Navigation route generation method and device, equipment and storage medium

Abstract

The invention provides a navigation route generation method, and relates to the technical field of artificial intelligence, in particular to the technical fields of map navigation, automatic driving, intelligent traffic and the like. The method comprises: determining a target included angle between a path azimuth angle at a sampling point on a candidate navigation route and a solar azimuth angle, the candidate navigation route comprising at least one sub-road section, the sub-road section comprising at least one sampling point; determining direct solar radiation parameters of the sub-road sections according to the target included angles of the sampling points included in the sub-road sections; and in response to determining that the direct solar radiation parameters of the sub-road sections are in the preset range, updating the sub-road sections in the candidate navigation route to obtain a target navigation route. According to the method, the safety and comfort of vehicle driving are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of artificial intelligence technology, specifically to technical fields such as map navigation, autonomous driving, and intelligent transportation, and in particular to a method, device, equipment, and storage medium for generating a navigation route. Background Art

[0002] While driving, direct sunlight can interfere with the driver's vision, especially in the morning and evening when the sun is at a low angle, which may cause temporary glare to the driver, thereby increasing the risk of traffic accidents. Summary of the invention

[0003] The present disclosure provides a method, apparatus, device and storage medium for generating a navigation route.

[0004] According to a first aspect of the present disclosure, a method for generating a navigation route is provided, comprising: determining a target angle between a path azimuth and a solar azimuth at a sampling point on a candidate navigation route, wherein the candidate navigation route includes at least one sub-segment, and the sub-segment includes at least one sampling point; determining a solar direct radiation parameter of the sub-segment based on the target angle of the sampling points included in the sub-segment; in response to determining that the solar direct radiation parameter of the sub-segment is within a preset range, updating the sub-segment in the candidate navigation route to obtain a target navigation route.

[0005] According to a second aspect of the present disclosure, a navigation route generation device is provided, comprising: an angle determination module, configured to determine a target angle between a path azimuth and a solar azimuth at a sampling point on a candidate navigation route, wherein the candidate navigation route includes at least one sub-segment, and the sub-segment includes at least one sampling point; a parameter determination module, configured to determine a solar directivity parameter of a sub-segment based on the target angle of the sampling points included in the sub-segment; and a route update module, configured to update a sub-segment in the candidate navigation route in response to determining that the solar directivity parameter of the sub-segment is within a preset range, so as to obtain a target navigation route.

[0006] According to a third aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in any implementation manner in the first aspect.

[0007] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, where the computer instructions are used to cause a computer to execute the method described in any implementation manner of the first aspect.

[0008] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the computer program implements the method described in any implementation manner in the first aspect.

[0009] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0011] Figure 1 is an exemplary system architecture diagram in which the present disclosure may be applied;

[0012] Figure 2 is a flowchart of an embodiment of a method for generating a navigation route according to the present disclosure;

[0013] Figure 3 is a flowchart of another embodiment of a method for generating a navigation route according to the present disclosure;

[0014] Figure 4 is a flowchart of another embodiment of a method for generating a navigation route according to the present disclosure;

[0015] Figure 5 yes Figure 4 A flow chart of the steps for determining the solar directivity parameters of the sampling points;

[0016] Figure 6 is a flowchart of another embodiment of a method for generating a navigation route according to the present disclosure;

[0017] Figure 7 is a structural schematic diagram of an embodiment of a navigation route generation device according to the present disclosure;

[0018] Figure 8 The present invention is a block diagram of an electronic device for implementing the method for generating a navigation route according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0019] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0020] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0021] Figure 1 An exemplary system architecture 100 is shown to which an embodiment of a method for generating a navigation route or an apparatus for generating a navigation route of the present disclosure can be applied.

[0022] like Figure 1 As shown, the system architecture 100 may include terminal devices 101, 102, 103, 104, a network 105, and a server 106. The network 105 is used to provide a medium for communication links between the terminal devices 101, 102, 103, 104 and the server 106. The network 105 may include various connection types, such as wired, wireless communication links, or optical fiber cables, etc.

[0023] The user can use the terminal devices 101, 102, 103, 104 to interact with the server 106 via the network 105 to receive or send information, etc. Various client applications can be installed on the terminal devices 101, 102, 103, 104.

[0024] Terminal devices 101, 102, 103, 104 may be hardware or software. When terminal devices 101, 102, 103, 104 are hardware, they may be various electronic devices, including but not limited to smart phones, tablet computers, laptop computers, desktop computers, etc. When terminal devices 101, 102, 103, 104 are software, they may be installed in the above electronic devices. They may be implemented as multiple software or software modules, or as a single software or software module. No specific limitation is made here.

[0025] The server 106 can provide various services. For example, the server 106 can analyze and process the candidate navigation routes obtained from the terminal devices 101, 102, 103, and 104, and generate a processing result (eg, a target navigation route).

[0026] It should be noted that the server 106 can be hardware or software. When the server 106 is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or it can be implemented as a single server. When the server 106 is software, it can be implemented as multiple software or software modules (for example, for providing distributed services), or it can be implemented as a single software or software module. No specific limitation is made here.

[0027] It should be noted that the method for generating a navigation route provided in the embodiment of the present disclosure is generally executed by the server 106 , and accordingly, the device for generating a navigation route is generally disposed in the server 106 .

[0028] It should be understood that Figure 1 The number of terminal devices, networks and servers in the embodiment is only for illustration. Any number of terminal devices, networks and servers may be provided according to implementation requirements.

[0029] Continue to refer Figure 2 , which shows a process 200 of an embodiment of a method for generating a navigation route according to the present disclosure. The method for generating a navigation route comprises the following steps:

[0030] Step 201, determining a target angle between a path azimuth and a sun azimuth at a sampling point on a candidate navigation route.

[0031] In this embodiment, the execution subject of the method for generating a navigation route (eg Figure 1 The server 105 shown in the figure determines a target angle between a path azimuth and a sun azimuth at a sampling point on a candidate navigation route, wherein the candidate navigation route includes at least one sub-segment, and the sub-segment includes at least one sampling point.

