Driving navigation method and device, vehicle equipment and computer storage medium

Abstract

The invention discloses a driving navigation method which comprises the following steps: extracting target navigation data from first navigation path data according to a current position coordinate and the first navigation path data under the condition of performing driving navigation based on the first navigation path data in a current driving cycle; determining high-precision navigation data according to the target navigation data and pre-stored high-precision map data; and under the condition that the high-precision navigation data does not meet the automatic driving condition, acquiring second navigation path data, and performing driving navigation based on the second navigation path data in the next driving cycle. The embodiment of the invention also provides a driving navigation device, vehicle equipment and a computer storage medium.

Description

Technical Field

[0001] The present invention relates to the field of driving technologies, and particularly to a driving navigation method, device, vehicle equipment, and computer storage medium. Background Art

[0002] During the process of autonomous driving, map data is periodically broadcast in the form of data frames to provide high-precision map data within a certain range in front for upper-layer applications to use. The high-precision map is like a huge information container, covering data including lane information such as slope, curvature, heading, marking type, road surface markings, road restriction information, etc.; data from different map providers have differences in epoch selection, coordinate system selection, tile cutting methods, etc., and there are preferences in data collection by different map providers, and there are differences in data coverage ranges, resulting in the inability to fuse high-precision map data from different map providers, which is manifested at the application level as data breaks, that is, there are connectivity problems at the data edge positions. Such data differences will affect the data quality for the centimeter-level accuracy of high-precision map data and will cause the expression of application functions to be discontinuous.

[0003] Currently, during the process of switching navigation data, common driving navigation technologies cannot solve the breakpoint problems caused by data differences at the data edge positions of different data sources or data versions, reducing the accuracy and real-time performance of driving navigation. Summary of the Invention

[0004] Embodiments of the present invention provide a driving navigation method, device, vehicle equipment, and computer storage medium, which solve the breakpoint problems caused by data differences at the data edge positions of different data sources or data versions, and improve the accuracy and real-time performance of driving navigation.

[0005] The technical solution of the present invention is implemented as follows:

[0006] Embodiments of the present invention provide a driving navigation method, the method including: when performing driving navigation based on first navigation path data in a current driving cycle, extracting target navigation data from the first navigation path data according to a current position coordinate and the first navigation path data;

[0007] Determining high-precision navigation data according to the target navigation data and pre-stored high-precision map data;

[0008] When the high-precision navigation data does not meet the conditions for autonomous driving, obtaining second navigation path data, and performing driving navigation based on the second navigation path data in the next driving cycle.

[0009] Thus, during the process of driving navigation based on the first navigation path data, it is necessary to first extract the target navigation data from the first navigation path data, and then based on the pre-stored high-precision map data, the high-precision navigation data can be obtained. If the high-precision navigation data does not meet the distance length for autonomous driving, it is necessary to re-obtain and load a new data source. Before the position where there is a breakpoint in the navigation data, switch the data source in advance, and in the next driving cycle, perform navigation driving based on the new data source, thus solving the breakpoint problem caused by the data difference at the data connection position of different data sources or data versions, and improving the accuracy and real-time performance of driving navigation.

[0010] Further, the extracting the target navigation data from the first navigation path data according to the current position coordinate and the first navigation path data includes:

[0011] Perform position matching according to the current position coordinate and the first navigation path data to determine the relative position coordinate of the current position coordinate in the first navigation path data;

[0012] Based on the relative position coordinate and the first distance threshold, extract the target navigation data from the first navigation path data.

[0013] Thus, when determining the target navigation data, it is necessary to determine the relative position coordinate of the current position coordinate in the first navigation path data, and then based on the first distance threshold, the target navigation data can be determined, thereby improving the accuracy of the data.

[0014] Further, the determining the high-precision navigation data according to the target navigation data and the pre-stored high-precision map data includes:

[0015] Determine the position information corresponding to the target navigation data;

[0016] According to the position information and the pre-stored high-precision map data, determine the target map data corresponding to the position information;

[0017] Perform matching processing on the target navigation data and the target map data according to a preset matching strategy to determine the high-precision navigation data; wherein, the preset matching strategy includes shape matching and / or direction matching.

[0018] Thus, when determining the high-precision navigation data, according to the position information corresponding to the target navigation data and the pre-stored high-precision map data, the target map data corresponding to the position information can be first determined. Further, perform shape matching and / or direction matching processing on the target navigation data and the target map data, thereby determining the high-precision navigation data, and thus improving the accuracy of driving navigation.

[0019] Further, when the high-precision navigation data does not meet the conditions for autonomous driving, obtaining second navigation path data and performing driving navigation based on the second navigation path data in the next driving cycle includes:

[0020] When the high-precision navigation data does not meet the conditions for autonomous driving, loading the second navigation path data into a preset storage space;

[0021] At the end of the current driving cycle and at the start of the next driving cycle, reading the second navigation path from the preset storage space to perform driving navigation using the second navigation path data.

[0022] In this way, if the distance length of the high-precision navigation data does not meet the requirements for autonomous driving, it is necessary to re-obtain and load a new data source. At the start of the next driving cycle, the driving navigation device performs driving navigation based on the new data source, thereby improving the real-time performance of driving navigation.

[0023] Further, determining a distance parameter corresponding to the high-precision navigation data;

[0024] When the distance parameter is less than a second distance threshold, determining that the high-precision navigation data does not meet the conditions for autonomous driving;

[0025] When the distance parameter is greater than or equal to the second distance threshold, determining that the high-precision navigation data meets the conditions for autonomous driving.

[0026] In this way, it is possible to determine whether the obtained high-precision navigation data meets the conditions for autonomous driving by comparing the distance parameter with the second distance threshold, thereby improving the accuracy of driving navigation.

[0027] Further, when the high-precision navigation data meets the conditions for autonomous driving, performing driving navigation based on the high-precision navigation data.

[0028] In this way, when the length of the obtained high-precision navigation data meets the conditions for autonomous driving, the driving navigation device can perform driving navigation based on the high-precision navigation data, thereby improving the accuracy of driving navigation.

[0029] Further, the data source corresponding to the first navigation path data is different from the data source corresponding to the second navigation path data; or,

[0030] The data version corresponding to the first navigation path data is different from the data version corresponding to the second navigation path data.

[0031] In this way, the navigation path data can be sourced from different data sources or different versions of the same data source. Before the position where there is a breakpoint in the navigation data, by switching the data source in advance, the data difference problem at the breakpoint during the switch is solved.

[0032] Furthermore, the pre-stored high-precision map data is obtained from the map application in advance.

[0033] In this way, high-precision navigation data can be obtained through the pre-stored high-precision map data to improve the accuracy of driving navigation.

[0034] An embodiment of the present invention provides a driving navigation device, and the driving navigation device includes:

[0035] An extraction module, configured to, when performing driving navigation based on the first navigation path data in the current driving cycle, extract target navigation data from the first navigation path data according to the current position coordinates and the first navigation path data;

[0036] A determination module, configured to determine high-precision navigation data according to the target navigation data and the pre-stored high-precision map data;

[0037] An acquisition module, configured to acquire second navigation path data when the high-precision navigation data does not meet the conditions for autonomous driving.

