Navigation method, related device and communication system

Abstract

The invention discloses a navigation method, a related device and a communication system. According to the navigation method, a passable high-precision route passing through an intersection or a ramp is determined by utilizing a local high-precision map of an intersection area or a ramp area, and then the passable high-precision route is converted into a passable standard-precision route. Furthermore, a passable global standard precise route can be obtained according to the passable standard precise route and an end point plan input by the user, and navigation is carried out on the user according to the passable global standard precise route. The obtained global standard precise route can ensure that the user passes through the intersection or the ramp through the passable route until the terminal point.

Description

Technical Field

[0001] This application relates to the field of terminal technologies, and in particular, to a navigation method, related devices, and a communication system. Background Art

[0002] Map-based application programs (APPs) can not only use standard definition maps (SD maps) to plan road-level routes for vehicles, but also plan lane-level routes based on high-definition maps (HD maps), providing users with more detailed and real-time road information and enhancing the navigation experience. Planning reasonable passable routes for users is the goal to be achieved in the navigation scenario. Summary of the Invention

[0003] This application discloses a navigation method, related devices, and a communication system, which can ensure that users drive through intersections or ramps via passable routes.

[0004] In a first aspect, a navigation method is provided, which is applied to an electronic device. The method may include: The electronic device detects entering a first area, where the first area is an area including an intersection or a ramp; The electronic device determines a local high-definition route from the high-definition map of the first area, where the local high-definition route includes multiple high-definition road segments and is a driving route that complies with traffic rules and passes through the first area from the current position of the electronic device; The electronic device converts the local high-definition route into a local standard definition route according to the correspondence between the high-definition map and the standard definition map of the first area, where the local standard definition route includes multiple standard definition road segments.

[0005] Implementing the method of the first aspect, the electronic device can determine a local high-definition route that passes through the first area from the current position of the electronic device, which can ensure that users comply with traffic rules and safely drive through intersections or ramps via reasonable passable routes. Moreover, by the electronic device obtaining the local standard definition route, the impact caused by time delay can be avoided, and a real-time and fast navigation experience can be provided to users.

[0006] In combination with the first aspect, in some embodiments, after the electronic device converts the local high-definition route into a local standard definition route, the method may further include: The electronic device obtains a global standard definition route, where the global standard definition route includes multiple standard definition road segments and is a driving route that passes through the local standard definition route and reaches the end point from the current position of the electronic device; The electronic device navigates according to the global standard definition route. Through this embodiment, the global standard definition route obtained by the electronic device meets the requirement of passability under the condition of complying with traffic rules, that is, it can ensure that the vehicle safely drives through intersections or ramps via passable routes and travels to the end point.

[0007] Combined with the previous embodiment, before the electronic device obtains the global refined route, the method may further include: The electronic device sends the information of the local refined route and the information of the end point to the server. Specifically, the electronic device may receive the information of the global refined route sent by the server. That is, the server can plan the passable global refined route and send the planning result back to the electronic device. The global refined route meets the requirement of being passable under the condition of observing traffic rules, that is, it can ensure that the vehicle safely passes through the passable route, drives through the intersection or ramp, and travels to the end point.

[0008] In the case where the server plans the passable global refined route, before the electronic device obtains the global refined route, the method may further include: The electronic device sends the information of the waypoint to the server; The global refined route also passes through the waypoint. That is, the server can also plan the global refined route passing through the waypoint to ensure that the user passes through the waypoint.

[0009] Combined with the previous embodiment, before the electronic device obtains the global refined route, the method may further include: The electronic device sends the information of the end point to the server; The electronic device receives the refined route from the current position where the electronic device is located to the end point sent by the server. Specifically, the electronic device can screen out the global refined route from the refined route from the current position where the electronic device is located to the end point. In this way, the electronic device does not need to upload the determined local refined route to the server. The electronic device can screen the passable global refined route locally, and the screened global refined route meets the requirement of being passable under the condition of observing traffic rules, that is, it can ensure that the vehicle safely passes through the passable route, drives through the intersection or ramp, and travels to the end point.

[0010] In the case where the electronic device screens the global refined route locally, the global refined route screened by the electronic device also passes through the waypoint. That is, the electronic device can also screen out the global refined route passing through the waypoint to ensure that the user passes through the waypoint.

