Navigation method, electronic equipment and computer readable storage medium

Abstract

The invention discloses a navigation method, electronic equipment and a computer readable storage medium, and belongs to the field of Internet. The method is applied to terminal equipment, and comprises the following steps: receiving a first path transmitted by a server and used for navigation, the first path being obtained based on an initial position and a final position; in the process of advancing according to the first path, road condition information of a second path is obtained, the second path is one of a plurality of path intervals on the first path, and the plurality of path intervals are obtained based on base station information and road side unit (RSU) information on the first path; sending the road condition information of the second path to the server, wherein the road condition information of the second path is used for updating navigation data; wherein the terminal equipment and the server interact through the 5G message and are used for 5G message navigation, and the problem that the navigation effect is poor in the prior art is solved.

Description

Technical Field

[0001] The present application belongs to the field of Internet, and specifically relates to a navigation method, an electronic device and a computer-readable storage medium. Background Art

[0002] Nowadays, people often travel or work in unfamiliar places. In order to reach their destination quickly, they often use navigation to guide their travel. Since 5G messages have the ability to realize message as a service without downloading applications, using 5G messages for navigation is gradually becoming a social trend.

[0003] When using 5G messages for navigation, since 5G messages cannot transmit data in real time, this can easily cause the navigation path to be updated untimely, affecting the navigation effect. Summary of the invention

[0004] The embodiments of the present application provide a navigation method, an electronic device, and a computer-readable storage medium, which can solve the problem of poor navigation effect when using 5G messages for navigation.

[0005] In a first aspect, an embodiment of the present application provides a navigation method, which is applied to a terminal device and includes: Receiving a first path for navigation transmitted by a server, where the first path is obtained based on a starting position and an end position; In the process of traveling along the first path, obtaining road condition information of a second path, where the second path is one of a plurality of path sections on the first path, and the plurality of path sections are obtained based on base station information and road side unit (RSU) information on the first path; Send the traffic condition information of the second path to the server, where the traffic condition information of the second path is used to update navigation data; wherein the terminal device and the server interact through 5G messages.

[0006] In a second aspect, an embodiment of the present application provides a navigation method, which is applied to a server and includes: Acquire a first path for navigation, wherein the first path is obtained based on a starting position and an end position; Sending the first path to a terminal device; In the process of the terminal device traveling along the first path, receiving the road condition information of the second path sent by the terminal device; wherein the second path is one of the multiple path intervals on the first path, and the multiple path intervals are obtained based on the base station information and the RSU information on the first path; Based on the traffic information of the second path, the navigation data is updated; wherein the terminal device and the server interact via 5G messages.

[0007] In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the method described in the first aspect or the second aspect are implemented.

[0008] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed, the steps of the method described in the first aspect or the second aspect are implemented.

[0009] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the method described in the first aspect or the second aspect.

[0010] At least one of the above technical solutions provided in the embodiments of the present application can achieve the following technical effects: In an embodiment of the present application, a first path for navigation transmitted by a server is received, and the first path is obtained based on a starting position and an end position; in the process of traveling along the first path, the road condition information of the second path is obtained, and the second path is one of the multiple path intervals on the first path, and the multiple path intervals are obtained based on the base station information and RSU information on the first path; the road condition information of the second path is sent to the server, and the road condition information of the second path is used to update the navigation data; wherein the terminal device and the server interact through 5G messages. In this way, in the process of transmitting road condition information between the terminal device and the server through 5G messages to update the navigation data, since the second path is one of the multiple path intervals obtained based on the base station information and RSU information on the first path, each second path obtained takes into account the base station information and RSU information, so that the base station information and RSU information can be effectively used in each second path, so as to timely send the road condition information of the second path to the server to update the navigation data, so that the navigation effect is better, and the problem of poor navigation effect when using 5G messages for navigation in related technologies is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 is a flowchart of a navigation method provided by an embodiment of the present application; Figure 2-1 is a schematic diagram of a 5G message card provided in an embodiment of the present application; Figure 2-2 This is a schematic diagram of a server performing path planning provided in an embodiment of the present application; Figure 3 is a flowchart of another navigation method provided by an embodiment of the present application; Figure 4 is a schematic diagram of path interval division provided in an embodiment of the present application; Figure 5 is a flowchart of another navigation method provided by an embodiment of the present application; Figure 6 is a flowchart of another navigation method provided by an embodiment of the present application; Figure 7 is a specific flow chart of a navigation method provided in an embodiment of the present application; Figure 8 It is a structural block diagram of a terminal device provided in an embodiment of the present application; Fig. 9 It is a structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0013] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0014] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0015] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] The navigation method provided in the embodiment of the present application is applied to route navigation, and in particular, can be applied to navigation based on 5G messages. Specifically, when a user holds a terminal device and moves along a first path, the terminal device and the server transmit road condition information of a second path, and the road condition information of the second path is used to update navigation data, and the second path is one of the multiple path intervals on the first path.

[0017] The navigation method provided in the embodiment of the present application can be executed by a target device, wherein the target device can be one electronic device or multiple electronic devices. In other words, the navigation method provided in the embodiment of the present application can be executed by an electronic device, wherein the electronic device can be a terminal device such as a desktop computer, a laptop computer, a mobile phone, a tablet, etc., or a server, such as an independent physical server, a server cluster composed of multiple servers, and a cloud server capable of cloud computing. In the case where the navigation method provided in the embodiment of the present application is executed by multiple electronic devices, these multiple electronic devices can form a service cluster, which cooperate with each other to complete each step.

[0018] The navigation method provided in the embodiment of the present application is described in detail below through specific embodiments and application scenarios in conjunction with the accompanying drawings.

[0019] See also Figure 1 , Figure 1 is a flowchart of a navigation method provided in an embodiment of the present application, and the method is executed by a terminal device. Figure 1 As shown, the method comprises the following steps: Step 110: Receive a first path for navigation transmitted by a server, where the first path is obtained based on a starting location and an end location.

[0020] In an embodiment of the present application, the server may be a 5G message server. When the target user starts route navigation through a terminal device, the starting position and the end position of the navigation route may be input through the terminal device. After the terminal device receives the starting position and the end position, the starting position and the end position may be transmitted to the server, and the server may perform path planning based on the starting position and the end position to obtain a first path, and transmit the first path to the terminal device.

[0021] When the target user inputs the starting position and the end position of the navigation route through the terminal device, the user can also select the travel mode of the navigation, such as walking, bicycle, bus, subway, etc. The terminal device can transmit the starting position, the end position and the travel mode of the navigation route to the server. After the server receives the starting position, the end position and the travel mode of the navigation route, the Rapidly-exploring Random Trees (RRT) algorithm can be used for path planning to generate an initial path, that is, the first path mentioned above.

[0022] In one embodiment of the present application, before receiving the first path transmitted by the server, the navigation method may further include the following steps: sending a 5G message navigation request to the server; receiving a 5G message card fed back by the server; receiving the starting location, end location and travel method entered by the user on the 5G message card; and sending target content to the server, wherein the target content includes the starting location, the end location and the travel method.

[0023] In an embodiment of the present application, the 5G message navigation request may include the user ID of the target user and the current geographic location information of the terminal device, and the user ID may be, for example, the mobile phone number of the target user. After the server receives the 5G message navigation request, the user ID may be read from the 5G message navigation request and the user ID may be searched to determine whether the user ID is a registered user ID.