[0038] A navigation module, configured to perform driving navigation based on the second navigation path data in the next driving cycle.

[0039] In this way, during the process of the driving navigation device performing driving navigation based on the first navigation path data, it is necessary to first extract the target navigation data from the first navigation path data, and then based on the pre-stored high-precision map data, high-precision navigation data can be obtained. If the high-precision navigation data does not meet the distance length for autonomous driving, it is necessary to re-acquire and load a new data source. Before the position where there is a breakpoint in the navigation data, switch the data source in advance, and in the next driving cycle, perform navigation driving based on the new data source, thereby solving the breakpoint problem caused by the data difference at the data connection position of different data sources or data versions, and improving the accuracy and real-time performance of driving navigation.

[0040] An embodiment of the present invention provides a vehicle device, including: a processor and a storage medium storing instructions executable by the processor. The storage medium depends on the processor to perform operations through a communication bus. When the instructions are executed by the processor, the driving navigation method described in one or more of the above embodiments is executed.

[0041] An embodiment of the present invention provides a computer storage medium storing executable instructions. When the executable instructions are executed by a processor, the processor executes the driving navigation method described in one or more of the embodiments.

[0042] Advantages of the present invention:

[0043] In the current driving cycle, target navigation data is selected based on the first navigation path data; then, combined with the corresponding high-precision map data, high-precision navigation data is generated; if the high-precision navigation data cannot meet the conditions for autonomous driving, then, in the next driving cycle, a new navigation path data is directly switched, so that the switch can be made in advance at the breakpoint in the high-precision map data, thus solving the breakpoint problem caused by the data difference at the data connection edge of different data sources or data versions, and improving the accuracy and real-time performance of driving navigation. Description of the Drawings

[0044] Figure 1 Flow diagram of a driving navigation method provided by an embodiment of the present invention Figure 1 ;

[0045] Figure 2 Schematic diagram of determining target navigation data provided by an embodiment of the present invention;

[0046] Figure 3 Flow diagram of a driving navigation method provided by an embodiment of the present invention Figure 2 ;

[0047] Figure 4 Flow diagram of data switching for driving navigation proposed by an embodiment of the present invention Figure 1 ;

[0048] Figure 5 Schematic diagram of the edge difference of high-precision data from non-homologous or different versions proposed by an embodiment of the present invention;

[0049] Figure 6 Flow diagram of data switching for driving navigation proposed by an embodiment of the present invention Figure 2 ;

[0050] Figure 7 Schematic diagram of the switching position description proposed by an embodiment of the present invention;

[0051] Figure 8 Schematic diagram of the structure of a driving navigation device provided by an embodiment of the present invention;

[0052] Figure 9 Schematic diagram of the structure of a vehicle device provided by an embodiment of the present invention. Detailed Embodiments

[0053] For an autonomous vehicle, a high-precision navigation map is essential. In related technologies, there is no good way to perform data switching to solve the problem of data differences at the data edge caused by different data sources or data versions. To optimize the driving navigation solution, embodiments of the present invention propose a driving navigation method, device, vehicle equipment, and computer storage medium.

[0054] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0055] Based on the fact that there is no good way to perform data switching in related technologies to solve the problem of data differences at the data edge caused by different data sources or data versions, embodiments of the present invention provide a driving navigation method. This method is used to perform driving navigation on a vehicle and is applied in a driving navigation device. Figure 1 The flowchart of a driving navigation method provided by an embodiment of the present invention Figure 1 , as Figure 1 shown, the driving navigation method may include:

[0056] S101: When performing driving navigation based on the first navigation path data in the current driving cycle, extract target navigation data from the first navigation path data according to the current position coordinates and the first navigation path data.

[0057] In the embodiments of the present invention, in the current driving cycle, the driving navigation device may first perform driving navigation based on the first navigation path data, and then extract the target navigation data from the first navigation path data according to the current position coordinates.

[0058] It should be noted that in the embodiments of the present invention, the first navigation path data may be data from any navigation application, or data from different versions of the same navigation application. The embodiments of the present invention do not make specific limitations.

[0059] Exemplarily, in the embodiments of the present invention, the driving navigation device may obtain the first navigation path data from navigation application A or B or C or D. At this time, the first navigation path data may be from navigation application A or from navigation application B.

[0060] It should be noted that in the embodiments of the present invention, the target navigation data may be determined from the data of the first navigation map according to the position of the current position coordinate information in the data of the first navigation map after the destination is determined.

[0061] That is to say, in the embodiments of the present invention, in the current driving cycle, the driving navigation device can first perform driving navigation based on the acquired first navigation path data. At the same time, the driving navigation device can also extract target navigation data from the first navigation path data.

[0062] Further, in the embodiments of the present invention, when extracting target navigation data from the first navigation path data according to the current position coordinates and the first navigation path data, position matching can be first performed according to the current position coordinates and the first navigation path data to determine the relative position coordinates of the current position coordinates in the first navigation path data; then, based on the relative position coordinates and the first distance threshold, target navigation data is extracted from the first navigation path data.

[0063] That is to say, in the embodiments of the present invention, when the driving navigation device extracts target navigation data from the first navigation path data, it is necessary to first determine the relative position coordinates of the current position coordinates in the first navigation path data, and then based on the relative position coordinates and the first distance threshold, extract the target navigation data.

[0064] It should be noted that, in the embodiments of the present invention, the current position coordinates are obtained from a map application, or can also be obtained from a GPS (Global Positioning System).

[0065] It should be noted that, in the embodiments of the present invention, the current position coordinates can be data from any one navigation application, and the current position coordinates can also be data from different versions of the same navigation application. The embodiments of the present invention do not make specific limitations.

[0066] It should be noted that, in the embodiments of the present invention, the current position coordinates are the position coordinates where the driving navigation device is currently located.

[0067] It should be noted that, in the embodiments of the present invention, the relative position coordinates are the relative positions of the current position coordinates in the first navigation path data.

[0068] It should be noted that, in the embodiments of the present invention, the first distance threshold is the minimum distance required for autonomous driving navigation, and the second distance threshold is the minimum distance for high-precision navigation of autonomous driving navigation.

[0069] It should be noted that, in the embodiments of the present invention, the first distance threshold and the second distance threshold can be the same or different.

[0070] It should be noted that, in the embodiments of the present invention, the first distance threshold can be any value greater than 0. For example, the first distance threshold can be 3, and the first distance threshold can also be 3.5. The embodiments of the present invention do not make specific limitations.

[0071] Further, in the embodiments of the present invention, the driving navigation device needs to first perform position matching according to the current position coordinates and the first navigation path data before it can determine the relative position coordinates of the current position coordinates in the first navigation path data.

[0072] It should be noted that in the embodiments of the present invention, position matching can be used to match the current position coordinates in the first navigation path data.

