the server; the second request is used to request planning of a lane-level navigation route, and the second request includes the current position of the vehicle, the current lane of the vehicle, and the destination address of the first lane-level navigation route; The electronic device receives second data; the first data indicates the second lane-level navigation route and a deviation warning section in the second lane-level navigation route.

13. An electronic device, characterized in that: include: A processor and a memory, wherein the memory is coupled to the processor, the memory is used to store computer program code, the computer program code includes computer instructions, and when the processor reads the computer instructions from the memory, the electronic device executes the method as claimed in claims 1 to 12.

14. A computer-readable storage medium, characterized in that: The method comprises computer instructions, which, when executed on a server, cause the server to execute the method according to claims 1 to 12.

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