[0024] When it is determined that the user ID is a registered user ID, the server can further determine the RSU unit near the current geographic location information based on the current geographic location information of the terminal device, and the server communicates with the RSU device to obtain the road condition information transmitted by the RSU unit. Since the server can obtain the road condition information within the coverage area of ​​the RSU unit near the user's departure point in advance, the path planning work at the initial stage of user navigation can be better completed.

[0025] In an embodiment of the present application, the server may return a 5G message card to the terminal device in response to the 5G message navigation request. Figure 2-1 , Figure 2-1 Schematic diagram of a 5G message card provided in an embodiment of the present application. Figure 2-1 As shown, after the terminal device receives the 5G message card, the target user can enter the starting position and end position of the navigation route according to travel needs, and can select the travel method. After the terminal device receives the starting position, end position and travel method entered by the user on the 5G message card, the starting position, end position and travel method can be returned to the server.

[0026] After the terminal device receives the 5G message card, the terminal device can automatically fill the current geographical location information into the starting position of the 5G message card (i.e. Figure 2-1 When the target user inputs the start and end positions, the target user can modify the automatically filled start position.

[0027] Please refer to Figure 2-2 , Figure 2-2 FIG. 1 is a schematic diagram of a server performing path planning provided in an embodiment of the present application. Figure 2-2 As shown, after the server receives the starting position, the end position and the travel mode fed back by the terminal device, the RRT algorithm can be used to generate the initial path.

[0028] In the embodiment of the present application, since 5G messages have the feature of realizing message as a service without downloading applications, the terminal device does not need to install applications and can directly communicate and interact with the server through the 5G message card, thereby lowering the threshold for using terminal devices for navigation.

[0029] Step 120: While traveling along the first path, obtain road condition information of a second path, where the second path is one of a plurality of path intervals on the first path, and the plurality of path intervals are obtained based on base station information and roadside unit RSU information on the first path.

[0030] In an embodiment of the present application, the first path can be divided into multiple path intervals based on the base station information and RSU information on the first path. When the target user holds a terminal device and moves along the first path, the terminal device and the server can transmit the road condition information of the second path, and the second path is one of the multiple path intervals. Among them, the base station information may include information such as the number of base stations, base station coverage, and base station density, and the RSU information may include information such as the number of RSUs and RSU density.

[0031] In an embodiment of the present application, the terminal device may communicate with the RSU arranged on the second path to obtain the traffic information of the second path transmitted by the RSU on the second path. The traffic information of the second path may be, for example, traffic light information, traffic sign information or obstacle information on the second path.

[0032] Step 130: Send the traffic information of the second path to the server, where the traffic information of the second path is used to update navigation data; wherein the terminal device and the server interact via 5G messages.

[0033] In an embodiment of the present application, after the terminal device obtains the traffic condition information of the second path, it can send the traffic condition information of the second path to the server, so that the server updates the navigation data based on the traffic condition information of the second path, and the navigation data includes the navigation information used by the target user during the travel along the first path.

[0034] In the embodiment of the present application, during the interaction between the terminal device and the server, for example, during the transmission of the road condition information of the second path between the terminal device and the server, the terminal device and the server can interact through 5G messages. 5G messages are a smart communication product that supports new message forms such as text, audio, video, and location. They have the advantages of rich expression forms, high readability, and excellent interactive experience, and can significantly improve the service experience of traditional communications and IT services. Figure 2-2 As shown, the terminal device and the server can communicate and interact through a 5G message card.

[0035] In one embodiment of the present application, after sending the traffic information of the second path to the server, the navigation method, in addition to steps 110 to 130, further includes: when the terminal device is at the target position, initiating a target information request to the server, the target position includes at least one of the starting position, midpoint position and end position of the second path, and the target information includes at least one of map data information and point of interest (POI) information; receiving the target information transmitted by the server in response to the target information request, and the target information is used to update the navigation data.

[0036] In the embodiment of the present application, the target information includes at least one of map data information and POI information. The POI information is used to refer to point data in the Internet electronic map. The POI information may include basic information, detailed information and mining information. The basic information includes information such as name, address, coordinates, alias, telephone number and classification, the detailed information includes vertical industry information such as rating, menu, price, comment, group purchase information, business hours and pictures, and the mining information includes data generated by mining such as business status and credibility. Since the amount of map data information and point of interest information is large and the probability of change is relatively low, the update frequency of target information during navigation can be reduced.

[0037] Specifically, when the terminal device is at one of the starting position, midpoint position and end position of the second path, the terminal device initiates a target information request to the server, receives the target information transmitted by the server in response to the target information request, and updates the navigation data based on the target information.

[0038] In an embodiment of the present application, the terminal device initiates a target information request to the server only when the terminal device is at the starting position, midpoint position or end position of the second path. This can reduce the updating frequency of the target information while ensuring the accuracy of the target information to a certain extent. Compared with real-time updating of the target information, the network requirements are lower and the update of the target information can be completed in a timely manner.

[0039] In one embodiment of the present application, after sending the traffic information of the second path to the server, the navigation method, in addition to steps 110 to 130, further includes: obtaining a third path, wherein the third path is obtained after obstacle avoidance planning based on the traffic information of the second path, and switching the second path to the third path.

[0040] In the embodiment of the present application, considering that the obstacle avoidance behavior in the actual driving process of the user is an emergency event, it needs to be handled in time. Therefore, the terminal device provides an automatic obstacle avoidance path planning function. When the target user chooses to turn on the automatic obstacle avoidance path planning function, the terminal device can automatically increase the communication frequency between the terminal device and the server, and the communication frequency is close to the communication interaction frequency in the existing navigation map.

[0041] At this time, the 5G message card displayed on the terminal device only updates the road condition information of the untraveled path within the path interval currently located by the terminal device, and does not update the road condition information of other untraveled path intervals, so as to concentrate on handling obstacle avoidance matters.

[0042] In an embodiment of the present application, when the target user holds a terminal device and moves in the second path, the terminal device can determine the mobile data point set (P01, P02, ... Pn) generated by the terminal device moving in the second path based on the Global Positioning System (GPS) data collected by the terminal device. Then, the terminal device can fit the mobile data point set to obtain fitting information, and the fitting information includes a straight line obtained after fitting the mobile data point set. Specifically, the terminal device can use the least squares method to fit the mobile data point set. After the terminal device obtains the fitting information, it sends the fitting information to the server.

[0043] After receiving the fitting information, the server may perform curve processing on the straight line obtained by fitting the mobile data point set. The objective function for curve processing on the straight line obtained by fitting may refer to the following formula: ; Among them, fs is the target function of the curve processing, n is the number of data points, and Used to indicate the tension on both sides of data point i, , and Used to indicate the points on the straight line obtained after fitting. Since the first data point and the last data point in the mobile data point set limit the boundary conditions of the terminal device's movement trajectory, the optimization process only includes the n data points remaining after removing the first data point and the last data point.

[0044] In the embodiment of the present application, the target curve after curvilinear processing is obtained by minimizing the value of the objective function. If the value of the objective function is 0, that is, the values ​​of all items in the above formula are 0, it means that the straight line obtained after fitting is processed into a straight line without inflection points, which is also the ideal smoothest situation.

[0045] In an embodiment of the present application, the traffic information of the second path includes obstacle information on the second path. After the server obtains the target curve, the obstacle information can be obtained from the traffic information of the second path, and obstacle avoidance processing can be performed on the target curve based on the obstacle information to obtain a third path.