[0032] Here, the candidate navigation routes are generated based on the navigation starting point and navigation end point input or selected by the user. That is, after the user inputs or selects the starting point and end point, multiple navigation routes can be generated. The candidate navigation routes here can be the default displayed routes. For example, the candidate navigation routes can be the navigation route with the “shortest time”, the navigation route with the “fewest traffic lights”, the navigation route with the “shortest distance”, and so on.

[0033] Afterwards, the execution subject will divide the candidate navigation route into a plurality of sub-segments. Specifically, the execution subject may divide the candidate navigation route according to the attribute information of the segment, and the attribute information here may include: straight ahead, left turn or right turn light. For example, if the candidate navigation route includes a continuous straight ahead portion, a straight ahead portion after a left turn, and a straight ahead portion after a right turn, then the candidate navigation route may be divided into three sub-segments, namely: the continuous straight ahead portion is sub-segment 1, the straight ahead portion after a left turn is sub-segment 2, and the straight ahead portion after a right turn is sub-segment 3.

[0034] In addition, the above-mentioned execution entity can also divide the candidate navigation routes according to the names of each section in the candidate navigation routes. For example, if the candidate navigation routes include XX East Road, XX West Road, XX South Road and XX North Road, the candidate navigation routes can be divided into 4 sub-sections, namely: XX East Road is sub-section 1, XX West Road is sub-section 2, XX South Road is sub-section 3, and XX North Road is sub-section 4.

[0035] Furthermore, the execution subject may divide each sub-segment according to a preset interval to generate multiple path sampling points, for example, divide each sub-segment at an interval of 20 meters to obtain multiple sampling points corresponding to each sub-segment. Alternatively, the execution subject may also determine the division interval corresponding to each sub-segment according to the length of each sub-segment, thereby dividing the sub-segment according to different division intervals to obtain multiple corresponding sampling points.

[0036] Alternatively, the execution subject may first divide the candidate navigation route according to a preset interval (e.g., 30 meters) to obtain multiple sampling points on the candidate navigation route; then divide the candidate navigation route into multiple sub-segments; and finally, determine the sampling points contained in each sub-segment. This embodiment does not specifically limit the generation method of the sub-segments and sampling points.

[0037] After determining the sampling point, the above-mentioned execution body will calculate the path azimuth and solar azimuth at the sampling point, and then calculate the angle between the path azimuth and the solar azimuth, that is, the target angle. The path azimuth refers to the path direction angle between the current sampling point and the next adjacent sampling point, that is, the current sampling point is taken as the starting point, and the next sampling point adjacent to the current sampling point is taken as the end point to calculate the path azimuth. The solar azimuth refers to the angle between the projection of the sun's rays on the horizontal plane and the local meridian. The solar azimuth can be calculated based on the solar declination at the sampling point, the latitude of the sampling point, and the solar altitude at the sampling point. The solar altitude refers to the angle between the direct sunlight and the ground plane. The solar altitude can be calculated based on the solar hour angle at the sampling point, the latitude of the sampling point, and the declination at the sampling point. Finally, the above-mentioned execution body will further calculate the angle between the path azimuth and the solar azimuth, that is, the target angle.

[0038] Step 202: determining the solar radiation parameter of the sub-section according to the target angle of the sampling points included in the sub-section.

[0039] In this embodiment, since there is at least one sampling point on each sub-section, the above-mentioned execution body will first determine all the sampling points included in each sub-section. Since the angle between the path azimuth and the sun azimuth at each sampling point has been calculated through the above steps, that is, the target angle corresponding to each sampling point has been calculated. The above-mentioned execution body will determine the solar directness parameter of the sub-section according to the target angle corresponding to all the sampling points included in each sub-section, thereby obtaining the solar directness parameter of all sub-sections. The solar directness parameter here is information used to indicate the degree of solar directness. For example, the solar directness parameter can be solar directness level information, such as high level, medium level and low level; for another example, the solar directness parameter can be a solar directness score, such as 80 points, 60 points, etc., that is, the solar directness parameter can be various types of information that can be used to indicate the degree of solar directness. This embodiment does not specifically limit the specific type of the solar directness parameter.

[0040] Specifically, since each sub-section may include multiple sampling points, for each sampling point, the above-mentioned execution entity can determine the solar direct radiation parameter of the sampling point based on the target angle of the sampling point, and then determine the solar direct radiation parameter of the current sub-section based on the solar direct radiation parameters of all sampling points included in the current sub-section, and then determine the solar direct radiation parameters of all sub-sections.

[0041] Step 203 , in response to determining that the solar direct radiation parameter of the sub-section is within a preset range, the sub-section in the candidate navigation route is updated to obtain a target navigation route.

[0042] In this embodiment, after calculating the direct sunlight parameter corresponding to each sub-section, the above-mentioned execution body will determine whether the direct sunlight parameter is within the preset range. If so, the sub-sections in the candidate navigation route will be updated. The preset range here is a range used to characterize a high degree of direct sunlight. When the direct sunlight parameter of a sub-section is within the preset range, it means that the direct sunlight risk of the sub-section is high. For example, when the direct sunlight parameter is direct sunlight level information, the preset range can be a range including medium-level risk and high-level risk; for another example, when the direct sunlight parameter is direct sunlight score, the preset range can be a score range, such as 70-90 points. It can be understood that when the direct sunlight parameter is direct sunlight level information, the higher the level, the greater the direct sunlight risk; when the direct sunlight parameter is direct sunlight score, the higher the score, the greater the direct sunlight risk, and the greater the direct sunlight risk, the more it will affect the driver's driving of the vehicle, that is, reduce the safety of vehicle driving.

[0043] When it is determined that the direct sunlight parameter of a sub-section is within a preset range, it indicates that the direct sunlight risk of the sub-section is high. At this time, it is necessary to avoid the sub-section in the candidate navigation route, that is, update the sub-section in the candidate navigation route to ensure driving safety.

