Vehicle navigation method, vehicle and computer program product

Abstract

The invention discloses a vehicle navigation method, a vehicle and a computer program product, and relates to the technical field of intelligent driving and vehicle navigation. The method comprises the steps that target route data are acquired, and the target route data are generated by matching memory driving data corresponding to a target route with navigation road network data; path restoration is carried out based on the target path data to obtain a restored navigation path, and the restored navigation path is used for providing navigation guidance based on the target path for the target vehicle in the navigation simultaneous opening mode; a yaw event of the target vehicle is responded, a corrected navigation sequence is obtained from the navigation server side, and the corrected navigation sequence is generated by the navigation server side based on yaw path points corresponding to the yaw event on the target route; and updating and restoring the navigation path by using the corrected navigation sequence. The technical problem of poor driving experience of a driver due to low accuracy and poor intelligence of a vehicle navigation method in related technologies is solved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving and vehicle navigation technology, and more specifically, to a vehicle navigation method, a vehicle and a computer program product. Background Art

[0002] The "navigation co-operation" function refers to the function of the automatic driving system and the navigation system working synchronously and cooperating with each other. With the "navigation co-operation" function, the navigation system can be used to provide the vehicle with more accurate navigation guidance information.

[0003] In the related art, in the navigation mode, when the vehicle route is inconsistent with the navigation route, the navigation mode will be directly exited. However, in actual situations, route changes, detours, road closures, etc. often occur, resulting in the vehicle route being inconsistent with the navigation route. Since the vehicle navigation method of the related art directly exits the navigation mode when the vehicle route is inconsistent with the navigation route, and cannot make other responses, the vehicle navigation method has low accuracy and poor intelligence, which leads to a poor driving experience for the driver.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present application provide a vehicle navigation method, a vehicle and a computer program product to at least solve the technical problems in the related art that the vehicle navigation method has low accuracy and poor intelligence, resulting in a poor driving experience for the driver.

[0006] According to one aspect of an embodiment of the present application, a vehicle navigation method is provided, comprising: obtaining target route data, wherein the target route data is generated by matching memory driving data corresponding to the target route with navigation road network data; performing path restoration based on the target route data to obtain a restored navigation path, wherein the restored navigation path is used to provide navigation guidance based on the target route for the target vehicle in a navigation co-on mode; in response to a deviation event of the target vehicle, obtaining a corrected navigation sequence from a navigation server, wherein the deviation event is used to characterize that the deviation between the current driving position of the target vehicle and the restored navigation path satisfies a deviation condition, and the corrected navigation sequence is generated by the navigation server based on the deviation waypoints corresponding to the deviation event on the target route; and updating the restored navigation path using the corrected navigation sequence.

[0007] Further, restoring the path based on the target route data to obtain the restored navigation path includes: restoring the navigation route based on the target route data to obtain a navigation line sequence corresponding to the target route; and creating a restored navigation path based on the navigation line sequence.

[0008] Furthermore, restoring the navigation route based on the target route data to obtain a navigation connection sequence corresponding to the target route includes: sending a restoration request to the navigation server based on the target route data; in response to the navigation server successfully completing the path restoration for the restoration request, receiving the navigation connection sequence returned by the navigation server; in response to the navigation server not successfully completing the path restoration for the restoration request, sending a first path calculation request to the navigation server based on all the waypoints on the target route, and receiving the navigation connection sequence generated by the navigation server based on the all the waypoints.

[0009] Furthermore, the vehicle navigation method also includes: matching and checking the navigation connection sequence with the memory route sequence, determining the restoration error interval in the navigation connection sequence, wherein the memory route sequence is a route sequence corresponding to the target route in the target route data; extracting local waypoints from the memory route sequence according to the restoration error interval; sending a second route calculation request to the navigation server based on the local waypoints; obtaining a local connection sequence generated by the navigation server based on the local waypoints; and correcting and updating the navigation connection sequence using the restoration error interval and the local connection sequence.

[0010] Furthermore, the vehicle navigation method further includes: in response to the target vehicle driving to a navigation range corresponding to the restored error interval, controlling an output component of the target vehicle to play a prompt message.

[0011] Furthermore, obtaining a corrected navigation sequence from the navigation server includes: determining the route end position based on a memory route sequence corresponding to the target route data; determining a yawed route segment from the memory route sequence according to the route end position and the current position of the target vehicle; extracting yawed waypoints from the memory route sequence according to the yawed route segment; sending a third route calculation request to the navigation server based on the yawed waypoints; and obtaining a corrected navigation sequence generated by the navigation server based on the yawed waypoints.

[0012] Furthermore, the vehicle navigation method also includes: in response to a deviation event being triggered by the target vehicle in the manual driving mode, controlling the target vehicle to switch from the navigation mode to the normal navigation mode, and suspending the use of the restored navigation path to provide the target vehicle with navigation guidance based on the target route.

[0013] Furthermore, the vehicle navigation method also includes: in response to the target vehicle triggering a driving recovery event in the manual driving mode, controlling the target vehicle to switch from the normal navigation mode to the navigation mode, and restoring the use of the restored navigation path to provide the target vehicle with navigation guidance based on the target route, wherein the driving recovery event is used to characterize that the distance between the current driving position of the target vehicle and the target navigation point on the restored navigation path is less than a first threshold and the angle between the current driving direction of the target vehicle and the navigation direction corresponding to the target navigation point is less than a second threshold.