[0073] Further, in the embodiments of the present invention, after determining the relative position coordinates, target navigation data can be further extracted from the first navigation path data based on the relative position coordinates and the first distance threshold.

[0074] That is to say, in the embodiments of the present invention, the target navigation data can be extracted from the first navigation path data based on the relative position coordinates and the first distance threshold.

[0075] S102: Determine high-precision navigation data according to the target navigation data and the pre-stored high-precision map data.

[0076] In the embodiments of the present invention, in the case of performing driving navigation based on the first navigation path data in the current driving cycle, after the driving navigation device extracts the target navigation data from the first navigation path data according to the current position coordinates and the first navigation path data, the high-precision navigation data can be determined according to the target navigation data and the pre-stored high-precision map data.

[0077] Further, in the embodiments of the present invention, when determining the high-precision navigation data according to the target navigation data and the pre-stored high-precision map data, determine the position information corresponding to the target navigation data; according to the position information and the pre-stored high-precision map data, determine the target map data corresponding to the position information; perform matching processing on the target navigation data and the target map data according to a preset matching strategy to determine the high-precision navigation data; wherein, the preset matching strategy includes shape matching and / or direction matching (to prevent mis-matching of circular or U-shaped roads).

[0078] That is to say, in the embodiments of the present invention, when determining the high-precision navigation data, after determining the position information corresponding to the target navigation data, according to the position information and the pre-stored high-precision map data, the target map data corresponding to the position information can be determined, and then the target navigation data and the target map data can be subjected to shape matching and / or direction matching processing to determine the high-precision navigation data.

[0079] It should be noted that in the embodiments of the present invention, the pre-stored high-precision map data is obtained from a map application.

[0080] It should be noted that in the embodiments of the present invention, the pre-stored high-precision map data can be data from any map application, or can be data from different versions of the same map application. The embodiments of the present invention do not make specific limitations.

[0081] It should be noted that in the embodiments of the present invention, the high-precision navigation data is navigation data that meets high precision, and the unit of its navigation data can be centimeter-level.

[0082] It should be noted that in the embodiments of the present invention, the preset matching strategy includes but is not limited to shape matching and / or direction matching.

[0083] Exemplarily, in some embodiments, the shape matching can be the matching of the navigation area near the bus stop, and the direction matching can be the matching of the straight line and curve of the navigation.

[0084] It should be noted that in the embodiments of the present invention, the position information is one or more position coordinates corresponding to the target navigation data.

[0085] It should be noted that in the embodiments of the present invention, the target map data is determined according to the position information and the pre-stored high-precision map data. The driving navigation device can determine the position information corresponding to the target navigation data, that is, the specific position of the target navigation data in the navigation map.

[0086] Exemplarily, in the embodiments of the present invention, Figure 2 is a schematic diagram of a method for determining target navigation data provided by the embodiments of the present invention. As Figure 2 shown, the method for determining the target navigation data may include: when extracting the target navigation data, it can be extracted according to the position information of five points A, B, C, D, and E. At the same time, when generating the high-precision map data based on the target navigation data and the pre-stored high-precision map data, the map data around the corresponding five points A, B, C, D, and E can be obtained from the pre-stored high-precision map data, and finally the high-precision map data is generated.

[0087] Further, in the embodiments of the present invention, according to the position information and the pre-stored high-precision map data, the target map data corresponding to the position information is determined.

[0088] That is to say, in the embodiments of the present invention, the driving navigation device can determine the target map data corresponding to the position information according to the position information and the pre-stored high-precision map data.

[0089] It should be noted that in the embodiments of the present invention, only by finding the map data corresponding to the position information from the navigation path data can the target navigation data be obtained.

[0090] It should be noted that in the embodiments of the present invention, the pre-stored high-precision map data can be the high-precision map data stored in the cloud and can be obtained from a map application.

[0091] Further, in the embodiments of the present invention, the target navigation data and the target map data are matched according to a preset matching strategy to determine the high-precision navigation data; wherein, the preset matching strategy includes shape matching and / or direction matching.

[0092] That is to say, in the embodiments of the present invention, when determining the high-precision navigation data, it is necessary to perform shape matching and / or direction matching processing on the target navigation data and the target map data according to the preset matching strategy.

[0093] Exemplarily, in the embodiments of the present invention, the shape matching can be the matching of the navigation area near a bus stop or the shape matching at a fork in the road, and the direction matching can be the matching of the straight line and curve of the navigation.

[0094] It should be noted that in the embodiments of the present invention, the high-precision navigation data is obtained after matching the target navigation data and the target map data.

[0095] It should be noted that in the embodiments of the present invention, the target navigation data is extracted from the first navigation path data according to the relative position coordinates in the first navigation path data and the condition of the first distance threshold based on the current position coordinates.

[0096] S103: In the case where the high-precision navigation data does not meet the conditions for autonomous driving, obtain the second navigation path data and perform driving navigation based on the second navigation path data in the next driving cycle.

[0097] In the embodiments of the present invention, after determining the high-precision navigation data according to the target navigation data and the pre-stored high-precision map data, when the high-precision navigation data does not meet the conditions for autonomous driving, the driving navigation device directly obtains the second navigation path data, and in the next driving cycle, the driving navigation device performs driving navigation according to the second navigation path data.

[0098] Further, in the embodiments of the present invention, in the case where the high-precision navigation data does not meet the conditions for autonomous driving, when obtaining the second navigation path data and performing driving navigation based on the second navigation path data in the next driving cycle, in the case where the high-precision navigation data does not meet the conditions for autonomous driving, load the second navigation path data into a preset storage space; at the end of the current driving cycle and at the start of the next driving cycle, read the second navigation path from the preset storage space to perform driving navigation using the second navigation path data.

[0099] That is to say, in the embodiments of the present invention, when the high-precision navigation data does not meet the conditions for autonomous driving, the second navigation path data can be obtained. Before the breakpoint occurs in the navigation data, the new navigation data is loaded into the preset storage space in advance, and in the next driving cycle, the driving navigation device uses the second navigation path data for driving navigation, so that there will be no breakpoint problem.

[0100] It should be noted that in the embodiments of the present invention, the autonomous driving conditions are used to determine the minimum distance requirement for high precision to meet the requirements of autonomous driving for high-precision navigation data.

[0101] It should be noted that in the embodiments of the present invention, whether the minimum distance requirement for high precision to meet the requirements of autonomous driving can be judged by the second distance threshold.

[0102] It should be noted that in the embodiments of the present invention, the second distance threshold can be any value greater than 0. For example, the second distance threshold can be 1 km, and the second distance threshold can also be 2 km. The embodiments of the present invention do not make specific limitations.

[0103] It should be noted that in the embodiments of the present invention, the first distance threshold and the second distance threshold are different.

[0104] It should be noted that in the embodiments of the present invention, the first distance threshold is a value greater than the second distance threshold.

[0105] It should be noted that in the embodiments of the present invention, the second navigation path data is different from the data source of the first navigation path data or has a different data version from the first navigation path data.