[0044] For example, a sub-segment that can replace the sub-segment can be first determined and recorded as the target sub-segment. Then the direct sunlight parameter of the target sub-segment is determined, and it is determined whether the direct sunlight parameter of the target sub-segment is within a preset range, that is, whether the target sub-segment has a direct sunlight risk. If it is determined that the direct sunlight parameter of the target sub-segment is not within the preset range, it proves that the direct sunlight risk of the target sub-segment is low. At this time, the target sub-segment can be used to replace the sub-segment in the candidate navigation route (the sub-segment with a direct sunlight risk within the preset range), thereby obtaining an updated navigation route, that is, the target navigation route.

[0045] The method for generating a navigation route provided by the embodiment of the present disclosure first determines the target angle between the path azimuth and the sun azimuth at the sampling point on the candidate navigation route; then determines the solar direct parameter of the sub-section according to the target angle of the sampling point included in the sub-section; finally, in response to determining that the solar direct parameter of the sub-section is within a preset range, the sub-section in the candidate navigation route is updated to obtain the target navigation route. The method for generating a navigation route in this embodiment determines the solar direct parameter of the sub-section through the solar direct parameter of the sampling point on the sub-section, and avoids the sub-section when the solar direct parameter of the sub-section is within a preset range, thereby reducing the visual interference caused by direct sunlight, thereby improving the driving safety and comfort of the vehicle.

[0046] In addition, in the technical solutions involved in this disclosure, the acquisition, storage, use, processing, transportation, provision and disclosure of user personal information (such as the navigation routes involved in this disclosure) are in compliance with the relevant laws and regulations and do not violate public order and good morals.

[0047] Continue to refer Figure 3 , Figure 3 A process 300 of another embodiment of a method for generating a navigation route according to the present disclosure is shown. The method for generating a navigation route comprises the following steps:

[0048] Step 301, determining the path azimuth at the sampling point according to the latitude and longitude information of the sampling point and the latitude and longitude information of the next sampling point adjacent to the sampling point.

[0049] In this embodiment, the execution subject of the method for generating a navigation route (eg Figure 1The server 105 shown in the figure will first divide the candidate navigation path according to fixed intervals to obtain multiple sampling points. For each sampling point, the latitude and longitude information of the sampling point can be recorded.

[0050] Then, according to the latitude and longitude information of the current sampling point and the latitude and longitude information of the next sampling point adjacent to the current sampling point, the path azimuth θ at the current sampling point is calculated. path , which can be calculated based on formula (1):

[0051]

[0052] Among them, ΔLat is the latitude difference between the sampling point and the next adjacent sampling point, and ΔLon is the longitude difference between the sampling point and the next adjacent sampling point.

[0053] That is, θ path It is the azimuth of the road segment formed by taking the current sampling point as the starting point and the next sampling point adjacent to the current sampling point as the end point.

[0054] Step 302, determining the solar azimuth at the sampling point according to the latitude information of the sampling point and the estimated time information of the vehicle arriving at the sampling point.

[0055] In this embodiment, for each sampling point, the execution subject also obtains the estimated time stamp of the vehicle reaching the sampling point, thereby determining the solar azimuth at the sampling point according to the latitude of the sampling point and the estimated time stamp, and storing the calculation result in the data structure of the sampling point. Thus, the solar azimuth at different sampling points is calculated based on the latitude of different sampling points and the time stamp of the vehicle reaching the sampling point.

[0056] In some optional implementations of this embodiment, step 302 includes: calculating the solar hour angle at the sampling point based on the estimated time information of the vehicle arriving at the sampling point; calculating the solar altitude angle at the sampling point based on the solar hour angle at the sampling point, the latitude information of the sampling point, and the solar declination angle at the sampling point; calculating the solar azimuth angle at the sampling point based on the solar declination angle at the sampling point, the latitude information of the sampling point, and the solar altitude angle.

[0057] Solar azimuth θ sun It refers to the angle between the projection of the sun's rays on the horizontal plane and the local meridian. It represents the angle of the sun relative to the true north direction (0° is true north, calculated clockwise). The solar azimuth can be calculated based on the solar declination angle at the sampling point, the latitude of the sampling point, and the solar altitude angle at the sampling point. It can be calculated based on formula (2):

[0058]

[0059] in, is the latitude of the sampling point, δ is the solar declination angle, φ sun is the solar altitude angle.

[0060] The solar declination angle refers to the angle between the sun's rays and the Earth's equatorial plane, which can be calculated using existing technology and will not be described in detail here.

[0061] Sun altitude angle φ sun It refers to the angle between the direct sunlight and the horizon, which indicates the vertical height of the sun above the horizon (0° is the horizon, 90° is directly above the head). The solar altitude angle can be calculated based on the solar hour angle at the sampling point, the latitude information of the sampling point, and the solar declination angle at the sampling point. Specifically, it can be calculated based on formula (3):

[0062]

[0063] Where H is the solar hour angle. The solar hour angle refers to the hour angle of the center of the solar disk, that is, the angular distance from the celestial meridian of the observation point along the celestial equator to the hour circle where the sun is located, which can be calculated based on the estimated time information of the vehicle arriving at the sampling point.

[0064] Thus, the solar azimuth at each sampling point is accurately calculated through the above steps, so that the corresponding solar direct parameters can be determined according to the solar azimuth.

[0065] Step 303, calculating the target angle between the path azimuth and the sun azimuth.

[0066] In this embodiment, for each sampling point, the execution body calculates the path azimuth θ path and the solar azimuth θ sun The target angle Δθ between them can be calculated based on formula (4):

[0067] Δθ=min (|θ pat h-θ sun |, 360°-|θ pat h-θ sun |) (4)

[0068] Thus, the target angle Δθ corresponding to each sampling point can be calculated.

[0069] Here, the path azimuth and the sun azimuth are calculated respectively, and then the angle between the path azimuth and the sun azimuth is calculated. The direct solar radiation parameter at the sampling point can be determined by evaluating the angle.

[0070] Step 304, determining the direct solar radiation parameter of the sampling point according to the target angle.