[0014] According to another aspect of an embodiment of the present application, a vehicle is further provided, comprising: a memory storing an executable program; and a processor for running the program, wherein any one of the above-mentioned vehicle navigation methods is executed when the program is running.

[0015] According to another aspect of an embodiment of the present application, a computer program product is also provided, including a computer program, and when the computer program is executed by a processor, the vehicle navigation method according to any one of the above items is implemented.

[0016] In an embodiment of the present application, the target route data is used to perform path restoration to obtain a restored navigation path, thereby ensuring consistency between the memorized driving data and the navigation road network data. By utilizing the yaw condition, whether the current driving position of the target vehicle deviates from the restored navigation path is monitored in real time. A corrected navigation sequence is automatically generated based on the yaw path points corresponding to the yaw events on the target route, and the restored navigation path is updated. This achieves the purpose of generating a restored navigation path using the target data and updating the restored navigation path when the target vehicle triggers a yaw event, thereby achieving the technical effect of improving the accuracy and intelligence of the vehicle navigation method and improving the driving experience of the driver, thereby solving the technical problem of low accuracy and poor intelligence of the vehicle navigation method in the related art, which leads to poor driving experience for the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and the related descriptions of the embodiments are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 is a hardware structure block diagram of an optional computing terminal for implementing a vehicle navigation method according to an embodiment of the present application;

[0019] Figure 2 is a flow chart of a vehicle navigation method according to an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of an optional generation of a navigation restoration path according to an embodiment of the present application;

[0021] Figure 4 is a schematic diagram of an optional method for generating a modified navigation sequence according to an embodiment of the present application;

[0022] Figure 5 is a schematic diagram of an optional yaw route segment according to an embodiment of the present application;

[0023] Figure 6 is a schematic diagram of an optional method of triggering a yaw event in a manual driving mode according to an embodiment of the present application;

[0024] Figure 7 A schematic diagram of an optional triggering driving resumption event according to an embodiment of the present application;

[0025] Figure 8 It is a structural block diagram of an optional vehicle navigation system according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments only include a part of the embodiments of the present application, rather than 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 should fall within the scope of protection of this application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] According to an embodiment of the present invention, a method embodiment of a vehicle navigation method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0029] The embodiment of the present application provides a vehicle navigation method. The vehicle navigation method can be used to provide an autonomous driving vehicle navigation function for a preset application scenario. The above-mentioned preset application scenarios may include the following scenarios in the vehicle field: commuting autonomous driving scenarios, artificial intelligence (AI) driving scenarios for family cars, automatic parking assistance (APA) scenarios (such as memory parking for owned parking spaces in garages, smart parking for designated parking spaces in parking lots, etc.), and intelligent navigation assistance (Navigation Guided Pilot, NGP) scenarios in urban areas or high-speed areas. In addition, the above-mentioned preset application scenarios may also include, but are not limited to: transportation navigation scenarios of intelligent driving trucks or unmanned trucks in the field of logistics and transportation, vehicle operation navigation scenarios of autonomous driving agricultural vehicles in the field of agricultural machinery, flight navigation scenarios of drones, and mobile navigation scenarios of intelligent robots (such as cleaning robots, service robots, delivery robots, etc.).

[0030] When the above-mentioned preset application scenario is a scenario in a field other than the vehicle field, those skilled in the art should be able to understand that the vehicle in the above-mentioned vehicle navigation method can be replaced with other objects (such as agricultural machinery, drones, robots, etc.), and accordingly, the target route can be replaced with a route to be driven related to other objects. On this basis, in the embodiment of the present application, the specific implementation method of the above-mentioned vehicle navigation method is exemplified by taking the field of household cars as an example.

[0031] First, the operating environment of the above method embodiment is exemplarily described. Figure 1 is a hardware structure block diagram of an optional computing terminal for implementing a vehicle navigation method according to an embodiment of the present application, such as Figure 1 As shown, a computing terminal 10 (for example, a computer terminal, a mobile smart terminal, a vehicle terminal, or a cloud computing virtual terminal, etc.) may include: one or more processors 102, a memory 104 for storing data, and a transmission device 106 for implementing a communication function, wherein each processor 102 may include but is not limited to a processing component such as a microprocessor (Microcontroller Unit, referred to as MCU) or a programmable logic device (Field Programmable Gate Array, referred to as FPGA).

[0032] The computing terminal 10 may further include: a display device 110, an input / output device 108, a Universal Serial Bus (USB) port (the USB port may be used as one of the ports of a computer bus, not shown in the figure), a network interface (not shown in the figure), a power supply (not shown in the figure) and a camera (not shown in the figure). A person skilled in the art may understand that Figure 1 The structure of the computing terminal 10 shown is only for illustration and does not impose a strict limitation on the structure of the computing terminal 10. For example, the computing terminal 10 may also include Figure 1 More or fewer components than those shown in FIG. 1 , or computing terminal 10 may have the same components as those shown in FIG. Figure 1 Different categories of components are shown.