[0011] Combined with the first aspect or any one of the above embodiments of the first aspect, the high-precision map of the first area includes the following information: The information of the high-precision roads included in the first area, the ground arrow directions of each lane included in the first area, the boundary line information of each lane, and the boundary line information includes the change situation of the dotted line and solid line of the boundary line; The refined map of the first area includes: The information of the refined roads included in the first area.

[0012] Combined with the first aspect or any one of the above embodiments of the first aspect, the traffic rules include: Only the lane change across the dotted line boundary can be made, and the lane change across the solid line boundary cannot be made, and driving can only be carried out in the direction of the ground arrow of each lane and reverse driving is not allowed.

[0013] Combined with the first aspect or any one of the above embodiments of the first aspect, in some embodiments, the traffic rules include: The projection point of L on the left boundary line of the lane where it is located is the first projection point. If the position of the first projection point on the left boundary line is a dotted line, and the boundary line distance of a section of the dotted line in the lane direction from the first projection point is greater than the first minimum lane-changing distance, then a left lane change can be made at L; otherwise, a left lane change cannot be made at L. The projection point of L on the right boundary line of the lane where it is located is the second projection point. If the position of the second projection point on the right boundary line is a dotted line, and the boundary line distance of a section of the dotted line in the lane direction from the second projection point is greater than the second minimum lane-changing distance, then a right lane change can be made at L; otherwise, a right lane change cannot be made at L. If the ground arrow direction of the lane where L is located includes the direction of going straight in the lane direction, then going straight can be done at L; otherwise, going straight cannot be done at L. Wherein, L is any position point in the first area.

[0014] Through the previous embodiment, the boundary line of the dotted line indicates support for lane change, and the length of the boundary line of the dotted line being greater than the minimum lane-changing distance indicates that it can support the vehicle to safely change lanes. Therefore, the global high-precision route determined based on this traffic rule can ensure that the user can change lanes safely.

[0015] Combined with the previous embodiment, the lane center line closest to L in the high-precision map of the first area is the first lane center line, and the first lane center line is the lane center line of the lane where L is located. In this way, the lane where L is located can be found through the lane center line closest to L.

[0016] Combined with the previous embodiment, the first minimum lane-changing distance and the second minimum lane-changing distance can be preset, or can also be determined according to any one or more of the following: the speed limit in the area where L is located (such as urban area, highway, section, lane), the vehicle speed detected by the electronic device, the width of the lane where L is located, the distance between the vehicle position detected by the electronic device and the lane boundary line, etc. The first minimum lane-changing distance and the second minimum lane-changing distance can be the same or different, and are not limited here.

[0017] Combined with the first aspect or any one of the above embodiments of the first aspect, in some embodiments, the local high-precision route goes through at least one lane change, and the directions of at least one lane change are the same. In this way, the local high-precision route determined by the electronic device goes through at least one lane change and the directions of at least one lane change are the same, and there is no situation of repeatedly changing lanes in different directions, which can avoid determining a redundant or complex route as the local high-precision route and ensure that the determined local high-precision route is a simple and convenient route.

[0018] Combined with the first aspect or any one of the above embodiments of the first aspect, in some embodiments, the number of local high-precision routes determined by the electronic device is one or more.

[0019] In combination with the first aspect or any one of the above embodiments of the first aspect, the method can be applied to the following scenarios:

[0020] 1. In-route recommendation scenario for vehicles.

[0021] In some embodiments, before the electronic device detects entering the first area, the method may further include: The electronic device navigates according to the driving route from the starting point to the ending point. Specifically during the navigation process, the electronic device detects entering the first area. That is, the method provided by the first aspect can be used in the in-route recommendation scenario during navigation.

[0022] In combination with the previous embodiment, in some embodiments, the time point when the electronic device detects entering the first area is the time point for periodically planning the route during the navigation process, or the electronic device detects a deviation during the navigation process. That is, during the navigation process of the electronic device, when the time to detect entering the first area reaches the replanning period or a deviation occurs, the method provided by the first aspect is executed.

[0023] In combination with any one of the above two embodiments, in some embodiments, before the electronic device navigates according to the driving route from the starting point to the ending point, the method may further include: The electronic device starts the first application, where the first application is a map application; the electronic device obtains the information of the input starting point and ending point; the electronic device obtains the driving route from the starting point to the ending point.

[0024] 2. Scenario of starting the first application for navigation after the vehicle travels to the first area.