[0046] Specifically, the road condition information is obtained after the terminal device and the RSU unit communicate and interact, and the obstacle information is the obstacle information on the road surface of the second path. Based on the obstacle information, the collision cost of the terminal device colliding with the obstacle can be determined. The collision cost can be described as the repulsive force between the obstacle and the control point. The control point is a point on the target curve. The repulsive force between the obstacle and the control point can be described as the distance between the obstacle and the control point. The following formula can be referred to: ; Where fc is the total collision cost between the terminal device and the obstacle, is the distance between the obstacle closest to the i-th control point and the i-th control point, is the limit distance, Used to describe the relationship between obstacle distance and limit distance.

[0047] In the embodiment of the present application, the third path is obtained by minimizing the total collision cost between the terminal device and the obstacle or making it 0. After the terminal device obtains the third path, the second path originally used can be switched to the third path obtained after the obstacle avoidance process, and the target user holding the terminal device can continue to move along the third path.

[0048] In one embodiment of the present application, when the target user holds a terminal device and travels along a third path, a path switching request is obtained, and the path switching request is obtained when the target condition is met; a fourth path is obtained, and the third path is switched to the fourth path, and the fourth path is generated by the server in response to the path switching request.

[0049] In an embodiment of the present application, the target condition includes at least one of the following conditions: the current speed dissatisfaction of the terminal device is greater than or equal to a first threshold, and the distance between the terminal device and the obstacle object moving in front of the terminal device is greater than a second threshold. That is, when the target user is dissatisfied with the current speed, or there is no obstacle object that may collide in front of the terminal device, the target user can initiate a path switching request through the terminal device. In addition, when the number of obstacles in the area around the terminal device is greater than the third threshold, the terminal device is not allowed to initiate a path switching request in consideration of the user's travel safety.

[0050] In the embodiment of the present application, when the current speed of the terminal device is slow, for example, when the target user drives along the third path, he will slow down to avoid obstacles, or the road surface problem of the third path causes the vehicle speed to be slow, and the target user is likely to be dissatisfied with the current speed. At this time, a path switching request can be initiated to avoid the problem of the current slow speed on the third path.

[0051] Specifically, the current speed dissatisfaction of the terminal device can be determined by the following method: obtaining the target user's expected travel speed, the current travel speed of the terminal device, and the speed sampling time period during which the terminal device samples the current travel speed. Based on the expected travel speed, the current travel speed, and the speed sampling time period, the current speed dissatisfaction of the terminal device is determined by the following formula: ; Wherein, k is used to indicate time, VS(k) is used to indicate the current speed dissatisfaction at time point k, and VS(k-1) is used to indicate the current speed dissatisfaction at time point k-1. is the expected travel speed, is the current traveling speed, and Ts is the speed sampling time period.

[0052] In the embodiment of the present application, the obstacle object includes an obstacle, a moving person or a car, etc. The distance between the terminal device and the obstacle object moving in front of the terminal device can be determined in the following manner: ; in, It is used to describe the distance between the terminal device and the obstacle object in front of the terminal device. It is an indicator determined by the distance. is the current travel speed, is the speed of the obstacle moving in front of the terminal device, The time it takes for the server to generate the fourth path in response to the path switching request, which also includes the target user's reaction time and the vehicle's braking time. is the maximum value of the deceleration of the vehicle driven by the target user, It is the following time between the terminal device and the obstacle object moving in front of the terminal device.

[0053] In an embodiment of the present application, when the target conditions are met, the target user may initiate a path switching request through a terminal device, and the terminal device feeds back the path switching request to the server. In response to the path switching request, the server may generate a fourth path through other strategies, and transmit the relevant information of the fourth path to the terminal device, where the other strategies may include common path planning strategies. When the terminal device receives the relevant information of the fourth path, the target user holding the terminal device may continue to move forward along the fourth path.

[0054] In an embodiment of the present application, a first path for navigation transmitted by a server is received, and the first path is obtained based on a starting position and an end position; in the process of traveling along the first path, the road condition information of the second path is obtained, and the second path is one of the multiple path intervals on the first path, and the multiple path intervals are obtained based on the base station information and RSU information on the first path; the road condition information of the second path is sent to the server, and the road condition information of the second path is used to update the navigation data; wherein the terminal device and the server interact through 5G messages. In this way, in the process of transmitting road condition information between the terminal device and the server through 5G messages to update the navigation data, since the second path is one of the multiple path intervals obtained based on the base station information and RSU information on the first path, each second path obtained takes into account the base station information and RSU information, so that the base station information and RSU information can be effectively used in each second path, so as to timely send the road condition information of the second path to the server to update the navigation data, so that the navigation effect is better, and the problem of poor navigation effect when using 5G messages for navigation in related technologies is solved.

[0055] See also Figure 3 , Figure 3 FIG. 1 is a flowchart of another navigation method provided by an embodiment of the present application, and the method is executed by a terminal device. Figure 3 As shown, the method comprises the following steps: Step 310: Receive a first path for navigation transmitted by a server, where the first path is obtained based on a starting location and an end location.

[0056] Step 320: In the process of traveling along the first path, obtain the road condition information of the second path, the second path is a path interval among multiple path intervals on the first path, the multiple path intervals are obtained based on the base station information and RSU information on the first path, the base station information includes at least one of the number of base stations and the base station density on the first path, and the RSU information includes at least one of the number of RSUs and the RSU density on the first path.

[0057] In an embodiment of the present application, in the process of dividing the first path into multiple path intervals, the first path can be divided based on the base station information and RSU information on the first path. For example, the first path can be divided based on the number of base stations and the number of RSUs on the first path, so that base stations and RSU units are deployed in the multiple path intervals obtained by dividing the first path, and it is possible to ensure that when the target user holds a terminal device and travels to each path interval of the first path, the terminal device can communicate and interact with the server and the RSU unit to complete the navigation.

[0058] Exemplarily, in one embodiment of the present application, the number of path intervals on the first path is obtained based on the total mileage of the first path and the number of base stations on the first path, and the length of each path interval in the multiple path intervals is obtained based on the number of the path intervals, the base station density and the RSU density.

[0059] In the embodiment of the present application, in the process of dividing the first path into multiple path intervals, the following factors are taken into consideration: the rationality of the path interval division, the ability to collect as much data as possible in the divided path intervals, and the completion of data interaction in the optimal time period. The first path can be divided in the following manner.

[0060] First, the total mileage of the first path and the number of base stations on the first path can be obtained, and the number of path intervals can be obtained based on the total mileage of the first path and the number of base stations on the first path. Specifically, the quotient of the total mileage of the first path and the number of base stations on the first path can be determined as the number of path intervals. That is, the number of path intervals can be determined based on the following formula: ; Wherein, LS is the number of path sections, D is the total mileage of the first path, and BS is the number of base stations on the first path.

[0061] Then, the base station density on the first path and the RSU density on the first path can be obtained. Based on the number of path intervals, the base station density on the first path and the RSU density on the first path, the length of each path interval obtained by dividing the first path is determined. For the i-th path interval among the LS path intervals obtained by dividing the first path, the length of the path interval can be obtained based on the first length and the second length corresponding to the path interval, where i is a positive integer less than or equal to LS, and LS is an integer greater than 1.