[0033] It should be noted that the one or more processors 102 and / or other data processing circuits in the computing terminal 10 may be embodied in whole or in part as software, hardware, firmware or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be fully or partially integrated into any of the other components in the vehicle terminal (or mobile device).

[0034] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the vehicle navigation method in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, realizing the above-mentioned vehicle navigation method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the vehicle terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0035] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the vehicle terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0036] Under the above operating environment, the embodiment of the present application provides the following Figure 2 The vehicle navigation method shown, Figure 2 is a flow chart of a vehicle navigation method according to an embodiment of the present application, such as Figure 2 As shown, the method includes the following implementation steps S201 to S204.

[0037] Step S201, obtaining target route data, wherein the target route data is generated by matching the memory driving data corresponding to the target route with the navigation road network data.

[0038] The above-mentioned memory driving data can be data collected and recorded by the vehicle automatic driving system by learning the vehicle's driving route and the driver's driving behavior. The above-mentioned memory driving data can be collected in the memory driving mode, and the memory driving data can include but is not limited to: driving route data (such as the coordinate points of the driving route), driver's behavior data (such as acceleration operation data, deceleration operation data, turning operation data, headlight operation data, etc.), driving environment information (such as road type, road conditions, traffic signals, etc.), historical navigation information. The above-mentioned memory driving mode can be a mode in which the vehicle automatic driving system automatically learns the driving route, driving behavior and navigation information while the target vehicle is driving.

[0039] The above-mentioned navigation road network data can be obtained through the navigation system, and the navigation road network data may include road network information, such as the topological structure of the road, real-time traffic conditions, road closure information, etc. The above-mentioned navigation system can be built based on a variety of navigation technologies. The above-mentioned navigation technologies include but are not limited to high-precision positioning technology (for example, visual positioning technology, inertial navigation technology, landmark matching technology, etc.), map matching algorithm technology, path planning algorithm technology, etc.

[0040] The target route data may include but are not limited to the starting point of the target route, the end point of the target route, and navigation points on the target route. The navigation points may be ordered geographic information points, and the navigation points may contain navigation information.

[0041] A specific implementation method for obtaining target route data may be: the vehicle automatic driving system determines the memory driving data corresponding to the target route based on the target route, and matches the memory driving data with the navigation road network data. If the memory driving data and the navigation road network data match successfully, the target route data is generated using the memory driving data corresponding to the target route and the navigation road network data.

[0042] It is easy to understand that in the embodiment of the present application, by matching the memory driving data corresponding to the target route with the navigation road network data, it is possible to correct errors that may exist in the memory driving data, such as changes in route data due to road maintenance, changes in traffic rules, etc., to ensure that the memory driving data can remain consistent with the navigation road network data.

[0043] Step S202, performing path restoration based on the target route data to obtain a restored navigation path, wherein the restored navigation path is used to provide navigation guidance based on the target route for the target vehicle in the navigation co-on mode.

[0044] The above-mentioned navigation co-on mode can be a mode in which the vehicle's automatic driving system and the navigation system run simultaneously and work together. In the navigation co-on mode, the vehicle's automatic driving system not only relies on the memory driving data learned by the vehicle itself, but can also be associated with the navigation system to ensure that the vehicle can travel according to the predetermined target route and provide accurate navigation guidance.

[0045] It should be noted that the above-mentioned navigation co-opening mode can be used not only during the vehicle's automatic driving, but also during the vehicle's assisted driving, or during the driver's manual driving.

[0046] The specific implementation method of performing path restoration based on the target route data to obtain the restored navigation path may be: in the navigation co-on mode, the vehicle automatic driving system sends the target route data to the navigation system, uses the navigation system to analyze the target route data, performs path restoration processing based on the analysis results, obtains the restored navigation path, and uses the restored navigation path to provide navigation guidance for the target vehicle. The above-mentioned path restoration processing may be implemented based on a path restoration algorithm, and the path restoration algorithm may include but is not limited to a Bayesian probability model algorithm, a best-first search algorithm, and a network flow algorithm.

[0047] It is easy to understand that in the embodiment of the present application, by using the target route data to restore the path and obtain the restored navigation path, it is possible to ensure the consistency between the memory driving data previously learned by the vehicle and the path provided by the navigation system, reduce the errors in the restored navigation path caused by the difference between the memory driving data and the navigation road network data, improve the accuracy of the restored navigation path, and improve the accuracy of the vehicle navigation method.

[0048] Step S203, responding to the deviation event of the target vehicle, obtaining a corrected navigation sequence from the navigation server, wherein the deviation event is used to indicate that the deviation between the current driving position of the target vehicle and the restored navigation path satisfies the deviation condition, and the corrected navigation sequence is generated by the navigation server based on the deviation path point corresponding to the deviation event on the target route.

[0049] The above-mentioned deviation events may include road condition change events (such as road closure, construction, temporary diversion, etc.), driver intervention events (such as the driver actively deviates from the route), and external interference events (such as navigation signal loss, sensor failure, etc.).

[0050] The above-mentioned yaw condition can be set in the vehicle automatic driving system. The yaw condition can be adjusted according to actual conditions. The yaw condition can include but is not limited to position deviation conditions, driving direction difference conditions, continuous deviation time conditions, etc.