[0025] In some embodiments, before the electronic device detects entering the first area, the method may further include: The electronic device starts the first application, where the first application is a map application; the electronic device obtains the information of the input starting point and ending point, and the starting point is located in the first area. That is, the method of the first aspect can be applied to the scenario where the user starts the first application for navigation after driving the vehicle into the intersection area or ramp area.

[0026] In combination with the previous embodiment, after the electronic device detects entering the first area, the method may further include: The electronic device receives a user operation for planning the driving route from the starting point to the ending point.

[0027] In combination with the first aspect or any one of the above embodiments of the first aspect, in some embodiments, after the electronic device detects entering the first area, the method may further include: The electronic device requests the server to obtain the high-precision map of the first area.

[0028] Second aspect, a navigation method is provided, which is applied to a server. The method may include: The server receives information about the current location of an electronic device. The current location of the electronic device is in a first area, and the first area is an area including an intersection or a ramp; The server determines a local high-precision route from the high-precision map of the first area. The local high-precision route includes multiple high-precision road segments and is a driving route that complies with traffic rules and passes through the first area from the current location of the electronic device; The server converts the local high-precision route into a local standard-precision route according to the correspondence between the high-precision map and the standard-precision map of the first area. The local standard-precision route includes multiple standard-precision road segments.

[0029] When implementing the method of the second aspect, the server can determine a local high-precision route passing through the first area from the current location of the electronic device and send the local high-precision route to the electronic device, which can ensure that the user complies with traffic rules and safely passes through the intersection or ramp through a reasonable passable route. Moreover, by the server to determine the local standard-precision route, the computing power and power consumption on the electronic device side can be saved.

[0030] In combination with the second aspect, in some embodiments, the method may further include: The server receives information about the destination sent by the electronic device. After the server converts the local high-precision route into a local standard-precision route, the method may further include: The server determines a global standard-precision route. The global standard-precision route includes multiple standard-precision road segments, and the global standard-precision route is a driving route from the current location of the electronic device through the local standard-precision route and to the destination; The server sends the global standard-precision route to the electronic device. Through this embodiment, the global standard-precision route determined by the server meets the passable requirements under the condition of complying with traffic rules, that is, it can ensure that the vehicle safely passes through the passable route through the intersection or ramp and travels to the destination.

[0031] In combination with the second aspect or any one of the embodiments of the second aspect, in some embodiments, the method may further include: The server receives information about the waypoint sent by the electronic device. The determined local high-precision route by the server also passes through the waypoint. This solution can ensure that the user passes through the waypoint.

[0032] In combination with the second aspect or any one of the above embodiments of the second aspect, the high-precision map of the first area includes the following information: Information about the high-precision roads included in the first area, the ground arrow directions of each lane included in the first area, the boundary line information of each lane, and the boundary line information includes the change situation of the dotted line and the solid line of the boundary line; The standard-precision map of the first area includes: Information about the standard-precision roads included in the first area.

[0033] Combined with the second aspect or any one of the implementation manners of the above second aspect, the traffic rules include: lane changes can only be made across the dotted boundary line and cannot be made across the solid boundary line, and driving can only be in the direction of the ground arrow of each lane and cannot be against the traffic.

[0034] Combined with the second aspect or any one of the implementation manners of the second aspect, in some implementation manners, the traffic rules include: the projection point of L on the left boundary line of the lane where it is located is the first projection point. If the position of the first projection point on the left boundary line is a dotted line, and the boundary line distance of a section of the dotted line in the direction of the lane from the first projection point is greater than the first minimum lane-changing distance, then a left lane change can be made at L, otherwise a left lane change cannot be made at L; the projection point of L on the right boundary line of the lane where it is located is the second projection point. If the position of the second projection point on the right boundary line is a dotted line, and the boundary line distance of a section of the dotted line in the direction of the lane from the second projection point is greater than the second minimum lane-changing distance, then a right lane change can be made at L, otherwise a right lane change cannot be made at L; if the ground arrow direction of the lane where L is located includes the direction of going straight in the direction of the lane, then going straight can be done at L, otherwise going straight cannot be done at L; where L is any position point in the first area.

[0035] Through the previous implementation manner, the dotted boundary line indicates support for lane changes, and the length of the dotted boundary line being greater than the minimum lane-changing distance indicates that it can support the safe lane change of the vehicle. Therefore, the global high-precision route determined based on this traffic rule can ensure the user's safe lane change.