[0062] In the process of determining the first length corresponding to the ith path interval, the RSU density corresponding to the ith path interval, the correction coefficient of the base station type density corresponding to the ith path interval, and the preset starting path interval length can be first obtained. Based on the RSU density corresponding to the ith path interval, the correction coefficient of the base station type density corresponding to the ith path interval, and the preset starting path interval length, the first length corresponding to the ith path interval can be determined by the following formula: ; in, is the first length corresponding to the i-th path interval, Csi is the RSU density corresponding to the i-th path interval, is the correction coefficient of the base station type density corresponding to the i-th path interval, and u is the preset starting path interval length.

[0063] In the process of determining the second length corresponding to the i-th path interval, the base station type of the base station covered by the i-th path interval and the coverage area value corresponding to the base station type, the area coefficient affected by signal interference in the i-th path interval, the number of base stations covered by the i-th path interval and the number of base stations replaced by edge devices, and the coverage area of ​​the edge base stations in the i-th path interval can be obtained first. The second length corresponding to the i-th path interval can be determined based on the following formula: ; in, is the second length corresponding to the i-th path interval, which is obtained by evaluating the length of the path interval based on the base station density, j is the base station type of the base station covered by the i-th path interval, is the coverage area value corresponding to the base station type, is the area coefficient affected by signal interference in the i-th path interval, G is the number of base stations covered by the i-th path interval, The number of base stations is replaced by edge devices, and a is the coverage area of ​​the edge base stations in the i-th path interval.

[0064] After determining the first length and the second length corresponding to the i-th path interval, the sum of the first length and the second length corresponding to the i-th path interval can be determined as the interval length of the i-th path interval. Based on the number of path intervals determined above, in the process of determining the interval length of the last path interval, the interval length of the last path interval can be determined based on the total mileage of the first path and the interval length values ​​of all path intervals before the last path interval. Specifically, the difference between the total mileage of the first path and the interval length values ​​of all path intervals before the last path interval is determined as the interval length of the last path interval.

[0065] Please refer to Figure 4 , Figure 4 This is a schematic diagram of path interval division provided in an embodiment of the present application. Figure 4 The dotted line portion is the first path, and the solid arrow portion is the multiple path intervals obtained by division. Figure 4 As shown, the first path can be divided into four path sections, namely, four path sections S1→S2, S2→S3, S3→S4 and S4→S5.

[0066] Step 330: Send the traffic information of the second path to the server, where the traffic information of the second path is used to update navigation data; wherein the terminal device and the server interact via 5G messages.

[0067] In an embodiment of the present application, in the process of dividing the first path into multiple path intervals, the number of base stations and the number of RSUs on the first path are taken into consideration, and the number of base stations and the number of RSUs on the multiple path intervals obtained by division are made to be evenly distributed as much as possible, thereby ensuring that when the target user holds the terminal device and travels to any path interval, the terminal device can effectively communicate with the server and RSU.

[0068] See also Figure 5 , Figure 5 FIG. 1 is a flowchart of another navigation method provided by an embodiment of the present application, and the method is executed by a terminal device. Figure 5 As shown, the method comprises the following steps: Step 510: Receive a first path for navigation transmitted by a server, where the first path is obtained based on a starting location and an end location.

[0069] Step 520: While traveling along the first path, obtain traffic information of a second path, where the second path is one of a plurality of path intervals on the first path, and the plurality of path intervals are obtained based on base station information and RSU information on the first path.

[0070] Step 530: Send the traffic condition information of the second path to the server, and the traffic condition information of the second path is used to update the navigation data; wherein, the terminal device and the server interact through 5G messages, and the update frequency of sending the traffic condition information of the second path to the server is associated with target information, and the target information includes the length of the second path and the number of target objects in the second path, and the target objects include at least one of RSU and intersections.

[0071] In an embodiment of the present application, in the process of a terminal device sending road condition information to a server to realize navigation data, the update frequency of the transmission of road condition information between the terminal device and the server can be associated with the target information. Different update frequencies can be determined according to different trigger conditions satisfied by the target information. The target information is information related to the road condition on the second path, including the length of the second path and the number of target objects on the second path, and the target object includes at least one of an RSU and an intersection.

[0072] Exemplarily, in one embodiment of the present application, the update frequency is the first update frequency, the second update frequency or the third update frequency; in the process of sending the traffic condition information of the second path to the server, the following method can be adopted: when the second path meets the first condition, the traffic condition information of the second path is sent to the server at the first update frequency; when the second path meets the second condition, the traffic condition information of the second path is sent to the server at the second update frequency; when the second path meets the third condition, the traffic condition information of the second path is sent to the server at the third update frequency.

[0073] Among them, the first condition and the second condition are different, and both are conditions associated with the length of the second path and the number of RSUs in the second path, and the third condition is a condition associated with the length of the second path and the number of intersections in the second path; the first update frequency, the second update frequency and the third update frequency are all different.

[0074] In an embodiment of the present application, the first condition is that the length of the second path is less than a preset length threshold, and the number of RSUs in the second path is greater than a first preset number; the second condition is that the length of the second path is less than a preset length threshold, and the number of RSUs in the second path is less than or equal to the first preset number; the third condition is that the length of the second path is greater than or equal to the preset length threshold, and the number of intersections in the second path is greater than the second preset number.

[0075] When the second path satisfies the first condition, that is, when the length of the second path is less than the preset length threshold, and the number of RSUs in the second path is greater than the first preset number, it can be considered that the RSU units in the second path are relatively dense. At the same time, in a small section of the second path, the terminal device can interact with the nearby RSU units to obtain more traffic information of the second path, and feed the obtained traffic information back to the server.

[0076] When the target user holds a terminal device and moves into the above path, the distance of a short section of the terminal device in the second path can be obtained. At the same time, the terminal device can calculate the real-time speed of the terminal device during the movement based on GPS data. Based on the distance traveled by the terminal device in the second path and the real-time speed, a first update frequency can be determined, and the terminal device can send the road condition information of the second path to the server at the first update frequency.

[0077] Wherein, based on the distance traveled by the terminal device in the second path and the real-time speed, the first update frequency may be determined by the following formula: ; Among them, FS1 is the first update frequency, is the distance traveled by the terminal device in the second path, V is the real-time speed, and M is the basic number of the first update frequency.

[0078] When the second path satisfies the second condition, that is, when the length of the second path is less than the preset length threshold, and the number of RSUs in the second path is less than or equal to the first preset number, it can be considered that the RSU units in the second path are relatively dense. At the same time, in a small section of the second path, the number of RSU units is limited. Therefore, when the number of RSU units is limited, the terminal cannot obtain road condition information from the RSU units in time, and the effect and significance of updating the navigation data at this time are not great.

[0079] When the target user holds a terminal device and moves into the above path, the first update frequency basic number can be obtained, and the first update frequency basic number can be determined as the second update frequency (FS2). When the terminal device interacts with the RSU unit, the terminal device can receive the road condition information transmitted by the RSU unit, and send the road condition information transmitted by the RSU unit and the current geographic location of the terminal device to the server. The server can add the road condition information to the real-time road condition of the 5G message navigation card, covering the trajectory and road condition of the path that the terminal device has not traveled.

[0080] When the second path satisfies the third condition, that is, when the length of the second path is greater than or equal to a preset length threshold and the number of intersections in the second path is greater than a second preset number, it can be considered that the total length of the second path is longer, and due to the large number of intersections, the possibility of lane changes in the second path is higher.