[0051] The above-mentioned off-course waypoints can be used to assist in correcting the current driving position of the target vehicle, and the off-course waypoints can be determined according to off-course waypoint selection rules.

[0052] In response to a deviation event of a target vehicle, a specific implementation method for obtaining a corrected navigation sequence from a navigation server may be: the vehicle automatic driving system monitors and obtains the current driving position of the target vehicle in real time, compares and analyzes the current driving position of the target vehicle with the restored navigation path, obtains the deviation between the current driving position of the target vehicle and the restored navigation path, and determines whether the deviation between the current driving position of the target vehicle and the restored navigation path satisfies a deviation condition; if the deviation between the current driving position of the target vehicle and the restored navigation path satisfies the deviation condition, a deviation event of the target vehicle is triggered; further, in response to the deviation event of the target vehicle, the navigation server of the navigation system determines the deviation waypoint corresponding to the deviation event on the target route based on the deviation event, and generates a corrected navigation sequence using the deviation waypoint.

[0053] It is easy to understand that in the embodiment of the present application, by utilizing the yaw condition, it is possible to monitor in real time whether the current driving position of the target vehicle deviates from the restored navigation path, and timely detect the situation where the current driving position of the target vehicle deviates from the restored navigation path, thereby improving the response speed of the vehicle navigation method, and automatically generating a corrected navigation sequence based on the yaw path points corresponding to the yaw event on the target route, thereby improving the accuracy of the restored navigation path and enhancing the intelligence of the vehicle navigation method. Compared with the related art in which the navigation mode is directly exited when a deviation occurs between the current driving position of the target vehicle and the restored navigation path, the embodiment of the present application improves the intelligence and accuracy of the vehicle navigation method.

[0054] Step S204: using the corrected navigation sequence to update and restore the navigation path.

[0055] The specific implementation method of updating the restored navigation path using the corrected navigation sequence can be: the vehicle's automatic driving system uses the corrected navigation sequence obtained from the navigation server to update the restored navigation path, ensuring the accuracy of the restored navigation path, thereby accurately providing the target vehicle with navigation guidance based on the target route, ensuring that the target vehicle can accurately travel along the target path.

[0056] Through the above steps S201 to S204, in the embodiment of the present application, by using the target route data to restore the path and obtain the restored navigation path, it is possible to ensure the consistency between the memorized driving data and the navigation road network data, improve the accuracy of the restored navigation path, and improve the reliability of the vehicle navigation method. By using the yaw condition, it is possible to monitor in real time whether the current driving position of the target vehicle deviates from the restored navigation path. Further, based on the yaw path points corresponding to the yaw event on the target route, a corrected navigation sequence is automatically generated, which improves the accuracy of the restored navigation path and enhances the intelligence of the vehicle navigation method. Therefore, the vehicle navigation method of the embodiment of the present application has higher accuracy and better intelligence.

[0057] As an optional implementation, the path restoration based on the target route data in step S202 to obtain the restored navigation path may also include the following implementation steps:

[0058] Step S221, restoring the navigation route based on the target route data to obtain a navigation line sequence corresponding to the target route;

[0059] Step S222: creating a restored navigation path based on the navigation line sequence.

[0060] The above-mentioned navigation line sequence can be obtained by connecting a plurality of navigation points. The navigation line can be a geographical line segment with direction information. The navigation line can assist the vehicle to drive from a first geographical location point to a second geographical location point.

[0061] It should be noted that there may be multiple navigation link sequences, and in the navigation system, each navigation link sequence has a unique identifier.

[0062] Specifically, in the navigation mode, the vehicle's automatic driving system sends the target route data to the navigation system, and uses the navigation system to restore the navigation route of the target route data to determine the starting point of the target route, the end point of the target route, and the navigation lines on the target route. Furthermore, the navigation system obtains a navigation line sequence corresponding to the target route based on the starting point of the target route, the end point of the target route, and the navigation points on the target route. Furthermore, the vehicle's automatic driving system creates a restored navigation path based on the navigation line sequence.

[0063] It is easy to understand that, through the above steps S221 to S222, in the embodiment of the present application, the navigation connection sequence is determined based on the target route data, which can ensure the accuracy of restoring the navigation path and improve the accuracy of the vehicle navigation method.

[0064] As an optional implementation, in the above step S221, restoring the navigation route based on the target route data to obtain the navigation line sequence corresponding to the target route may also include the following implementation steps:

[0065] Step S2211, sending a restoration request to the navigation server based on the target route data;

[0066] Step S2212, in response to the navigation server successfully completing the path restoration for the restoration request, receiving the navigation connection sequence returned by the navigation server;

[0067] Step S2213, in response to the navigation server failing to successfully complete the path restoration for the restoration request, sending a first route calculation request to the navigation server based on all the waypoints on the target route, and receiving a navigation link sequence generated by the navigation server based on all the waypoints.

[0068] The restoration request may be used to instruct the navigation server to restore the navigation route based on the target route data. The full segment waypoints may be all navigation points that need to be passed through in the target route. The first route calculation request may be used to instruct the navigation server to generate a navigation link sequence based on the full segment waypoints.