[0036] Combined with the previous implementation manner, the lane center line closest to L in the high-precision map of the first area is the first lane center line, and the first lane center line is the lane center line of the lane where L is located. In this way, the lane where L is located can be found through the lane center line closest to L.

[0037] Combined with the previous implementation manner, the first minimum lane-changing distance and the second minimum lane-changing distance can be preset, or can also be determined according to any one or more of the following: the speed limit of the area where L is located (such as urban area, highway, section, lane), the vehicle speed detected by the electronic device, the width of the lane where L is located, the distance between the vehicle position detected by the electronic device and the lane boundary line, etc. The first minimum lane-changing distance and the second minimum lane-changing distance can be the same or different, and are not limited here.

[0038] Combined with the second aspect or any one of the implementation manners of the second aspect, in some implementation manners, the local high-precision route undergoes at least one lane change, and the directions of the at least one lane change are the same. In this way, the local high-precision route determined by the server undergoes at least one lane change and the directions of the at least one lane change are the same, and there is no situation of repeatedly changing lanes in different directions, which can avoid determining a redundant or complex route as the local high-precision route and ensure that the determined local high-precision route is a simple and convenient route.

[0039] In combination with the second aspect or any implementation manner of the second aspect, the method can be applied to the following scenarios:

[0040] 1. In-vehicle recommendation scenario.

[0041] In some implementation manners, before the server determines a local high-precision route from a high-precision map of a first area, the method may further include: the server provides a navigation service from a starting point to an ending point to an electronic device.

[0042] In combination with the previous implementation manner, in some implementation manners, the method may further include: during the process that the server provides a navigation service from a starting point to an ending point to an electronic device, the server receives a navigation request sent by the electronic device, where the navigation request is sent when the electronic device detects entry into the first area and the time point of detecting entry into the first area is the time point for periodically planning a route during the navigation process, or the navigation request is sent when the electronic device detects a yaw during the navigation process.

[0043] 2. Scenario of starting the first application navigation after the vehicle travels to the first area.

[0044] In some implementation manners, before the server receives information on the current position of the electronic device and information on the ending point sent by the electronic device, the method may further include: the server receives a navigation request sent by the electronic device, where the navigation request is sent when the electronic device starts a first application, obtains information on a starting point and an ending point entered, and the starting point is located in the first area, and the first application is a map application.

[0045] In a third aspect, there is provided an electronic device, including: a memory, one or more processors; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to cause the electronic device to execute the method according to the first aspect or any implementation manner of the first aspect.

[0046] In a fourth aspect, there is provided a server, including: a memory, one or more processors; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to cause the server to execute the method according to the second aspect or any implementation manner of the second aspect.

[0047] In a fifth aspect, there is provided a computer-readable storage medium, including instructions, which when running on an electronic device, cause the electronic device to execute the method according to the first aspect or any implementation manner of the first aspect, or the second aspect or any implementation manner of the second aspect.

[0048] In a sixth aspect, a computer program product is provided. When the computer program product runs on a computer, the computer is caused to execute the method in the first aspect or any implementation manner of the first aspect, or the second aspect or any implementation manner of the second aspect.

[0049] In a seventh aspect, a chip system is provided. The chip system includes one or more processors, and the processors are used to call computer instructions to cause the execution of the method in the first aspect or any implementation manner of the first aspect, or the second aspect or any implementation manner of the second aspect.

[0050] In an eighth aspect, a communication system is provided, including an electronic device and a server, and the electronic device may be the electronic device in the third aspect.

[0051] In a ninth aspect, a communication system is provided, including an electronic device and a server, and the server may be the server in the fourth aspect. Description of the Drawings

[0052] Figure 1 Examples of a high-precision map and a standard-precision map of the same area provided by an embodiment of the present application;

[0053] Figure 2 Schematic structural diagram of a communication system 20 provided by an embodiment of the present application;

[0054] Figure 3 Flow of the navigation method provided by an embodiment of the present application Figure 1 ;

[0055] Figure 4 Flowchart of the method for determining a local high-precision route provided by an embodiment of the present application;

[0056] Figure 5 Example of a high-precision map of an intersection area provided by an embodiment of the present application;

[0057] Figure 6 Examples of high-precision maps of a first area under several different road conditions provided by an embodiment of the present application;