[0081] When the target user holds a terminal device and moves into the above path, the distance traveled by the terminal device in the second path and the real-time speed of the terminal device can be obtained. Based on the distance traveled by the terminal device in the second path and the real-time speed, a third update frequency can be determined, and the terminal device can send the road condition information of the second path to the server at the third update frequency.

[0082] Wherein, based on the distance traveled by the terminal device in the second path and the real-time speed, the third update frequency may be determined by the following formula: ; Among them, FS3 is the third update frequency, is the distance traveled by the terminal device in the second path, V is the real-time speed, N is the second update frequency basic number, the first update frequency basic number and the second update frequency basic number can be set according to actual needs, and the first update frequency basic number and the second update frequency basic number can be different.

[0083] In the embodiment of the present application, based on the third update frequency, the triggering time for the terminal device to update its current geographic location information and the road condition information of the second path to the server is: the target user drives to the intersection with the terminal device. That is, the update operation of the road condition information of the second path will be triggered only when the target user drives to the intersection with the terminal device.

[0084] In the embodiment of the present application, considering the communication capability of 5G messages, which are not good at real-time uninterrupted information transmission, the embodiment of the present application provides a mechanism for updating segmented data, and determines the update frequency of the traffic condition information of the second path according to the traffic condition information of the second path. Since the determination of the update frequency fully considers the traffic condition information of the second path, the accuracy of the path information can be guaranteed as much as possible without updating the traffic condition information of the second path in real time, thereby ensuring the accuracy of the user's navigation results.

[0085] See also Figure 6 , Figure 6 is a flowchart of another navigation method provided in an embodiment of the present application, the method is executed by a server, and the server may be a 5G message server. Figure 6 As shown, the method comprises the following steps: Step 610: Obtain a first path for navigation, where the first path is obtained based on a starting location and an end location.

[0086] In an embodiment of the present application, when the target user starts navigating the route, the server can obtain the starting position and the end position of the navigation route, and perform path planning based on the RRT algorithm to obtain an initial path, that is, the first path used for navigation.

[0087] In one embodiment of the present application, before obtaining the first path for navigation, the navigation method, in addition to steps 610 to 640, also includes: receiving a 5G message navigation request sent by the terminal device; sending a 5G message card to the terminal device; receiving target content sent by the terminal device, the target content including the starting location, the end location and the travel method.

[0088] In the embodiments of the present application, reference can be made to the above Figure 2-1 and Figure 2-2 The description is not repeated here.

[0089] Step 620: Send the first path to the terminal device.

[0090] In an embodiment of the present application, after the server generates a first path based on the starting position and the ending position, the first path can be transmitted to a device on a terminal, so that a target user holding the terminal device can travel along the first path.

[0091] Step 630: While the terminal device is traveling along the first path, receiving traffic condition information of the second path sent by the terminal device; wherein the second path is one of a plurality of path intervals on the first path, and the plurality of path intervals are obtained based on the base station information and RSU information on the first path.

[0092] In an embodiment of the present application, when the terminal device starts to move along the first path, the server can obtain the base station information and RSU information collected by the RSU unit, and divide the first path based on the base station information and the RSU information to obtain multiple path intervals, each of which can correspond to a second path. In other words, the first path is divided into multiple second paths, and when the road condition information is updated, only the road condition information of the second path where the terminal device is located can be updated. The base station information may include information such as the number of base stations, base station coverage, and base station density, and the RSU information may include information such as the number of RSUs and RSU density.

[0093] In one embodiment of the present application, after obtaining the first path for navigation, the navigation method, in addition to steps 610 to 640, also includes: obtaining the total mileage of the first path; obtaining base station information and RSU information on the first path; wherein the base station information includes at least one of the number of base stations and base station density on the first path, and the RSU information includes the RSU density on the first path; based on the total mileage of the first path and the number of base stations on the first path, determining the number of path intervals on the first path; based on the number of path intervals, the base station density and the RSU density, determining the length of each of the multiple path intervals.

[0094] In the embodiment of the present application, reference may be made to the above description of step 320 , which will not be repeated here.

[0095] In one embodiment of the present application, in the process of receiving the traffic condition information of the second path sent by the terminal device, the traffic condition information of the second path sent by the terminal device at a target update frequency can be received, and the target update frequency is determined based on the second path. Specifically, when the second path satisfies the first condition, the traffic condition information of the second path sent by the terminal device at the first update frequency is received; when the second path satisfies the second condition, the traffic condition information of the second path sent by the terminal device at the second update frequency is received; when the second path satisfies the third condition, the traffic condition information of the second path sent by the terminal device at the third update frequency is received; wherein the first condition and the second condition are different, and both are conditions associated with the length of the second path and the number of RSUs in the second path; the third condition is a condition associated with the length of the second path and the number of intersections in the second path, and the first update frequency, the second update frequency, and the third update frequency are all different.

[0096] The first condition is that the length of the second path is less than a preset length threshold, and the number of RSUs in the second path is greater than a first preset number; the second condition is that the length of the second path is less than a preset length threshold, and the number of RSUs in the second path is less than or equal to a first preset number; the third condition is that the length of the second path is greater than or equal to a preset length threshold, and the number of intersections in the second path is greater than a second preset number. Specifically, reference may be made to the above description of step 530.

[0097] Step 640: Update navigation data based on the traffic information of the second path; wherein the terminal device and the server interact via 5G messages.

[0098] In an embodiment of the present application, a first path for navigation is obtained, the first path is obtained based on a starting position and an end position; the first path is sent to a terminal device; while the terminal device is traveling along the first path, traffic information of a second path sent by the terminal device is received; wherein the second path is one of a plurality of path intervals on the first path, the plurality of path intervals are obtained based on base station information and RSU information on the first path; based on the traffic information of the second path, navigation data is updated; wherein the terminal device and the server interact via 5G messages. In this way, in the process of transmitting traffic information via 5G messages between the terminal device and the server to update navigation data, since the second path is one of a plurality of path intervals obtained based on base station information and RSU information on the first path, each second path obtained takes into account base station information and RSU information, so that the base station information and RSU information can be effectively used in each second path, so that the server can receive the traffic information of the second path in time to update the navigation data, so that the navigation effect is better, and the problem of poor navigation effect when using 5G messages for navigation in related technologies is solved.

[0099] Please refer to the following specific embodiment, which is used to further describe the navigation method provided by the embodiment of the present application. The method is a method for intermittent data update based on the action trajectory, which can ensure the timeliness of data update and does not need to be updated too frequently like the existing map software, so as to ensure the accuracy of the navigation result. The method may include the following steps: Step 1: The user initiates a real-time 5G message navigation request on the terminal, which contains the user ID and the user's current geographic location information.

[0100] Step 2: The 5G message server (hereinafter referred to as the server) feeds back a 5G message card of real-time navigation to the user terminal based on the 5G message navigation request.

[0101] Specifically, the server searches for the user ID and confirms whether the user has registered. If so, it further communicates with the RSU unit based on the current geographic location information provided by the user to obtain traffic information within the RSU unit range. By communicating with the RSU unit, information within the range covered by the RSU unit at the user's departure point can be obtained, which can better complete the path planning work at the beginning of the user's navigation. At the same time, the server feeds back the 5G message card of real-time navigation to the user terminal.

[0102] Step 3: Based on the 5G message card fed back by the server, the user enters the starting point, end point and travel method, and the terminal device feeds back the content to the server.