[0106] Exemplarily, in the embodiments of the present invention, the first navigation path data can be from navigation application A, and the second navigation path data can be from navigation application B. Or, the first navigation path data can be from version V1.2 of navigation application A, and the second navigation path data can be from version V1.5 of navigation application A.

[0107] It should be noted that in the embodiments of the present invention, the next driving cycle is the driving cycle after the current driving cycle.

[0108] Exemplarily, in the embodiments of the present invention, the cycle can be calculated by time or by distance.

[0109] Exemplarily, in the embodiments of the present invention, the cycle can be half an hour or one hour, or the cycle can be 5 km or 6 km.

[0110] Exemplarily, in an embodiment of the present invention, the current driving cycle can be a half-hour between the current four o'clock and half past four, or a driving cycle of every 5 km, and the next driving cycle is the driving cycle starting from the second 5 km.

[0111] Further, in an embodiment of the present invention, when the high-precision navigation data does not meet the conditions for autonomous driving, the second navigation path data is loaded into a preset storage space.

[0112] It should be noted that when the high-precision navigation data does not meet the conditions for autonomous driving, it can be considered that the current high-precision navigation data cannot provide navigation services for autonomous driving for a longer time. Therefore, new navigation data needs to be loaded, so the second navigation path data needs to be obtained.

[0113] Further, in an embodiment of the present invention, after the second navigation path data is loaded into the preset storage space, when the current driving cycle ends and the next driving cycle starts, the second navigation path is read from the preset storage space to use the second navigation path data for driving navigation.

[0114] That is to say, in an embodiment of the present invention, after the second navigation path data is loaded into the preset storage space in advance, the judgment of whether the conditions for autonomous driving are met is made in advance. When the conditions for autonomous driving are not met, the loading of the second navigation path data is completed in advance. Therefore, before the breakpoint occurs, the data loading has been completed, and there will be no problem of switching at the breakpoint when the next driving cycle starts.

[0115] Further, in an embodiment of the present invention, when judging whether the conditions for autonomous driving are met, a distance parameter corresponding to the high-precision navigation data is determined; when the distance parameter is less than a second distance threshold, it is determined that the high-precision navigation data does not meet the conditions for autonomous driving; when the distance parameter is greater than or equal to the second distance threshold, it is determined that the high-precision navigation data meets the conditions for autonomous driving.

[0116] That is to say, in an embodiment of the present invention, when judging whether the high-precision navigation data meets the conditions for autonomous driving, it is necessary to first determine the distance parameter corresponding to the high-precision navigation data and compare the distance parameter with the second distance threshold. When the distance parameter is less than the second distance threshold, it is determined that the high-precision navigation data does not meet the conditions for autonomous driving. When the distance parameter is greater than or equal to the second distance threshold, it is determined that the high-precision navigation data meets the conditions for autonomous driving.

[0117] It should be noted that in the embodiments of the present invention, the distance parameter corresponding to the high-precision navigation data needs to meet certain data length requirements. For example, the distance parameter corresponding to the high-precision navigation data is any value greater than or equal to 0. For example, the distance parameter corresponding to the high-precision navigation data can be 1 or 2. The embodiments of the present invention do not make specific limitations.

[0118] It should be noted that in the embodiments of the present invention, the second distance threshold can be a value greater than or equal to 2 km. For example, the second distance threshold can be 3 km or 3.5 km. The embodiments of the present invention do not make specific limitations.

[0119] Furthermore, in the embodiments of the present invention, the distance parameter corresponding to the high-precision navigation data is determined.

[0120] That is to say, in the embodiments of the present invention, the driving navigation device can determine the distance parameter corresponding to the high-precision navigation data.

[0121] It should be noted that in the embodiments of the present invention, in order to meet the requirements of autonomous driving, the distance parameter needs to meet a certain data length. For example, the distance parameter needs to meet the set second distance threshold, which represents its minimum second distance threshold.

[0122] Exemplarily, in the embodiments of the present invention, the second distance threshold can be any value greater than 0. For example, the second distance threshold can be 1 or 1.5. The embodiments of the present invention do not make specific limitations.

[0123] It should be noted that in the embodiments of the present invention, the second distance threshold is less than the first distance threshold.

[0124] It should be noted that in the embodiments of the present invention, the distance parameter is less than the distance of the target navigation data for generating the high-precision navigation data.

[0125] Exemplarily, in the embodiments of the present invention, if the determined distance parameter is 1.5 km and the second distance threshold is 2 km, it can be considered that the high-precision navigation data does not meet the autonomous driving conditions.

[0126] Exemplarily, in the embodiments of the present invention, if the determined distance parameter is 2.5 km and the second distance threshold is 2 km, it can be considered that the high-precision navigation data meets the autonomous driving conditions.

[0127] Furthermore, in the embodiments of the present invention, when the distance parameter is greater than or equal to the second distance threshold, it is determined that the high-precision navigation data meets the autonomous driving conditions.

[0128] That is to say, in the embodiments of the present invention, after comparing the distance parameter with the second distance threshold, when the distance parameter is greater than or equal to the second distance threshold, it can be determined that the high-precision navigation data meets the automatic driving condition.

[0129] Further, in the embodiments of the present invention, when the high-precision navigation data meets the automatic driving condition, driving navigation is performed based on the high-precision navigation data.

[0130] That is to say, in the embodiments of the present invention, when the high-precision navigation data meets the automatic driving condition, that is, the length of the high-precision navigation data meets certain length requirements, the driving navigation device can perform driving navigation based on the high-precision navigation data, that is, there is no need to switch data, nor will there be a breakpoint problem during data switching.

[0131] Further, in the embodiments of the present invention, the data source corresponding to the first navigation path data is different from the data source corresponding to the second navigation path data; or, the data version corresponding to the first navigation path data is different from the data version corresponding to the second navigation path data.

[0132] In summary, a driving navigation method is proposed through S101 to S103. The method includes: when performing driving navigation based on the first navigation path data in the current driving cycle, extracting target navigation data from the first navigation path data according to the current position coordinates and the first navigation path data; determining high-precision navigation data according to the target navigation data and the pre-stored high-precision map data; when the high-precision navigation data does not meet the automatic driving condition, obtaining the second navigation path data and performing driving navigation based on the second navigation path data in the next driving cycle. Thus, it can be seen that in the embodiments of the present invention, the target navigation data is extracted from the first navigation path data in the current driving cycle to perform driving in the current cycle. The high-precision navigation data can be determined through the target navigation data and the pre-stored high-precision map data, and driving is performed according to the currently determined navigation data. If the high-precision navigation data does not meet the automatic driving condition, it is necessary to re-obtain the navigation path data and perform driving navigation according to the re-obtained navigation path data in the next driving cycle, which can be switched before the breakpoint in advance, solving the breakpoint problem caused by the data difference at the edge position of data with different data sources or data versions, and improving the accuracy and real-time performance of driving navigation.