[0071] In this embodiment, for each sampling point, the above-mentioned execution subject will determine the direct solar radiation parameter of the sampling point according to the target angle of the sampling point. For example, the correspondence between different angle values ​​and different direct solar radiation parameters can be pre-set, so that after determining the target angle of each sampling point, the direct solar radiation parameter of the sampling point can be determined based on the correspondence. Taking the direct solar radiation parameter as the direct solar radiation level as an example, the pre-set correspondence can be: the angle range of 0°-15° corresponds to a high level of direct radiation risk, the angle range of 15°-30° corresponds to a medium level of direct radiation risk, and the angle range of 30°-180° corresponds to a low level of direct radiation risk. Assuming that the target angle of the current sampling point is 25°, the direct solar radiation parameter of the current sampling point can be determined as a medium level of direct radiation risk according to the correspondence.

[0072] Step 305 : determining the solar direct radiation parameter of the sub-road section according to the solar direct radiation parameters of all sampling points included in the sub-road section.

[0073] In this embodiment, for each sub-section on the candidate navigation route, the above-mentioned execution body will first determine all sampling points included in the sub-section, and obtain the direct sunlight parameters of each sample in all sampling points, and then determine the direct sunlight parameters of the sub-section based on the direct sunlight parameters of all sampling points.

[0074] For example, when the solar direct radiation parameter is a solar direct radiation risk score, the solar direct radiation risk scores of all sampling points included in the sub-section may be added together to obtain an average value, and the average value may be used as the solar direct radiation risk score of the sub-section.

[0075] For another example, a weighted calculation may be performed on the direct sunlight risk scores of all sampling points included in the sub-road section, and the calculation result is used as the direct sunlight risk score of the sub-road section.

[0076] In this way, the solar radiation parameters of the sub-section can be quickly and accurately determined based on the solar radiation parameters of all sampling points included in the sub-section, so as to accurately evaluate the solar radiation risk of each sub-section, and thus sections with high solar radiation risks can be avoided based on the evaluation results, thereby improving driving safety.

[0077] Step 306 , in response to determining that the solar direct radiation parameter of the sub-segment is within a preset range, the sub-segment in the candidate navigation route is updated to obtain a target navigation route.

[0078] Step 306 is basically the same as step 203 of the aforementioned embodiment. The specific implementation method can refer to the aforementioned description of step 203, which will not be repeated here.

[0079] from Figure 3 It can be seen that Figure 2Compared with the corresponding embodiments, the method for generating a navigation route in this embodiment highlights the steps of determining the direct solar radiation parameters of the sampling point according to the target angle of the sampling point and determining the direct solar radiation parameters of the sub-section according to the direct solar radiation parameters of the sampling point, so as to accurately evaluate the direct solar radiation risk of each sub-section, thereby avoiding sections with high direct solar radiation risks based on the evaluation results, and realizing dynamic adjustment of the navigation route according to the direct sunlight conditions, thereby improving the safety of vehicle driving.

[0080] Continue to refer Figure 4 , Figure 4 A process 400 of another embodiment of a method for generating a navigation route according to the present disclosure is shown. The method for generating a navigation route comprises the following steps:

[0081] Step 401, determining the path azimuth at the sampling point according to the latitude and longitude information of the sampling point and the latitude and longitude information of the next sampling point adjacent to the sampling point.

[0082] Step 402, determining the solar azimuth at the sampling point based on the latitude information of the sampling point and the estimated time information of the vehicle arriving at the sampling point.

[0083] Step 403, calculating the target angle between the path azimuth and the sun azimuth.

[0084] Steps 401-403 are basically consistent with steps 301-303 of the aforementioned embodiment. For specific implementation methods, reference may be made to the aforementioned description of steps 301-303, which will not be repeated here.

[0085] Step 404: Determine the solar directivity parameter of the sampling point according to the relationship between the target angle and the preset angle threshold.

[0086] In this embodiment, the execution subject of the method for generating a navigation route (eg Figure 1 The server 105 shown in the figure will determine the relationship between the target angle and the preset angle threshold, thereby determining the direct solar radiation parameter of the sampling point. Thus, the direct solar radiation parameter of the sampling point can be quickly determined based on the angle between the path azimuth and the solar azimuth, thereby improving the accuracy of the direct solar radiation parameter of the sampling point. For example, when the target angle is less than or equal to the angle threshold, the direct solar radiation parameter of the sampling point is determined to be high risk.

[0087] In one example, considering that the driver is driving on the left side, the direct sunlight from the front and the left side will affect the driver's light, etc., so the high risk of direct sunlight from the front and the high risk of direct sunlight from the left side can be further regarded as high risk. For example, when the target angle is less than or equal to the angle threshold, the sampling point is determined to be at high risk of direct sunlight from the front; when the absolute value of the difference between the target angle and the preset angle is less than or equal to the angle threshold, the sampling point is determined to be at high risk of direct sunlight from the left side, where the angle threshold can be 15° and the preset angle can be 90°. That is, it can be expressed as when the target angle Δθ≤15°, the direct sunlight from the front is at high risk; when |Δθ-90°|≤15°, the sampling point is determined to be at high risk of direct sunlight from the left side.

[0088] Step 405: determine a comprehensive parameter based on the direct sunlight parameters of all sampling points included in the sub-road section.

[0089] In this embodiment, for each sub-section on the candidate navigation route, the above-mentioned execution entity will first determine all sampling points included in the sub-section, and obtain the direct sunlight parameters of each sample in all sampling points, and then determine the comprehensive parameter based on the direct sunlight parameters of all sampling points. For example, the average of the direct sunlight risk scores of all sampling points can be used as the comprehensive parameter, that is, the comprehensive parameter represents an average of the direct sunlight parameters of all sampling points, and the comprehensive parameter can also represent the direct sunlight risk of the sub-section.

[0090] In some optional implementations of this embodiment, step 405 includes: calculating the first proportion of the first-level parameters, the second proportion of the second-level parameters, and the third proportion of the third-level parameters in the direct sunlight parameters of all sampling points included in the statistical sub-section; and determining the comprehensive parameters based on the first proportion, the second proportion, and the third proportion.

[0091] In this implementation, the solar direct radiation parameter includes a first level parameter, a second level parameter and a third level parameter, and the first level parameter represents a high solar direct radiation risk, the second level parameter represents a medium solar direct radiation risk, and the third level parameter represents a low solar direct radiation risk.