[0103] Specifically, based on the content of the current location information provided by the user in step two, the terminal automatically fills in the starting point of the 5G message card; after the user receives the 5G message card through the terminal, the user can modify the starting location and enter the end location. At the same time, the user can select the corresponding travel mode through the terminal; the starting location information, end location and travel mode information are fed back to the server.

[0104] Step 4: The server generates an initial path based on the information in the 5G message card fed back by the user. Specifically, the server generates the initial path using the RRT algorithm based on the user's starting location, end location, and travel mode.

[0105] Step 5: The user drives along the initial route. During the user's travel, the total mileage between the starting point and the end point is divided into multiple small intervals. In each small interval, the terminal collects road condition information and feeds the collected information back to the server to update the road condition data; Among them, considering that the communication capability of 5G messages is not good at real-time and uninterrupted information transmission, this solution designs a segmented data update and upload mechanism. Based on this mechanism, 5G messages do not need to upload current information in real time, while also ensuring the accuracy of user navigation as much as possible.

[0106] 1. The server calculates the total mileage of the generated initial path, and divides the entire path into multiple small intervals (i.e., the path intervals mentioned above) according to the total mileage, the density of RSU units, and the density of base stations passed. In the process of dividing the small intervals, the rationality of the division is taken into consideration, and in the divided small intervals, as much data as possible can be collected, and data interaction can be completed in the optimal time period. Therefore, the interval division method of this solution is as follows: First, the cells are divided according to the total mileage and the total number of base stations on the entire trajectory to obtain the number of cells LS.

[0107] ; Among them, LS is the number of cells, D is the total mileage of the initial path, and BS is the number of base stations on the initial path.

[0108] Then, based on the number of LS intervals, the density of RSU units and the density of base stations passed, the length LS(i) of different intervals is determined. Specifically, the method for determining the length of different intervals is as follows: The length of different intervals is LS(i) obtained by summing LS1 and LS2.

[0109] ; in, is the first length corresponding to the ith cell, Csi is the RSU density corresponding to the ith cell, is the correction coefficient of the base station type density corresponding to the i-th cell, and u is the preset starting cell length.

[0110] ; in, is the second length corresponding to the ith cell interval, which is obtained by evaluating the length of the path interval based on the base station density, j is the base station type of the base station covered by the ith cell interval, is the coverage area value corresponding to the base station type, is the area coefficient affected by signal interference in the ith cell, G is the number of base stations covered by the ith cell, The number of base stations is replaced by edge devices, and a is the coverage area of ​​the edge base stations in the i-th path interval.

[0111] Finally, by summing the first length and the second length corresponding to the ith small interval, the length of the ith small interval can be obtained. Through this method, different final small interval lengths can be obtained.

[0112] 2. Based on the divided small intervals, trigger and complete data update in different small intervals under different trigger conditions; This solution takes into account: on the one hand, due to too frequent data updates or too high 5G message load, it is impossible to carry out data update tasks; on the other hand, due to too low data update frequency, navigation data is inaccurate. Therefore, combining the above two considerations, this application provides a method for updating data information with different update frequencies between different types of cells.

[0113] When the user travels along the initial path, he passes through different cells and uploads different data contents based on the road conditions and infrastructure in the different divided cells.

[0114] 1) When the length of the cell interval LS(i) is less than L, and the number of base station RSUs in the interval is greater than or equal to the first preset number, it proves that the RSU units in the road condition are dense. At the same time, in a shorter interval, it is possible to interact with the RSU unit at any time to obtain more road condition information and feedback to the server.

[0115] Therefore, when the user travels to the interval in the above situation, the terminal can communicate with the RSU and the server at a frequency of FS1 times (ie, the first update frequency).

[0116] ; Among them, FS1 is the first update frequency, is the distance traveled by the terminal device within the cell, V is the real-time speed, and M is the basic number of the first update frequency.

[0117] 2) Among them, when the length of the small interval LS(i) is less than L, and the number of base station RSUs in the interval is less than the first preset number, it proves that the RSU units in this section of road conditions are dense. At the same time, in a shorter interval, the number of RSU devices is limited. When the user cannot obtain RSU data, the effect and significance of updating the data are not great. Therefore, the number of data updates in this small interval is FS2 (the second update frequency).

[0118] In this case, when the user terminal is able to communicate with the RSU, it receives the data in the RSU and uploads the data in the RSU and the implementation location of the user terminal to the server. The server adds the RSU traffic information to the traffic conditions of the 5G message navigation card, covering the changed trajectory and road conditions of the map that the user of the terminal has not traveled.

[0119] 3) When the length of the small interval LS(i) is greater than or equal to L, and based on the initial road condition information, the number of intersections is greater than the second preset number, the number of updates of the terminal information is calculated. In this type of small interval, it is proved that the total length of the small interval is long and the possibility of lane change is high. Therefore, under this road condition, the update frequency of the information on the road is FS3 (the third update frequency): ; Among them, FS3 is the third update frequency, is the distance traveled by the terminal device in the second path, V is the real-time speed, and N is the second basic update frequency.

[0120] 3. When the user is driving in a small area, a new obstacle avoidance path plan is provided to the user according to the road conditions of the terminal in the small area to generate a new path trajectory within the area.

[0121] Considering that obstacle avoidance is usually an emergency, it needs to be handled in a timely manner. Therefore, when the user turns on the automatic obstacle avoidance path planning function, the terminal will automatically increase the communication frequency with the server, which is close to the information interaction frequency of the existing navigation map. At this time, the road condition information that the user has not passed will no longer be updated, and only the road condition information of the untraveled path within the user's current cell will be continuously updated to centrally handle obstacle avoidance matters. The specific obstacle avoidance method is as follows: (1) When the user is walking with the terminal, based on the GPS information of the mobile terminal, the user will generate location movement data points, P01, P02..., Pn. Then, the terminal uses the least squares method to fit the above points, obtains the fitted straight line, and feeds this information back to the server.

[0122] (2) After receiving the fitting information, the server performs curve processing on the fitted straight line; Among them, the overall objective function fs for curve processing of a straight line is as follows.

[0123] ; Among them, since the first point and the last point of the trajectory limit the boundary conditions of the trajectory, only the n control points between the first point and the last point (i.e., the data points mentioned above) are included in the optimization. and is the tension on both sides of the control point i, , and are the points of the fitted straight line. If all the results are 0, it is equivalent to the entire line being processed into a straight line without inflection points, which is also the ideal smoothest situation.

[0124] (3) The curved curve needs to be further combined with the obstacles on the road, and based on the obstacles, the obstacles are avoided to generate the user navigation trajectory after obstacle avoidance.

[0125] Among them, the obstacle information on the road is obtained after the terminal communicates with the RSU unit. At the same time, the collision cost when the user collides with the obstacle can be calculated, and the collision cost can be further constrained, which is described as the repulsion of the obstacle on the control point, and the repulsion is described by the distance to the obstacle. The description method is: ; Where fc is the total collision cost between the terminal device and the obstacle, is the distance between the obstacle closest to the i-th control point and the i-th control point, is the limit distance, Used to describe the relationship between the obstacle distance and the limit distance. If it is less than the limit distance, a penalty is imposed and the trajectory needs to avoid the obstacle. If it is greater than the limit distance, the collision cost is 0 and the trajectory does not need to avoid the obstacle.