[0133] An embodiment of the present invention provides a driving navigation method. In the current driving cycle, driving navigation is first performed according to the first navigation path data, and then the determined target navigation data is matched with the pre-stored high-precision map data to determine the high-precision navigation data. If the high-precision navigation data does not meet the conditions for autonomous driving, new navigation path data is obtained, and driving navigation is performed based on the new navigation path data in the next driving cycle.

[0134] Based on the above embodiment, another embodiment of the present invention provides a driving navigation method. This method is applied to a driving navigation device. When driving navigation is performed based on the first navigation path data in the current driving cycle, position matching is performed according to the current position coordinates and the first navigation path data to determine the relative position coordinates of the current position coordinates in the first navigation path data. Based on the relative position coordinates and the first distance threshold, target navigation data is extracted from the first navigation path data, and then the position information is determined from the target navigation data. According to the position information and the pre-stored high-precision map data, the target map data corresponding to the position information is determined. Matching processing is performed on the target navigation data and the target map data according to shape matching and / or direction matching, so that the high-precision navigation data can be determined. The distance parameter corresponding to the high-precision navigation data is determined. When the distance parameter is less than the second distance threshold, it is determined that the high-precision navigation data does not meet the conditions for autonomous driving. When the distance parameter is greater than or equal to the second distance threshold, it is determined that the high-precision navigation data meets the conditions for autonomous driving, and then driving navigation is performed based on the high-precision navigation data. When the high-precision navigation data does not meet the conditions for autonomous driving, second navigation path data is obtained and loaded into a preset storage space, and driving navigation is performed based on the second navigation path data in the next driving cycle.

[0135] Further, in the embodiment of the present invention, Figure 3 is a flowchart of a driving navigation method provided by an embodiment of the present invention Figure 2 , such as Figure 3 shown:

[0136] S201. When driving navigation is performed based on the first navigation path data in the current driving cycle, position matching is performed according to the current position coordinates and the first navigation path data to determine the relative position coordinates of the current position coordinates in the first navigation path data.

[0137] In the embodiment of the present invention, in the current driving cycle, the driving navigation device can first perform driving navigation based on the first navigation path data, and then determine the relative position coordinates of the current position coordinates from the first navigation path data.

[0138] It should be noted that in the embodiments of the present invention, the first navigation path data may be data from any navigation application, or may be data from different versions of the same navigation application. The embodiments of the present invention do not make specific limitations.

[0139] Exemplarily, in the embodiments of the present invention, the driving navigation device may obtain the first navigation path data from navigation application A, B, C, or D. At this time, the first navigation path data may be from navigation application A or navigation application B.

[0140] It should be noted that in the embodiments of the present invention, position matching can be used to match the current position coordinates in the first navigation path data.

[0141] It should be noted that in the embodiments of the present invention, the current position coordinates are obtained from a map application, or may also be obtained from a GPS (Global Positioning System).

[0142] It should be noted that in the embodiments of the present invention, the current position coordinates may be data from any navigation application, or may be data from different versions of the same navigation application. The embodiments of the present invention do not make specific limitations.

[0143] It should be noted that in the embodiments of the present invention, the current position coordinates are the position coordinates where the driving navigation device is currently located.

[0144] It should be noted that in the embodiments of the present invention, the relative position coordinates are the relative positions of the current position coordinates in the first navigation path data.

[0145] It should be noted that in the embodiments of the present invention, the first distance threshold is the minimum distance required for autonomous driving navigation, and the second distance threshold is the minimum distance for high-precision navigation of autonomous driving navigation.

[0146] S202. Extract target navigation data from the first navigation path data based on the relative position coordinates and the first distance threshold.

[0147] In the embodiments of the present invention, when performing driving navigation based on the first navigation path data in the current driving cycle, after performing position matching according to the current position coordinates and the first navigation path data to determine the relative position coordinates of the current position coordinates in the first navigation path data, target navigation data can be extracted from the first navigation path data based on the relative position coordinates and the first distance threshold.

[0148] That is to say, in the embodiments of the present invention, the target navigation data can be extracted from the first navigation path data based on the relative position coordinates and the first distance threshold.

[0149] It should be noted that in the embodiments of the present invention, the first distance threshold and the second distance threshold may be the same or different.

[0150] It should be noted that in the embodiments of the present invention, the first distance threshold can be any value greater than 0. For example, the first distance threshold can be 3, and the first distance threshold can also be 3.5. The embodiments of the present invention do not make specific limitations.

[0151] It should be noted that in the embodiments of the present invention, after determining the destination, the target navigation data can be determined from the data of the first navigation map according to the position of the current position coordinate information in the data of the first navigation map.

[0152] That is to say, in the embodiments of the present invention, in the current driving cycle, the driving navigation device can first perform driving navigation based on the acquired first navigation path data. At the same time, the driving navigation device can also extract the target navigation data from the first navigation path data.

[0153] S203. Determine the position information corresponding to the target navigation data.

[0154] In the embodiments of the present invention, after extracting the target navigation data from the first navigation path data based on the relative position coordinates and the first distance threshold, the position information corresponding to the target navigation data can be determined.

[0155] That is to say, in the embodiments of the present invention, when determining the high-precision navigation data, the driving navigation device can first determine the position information corresponding to the target navigation data.

[0156] S204. Determine the target map data corresponding to the position information according to the position information and the pre-stored high-precision map data.

[0157] In the embodiments of the present invention, after determining the position information corresponding to the target navigation data, the target map data corresponding to the position information can be determined based on the position information and the pre-stored high-precision map data.

[0158] That is to say, in the embodiments of the present invention, the driving navigation device can determine the target map data corresponding to the position information according to the position information and the pre-stored high-precision map data.

[0159] It should be noted that in the embodiments of the present invention, only by finding the map data corresponding to the position information from the navigation path data can the target navigation data be obtained.

[0160] It should be noted that in the embodiments of the present invention, the pre-stored high-precision map data is obtained from a map application.

[0161] It should be noted that in the embodiments of the present invention, the pre-stored high-precision map data can be data from any map application, or can be data from different versions of the same map application. The embodiments of the present invention do not make specific limitations.

[0162] It should be noted that in the embodiments of the present invention, the position information is one or more position coordinates corresponding to the target navigation data.

[0163] It should be noted that in the embodiments of the present invention, the target map data is determined according to the position information and the pre-stored high-precision map data. The driving navigation device can determine the position information corresponding to the target navigation data, that is, the specific position of the target navigation data in the navigation map.

[0164] S205. Perform a matching process on the target navigation data and the target map data according to a preset matching strategy to determine the high-precision navigation data; wherein, the preset matching strategy includes shape matching and / or direction matching.

[0165] In the embodiments of the present invention, after determining the target map data corresponding to the position information according to the position information and the pre-stored high-precision map data, then perform shape matching and / or direction matching on the target navigation data and the target map data, so as to determine the high-precision navigation data.