[0092] Here, the execution subject will first count the direct sunlight parameter information of all sampling points included in the sub-section to determine the number of direct sunlight parameters that are first-level parameters, recorded as the first number, the number of direct sunlight parameters that are second-level parameters, recorded as the second number, and the number of direct sunlight parameters that are third-level parameters, recorded as the third number. Then, based on the first number, the second number, the third number, and the number of all sampling points, determine the proportion of the first-level parameters, the second-level parameters, and the third-level parameters in all direct sunlight parameter information, that is, the first proportion of the first-level parameters, the second proportion of the second-level parameters, and the third proportion of the third-level parameters. Finally, the level parameter with the largest proportion can be determined as the comprehensive parameter.

[0093] For example, in the direct sunlight level information of all sampling points contained in the sub-section, the first-level parameters account for 60%, the second-level parameters account for 10%, and the third-level parameters account for 30%. Since the first-level parameters account for the highest proportion, the first-level parameters will be used as comprehensive parameters.

[0094] Therefore, the comprehensive direct radiation parameter corresponding to the current sub-section is determined according to the proportion of parameters of different levels in the direct radiation parameters of all sampling points, and then the direct radiation parameter of the sub-section is determined according to the comprehensive direct radiation parameter, thereby improving the accuracy of the direct radiation parameter of the sub-section.

[0095] Step 406: Determine the weight of the sub-segment according to the length of the sub-segment and the length of the candidate navigation route.

[0096] In this embodiment, the execution entity determines the length of the current sub-segment and the length of the candidate navigation route, and uses the ratio of the length of the current sub-segment to the length of the candidate navigation route as the weight of the sub-segment in the candidate navigation route. length It can be calculated based on formula (5):

[0097]

[0098] Where L is the length of the sub-segment, ∑L total is the length of the candidate navigation route.

[0099] Step 407, determining the solar radiation parameter of the sub-section according to the weight and the comprehensive parameter.

[0100] In this embodiment, the execution subject determines the solar radiation parameter of the sub-segment according to the weight of the sub-segment and the comprehensive parameter of the sub-segment. Specifically, the product of the weight and the comprehensive parameter can be used as the solar radiation parameter of the sub-segment. segment It can be calculated based on formula (6):

[0101] R segment =W length ·R risk (6)

[0102] Among them, R risk is a comprehensive parameter.

[0103] Since the length of a sub-segment will have a certain impact on the solar exposure parameter of the sub-segment, that is, a longer sub-segment may have a higher solar exposure risk because the vehicle is exposed to the sun for a longer time, the weight of the sub-segment relative to the candidate navigation route is also calculated here, and the final solar exposure parameter of the sub-segment is determined based on the weight, thereby improving the accuracy of the solar exposure parameter of the sub-segment.

[0104] Step 408 , in response to determining that the solar direct radiation parameter of the sub-segment is within a preset range, the sub-segment in the candidate navigation route is updated to obtain a target navigation route.

[0105] Step 408 is basically the same as step 203 in the aforementioned embodiment. For the specific implementation method, reference may be made to the aforementioned description of step 203 and will not be repeated here.

[0106] from Figure 4 It can be seen that Figure 3 Compared with the corresponding embodiment, the method for generating a navigation route in this embodiment also takes into account the influence of the length of the sub-segment on the solar direct radiation parameter of the sub-segment. Therefore, the weight of the sub-segment relative to the candidate navigation route is also calculated, and the final solar direct radiation parameter of the sub-segment is determined based on the weight, thereby improving the accuracy of the solar direct radiation parameter of the sub-segment.

[0107] Continue to refer Figure 5 , Figure 5 Shows Figure 4 A process 500 of determining the solar radiation parameter of a sampling point in the present invention. The step includes:

[0108] Step 501, in response to determining that the target angle is less than or equal to a first angle threshold and the solar altitude angle is greater than the altitude angle threshold, determining that the solar direct radiation parameter of the sampling point is a first level parameter.

[0109] That is, the preset angle threshold includes the first angle threshold. The above-mentioned execution subject will first determine whether the target angle is less than or equal to the first angle, and at the same time determine whether the solar altitude angle is greater than the altitude angle threshold. When the target angle is less than or equal to the first angle and the solar altitude angle is greater than the altitude angle threshold, the solar direct parameter of the sampling point is determined to be the first-level sampling parameter, which is the high risk of solar direct.

[0110] As an example, the first angle threshold may be 15°, and the altitude angle threshold may be 20°, that is, Δθ≤15° and φ sun When the temperature is greater than 20°, the direct sunlight parameter of the sampling point is determined to be a first-level sampling parameter. Optionally, the level can also be scored, for example, the first-level sampling parameter score is 8-10 points.

[0111] It should be noted that the first angle threshold and the altitude angle threshold can be set according to actual conditions, and this embodiment does not specifically limit this.

[0112] In some optional implementations of this embodiment, the above method also includes: calculating the absolute value of the difference between the target angle and the preset angle value; in response to determining that the absolute value is less than or equal to the first angle threshold, determining that the direct sunlight parameter of the sampling point is a first-level parameter.

[0113] In this implementation, the above-mentioned execution entity will also calculate the absolute value of the difference between the target angle and the preset angle value, and further determine whether the absolute value is less than or equal to the first angle threshold. If so, the direct sunlight parameter of the sampling point is determined to be a first-level parameter.

[0114] Since the driver is on the left side of the vehicle, the above-mentioned execution subject will also set the direct sunlight parameter to the first-level parameter when determining that the risk of direct sunlight on the left side is high. The preset angle value can be 90°, that is, when |Δθ-90°|≤15°, the direct sunlight parameter of the sampling point is determined to be the first-level parameter. Based on the actual driving situation, another situation of high risk of direct sunlight is added, thereby avoiding the situation of direct sunlight on the driver and ensuring the safety of vehicle driving.

[0115] It should be noted that the preset angle value can be set according to actual conditions, and this embodiment does not make any specific limitation to this.

[0116] Step 502: In response to determining that the target angle is greater than a first angle threshold and less than a second angle threshold, determining that the solar direct radiation parameter of the sampling point is a second level parameter.