[0069] In an exemplary application scenario, the above-mentioned vehicle automatic driving system includes an automatic driving control unit, Figure 3 is a schematic diagram of an optional generation of a navigation restoration path according to an embodiment of the present application, such as Figure 3 As shown, in the navigation co-opening mode, the automatic driving control unit in the vehicle's automatic driving system generates a restoration request based on the target route data, and sends the restoration request to the navigation server. The navigation server restores the navigation route based on the target route data according to the received restoration request, and obtains the navigation connection sequence corresponding to the target route.

[0070] Still in the above application scenario, it is determined whether the navigation server successfully completes the path restoration for the restoration request. If the navigation server successfully completes the path restoration for the restoration request, the navigation server sends the navigation connection sequence back to the autonomous driving control unit, and the autonomous driving control unit receives the navigation connection sequence returned by the navigation server.

[0071] Still in the above application scenario, if the navigation server fails to successfully complete the path restoration for the restoration request, the autonomous driving control unit extracts all the waypoints on the target route according to the target route data, generates a first path calculation request based on all the waypoints on the target route, and sends the first path calculation request to the navigation server. The navigation server generates a navigation connection sequence based on all the waypoints according to the received first path calculation request, and sends the navigation connection sequence back to the autonomous driving control unit. The autonomous driving control unit receives the navigation connection sequence returned by the navigation server.

[0072] It is easy to understand that, through the above steps S2211 to S2213, in the embodiment of the present application, by supervising and judging whether the navigation server has successfully completed the path restoration for the restoration request, it is possible to promptly discover the situation where the navigation server has not successfully completed the path restoration for the restoration request, thereby improving the response speed of the vehicle navigation method, and by utilizing the full-section waypoints on the target route and the first path calculation request, the vehicle's automatic driving system can automatically handle the situation where the navigation server has not successfully completed the path restoration for the restoration request, thereby ensuring that the navigation connection sequence can be accurately generated, thereby improving the intelligence and accuracy of the vehicle navigation method.

[0073] As an optional implementation, the above vehicle navigation method may further include the following implementation steps:

[0074] Step S205, performing a matching check on the navigation line sequence and the memory route sequence to determine a restoration error interval in the navigation line sequence, wherein the memory route sequence is a route sequence corresponding to the target route in the target route data;

[0075] Step S206, extracting local waypoints from the memory route sequence according to the restored error interval;

[0076] Step S207, sending a second route calculation request to the navigation server based on the local waypoints;

[0077] Step S208, obtaining a local connection sequence generated by the navigation server based on the local waypoints;

[0078] Step S209: Correct and update the navigation link sequence by restoring the error interval and the local link sequence.

[0079] The restoration error interval may be a sequence interval where the navigation link sequence and the memory route sequence are not successfully matched, and the restoration error interval may be determined by a path matching algorithm. The path matching algorithm may include but is not limited to a nearest point matching algorithm, a path dynamic planning algorithm, and the like.

[0080] The above-mentioned local waypoints can be navigation points in the entire waypoints that belong to the restoration error interval.

[0081] The second route calculation request may be used to instruct the navigation server to generate a local link sequence based on local waypoints.

[0082] The above-mentioned local connection sequence can be used to correct the restoration error interval in the navigation connection sequence.

[0083] In an exemplary application scenario, Figure 3 As shown, the automatic driving control unit determines the memory route sequence from the target route data, matches and verifies the received navigation connection sequence with the memory route sequence, extracts the sequence interval in which the navigation connection sequence and the memory route sequence are not successfully matched from the navigation connection sequence, and determines the sequence interval in which the navigation connection sequence and the memory route sequence are not successfully matched as the restoration error interval.

[0084] Still in the above application scenario, the autonomous driving control unit extracts the local waypoints corresponding to the restored error interval from the memory route sequence according to the restored error interval; further, the autonomous driving control unit generates a second route calculation request based on the local waypoints, and sends the second route calculation request to the navigation server.

[0085] Still in the above application scenario, after receiving the second route calculation request, the navigation server generates a local connection sequence based on the local waypoints, and sends the local connection sequence back to the automatic driving control unit; further, the automatic driving control unit uses the restored error interval and the local connection sequence to correct and update the navigation connection sequence.

[0086] It is easy to understand that through the above steps S205 to S209, in the embodiment of the present application, by matching and checking the navigation connection sequence with the memory route sequence, the error interval in the navigation connection sequence can be accurately identified, and by sending a second route calculation request to the navigation server, a local connection sequence is generated based on the local waypoints, thereby correcting the error interval in the navigation connection sequence, improving the accuracy of the navigation connection sequence, and improving the accuracy of the vehicle navigation method.

[0087] As an optional implementation, the above vehicle navigation method may further include the following implementation steps:

[0088] Step S210, in response to the target vehicle driving into the navigation range corresponding to the restored error interval, controlling the output component of the target vehicle to play a prompt message.

[0089] The above-mentioned output components may include a vehicle-mounted audio output component (such as a vehicle-mounted audio system), a vehicle-mounted display component (such as a vehicle-mounted TV, a vehicle-mounted display screen, a vehicle-mounted touch screen, etc.).

[0090] The above prompt message may include a voice prompt message and a screen warning message.