[0166] That is to say, in the embodiments of the present invention, when determining the high-precision navigation data, it is necessary to perform shape matching and / or direction matching processing on the target navigation data and the target map data according to a preset matching strategy.

[0167] It should be noted that in the embodiments of the present invention, the high-precision navigation data is navigation data that meets high precision, and the unit of its navigation data can be centimeter-level.

[0168] It should be noted that in the embodiments of the present invention, the preset matching strategy includes but is not limited to shape matching and / or direction matching.

[0169] Exemplarily, in some embodiments, the shape matching can be the matching of the navigation area near the bus stop, and the direction matching can be the matching of the straight line and curve of the navigation.

[0170] It should be noted that in the embodiments of the present invention, the high-precision navigation data is obtained after performing a matching process on the target navigation data and the target map data.

[0171] It should be noted that, in the embodiments of the present invention, the target navigation data is extracted from the first navigation path data according to the relative position coordinates in the first navigation path data of the current position coordinates and the condition of the first distance threshold.

[0172] S206. Determine the distance parameter corresponding to the high-precision navigation data.

[0173] In the embodiments of the present invention, after performing the matching process on the target navigation data and the target map data according to the preset matching strategy to determine the high-precision navigation data, the distance parameter corresponding to the high-precision navigation data can be determined first.

[0174] It should be noted that, in the embodiments of the present invention, the distance parameter corresponding to the high-precision navigation data needs to meet certain data length requirements. For example, any value greater than or equal to 0 of the distance parameter corresponding to the high-precision navigation data. For example, the distance parameter corresponding to the high-precision navigation data can be 1 or 2. The embodiments of the present invention do not make specific limitations.

[0175] It should be noted that, in the embodiments of the present invention, the distance parameter is less than the distance of the target navigation data for generating the high-precision navigation data.

[0176] S207. Determine whether the distance parameter corresponding to the high-precision navigation data is greater than the second distance threshold.

[0177] In the embodiments of the present invention, after determining the distance parameter corresponding to the high-precision navigation data, the distance parameter corresponding to the high-precision navigation data is compared with the second distance threshold.

[0178] It should be noted that, in the embodiments of the present invention, the second distance threshold can be a value greater than or equal to 2 km. For example, the second distance threshold can be 3 km, or the second distance threshold can also be 3.5 km. The embodiments of the present invention do not make specific limitations.

[0179] It should be noted that, in the embodiments of the present invention, the first distance threshold and the second distance threshold are different.

[0180] It should be noted that, in the embodiments of the present invention, the first distance threshold is a value greater than the second distance threshold.

[0181] After comparing the size of the distance parameter corresponding to the high-precision navigation data with the second distance threshold, if the distance parameter is less than the second distance threshold, then execute S208; otherwise, execute S210.

[0182] S208. Load the second navigation path data into the preset storage space.

[0183] In an embodiment of the present invention, after comparing the distance parameter corresponding to the high-precision navigation data with the second distance threshold, when the distance parameter is less than the second distance threshold, the second navigation path data can be loaded into a preset storage space.

[0184] It should be noted that when the high-precision navigation data does not meet the conditions for autonomous driving, it can be considered that the current high-precision navigation data cannot provide navigation services for autonomous driving for a longer time. Therefore, new navigation data needs to be loaded, so the second navigation path data needs to be obtained.

[0185] Exemplarily, in an embodiment of the present invention, when the determined distance parameter is 1.5 km and the second distance threshold is 2 km, it can be considered that the high-precision navigation data does not meet the conditions for autonomous driving.

[0186] It should be noted that in an embodiment of the present invention, the conditions for autonomous driving are used to determine the minimum distance requirement for high-precision navigation data to meet the requirements of autonomous driving.

[0187] It should be noted that in an embodiment of the present invention, whether the high-precision navigation data meets the minimum distance requirement for autonomous driving can be judged by the second distance threshold.

[0188] It should be noted that in an embodiment of the present invention, the second navigation path data is different from the data source of the first navigation path data or has a different data version from the first navigation path data.

[0189] Exemplarily, in an embodiment of the present invention, the first navigation path data can be from navigation application A, and the second navigation path data can be from navigation application B. Or, the first navigation path data can be from version V1.2 of navigation application A, and the second navigation path data can be from version V1.5 of navigation application A.

[0190] S209. At the end of the current driving cycle and at the start of the next driving cycle, read the second navigation path from the preset storage space to use the second navigation path data for driving navigation.

[0191] In an embodiment of the present invention, after the second navigation path data is loaded into the preset storage space, the driving navigation device performs driving navigation based on the second navigation path data at the start of the next driving cycle.

[0192] It should be noted that in an embodiment of the present invention, the next driving cycle is a driving cycle after the current driving cycle.

[0193] Exemplarily, in an embodiment of the present invention, the cycle can be calculated by time or by distance.

[0194] Exemplarily, in an embodiment of the present invention, the period can be half an hour or one hour, or the period can be 5 km, or 6 km.

[0195] Exemplarily, in an embodiment of the present invention, the current driving period can be the half hour between the current four o'clock and four thirty, or the driving period for every 5 km. The next driving period is the driving period starting from the second 5 km.

[0196] S210. Perform driving navigation based on high-precision navigation data.

[0197] In an embodiment of the present invention, after comparing the distance parameter corresponding to the high-precision navigation data with the second distance threshold, when the distance parameter is greater than or equal to the second distance threshold, driving navigation can continue based on the high-precision navigation data.

[0198] That is to say, in an embodiment of the present invention, after comparing the distance parameter with the second distance threshold, when the distance parameter is greater than or equal to the second distance threshold, it can be determined that the high-precision navigation data meets the automatic driving conditions.

[0199] That is to say, in an embodiment of the present invention, when the high-precision navigation data meets the automatic driving conditions, that is, the length of the high-precision navigation data meets a certain length requirement, the driving navigation device can perform driving navigation based on the high-precision navigation data, that is, there is no need to switch data, nor will there be a breakpoint problem during data switching.

[0200] Exemplarily, in an embodiment of the present invention, if the determined distance parameter is 2.5 km and the second distance threshold is 2 km, it can be considered that the high-precision navigation data meets the automatic driving conditions.

[0201] It should be noted that, in an embodiment of the present invention, in order to meet the requirements of automatic driving, the distance parameter needs to meet a certain data length. For example, the distance parameter needs to meet the set second distance threshold, which represents the minimum second distance threshold.

[0202] In summary, a driving navigation method is proposed through S201 to S210. The method includes: when performing driving navigation based on the first navigation path data in the current driving cycle, performing position matching according to the current position coordinates and the first navigation path data to determine the relative position coordinates of the current position coordinates in the first navigation path data. Based on the relative position coordinates and the first distance threshold, extracting target navigation data from the first navigation path data, then determining the position information from the target navigation data, and according to the position information and the pre-stored high-precision map data, determining the target map data corresponding to the position information; performing matching processing on the target navigation data and the target map data according to shape matching and / or direction matching, so as to determine the high-precision navigation data; determining the distance parameter corresponding to the high-precision navigation data; when the distance parameter is less than the second distance threshold, determining that the high-precision navigation data does not meet the automatic driving condition; when the distance parameter is greater than or equal to the second distance threshold, determining that the high-precision navigation data meets the automatic driving condition, and then performing driving navigation based on the high-precision navigation data; when the high-precision navigation data does not meet the automatic driving condition, obtaining the second navigation path data and loading the second navigation path data into the preset storage space; and performing driving navigation based on the second navigation path data in the next driving cycle.