[0058] Figure 7 Example of a high-precision map of a ramp area provided by an embodiment of the present application;

[0059] Figure 8 Flow of the navigation method provided by an embodiment of the present application Figure 2 ;

[0060] Figure 9 Hardware structure block diagram of an electronic device in a non-vehicle form provided by an embodiment of the present application;

[0061] Figure 10Hardware structure block diagram of the electronic device in the vehicle form provided by the embodiment of the present application;

[0062] Figure 11 Software structure block diagram of the electronic device provided by the embodiment of the present application;

[0063] Figure 12 Hardware structure block diagram of the server provided by the embodiment of the present application. Detailed implementation manners

[0064] Next, the technical solutions in the embodiments of the present application will be clearly and elaborately described with reference to the accompanying drawings.

[0065] A map is a topological graph containing road segments and nodes, which can be divided into two types: standard-precision map and high-precision map.

[0066] Standard-precision map

[0067] The standard-precision map is also called the ordinary map, which provides map information at the meter level. The standard-precision map can include road information, intersection information, ramp information, and point of interest (POI) information, etc.

[0068] Among them, the road information specifically includes but is not limited to: the names of each road, the IDs of each road, the directions of each road, the connection relationships between each road (the IDs of the connected roads if there are connection relationships), and may also include simple lane information, etc.

[0069] Among them, the lane information in the standard-precision map can indicate how many lanes are included in the road and the driving direction of each lane. The lane information in the standard-precision map cannot indicate more detailed lane information, such as the position of the lane center line, lane boundary line information, etc.

[0070] An intersection is the intersection of multiple roads, which can include crossroads, T-junctions, etc. The intersection information can include the road IDs included in the intersection, the connection relationships of these roads, etc.

[0071] A ramp, also called a leading road, plays a connecting role, referring to the connecting section between a highway and a service road, and also referring to the connecting section between an overpass and an elevated road. The ramp information can include the road IDs included in the ramp and the connection relationships of these roads.

[0072] High-precision map

[0073] The high-precision map is also called the high-definition map, which provides map information at the centimeter level. The high-precision map includes road information, intersection information, ramp information, and point of interest (POI) information, etc. In addition to the information included in the standard-precision map, the high-precision map also includes more navigation information.

[0074] Among them, the road information in the high-precision map is more abundant than that in the standard-precision map. For example, it can include more road segment information than the standard-precision map, and can also include information on the segments (links) contained in the road, detailed information on the lanes contained in the road, traffic signal information, and other road information.

[0075] If the number of lanes contained in a road changes, the road can be divided into multiple segments at the location where the number of lanes changes, or it can also be divided into multiple segments according to other strategies. The information of a segment can include but is not limited to: the ID of the segment, the ID of the previous segment, the ID of the next segment, length, width, etc.

[0076] A segment can be divided into multiple lanes from left to right. The information of the lanes in the high-precision map can include but is not limited to: the ID of the lane, the ID of the adjacent lane on the left, the ID of the adjacent lane on the right, the ID of the previous lane, the ID of the next lane, the speed limit of the lane, the length of the lane, the direction of the ground arrow of the lane, the curvature and slope of the road of the lane, and the geometric information of the lane. The geometric information of the lane can include the shape point information of the center line of the lane, which is used to indicate the position of the center line of the lane, and can also include the shape point information of the boundary line of the lane, which is used to indicate the boundary line information of the lane. The boundary line information can include the lengths of the left and right boundary lines, the change situation of the solid and dashed lines such as the length of the dashed line and the length of the solid line, etc. The boundary lines of each lane can be solid lines, dashed lines, or a combination of both. The dashed line indicates that lane change is supported at the corresponding position, and the solid line indicates that lane change is not supported at the corresponding position.

[0077] The traffic signal information can include but is not limited to: traffic light signals, road signs, etc.

[0078] Other road information can include but is not limited to: the position of the crosswalk, the position of the stop line, the position of the speed bump, the road surface arrow, etc.

[0079] The intersection information and ramp information can refer to the definitions in the standard-precision map mentioned above. The difference is that the road information in the high-precision map can also include the ID of the connected lanes in the connected roads, and the intersection information and ramp information can also include the ID of the connected lanes in the connected roads.

[0080] Reference Figure 1 , Figure 1 In [reference], a shows a part of the topological map of the standard-precision map, and b shows the topological map of the same area in the high-precision map.