[0091] It is easy to understand that through the above-mentioned step S210, in the embodiment of the present application, by controlling the output component of the target vehicle to play the prompt message, when the target vehicle drives to the navigation range corresponding to the restored error interval, the driver can be reminded in time to enhance the safety of vehicle driving.

[0092] As an optional implementation, in step S203, obtaining the corrected navigation sequence from the navigation server may also include the following implementation steps:

[0093] Step S231, determining the route end position based on the memory route sequence corresponding to the target route data;

[0094] Step S232, determining the off-course route segment from the memory route sequence according to the route endpoint position and the current position of the target vehicle;

[0095] Step S233, extracting off-course waypoints from the memory route sequence according to the off-course route segment;

[0096] Step S234, sending a third route calculation request to the navigation server based on the deviation waypoint;

[0097] Step S235, obtaining a corrected navigation sequence generated by the navigation server based on the deviation waypoints.

[0098] The above-mentioned off-course route segment may be a route segment in which the navigation sequence is inconsistent with the memory route sequence.

[0099] The third route calculation request may be used to instruct the navigation server to generate a corrected navigation sequence based on the deviation waypoints.

[0100] In an exemplary application scenario, Figure 4 is a schematic diagram of an optional method for generating a modified navigation sequence according to an embodiment of the present application. Figure 5 is a schematic diagram of an optional yaw route segment according to an embodiment of the present application, such as Figure 4 As shown, the automatic driving control unit determines the memory route sequence corresponding to the target route data based on the target route data, and determines the route end position from the memory route sequence; further, according to the route end position and the current position of the target vehicle, the navigation sequence is compared with the memory route sequence. If the memory route sequence does not match the navigation sequence, a navigation deviation request is sent to the navigation server, and the navigation server does not respond and does not return data to the automatic driving control unit. Further, as Figure 5 As shown, the automatic driving control unit determines the route segment in the memory route sequence that does not match the navigation sequence as a deviation route segment (ie, Figure 5 The route segment between the start point of the off-course route segment and the end point of the off-course route segment).

[0101] Still in the above application scenario, the autonomous driving control unit extracts the yaw waypoint corresponding to the yaw route segment from the memory route sequence, generates a third route calculation request based on the yaw waypoint, and sends the third route calculation request to the navigation server; further, after receiving the third route calculation request, the navigation server generates a corrected navigation sequence based on the yaw waypoint, and sends the corrected navigation sequence back to the autonomous driving control unit.

[0102] It is easy to understand that through the above steps S231 to S235, by automatically identifying the off-course route segments and generating a corrected navigation sequence, it is ensured that when the target vehicle deviates, the vehicle can respond quickly, thereby avoiding the target vehicle from deviating from the route for a long time and improving the reliability of autonomous driving.

[0103] As an optional implementation, the above vehicle navigation method may further include the following implementation steps:

[0104] Step S211, in response to the target vehicle triggering a deviation event in the manual driving mode, controlling the target vehicle to switch from the navigation mode to the normal navigation mode, and suspending the use of the restored navigation path to provide the target vehicle with navigation guidance based on the target route.

[0105] In an exemplary application scenario, Figure 6 is a schematic diagram of triggering a yaw event in a manual driving mode according to an optional embodiment of the present application, such as Figure 6 As shown, when the target vehicle triggers a deviation event in the manual driving mode, the automatic driving control unit controls the target vehicle to turn off the navigation mode and enter the normal navigation mode, and the navigation server does not respond.

[0106] It is easy to understand that through the above-mentioned step S211, in an embodiment of the present application, when the target vehicle triggers a deviation event in the manual driving mode, the target vehicle is switched to the normal navigation mode. This can make the driver unaffected by the navigation guidance of the memorized route and fully control the driving direction of the vehicle, thereby avoiding potential user confusion and improving the driver's driving experience.

[0107] As an optional implementation, the above vehicle navigation method may further include the following implementation steps:

[0108] Step S212, in response to the target vehicle triggering a driving recovery event in the manual driving mode, controlling the target vehicle to switch from the normal navigation mode to the navigation mode, and restoring the use of the restored navigation path to provide the target vehicle with navigation guidance based on the target route, wherein the driving recovery event is used to characterize that the distance between the current driving position of the target vehicle and the target navigation point on the restored navigation path is less than a first threshold and the angle between the current driving direction of the target vehicle and the navigation direction corresponding to the target navigation point is less than a second threshold.

[0109] The first threshold and the second threshold can be used to assist in determining whether a driving recovery event is triggered. The target navigation point can be a navigation point on the restored navigation path that is closest to the current driving position of the target vehicle.

[0110] In an exemplary application scenario, Figure 6 As shown, the automatic driving control unit obtains the current driving position and current driving direction of the target vehicle in real time, and uses the current driving position of the target vehicle, the current driving direction of the target vehicle, the target navigation point on the restored navigation path, and the navigation direction corresponding to the target navigation point to obtain the distance between the current driving position of the target vehicle and the target navigation point on the restored navigation path, as well as the angle between the current driving direction of the target vehicle and the navigation direction corresponding to the target navigation point, and determines whether the distance between the current driving position of the target vehicle and the target navigation point on the restored navigation path is less than a first threshold, and determines whether the angle between the current driving direction of the target vehicle and the navigation direction corresponding to the target navigation point is less than a second threshold. If the distance between the current driving position of the target vehicle and the target navigation point on the restored navigation path is less than the first threshold and the angle between the current driving direction of the target vehicle and the navigation direction corresponding to the target navigation point is less than the second threshold, a driving recovery event is triggered.