[0203] It can be seen that in the embodiment of the present invention, in the current driving cycle, the target navigation data is extracted from the first navigation path data to perform the driving of the current cycle. The high-precision navigation data can be determined through the target navigation data and the pre-stored high-precision map data, and the driving is performed according to the currently determined navigation data. If the high-precision navigation data does not meet the automatic driving condition, it is necessary to re-obtain the navigation path data. In the next driving cycle, the driving navigation is performed according to the re-obtained navigation path data, and the switching can be performed in advance before the breakpoint, which solves the breakpoint problem caused by the data difference at the data connection position of different data sources or data versions, and improves the accuracy and real-time performance of driving navigation.

[0204] In an optional embodiment, it is based on the navigation map (the first navigation path data), and the navigation map (the first navigation path data) is matched with the high-precision map data to determine the range of the high-precision map data of the existing data source and the range of the data that needs to be broadcast to the user side. The whole scheme is divided into the following steps. Figure 4 Schematic diagram of the data switching process of the driving navigation proposed in the embodiment of the present invention Figure 2 , as Figure 4 shown:

[0205] S301. Determine the relative position of the current position (current position coordinates) on the navigation map

[0206] Match the current position coordinates, the corresponding heading angle information with the navigation map data (the first navigation path data) to determine the relative position on the navigation path, and extract 2 km of navigation data sd_data (high-precision map data on the 2 km path required for autonomous driving) forward from the current position;

[0207] First, match it with the navigation map data, and then determine the relative position of the current position on the navigation map, and extract 2 km (the first distance threshold) of navigation data (target navigation data).

[0208] S302. Navigate and match with the high-precision data of the current data source to obtain the data coverage range

[0209] Explore forward along sd_data, extract the high-precision data (pre-stored high-precision map data) around the path along the path, and match the center line of the high-precision data with the navigation route in terms of shape and direction (shape matching and / or direction matching) to obtain the navigation path length sd_length of the matched high-precision data (high-precision navigation data);

[0210] S303. Switch the data source (the second navigation path data)

[0211] If the length of sd_length is less than the navigation path length (2 km) (the second distance threshold) (the autonomous driving condition is not met), then trigger the loading of a new data source (the second navigation path data), initialize the corresponding data source object, and load the data of the new data source into the global data cache. The data loaded from the data cache in the next data production cycle (the next driving cycle) is the data of the new data source, so as to achieve the data switching function; if the data of the second data source does not cover this route, it will cause the initialization failure of the new data object, and the data sent to the application side in subsequent cycles is still the data of the current data source until the data ends and the application side function exits.

[0212] Exemplarily, in the embodiments of the present invention, Figure 5 is a schematic diagram of the edge connection difference of high-precision data of non-homologous or different versions proposed in the embodiments of the present invention, as Figure 5 shown. The high-precision map data uses a fixed area division of 12-level tiles to divide the map data into different regions for storage. Due to reasons such as the acquisition positioning coordinate epochs or production processes of different versions of data or different data sources, there will be problems where the geometric structures cannot be aligned at the data tile edge connection positions; secondly, there will also be problems where the topological relationships cannot be expressed at the edge connection positions, that is, for the same ground geometry, the IDs used in different data sources or data versions are inconsistent, resulting in the lack of topological relationships when used.

[0213] Exemplarily, in the embodiments of the present invention, Figure 6Schematic diagram of the data switching process for driving navigation proposed in the embodiments of the present invention Figure 2 , as shown in Figure 6 . The role of navigation data is to identify the data range to be broadcast. The autonomous vehicle will move forward along the navigation direction and select the lane information described in the high-precision map near the navigation route for lane-level path planning. Therefore, navigation is an important basis for determining the data broadcast range. The specific implementation process includes the following steps:

[0214] 1) Obtain navigation path data (first navigation path data) from the navigation service;

[0215] 2) Obtain the current position information from the GPS locator;

[0216] 3) Match the position information with the navigation map information, requiring the closest coordinate distance and the same orientation of the positioning position and the navigation direction (shape matching and / or direction matching) (to prevent mis-matching on circular or U-shaped roads);

[0217] 4) Intercept 2 km of navigation route data (target navigation data) sd_path forward from the position on the matched navigation;

[0218] 5) Read the nearby high-precision map data (pre-stored high-precision map data) along the navigation data sd_path, and match the read high-precision with the navigation data in terms of shape and direction, so as to judge whether the coverage length sd_length of the high-precision map around the navigation route meets the requirements (autonomous driving conditions);

[0219] 6) If the coverage length sd_length is less than the required 2 km (does not meet the autonomous driving conditions), trigger the data source manager to initialize a new data source object and load the corresponding data (second navigation path data) into the data buffer for the data publisher to call. In the next data publishing cycle (the next driving cycle), publish the new data to the upper-layer autonomous driving application to achieve data switching. That is, all the data in each frame comes from the same data source or within the same data version, avoiding data stitching problems.

[0220] Exemplarily, in the embodiments of the present invention, Figure 7 is a schematic diagram of the switching position description proposed in the embodiments of the present invention, as shown in Figure 7As shown in the figure. It describes the schematic diagram of the switching position during vehicle driving; when the host vehicle travels to the position shown in the figure, the data boundary of the data of Map Provider 1 is explored in front, triggering the reading of the data of Map Provider 2 Version 1. After successful reading, it switches to the data of Map Provider 2 Version 2. When driving to the data overlap area 2, the same method is used to switch to the data of Map Provider 2 Version 2 (the version difference is because the data update is carried out by region, and due to network problems and other reasons, there may be multiple data versions at the vehicle end). The above describes the entire data switching process and effect, realizing the mixed use of different data sources and data versions, and at the same time avoiding the problem of the data boundary position.

[0221] It can be seen that in the embodiment of the present invention, in the current driving cycle, the target navigation data is extracted from the first navigation path data for driving in the current cycle. The high-precision navigation data can be determined through the target navigation data and the pre-stored high-precision map data, and driving is carried out according to the currently determined navigation data. If the high-precision navigation data does not meet the conditions for autonomous driving, it is necessary to re-acquire the navigation path data. In the next driving cycle, driving navigation is carried out according to the re-acquired navigation path data, and the switch can be made in advance before the breakpoint, solving the breakpoint problem caused by the data difference at the data connection edge position of different data sources or data versions, and improving the accuracy and real-time performance of driving navigation.