[0117] That is, the preset angle threshold also includes a second angle threshold, and the first angle threshold is less than the second angle threshold. If the target angle is greater than the first angle threshold, the execution subject will also determine whether the target angle is less than the second angle threshold. When the target angle is greater than the first angle threshold and less than the second angle threshold, the direct sunlight parameter of the sampling point is determined to be a second-level sampling parameter, which is a medium risk of direct sunlight.

[0118] As an example, the second angle threshold may be 30°, that is, when 15°<Δθ<30°, the direct sunlight parameter of the sampling point is determined to be a second-level sampling parameter. Optionally, the level may be scored, for example, the second-level sampling parameter score is 5-7 points.

[0119] It should be noted that the second angle threshold can be set according to actual conditions, and this embodiment does not make any specific limitation to this.

[0120] Step 503: In response to determining that the target angle is greater than or equal to the second angle threshold, determining that the solar direct radiation parameter of the sampling point is a third-level parameter.

[0121] If the target angle does not satisfy the above relationship, the above execution entity will also determine whether the target angle is greater than or equal to the second angle threshold. When the target angle is greater than or equal to the second angle threshold, the direct sunlight parameter of the sampling point is determined to be the third-level sampling parameter, and the third-level parameter is the low risk of direct sunlight.

[0122] The second angle threshold is still 30° for illustration, that is, when Δθ≥30°, the direct sunlight parameter of the sampling point is determined to be the third-level sampling parameter. Optionally, the level can also be scored, for example, the third-level sampling parameter score is 1-4 points.

[0123] By judging the relationship between the target angle and the preset threshold value and the relationship between the solar altitude angle and the preset altitude angle threshold value, the solar direct radiation parameter at the sampling point is determined, so that the solar direct radiation parameter at the sampling point can be determined accurately and quickly.

[0124] Continue to refer Figure 6 , Figure 6 A process 600 of another embodiment of a method for generating a navigation route according to the present disclosure is shown. The method for generating a navigation route comprises the following steps:

[0125] Step 601: Generate candidate navigation routes according to navigation starting point information and navigation end point information.

[0126] In this embodiment, the execution subject of the method for generating a navigation route (eg Figure 1 The server 105 shown in the figure will generate candidate navigation routes according to the navigation starting point and the navigation end point input or selected by the user. That is, after the user inputs or selects the starting point and the end point, multiple navigation routes can be generated, and the candidate navigation routes here can be the default displayed routes, for example, the candidate navigation routes can be the navigation routes with the "shortest time", the navigation routes with the "fewest traffic lights", the navigation routes with the "shortest distance", and so on.

[0127] Step 602: Divide the candidate navigation route into at least one sub-segment according to the road name information pre-stored in the map.

[0128] In this embodiment, the execution subject divides the candidate navigation route into at least one sub-segment according to the road name information pre-stored in the map. For example, if it is determined from the information stored in the map that the candidate navigation route includes XX East Road, XX West Road, XX South Road and XX North Road, the candidate navigation route can be divided into 4 sub-segments, namely: XX East Road is sub-segment 1, XX West Road is sub-segment 2, XX South Road is sub-segment 3, and XX North Road is sub-segment 4.

[0129] Step 603: determine at least one sampling point on each sub-segment according to a preset interval.

[0130] In this embodiment, the execution subject will determine at least one sampling point from each sub-segment according to a preset interval. For example, each sub-segment is divided at intervals of 20 meters, thereby obtaining a plurality of sampling points corresponding to each sub-segment. Alternatively, the execution subject may also determine the division interval corresponding to each sub-segment according to the length of each sub-segment, thereby dividing the sub-segment according to different division intervals to obtain a plurality of corresponding sampling points. Thus, the candidate navigation route is divided into a plurality of sub-segments, and a plurality of sampling points are determined from each sub-segment. The solar direct radiation parameters of the sub-segment are determined according to the solar direct radiation parameters of the sampling points, thereby improving the accuracy of the solar direct radiation parameters of the sub-segment.

[0131] Step 604: determine a target angle between the path azimuth and the sun azimuth at the sampling point on the candidate navigation route.

[0132] Step 605: Determine the solar radiation parameter of the sub-section according to the target angle of the sampling points included in the sub-section.

[0133] Steps 604-605 are basically consistent with steps 201-202 of the aforementioned embodiment. For specific implementation methods, reference may be made to the aforementioned description of steps 201-202, which will not be repeated here.

[0134] Step 606 , in response to determining that the solar direct radiation parameter of the sub-road section is within a preset range, determining a candidate sub-road section corresponding to the sub-road section.

[0135] In this embodiment, after calculating the solar direct radiation parameter corresponding to each sub-section, the above-mentioned execution body will determine whether the solar direct radiation parameter is within a preset range. If so, the sub-sections in the candidate navigation route need to be updated. The preset range here is a range used to characterize a high degree of solar direct radiation. When the solar direct radiation parameter of a sub-section is within the preset range, it means that the solar direct radiation risk of the sub-section is high. For example, when the solar direct radiation parameter is solar direct radiation level information, the preset range can be a range including medium-level risk and high-level risk; for another example, when the solar direct radiation parameter is a solar direct radiation score, the preset range can be a score range, such as a range of 70-90 points.

[0136] When it is determined that the direct sunlight parameter of the sub-section is within the preset range, it means that the direct sunlight risk of the sub-section is high. At this time, it is necessary to avoid the sub-section in the candidate navigation route, that is, update the sub-section in the candidate navigation route. At this time, another sub-section that can replace the sub-section can be determined first and recorded as the target sub-section.

[0137] Step 607 , in response to determining that the direct sunlight parameter of the candidate sub-segment is not within the preset range, the sub-segment in the candidate navigation route is replaced with the candidate sub-segment to obtain the target navigation route.