[0111] Still in the above application scenario, Figure 7 This is a schematic diagram of an optional triggering driving recovery event according to an embodiment of the present application. In response to a target vehicle triggering a deviation event in a manual driving mode, a human-driven deviation interval in an actual driving route in the manual driving mode that is inconsistent with a restored navigation path is determined, and a starting point of the human-driven deviation interval is determined. An automatic driving control unit determines in real time whether a driving recovery event is triggered by the target vehicle in the manual driving mode. In response to the target vehicle triggering a driving recovery event in the manual driving mode, the target vehicle is controlled to switch from a normal navigation mode to a navigation start mode, and a target navigation point is determined as a new starting point. A recovery route segment is determined using the new starting point and the route end position. A recovery request is sent to a navigation server based on the recovery route segment. The navigation server receives the recovery request, updates the restored navigation path based on the recovery route segment, and transmits the updated restored navigation path back to the automatic driving control unit, and the restored navigation path is used to provide navigation guidance based on the target route for the target vehicle.

[0112] In one implementation, still in the above application scenario, the human-driving deviation interval and the starting point of the human-driving deviation interval can be used to update the memory driving data corresponding to the target route.

[0113] It is easy to understand that through the above-mentioned step S212, in the embodiment of the present application, when the target vehicle triggers a driving recovery event in the manual driving mode, the target vehicle is controlled to switch from the normal navigation mode to the navigation mode, ensuring that when the vehicle returns to the restored navigation path, it can switch to the navigation mode in time, thereby improving the continuity and consistency of the navigation service, avoiding frequent switching of navigation modes, and reducing the driver's driving experience.

[0114] In an exemplary application scenario, Figure 8 is a structural block diagram of an optional vehicle navigation system according to an embodiment of the present application, such as Figure 8 As shown, the vehicle navigation system may include an acquisition module, a route matching module, a navigation restoration module, a deviation detection and route recovery module, a route management module, and a status display module, wherein the acquisition module may be used to acquire the memory driving data and navigation road network data corresponding to the target route; the route matching module may be used to match the memory driving data and navigation road network data corresponding to the target route; the navigation restoration module may be used to restore the path based on the target route data to obtain a restored navigation path; the deviation detection and route recovery module may be used to respond to the deviation event of the target vehicle, obtain a corrected navigation sequence from the navigation server, and update the restored navigation path using the corrected navigation sequence; the route management module may be used to record and process the restored navigation path updated by the deviation detection and route recovery module, and transmit the updated restored navigation path to the status display module, and the status display module displays the updated restored navigation path on the graphical display interface.

[0115] In an embodiment of the present application, the target route data is used to perform path restoration to obtain a restored navigation path, thereby ensuring consistency between the memorized driving data and the navigation road network data. By utilizing the yaw condition, whether the current driving position of the target vehicle deviates from the restored navigation path is monitored in real time. A corrected navigation sequence is automatically generated based on the yaw path points corresponding to the yaw events on the target route, and the restored navigation path is updated. This achieves the purpose of generating a restored navigation path using the target data and updating the restored navigation path when the target vehicle triggers a yaw event, thereby achieving the technical effect of improving the accuracy and intelligence of the vehicle navigation method and improving the driving experience of the driver, thereby solving the technical problem of low accuracy and poor intelligence of the vehicle navigation method in the related art, which leads to poor driving experience for the driver.

[0116] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0117] It should be noted that, for the above method embodiments, for the sake of simplicity, the technical solutions in the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of actions in the described action combinations, because according to the present application, some of the above steps can be performed in other orders or simultaneously. In addition, those skilled in the art should also be aware that the embodiments described in the specification of this application belong to preferred embodiments, and the actions and modules involved are not necessarily necessary to implement the technical solutions of the present application.

[0118] According to an embodiment of the present invention, a computer program product is also provided. The computer program product includes a computer program, and when the computer program is executed by a processor, the above vehicle navigation method can be implemented.

[0119] Optionally, the computer program product may provide vehicle navigation services based on the vehicle navigation method.

[0120] Optionally, in this embodiment, the computer program product may be a set of instructions and codes pre-written according to the vehicle navigation method. The computer program product may run on various computer platforms, including personal computers, servers, mobile devices, etc.

[0121] Optionally, in this embodiment, the instructions and codes corresponding to the computer program product are used to implement the following method steps: obtaining target route data, wherein the target route data is generated by matching the memory driving data corresponding to the target route with the navigation road network data; performing path restoration based on the target route data to obtain a restored navigation path, wherein the restored navigation path is used to provide navigation guidance based on the target route for the target vehicle in the navigation same-open mode; in response to a deviation event of the target vehicle, obtaining a corrected navigation sequence from the navigation server, wherein the deviation event is used to characterize that the deviation between the current driving position of the target vehicle and the restored navigation path satisfies the deviation condition, and the corrected navigation sequence is generated by the navigation server based on the deviation waypoints corresponding to the deviation event on the target route; and updating the restored navigation path using the corrected navigation sequence.