[0126] (4) When the user is traveling along the trajectory generated in (3), this solution allows the user to switch the current trajectory. The user can switch the current trajectory when the following conditions are met.

[0127] When the user's current speed VS (k) or the distance between the terminal device and the obstacle object in front of the terminal device ( ) When any of the following conditions is met: VS(k) is greater than or equal to the first threshold (VSthr) or d0min is greater than the second threshold (d0), the server can respond to the user request and use other strategies to generate a forward trajectory for the user.

[0128] ; in, It is used to describe the distance between the terminal device and the obstacle object in front of the terminal device. It is an indicator determined by the distance. is the current travel speed, is the speed of the obstacle moving in front of the terminal device, The time it takes for the server to generate the fourth path in response to the path switching request, which also includes the target user's reaction time and the vehicle's braking time. is the maximum value of the deceleration of the vehicle driven by the target user, It is the following time between the terminal device and the obstacle object moving in front of the terminal device.

[0129] ; Wherein, k is used to indicate time, VS(k) is used to indicate the current speed dissatisfaction at time point k, and VS(k-1) is used to indicate the current speed dissatisfaction at time point k-1. is the expected travel speed, is the current traveling speed, and Ts is the speed sampling time period.

[0130] Among them, VS (k) is the user's current forward speed dissatisfaction index, V is the current actual speed, Vdes is the expected speed, and Ts is the speed sampling time. If the user is driving, considering that the trajectory generated according to the current method has a high probability of encountering obstacles to avoid, or because of road problems, the speed is too slow, therefore, when the user's satisfaction with this indicator is lower than the threshold, the server is requested to regenerate the trajectory.

[0131] Step 6: When the user travels in the cell, the key location information is updated at multiple time nodes in the cell to complete the optimization process of the path to be passed.

[0132] Specifically, when the terminal device is at the starting point, the end point, and the midpoint between the cells, the target user can use the user terminal to initiate a request to the server to download map data and POI information. Since the amount of data of this type of information is large and the probability of change is relatively low, the data localization update, that is, the download to the terminal operation, can be completed at the time nodes when the user passes by the three locations.

[0133] See also Figure 7 , Figure 7 is a specific flow chart of a navigation method provided in an embodiment of the present application, which is executed by a terminal device. Figure 7 As shown, the method comprises the following steps: Step 710: Send a 5G message navigation request to the server.

[0134] Step 720: Receive the 5G message card fed back by the server.

[0135] Step 730: Receive the starting location, end location and travel method entered by the user on the 5G message card.

[0136] Step 740: Send target content to the server, where the target content includes the starting location, the end location, and the travel mode.

[0137] Step 750: Receive a first path for navigation transmitted by the server, where the first path is obtained based on a starting location and an end location.

[0138] Step 760: In the process of traveling along the first path, obtain the road condition information of the second path, the second path is a path interval among multiple path intervals on the first path, the multiple path intervals are obtained based on the base station information and RSU information on the first path, the base station information includes at least one of the number of base stations and the base station density on the first path, and the RSU information includes at least one of the number of RSUs and the RSU density on the first path.

[0139] In an embodiment of the present application, the number of path intervals on the first path is obtained based on the total mileage of the first path and the number of base stations on the first path, and the length of each path interval in the multiple path intervals is obtained based on the number of path intervals, the base station density and the RSU density.

[0140] Step 770: Send the traffic condition information of the second path to the server, and the traffic condition information of the second path is used to update the navigation data; wherein the terminal device and the server interact via 5G messages, and the update frequency of sending the traffic condition information of the second path to the server is associated with target information; the target information includes the length of the second path and the number of target objects within the second path, and the target objects include at least one of an RSU and an intersection.

[0141] Specifically, the update frequency is the first update frequency, the second update frequency or the third update frequency. When the second path meets the first condition, the traffic information of the second path is sent to the server at the first update frequency; when the second path meets the second condition, the traffic information of the second path is sent to the server at the second update frequency; when the second path meets the third condition, the traffic information of the second path is sent to the server at the third update frequency.

[0142] Among them, the first condition and the second condition are different, and both are conditions associated with the length of the second path and the number of RSUs in the second path; the third condition is a condition associated with the length of the second path and the number of intersections in the second path; the first update frequency, the second update frequency and the third update frequency are all different.

[0143] For example, the first condition is that the length of the second path is less than a preset length threshold, and the number of RSUs in the second path is greater than a first preset number; the second condition is that the length of the second path is less than a preset length threshold, and the number of RSUs in the second path is less than or equal to a first preset number; the third condition is that the length of the second path is greater than or equal to a preset length threshold, and the number of intersections in the second path is greater than a second preset number.

[0144] In an embodiment of the present application, a first path for navigation transmitted by a server is received, and the first path is obtained based on a starting position and an end position; in the process of traveling along the first path, the road condition information of the second path is obtained, and the second path is one of the multiple path intervals on the first path, and the multiple path intervals are obtained based on the base station information and RSU information on the first path; the road condition information of the second path is sent to the server, and the road condition information of the second path is used to update the navigation data; wherein the terminal device and the server interact through 5G messages. In this way, in the process of transmitting road condition information between the terminal device and the server through 5G messages to update the navigation data, since the second path is one of the multiple path intervals obtained based on the base station information and RSU information on the first path, each second path obtained takes into account the base station information and RSU information, so that the base station information and RSU information can be effectively used in each second path, so as to timely send the road condition information of the second path to the server to update the navigation data, so that the navigation effect is better, and the problem of poor navigation effect when using 5G messages for navigation in related technologies is solved.

[0145] It is important to understand that Figures 1 to 7 The explanations of the same or corresponding steps in the following can be referred to each other. Figure 1 The explanation of step 110 and step 130 in Figure 3 Step 310 and step 330 in .

[0146] At the same time, it should be understood that a navigation method provided in an embodiment of the present application may have the following beneficial effects: First, the present application uses 5G messages to implement the navigation function of 5G messages. At the same time, through a special processing method, the timeliness of data updates can be guaranteed when the frequency of data upload and download is reduced, and the accuracy of the content provided by the user navigation interface can be guaranteed. Second, through 5G messages, the navigation system can receive real-time traffic condition data, including congestion, accident reports, etc. This can help drivers choose the best route, saving time and fuel costs. Third, 5G messages can be used to send personalized recommendations to the navigation system. For example, when a vehicle is close to a specific merchant, the navigation system can send promotional information and provide personalized shopping suggestions. Fourth, through 5G messages, the navigation system can receive real-time vehicle location and surrounding environment information to help drivers make safe decisions in advance. For example, the system can send warning messages to remind drivers to pay attention to obstacles or dangerous driving behaviors ahead. Fifth, through 5G messages, the navigation system can provide advertisers with accurate advertising services based on the user's location and behavior data, which can help advertisers promote products or services more effectively. Sixth, 5G messages can provide rich data, including navigation behavior, traffic conditions, etc. This data can be analyzed to gain insight into user needs, optimize route planning algorithms, and help navigation systems provide better services.

[0147] See also Figure 8 , Figure 8 is a structural block diagram of a terminal device provided in an embodiment of the present application. Figure 8 As shown, an embodiment of the present application provides a terminal device 800 , and the terminal device 800 includes: a receiving module 810 , an acquisition module 820 and an update module 830 .