[0138] In this embodiment, the above-mentioned execution entity will determine the solar direct radiation parameter of the target sub-section, and judge whether the solar direct radiation parameter of the target sub-section is within a preset range, that is, determine whether the target sub-section has a solar direct radiation risk. If it is determined that the solar direct radiation parameter of the target sub-section is not within the preset range, it proves that the solar direct radiation risk of the target sub-section is low. At this time, the target sub-section can be used to replace the sub-section in the candidate navigation route (the sub-section with the solar direct radiation risk within the preset range), so as to obtain an updated navigation route, that is, the target navigation route.

[0139] from Figure 6 It can be seen that Figure 4 Compared with the corresponding embodiments, the navigation route generation method in this embodiment updates the sub-segment in the candidate navigation route when it is determined that the direct sunlight parameter of the sub-segment is within a preset range, so that the sub-segment is avoided in the final generated target navigation route, reducing the visual interference caused by direct sunlight, thereby improving driving safety and comfort.

[0140] Further references Figure 7 As an implementation of the methods shown in the above figures, the present disclosure provides an embodiment of a navigation route generation device, and the device embodiment is similar to Figure 2 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0141] like Figure 7 As shown, the navigation route generation device 700 of this embodiment includes: an angle determination module 701, a parameter determination module 702 and a route update module 703. The angle determination module 701 is configured to determine the target angle between the path azimuth and the sun azimuth at the sampling point on the candidate navigation route, wherein the candidate navigation route includes at least one sub-segment, and the sub-segment includes at least one sampling point; the parameter determination module 702 is configured to determine the sun direct parameter of the sub-segment according to the target angle of the sampling point included in the sub-segment; the route update module 703 is configured to update the sub-segment in the candidate navigation route in response to determining that the sun direct parameter of the sub-segment is within a preset range, so as to obtain the target navigation route.

[0142] In the present embodiment, in the navigation route generating device 700, the specific processing of the angle determining module 701, the parameter determining module 702 and the route updating module 703 and the technical effects thereof can be referred to in Figure 2 The relevant descriptions of steps 201 - 203 in the corresponding embodiment are not repeated here.

[0143] In some optional implementations of the present embodiment, the above-mentioned navigation route generating device 700 also includes: a candidate route generating submodule, configured to generate a candidate navigation route according to the navigation starting point information and the navigation end point information; a dividing submodule, configured to divide the candidate navigation route into at least one sub-segment according to the road name information pre-stored in the map; and a sampling point determining submodule, configured to determine at least one sampling point from each sub-segment according to a preset interval distance.

[0144] In some optional implementations of this embodiment, the angle determination module includes: a first angle determination submodule, configured to determine the path azimuth at the sampling point based on the longitude and latitude information of the sampling point and the longitude and latitude information of the next sampling point adjacent to the sampling point; a second angle determination submodule, configured to determine the solar azimuth at the sampling point based on the latitude information of the sampling point and the estimated time information of the vehicle arriving at the sampling point; and an angle determination submodule, configured to calculate a target angle between the path azimuth and the solar azimuth.

[0145] In some optional implementations of the present embodiment, the second angle determination submodule is further configured to: calculate the solar hour angle at the sampling point based on the estimated time information of the vehicle arriving at the sampling point; calculate the solar altitude angle at the sampling point based on the solar hour angle at the sampling point, the latitude information of the sampling point, and the solar declination angle at the sampling point; calculate the solar azimuth angle at the sampling point based on the solar declination angle at the sampling point, the latitude information of the sampling point, and the solar altitude angle.

[0146] In some optional implementations of this embodiment, the parameter determination module includes: a sampling point parameter determination submodule, configured to determine the solar direct radiation parameter of the sampling point based on the target angle; and a section parameter determination submodule, configured to determine the solar direct radiation parameter of the subsection based on the solar direct radiation parameters of all sampling points included in the subsection.

[0147] In some optional implementations of this embodiment, the sampling point parameter determination submodule includes: a sampling point parameter determination unit, configured to determine the solar direct parameter of the sampling point based on the relationship between the target angle and the preset angle threshold and the relationship between the solar altitude angle and the preset altitude angle threshold.

[0148] In some optional implementations of this embodiment, the angle threshold includes a first angle threshold and a second angle threshold, wherein the first angle threshold is less than the second angle threshold; and the sampling point parameter determination unit is further configured to: in response to determining that the target angle is less than or equal to the first angle threshold and the solar altitude angle is greater than the altitude angle threshold, determine that the solar direct radiation parameter of the sampling point is a first-level parameter; in response to determining that the target angle is greater than the first angle threshold and less than the second angle threshold, determine that the solar direct radiation parameter of the sampling point is a second-level parameter; in response to determining that the target angle is greater than or equal to the second angle threshold, determine that the solar direct radiation parameter of the sampling point is a third-level parameter.

[0149] In some optional implementations of the present embodiment, the above-mentioned navigation route generating device 700 also includes: a level parameter determination module, configured to calculate the absolute value of the difference between the target angle and the preset angle value; in response to determining that the absolute value is less than or equal to the first angle threshold, determining that the direct sunlight parameter of the sampling point is a first level parameter.

[0150] In some optional implementations of the present embodiment, the road section parameter determination submodule includes: a comprehensive parameter determination unit, configured to determine a comprehensive parameter based on the direct solar radiation parameters of all sampling points included in the sub-section; a weight determination unit, configured to determine the weight of the sub-section based on the length of the sub-section and the length of the candidate navigation route; and a direct radiation parameter determination unit, configured to determine the direct solar radiation parameter of the sub-section based on the weight and the comprehensive parameter.

[0151] In some optional implementations of this embodiment, the comprehensive parameter determination unit is further configured to: calculate the first proportion of the first-level parameters, the second proportion of the second-level parameters, and the third proportion of the third-level parameters in the direct sunlight parameters of all sampling points included in the statistical sub-road section; and determine the comprehensive parameter based on the first proportion, the second proportion, and the third proportion.

[0152] In some optional implementations of the present embodiment, the route update module is further configured to: in response to determining that the solar direct radiation parameter of a sub-segment is within a preset range, determine a candidate sub-segment corresponding to the sub-segment; in response to determining that the solar direct radiation parameter of a candidate sub-segment is not within the preset range, replace the sub-segment in the candidate navigation route with the candidate sub-segment to obtain the target navigation route.