[0122] In the above-mentioned multiple embodiments of the present application, the description of each embodiment has different emphases. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0123] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of multiple modules can be a logical function division, and there can be any other possible division methods when actually implemented in the application scenario; for another example, multiple modules (or units or components in the modules) can be combined with each other and can be integrated into another system. For example, some features of the method embodiments described above can be ignored or skipped.

[0124] It should be noted that in the above-mentioned embodiments, the modules, components or units described as separate parts can be physically separated or physically integrated. The parts displayed as modules or units can be physical modules or physical units, or virtual modules or virtual units, that is, multiple modules or multiple units can be in the same position, or distributed in multiple positions or multiple spaces. In the application scenario, according to the actual needs of the scenario, some or all of the multiple modules or multiple units can be selected to implement the technical solutions of the embodiments of the present application, thereby achieving the corresponding technical objectives.

[0125] In particular, for an integrated functional module or functional unit, if it is implemented in the form of a software functional unit and sold or used as an independent product, the module or functional unit can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially or in other words, the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

[0126] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A vehicle navigation method, characterized in that: include: Acquiring target route data, wherein the target route data is generated by matching the memory driving data corresponding to the target route with the navigation road network data; Performing path restoration based on the target route data to obtain a restored navigation path, wherein the restored navigation path is used to provide navigation guidance based on the target route for the target vehicle in a navigation co-on mode; In response to a deviation event of the target vehicle, a corrected navigation sequence is obtained from a navigation server, wherein the deviation event is used to indicate that a deviation between a current driving position of the target vehicle and the restored navigation path satisfies a deviation condition, and the corrected navigation sequence is generated by the navigation server based on a deviation waypoint corresponding to the deviation event on the target route; The restored navigation path is updated using the modified navigation sequence.

2. The vehicle navigation method according to claim 1, characterized in that: Performing path restoration based on the target route data to obtain the restored navigation path includes: Perform navigation route restoration based on the target route data to obtain a navigation line sequence corresponding to the target route; The restored navigation path is created based on the navigation link sequence.

3. The vehicle navigation method according to claim 1, characterized in that: Restoring the navigation route based on the target route data to obtain a navigation line sequence corresponding to the target route includes: Sending a restoration request to the navigation server based on the target route data; In response to the navigation server successfully completing the path restoration for the restoration request, receiving the navigation connection sequence returned by the navigation server; In response to the navigation server failing to successfully complete the path restoration for the restoration request, a first route calculation request is sent to the navigation server based on the full-segment waypoints on the target route, and the navigation connection sequence generated by the navigation server based on the full-segment waypoints is received.

4. The vehicle navigation method according to claim 3, characterized in that: The vehicle navigation method further includes: Performing a matching check on the navigation connection sequence and a memory route sequence to determine a restoration error interval in the navigation connection sequence, wherein the memory route sequence is a route sequence in the target route data corresponding to the target route; extracting local waypoints from the memory route sequence according to the restored error interval; Based on the local waypoint, sending a second route calculation request to the navigation server; Acquire a local connection sequence generated by the navigation server based on the local waypoints; The navigation connection sequence is corrected and updated by using the restored error interval and the local connection sequence.

5. The vehicle navigation method according to claim 4, characterized in that: The vehicle navigation method further includes: In response to the target vehicle traveling to the navigation range corresponding to the restored error interval, the output component of the target vehicle is controlled to play a prompt message.

6. The vehicle navigation method according to claim 1, characterized in that: Acquiring the corrected navigation sequence from the navigation server includes: Determining a route endpoint location based on a memory route sequence corresponding to the target route data; Determining a yaw route segment from the memory route sequence according to the route endpoint position and the current position of the target vehicle; extracting the off-course waypoint from the memory route sequence according to the off-course route segment; Based on the off-course waypoint, sending a third route calculation request to the navigation server; The corrected navigation sequence generated by the navigation server based on the deviation waypoint is obtained.

7. The vehicle navigation method according to claim 1, characterized in that: The vehicle navigation method further includes: In response to the target vehicle triggering the deviation event in the manual driving mode, the target vehicle is controlled to switch from the navigation mode to the normal navigation mode, and the use of the restored navigation path to provide the target vehicle with navigation guidance based on the target route is suspended.

8. The vehicle navigation method according to claim 7, characterized in that: The vehicle navigation method further includes: In response to the target vehicle triggering a driving resumption event in the manual driving mode, the target vehicle is controlled to switch from the normal navigation mode to the navigation start mode, and the restored navigation path is restored to provide the target vehicle with navigation guidance based on the target route, wherein the driving resumption event is used to characterize that the distance between the current driving position of the target vehicle and the target navigation point on the restored navigation path is less than a first threshold and the angle between the current driving direction of the target vehicle and the navigation direction corresponding to the target navigation point is less than a second threshold.

9. A vehicle, characterized in that: include: A memory storing an executable program; A processor is used to run the program, wherein the program executes the vehicle navigation method described in any one of claims 1 to 8 when running.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the vehicle navigation method according to any one of claims 1 to 8 when being executed by a processor.

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