[0081] As Figure 1 shown in a of [reference], the standard-precision map only shows the road topology, and the road topology indicates the connection relationship and driving direction of each road in this area. Figure 1 a of [reference] shows the intersection surface 101, the standard-precision road 102, the standard-precision road number 103, and the vehicle position 104.

[0082] AsFigure 1 As shown in b of, in addition to showing the road topology, the high-precision map also shows lane information. Figure 1 b of shows an intersection surface 101, a high-precision lane center line 105, a high-precision lane boundary line 106, a high-precision road 107, a high-precision road number 108, a lane ground arrow 109, and a vehicle position 104.

[0083] From Figure 1 it can be seen that the high-precision map and the standard-precision map in the same area have a corresponding relationship. There can be multiple corresponding relationships between high-precision roads and standard-precision roads. For example, one high-precision road can correspond to one or more standard-precision roads, or multiple high-precision roads can also correspond to one standard-precision road. Equivalently, the high-precision map of an area can be mapped to the standard-precision map, and of course, the reverse mapping can also be performed.

[0084] Comparing the standard-precision map and the high-precision map, both can be used for route planning. However, the standard-precision map can only provide the route, but cannot give information such as which lane to drive in and when to change lanes. The high-precision map can achieve lane-level route planning.

[0085] Both the standard-precision map and the high-precision map can be subdivided into multiple sub-maps according to different countries, different cities, and different regions for easy use as needed.

[0086] Since the high-precision map contains a large amount of information, it is not conducive to efficiently outputting the global navigation route from the starting point to the end point. Usually, the standard-precision map is used for navigation to obtain the global standard-precision route. In the intersection area or ramp area, usually a road contains multiple lanes, and the boundary lines of each lane frequently alternate between dashed lines and solid lines, which may result in the standard-precision route obtained by navigation being impassable. Since the standard-precision map does not contain detailed lane information, when planning the standard-precision route according to the standard-precision map, it is impossible to determine the specific lane where the vehicle is located, nor can the lane boundary line information be obtained. The planned standard-precision route does not consider the variable lane situation before entering the intersection or ramp, and the standard-precision route may contain impassable routes. For example, when the vehicle is in a lane where it is not allowed to turn left or go straight, the planned standard-precision route indicates turning left or going straight.

[0087] Based on this, the following embodiments of the present application provide a navigation method, related device, and communication system. The navigation method uses the local high-precision map in the intersection area or ramp area to determine the passable high-precision route through the intersection or ramp, and then converts the passable high-precision route into a passable standard-precision route. Further, a passable global standard-precision route can be planned according to the passable standard-precision route and the end point input by the user, and navigation can be performed for the user accordingly. The global standard-precision route obtained in this way can ensure that the user drives through the intersection or ramp through the passable route until the end point.

[0088] This method can be applied to the scenarios before a vehicle enters an intersection or ramp, specifically including the following two recommended routes while driving scenarios: 1. Before the vehicle travels along the navigation route to an intersection or ramp, the electronic device automatically re-plans a passable global accurate map route for the user. 2. When the vehicle yaws before reaching an intersection or ramp without following the navigation route, the electronic device responds to the yaw situation and passively re-plans a passable global accurate map route for the user.

[0089] This method can also be applied to the initial navigation scenario. For example, when the user drives a vehicle into an intersection or ramp without using navigation and then uses the electronic device to plan a passable global accurate map route for the user.

[0090] Before elaborating on this method in detail, first introduce the communication system provided by the embodiments of this application.

[0091] Figure 2 It is a schematic structural diagram of the communication system 20 provided by the embodiments of this application.

[0092] As Figure 2 shown, the communication system 20 includes: a server 21, and one or more electronic devices 22.

[0093] The server 21 provides map services, and interacts with the map application on the electronic device 22 in the form of a network request service interface, providing it with various types of real-time navigation (such as walking navigation, bus navigation, driving navigation, etc.), route planning and other services. The server 21 may store high-precision maps and accurate maps of the areas it serves.

[0094] The server 21 can be a cloud server or a physical server. The server 21 is provided by a map application provider.

[0095] The server 21 and each electronic device 22 can communicate by wire or wirelessly through a cellular network or the like.