[0148] The receiving module 810 is used to receive a first path for navigation transmitted by a server, where the first path is obtained based on a starting position and an end position; The acquisition module 820 is configured to acquire road condition information of a second path during traveling along the first path, where the second path is one of a plurality of path intervals on the first path, and the plurality of path intervals are obtained based on base station information and RSU information on the first path; The update module 830 is used to send the traffic information of the second path to the server, and the traffic information of the second path is used to update the navigation data; wherein the terminal device and the server interact through 5G messages.

[0149] In an embodiment of the present application, a first path for navigation transmitted by a server is received, and the first path is obtained based on a starting position and an end position; in the process of traveling along the first path, the road condition information of the second path is obtained, and the second path is one of the multiple path intervals on the first path, and the multiple path intervals are obtained based on the base station information and RSU information on the first path; the road condition information of the second path is sent to the server, and the road condition information of the second path is used to update the navigation data; wherein the terminal device and the server interact through 5G messages. In this way, in the process of transmitting road condition information between the terminal device and the server through 5G messages to update the navigation data, since the second path is one of the multiple path intervals obtained based on the base station information and RSU information on the first path, each second path obtained takes into account the base station information and RSU information, so that the base station information and RSU information can be effectively used in each second path, so as to timely send the road condition information of the second path to the server to update the navigation data, so that the navigation effect is better, and the problem of poor navigation effect when using 5G messages for navigation in related technologies is solved.

[0150] The terminal device provided in the embodiment of the present application can implement each process implemented in the above method embodiment. To avoid repetition, it will not be repeated here.

[0151] like Fig. 9As shown, an embodiment of the present application also provides an electronic device 900. The electronic device 900 includes: a processor 910 and a memory 920, and the memory 920 stores a program or instruction, and the program or instruction is executed by the processor 910 to implement the steps of any of the methods described above. For example, when the program is executed by the processor 910, the following process is implemented: receiving a first path for navigation transmitted by a server, the first path is obtained based on a starting position and an end position; in the process of traveling along the first path, obtaining the road condition information of the second path, the second path is one of the multiple path intervals on the first path, and the multiple path intervals are obtained based on the base station information and RSU information on the first path; sending the road condition information of the second path to the server, and the road condition information of the second path is used to update the navigation data; wherein the terminal device and the server interact through 5G messages. In this way, in the process of transmitting road condition information between the terminal device and the server through 5G messages to update the navigation data, since the second path is one of the multiple path intervals obtained based on the base station information and RSU information on the first path, each second path obtained takes into account the base station information and RSU information. In this way, the base station information and RSU information can be effectively utilized in each second path to achieve timely sending of the road condition information of the second path to the server to update the navigation data, thereby achieving better navigation effect and solving the problem of poor navigation effect when using 5G messages for navigation in related technologies.

[0152] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of each embodiment of the navigation method are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0153] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0154] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0155] An embodiment of the present application provides a computer program product, which is stored in a storage medium. The program product is executed by at least one processor to implement the various processes of the above-mentioned method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0156] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0157] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0158] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A navigation method, characterized in that: Applied to terminal equipment, including: Receiving a first path for navigation transmitted by a server, where the first path is obtained based on a starting position and an end position; In the process of traveling along the first path, obtaining road condition information of a second path, where the second path is one of a plurality of path intervals on the first path, and the plurality of path intervals are obtained based on base station information and road side unit RSU information on the first path; Send the traffic condition information of the second path to the server, where the traffic condition information of the second path is used to update navigation data; wherein the terminal device and the server interact through 5G messages.

2. The method according to claim 1, characterized in that The base station information includes at least one of the number of base stations and the density of base stations on the first path, and the RSU information includes at least one of the number of RSUs and the density of RSUs on the first path.

3. The method according to claim 2, characterized in that The number of path intervals on the first path is obtained based on the total mileage of the first path and the number of base stations on the first path, and the length of each path interval in the multiple path intervals is obtained based on the number of path intervals, the base station density and the RSU density.

4. The method according to claim 1, characterized in that The update frequency of sending the traffic information of the second path to the server is associated with target information; the target information includes the length of the second path and the number of target objects in the second path, and the target objects include at least one of RSU and intersection.

5. The method according to claim 4, characterized in that The updating frequency is the first updating frequency, the second updating frequency or the third updating frequency; and the sending the traffic information of the second path to the server includes: When the second path satisfies the first condition, sending the traffic information of the second path to the server at a first update frequency; When the second path satisfies a second condition, sending the traffic information of the second path to the server at a second update frequency; When the second path satisfies a third condition, sending the traffic information of the second path to the server at a third update frequency; The first condition and the second condition are different and are both conditions associated with the length of the second path and the number of RSUs in the second path; the third condition is a condition associated with the length of the second path and the number of intersections in the second path; The first update frequency, the second update frequency and the third update frequency are all different.

6. The method according to any one of claims 1 to 5, characterized in that: The terminal device and the server interact via 5G messages; Before receiving the first path transmitted by the server, the method further includes: Send a 5G message navigation request to the server; Receive the 5G message card fed back by the server; Receiving the starting location, ending location and travel mode input by the user on the 5G message card; Sending target content to the server, the target content including the starting location, the ending location and the travel mode.

7. A navigation method, characterized in that: Applicable to servers, including: Acquire a first path for navigation, wherein the first path is obtained based on a starting position and an end position; Sending the first path to a terminal device; In the process of the terminal device traveling along the first path, receiving the road condition information of the second path sent by the terminal device; wherein the second path is one of the multiple path intervals on the first path, and the multiple path intervals are obtained based on the base station information and the road side unit RSU information on the first path; Based on the traffic information of the second path, the navigation data is updated; wherein the terminal device and the server interact via 5G messages.

8. The method according to claim 7, characterized in that After acquiring the first path for navigation, the method further includes: Obtaining the total mileage of the first path; Acquire base station information and RSU information on the first path; wherein the base station information includes at least one of the number of base stations and base station density on the first path, and the RSU information includes the RSU density on the first path; Determining the number of path sections on the first path based on the total mileage of the first path and the number of base stations on the first path; Based on the number of the path sections, the base station density and the RSU density, the length of each path section in the plurality of path sections is determined.

9. The method according to claim 7, characterized in that: The receiving the traffic information of the second path sent by the terminal device includes: When the second path satisfies the first condition, receiving the traffic information of the second path sent by the terminal device at a first update frequency; When the second path satisfies a second condition, receiving the traffic information of the second path sent by the terminal device at a second update frequency; When the second path satisfies a third condition, receiving the traffic information of the second path sent by the terminal device at a third update frequency; The first condition and the second condition are different and are both conditions associated with the length of the second path and the number of RSUs in the second path; the third condition is a condition associated with the length of the second path and the number of intersections in the second path; The first update frequency, the second update frequency and the third update frequency are all different.

10. The method according to any one of claims 7 to 9, characterized in that: The terminal device and the server interact via 5G messages; Before acquiring the first path for navigation, the method further includes: Receiving a 5G message navigation request sent by the terminal device; Sending a 5G message card to the terminal device; Receive target content sent by the terminal device, where the target content includes the starting location, the end location, and the travel mode.

11. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the steps of the method according to any one of claims 1 to 10 are implemented.

12. A computer-readable storage medium, characterized in that: The medium stores a program or an instruction, and when the program or the instruction is executed, the steps of the method according to any one of claims 1 to 10 are implemented.

13. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 10 when being executed by a processor.

Images