[0222] Based on the same inventive concept as the foregoing embodiments, an embodiment of the present invention provides a driving navigation device for switching the map data of a vehicle. Figure 8 It is a schematic structural diagram of the driving navigation device provided by the embodiment of the present invention, as Figure 8 shown. The driving navigation device 500 may include:

[0223] An extraction module 51, configured to extract target navigation data from the first navigation path data according to the current position coordinates and the first navigation path data when driving navigation is performed based on the first navigation path data in the current driving cycle;

[0224] A determination module 52, configured to determine high-precision navigation data according to the target navigation data and the pre-stored high-precision map data;

[0225] An acquisition module 53, configured to acquire second navigation path data when the high-precision navigation data does not meet the conditions for autonomous driving;

[0226] A navigation module 54, configured to perform driving navigation based on the second navigation path data in the next driving cycle.

[0227] In an alternative embodiment, the extraction module 51 is specifically configured to perform position matching based on the current position coordinates and the first navigation path data to determine the relative position coordinates of the current position coordinates in the first navigation path data; and extract target navigation data from the first navigation path data based on the relative position coordinates and the first distance threshold.

[0228] In an alternative embodiment, the determination module 52 is specifically configured to determine the position information corresponding to the target navigation data; determine the target map data corresponding to the position information according to the position information and the pre-stored high-precision map data; and perform matching processing on the target navigation data and the target map data according to a preset matching strategy to determine the high-precision navigation data; wherein the preset matching strategy includes shape matching and / or direction matching.

[0229] In practical applications, the above-mentioned extraction module 51, determination module 52, acquisition module 53, and navigation module 54 can be implemented by a processor on the driving navigation device, specifically a central processing unit (CPU), a microprocessor unit (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.

[0230] Figure 9 The following is a schematic structural diagram of a vehicle device provided by an embodiment of the present invention, as Figure 9 shown, an embodiment of the present invention provides a vehicle device 600, including:

[0231] A processor 61 and a storage medium 62 storing executable instructions of the processor 61, the storage medium 62 depends on the processor 61 to perform operations through a communication bus 63, and when the instructions are executed by the processor 61, the driving navigation method described in the above one or more embodiments is executed.

[0232] It should be noted that in practical applications, each component in the vehicle device 600 is coupled together through the communication bus 63. It can be understood that the communication bus 63 is used to realize the connection and communication between these components. The communication bus 63 includes not only a data bus, but also a power bus, a control bus, and a status signal bus. However, for the sake of clarity, in Figure 9 all kinds of buses are labeled as the communication bus 63.

[0233] As can be seen, in the embodiments of the present invention, the driving navigation device is used to extract target navigation data from the first navigation path data in the current driving cycle for driving in the current cycle. The high-precision navigation data can be determined through the target navigation data and the pre-stored high-precision map data, and driving is performed according to the currently determined navigation data. If the high-precision navigation data does not meet the conditions for autonomous driving, it is necessary to re-obtain the navigation path data. In the next driving cycle, driving navigation is performed according to the re-obtained navigation path data, and switching can be performed in advance before the breakpoint, solving the breakpoint problem caused by the data difference at the data edge position of different data sources or data versions, and improving the accuracy and real-time performance of driving navigation.

[0234] The embodiments of the present invention provide a computer storage medium storing executable instructions. When the executable instructions are executed by one or more processors, the processors execute the driving navigation method as described in the above one or more embodiments.

[0235] Among them, the computer-readable storage medium may be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.

[0236] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories and optical memories, etc.) containing computer-usable program codes.

[0237] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce means for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0238] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0239] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0240] As described above, it is only a preferred embodiment of the present invention and is not used to limit the protection scope of the present invention.

Claims

1. A driving navigation method, characterized in that, The method includes: When performing driving navigation based on the first navigation path data in the current driving cycle, extracting target navigation data from the first navigation path data according to the current position coordinates and the first navigation path data; Determining high-precision navigation data according to the target navigation data and pre-stored high-precision map data; When the high-precision navigation data does not meet the autonomous driving conditions, obtaining second navigation path data and performing driving navigation based on the second navigation path data in the next driving cycle.

2. The method according to claim 1, characterized in that, The extracting target navigation data from the first navigation path data according to the current position coordinates and the first navigation path data includes: Performing position matching according to the current position coordinates and the first navigation path data to determine the relative position coordinates of the current position coordinates in the first navigation path data; Extracting the target navigation data from the first navigation path data based on the relative position coordinates and a first distance threshold.

3. The method according to claim 1, characterized in that, The determining high-precision navigation data according to the target navigation data and pre-stored high-precision map data includes: Determining the position information corresponding to the target navigation data; Determining the target map data corresponding to the position information according to the position information and the pre-stored high-precision map data; Performing matching processing on the target navigation data and the target map data according to a preset matching strategy to determine the high-precision navigation data; wherein, the preset matching strategy includes shape matching and / or direction matching.

4. The method according to claim 1, characterized in that, The obtaining second navigation path data and performing driving navigation based on the second navigation path data in the next driving cycle when the high-precision navigation data does not meet the autonomous driving conditions includes: When the high-precision navigation data does not meet the autonomous driving conditions, loading the second navigation path data into a preset storage space; When the current driving cycle ends and the next driving cycle starts, reading the second navigation path from the preset storage space to use the second navigation path data for driving navigation.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: Determining the distance parameter corresponding to the high-precision navigation data; When the distance parameter is less than a second distance threshold, determining that the high-precision navigation data does not meet the autonomous driving conditions; When the distance parameter is greater than or equal to the second distance threshold, determining that the high-precision navigation data meets the autonomous driving conditions.

6. The method according to claim 5, characterized in that, The method further includes: When the high-precision navigation data meets the autonomous driving conditions, performing driving navigation based on the high-precision navigation data.

7. The method according to any one of claims 1-4, characterized in that, The data source corresponding to the first navigation path data is different from the data source corresponding to the second navigation path data; Or, The data version corresponding to the first navigation path data is different from the data version corresponding to the second navigation path data.

8. The method according to any one of claims 1-3, characterized in that, The method further includes: Pre-obtaining the pre-stored high-precision map data from a map application.

9. A driving navigation device, characterized in that, The driving navigation device includes: An extraction module, configured to extract target navigation data from the first navigation path data according to the current position coordinates and the first navigation path data when performing driving navigation based on the first navigation path data in the current driving cycle; A determination module, configured to determine high-precision navigation data according to the target navigation data and pre-stored high-precision map data; An acquisition module, configured to acquire second navigation path data when the high-precision navigation data does not meet the conditions for autonomous driving; A navigation module, configured to perform driving navigation based on the second navigation path data in the next driving cycle.

10. A vehicle device, characterized in that,Comprising: A processor and a storage medium storing executable instructions, the storage medium depends on the processor to execute operations through a communication bus, and when the executable instructions are executed by the processor, the driving navigation method according to any one of claims 1-8 above is executed.

11. A computer storage medium, characterized in that, Storing executable instructions, when the executable instructions are executed by the processor, the processor executes the driving navigation method according to any one of claims 1-8.

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