[0096] The electronic device 22 can be of various types, for example, it can include but is not limited to: vehicles (such as in-vehicle computers in vehicles), mobile phones, tablet computers, desktop computers, laptops, handheld computers, notebook computers, smart screens, wearable devices (such as smart watches, smart bracelets, etc.), augmented reality (AR) devices, virtual reality (VR) devices, artificial intelligence (AI) devices, etc.

[0097] The map application is installed in or accessible to the electronic device 22, and the map application may include any one or more of the following: map APPs, map mini-programs, map web pages, APPs / mini-programs / web pages with map functions, etc. The map application includes functions such as navigation and route planning, and also supports the electronic device to execute the navigation method provided by the embodiments of the present application to navigate for the user. The user can interact with the electronic device 22 by clicking, touching, pressing a button, voice, gesture, etc., so as to use the various functions of the map application.

[0098] The electronic device 22 is used to detect whether it enters an intersection area or a ramp area during navigation. If so, the electronic device 22 uses the high-precision map of the intersection area or the ramp area to determine the passable high-precision route through the intersection or the ramp, and then converts the passable high-precision route into a passable standard-precision route. After that, the electronic device 22 interacts with the server 21 to plan a passable global standard-precision route according to the passable standard-precision route and the information such as the waypoint and the end point input by the user, and navigates for the user accordingly.

[0099] Figure 3 For the flow of the navigation method provided by the embodiments of the present application Figure 1 。

[0100] As Figure 3 shown, the method may include the following steps:

[0101] S301, the electronic device 22 starts the first application.

[0102] The electronic device 22 may be any one of the above-mentioned types of electronic devices. The electronic device 22 may be the vehicle itself or a smart device such as a mobile phone located in the vehicle space.

[0103] The first application provides a navigation function and may be any one of the map applications introduced above, such as map APPs, map mini-programs, map web pages, APPs / mini-programs / web pages with map functions, etc.

[0104] S302, the electronic device 22 obtains the information of the starting point and the end point input by the user.

[0105] Optionally, the electronic device 22 may also obtain the information of the waypoint input by the user.

[0106] The user may input the name of the starting point in the user interface provided by the first application, or indicate the starting point position on the map displayed by the first application, or the electronic device 22 may determine the currently located position point as the starting point position. The same applies to the waypoint and the end point.

[0107] S303, the electronic device 22 obtains the standard-precision route from the starting point to the end point.

[0108] Optionally, the electronic device 22 may also obtain a highly accurate route from the starting point to the ending point and passing through waypoints. The number of waypoints may be one or more.

[0109] In some embodiments, after the electronic device 22 activates the driving mode, it may obtain a highly accurate route from the starting point to the ending point in the driving mode, and the highly accurate route includes drivable road segments. In other embodiments, the electronic device 22 may also directly obtain a highly accurate route from the starting point to the ending point without activating any mode, but directly plan the route.

[0110] In some embodiments, after the electronic device 22 obtains the information of the input starting point and ending point, it may obtain a highly accurate route from the starting point to the ending point in response to the operation input by the user for route planning; or the electronic device 22 may also directly obtain the highly accurate route after obtaining the information of the starting point and ending point without user operation.

[0111] The electronic device 22 may send the information of the starting point and ending point obtained in S302 (such as name, identifier, etc.) to the server 21, and may also send the information of the waypoints to the server 21. Then, the server 21 plans a highly accurate route for it according to the highly accurate map of the area where the electronic device 22 is currently located, and the server 21 sends the planned highly accurate route to the electronic device 22. In some embodiments, the server 21 may also plan a highly accurate route according to the real-time traffic conditions. There may be one or more highly accurate routes planned by the server 21.

[0112] In some embodiments, if the electronic device 22 has stored the highly accurate map of the area where it is currently located, the electronic device 22 may directly plan a highly accurate route from the starting point to the ending point, or plan a highly accurate route from the starting point to the ending point and passing through waypoints, without the server 21 planning the highly accurate route.

[0113] The highly accurate route from the starting point to the ending point obtained by the electronic device 22 in S303 is a driving route, including multiple highly accurate road segments.

[0114] S304, the electronic device 22 navigates for the user according to the obtained highly accurate route.