[0153] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0154] Figure 8 A schematic block diagram of an example electronic device 800 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0155] like Figure 8 As shown, the device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0156] Multiple components in the device 800 are connected to the I / O interface 805, including: an input unit 806, such as a keyboard, a mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a disk, an optical disk, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0157] The computing unit 801 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 801 performs the various methods and processes described above, such as the generation method of the navigation route. For example, in some embodiments, the generation method of the navigation route may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 800 via ROM 802 and / or communication unit 809. When the computer program is loaded into RAM 803 and executed by the computing unit 801, one or more steps of the generation method of the navigation route described above may be executed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the generation method of the navigation route by any other appropriate means (e.g., by means of firmware).

[0158] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0159] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0160] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0161] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0162] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0163] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0164] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0165] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for generating a navigation route, comprising: Determine a target angle between a path azimuth and a sun azimuth at a sampling point on a candidate navigation route, wherein the candidate navigation route includes at least one sub-segment, and the sub-segment includes at least one sampling point; Determine the direct solar radiation parameter of the sub-section according to the target angle of the sampling points included in the sub-section; In response to determining that the direct sunlight parameter of the sub-section is within a preset range, the sub-section in the candidate navigation route is updated to obtain a target navigation route.

2. The method according to claim 1, further comprising: Generate the candidate navigation route according to the navigation starting point information and the navigation end point information; Dividing the candidate navigation route into the at least one sub-segment according to the road name information pre-stored in the map; At least one sampling point is determined from each sub-section according to a preset interval.

3. The method according to claim 1, wherein: The step of determining a target angle between a path azimuth and a sun azimuth at a sampling point on the candidate navigation route comprises: Determine the path azimuth at the sampling point according to the latitude and longitude information of the sampling point and the latitude and longitude information of the next sampling point adjacent to the sampling point; Determine the solar azimuth at the sampling point according to the latitude information of the sampling point and the estimated time information of the vehicle arriving at the sampling point; A target angle between the path azimuth and the sun azimuth is calculated.

4. The method according to claim 3, wherein: Determining the solar azimuth at the sampling point according to the latitude information of the sampling point and the estimated time information of the vehicle arriving at the sampling point includes: Calculate the solar hour angle at the sampling point according to the estimated time information of the vehicle arriving at the sampling point; Calculate the solar altitude angle at the sampling point according to the solar hour angle at the sampling point, the latitude information of the sampling point and the solar declination angle at the sampling point; The solar azimuth angle at the sampling point is calculated according to the solar declination angle at the sampling point, the latitude information of the sampling point and the solar altitude angle.

5. The method according to claim 1, wherein: The determining of the solar direct radiation parameter of the sub-section according to the target angle of the sampling points included in the sub-section includes: Determine the direct sunlight parameter of the sampling point according to the target angle; The solar direct radiation parameter of the sub-road section is determined according to the solar direct radiation parameters of all sampling points included in the sub-road section.

6. The method according to claim 5, wherein: The step of determining the direct sunlight parameter of the sampling point according to the target angle comprises: The direct sunlight parameter of the sampling point is determined according to the relationship between the target angle and a preset angle threshold.

7. The method according to claim 6, wherein: The angle threshold comprises a first angle threshold and a second angle threshold, wherein the first angle threshold is smaller than the second angle threshold; and The determining of the direct sunlight parameter of the sampling point according to the relationship between the target angle and a preset angle threshold comprises: In response to determining that the target angle is less than or equal to the first angle threshold and the sun altitude angle is greater than the altitude angle threshold, determining that the sun direct parameter of the sampling point is a first-level parameter; In response to determining that the target angle is greater than the first angle threshold and less than the second angle threshold, determining that the solar direct radiation parameter of the sampling point is a second level parameter; In response to determining that the target angle is greater than or equal to the second angle threshold, determining that the solar direct radiation parameter of the sampling point is a third-level parameter.

8. The method according to claim 7, further comprising: Calculating the absolute value of the difference between the target angle and the preset angle value; In response to determining that the absolute value is less than or equal to the first angle threshold, determining that the solar direct parameter of the sampling point is the first level parameter.

9. The method according to claim 5, wherein: The determining the solar direct radiation parameter of the sub-section according to the solar direct radiation parameters of all sampling points included in the sub-section includes: Determine a comprehensive parameter according to the direct solar radiation parameters of all sampling points included in the sub-section; Determining a weight of the sub-segment according to the length of the sub-segment and the length of the candidate navigation route; The direct solar radiation parameter of the sub-section is determined according to the weight and the comprehensive parameter.

10. The method according to claim 9, wherein: The step of determining the comprehensive parameter according to the direct sunlight parameters of all sampling points included in the sub-section includes: Counting a first proportion of the first-level parameter, a second proportion of the second-level parameter, and a third proportion of the third-level parameter in the direct sunlight parameters of all sampling points included in the sub-section; The comprehensive parameter is determined according to the first specific gravity, the second specific gravity, and the third specific gravity.

11. The method according to any one of claims 1 to 10, wherein: In response to determining that the direct sunlight parameter of the sub-section is within a preset range, updating the sub-section in the candidate navigation route to obtain a target navigation route includes: In response to determining that the solar direct radiation parameter of the sub-road section is within a preset range, determining a candidate sub-road section corresponding to the sub-road section; In response to determining that the direct sunlight parameter of the candidate sub-section is not within the preset range, the sub-section in the candidate navigation route is replaced by the candidate sub-section to obtain the target navigation route.

12. A navigation route generation device, comprising: An angle determination module is configured to determine a target angle between a path azimuth and a sun azimuth at a sampling point on a candidate navigation route, wherein the candidate navigation route includes at least one sub-segment, and the sub-segment includes at least one sampling point; A parameter determination module, configured to determine a solar direct radiation parameter of the sub-section according to a target angle of sampling points included in the sub-section; The route updating module is configured to update the sub-segment in the candidate navigation route in response to determining that the solar direct radiation parameter of the sub-segment is within a preset range to obtain a target navigation route.

13. An electronic device, comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 11.

14. A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to execute the method of any one of claims 1-11.

15. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 11.

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