[0115] When there are multiple highly accurate routes planned by the server 21 in S303, the electronic device 22 may display the information of the multiple highly accurate routes (such as route direction, time consumption, number of traffic lights, traffic conditions, etc.) in the user interface provided by the first application. After the user selects one of the highly accurate routes, the electronic device 22 navigates according to the selected highly accurate route. Or, the electronic device 22 may also default to select a highly accurate route with the shortest time consumption, the fewest number of traffic lights, or the best traffic conditions, and navigate accordingly.

[0116] After determining the precise positioning route, the electronic device 22 can navigate according to the precise positioning route. During the navigation process, the electronic device 22 can display the user interface provided by the map application and display real-time navigation information in the user interface, such as the information of the road ahead, turning information, etc., and can also prompt the user how to drive by voice broadcast.

[0117] S305, during the navigation process, the electronic device 22 detects that it enters the first area, where the first area is an intersection area or a ramp area.

[0118] In some embodiments, the electronic device 22 can obtain its own location information in real time through technologies such as global satellite navigation technology, base station positioning, Wi-Fi positioning, and infrared positioning, and send its own location information to the server 21. After receiving the location information sent by the electronic device 22, the server 21 can compare the location where the electronic device 22 is located with the precise positioning map or high-precision map of the area where the electronic device 22 is located to determine whether the electronic device 22 enters the intersection area or the ramp area. If so, the server 21 will send a notification message to the electronic device 22 to notify the electronic device 22 that it has entered the intersection area or the ramp area.

[0119] In some embodiments, if the electronic device 22 stores the precise positioning map of the first area, it can directly determine whether it has entered the first area according to the precise positioning map without requesting the result from the server 21.

[0120] The intersection area is an area that includes the intersection and extends a certain distance around it, and this distance can be set as needed, for example, it can be 500 meters, 300 meters, etc. The ramp area is an area that includes the ramp and extends a certain distance around it, and this distance can be set as needed, for example, it can be 500 meters, 300 meters, etc.

[0121] When the electronic device 22 detects that it enters the intersection area or ramp area, the following two situations are included: 1. The electronic device 22 moves along the standard precise route of navigation in S304, that is, the user drives the vehicle along the standard precise route of navigation. 2. The electronic device 22 does not move along the standard precise route of navigation in S304, that is, the vehicle yaws when the user drives the vehicle. In the first case, if the time when the electronic device 22 detects entering the first area exactly reaches the cycle of re-planning the route in the map application, that is, the time when it detects entering the first area is the time point of periodically planning the route during navigation, then S306 and subsequent steps can be executed. This cycle can be preset by the map application or customized by the user. For example, it can be 5 minutes. In the second case, after the electronic device 22 determines that the vehicle has yawed, that is, the electronic device 22 detects yaw during navigation, it executes S306 and subsequent steps. In some other embodiments, the electronic device 22 can also execute S306 and subsequent steps as long as it detects entering the first area, without determining whether the cycle of re-planning the route is reached or whether there is yaw.

[0122] S306. The electronic device 22 obtains the high-precision map of the first area from the server 21.

[0123] The electronic device 22 can send a request message to the server 21. This request message can carry the identifier of the first area and is used to request to obtain the high-precision map of the first area. The server 21 can send the high-precision map of the first area to the electronic device 22 in response to this request message.

[0124] In some embodiments, if in S305 the server 21 determines that the electronic device 22 has entered the intersection area or ramp area, the server 21 can directly send the high-precision map of the first area to the electronic device 22 without the electronic device 22 requesting.

[0125] In some embodiments, if the electronic device 22 has previously stored the high-precision map of the first area, there is no need to request the high-precision map of the first area from the server 21.

[0126] It should be noted that in some embodiments, if the electronic device 22 has obtained the standard precise map of the first area in the previous steps, there is no need to obtain the standard precise map of the first area in step S306. For example, when the standard precise route from the starting point to the end point obtained by the electronic device 22 in S303 includes the standard precise map of the first area, there is no need to obtain the standard precise map of the first area in step S306. In some other embodiments, if the electronic device 22 has not obtained the standard precise map of the first area in the previous steps, the electronic device 22 can obtain the standard precise map of the first area from the server 21 in step S306.

[0127] In S307, the electronic device 22 determines a passable high-precision route through the first area from the high-precision map of the first area, starting from the current position where the electronic device 22 is located.

[0128] The current position where the electronic device 22 is located can be the real-time position of the electronic device 22 obtained most recently. This real-time position can be the starting point of the electronic device 22 in the first area when it enters the first area, or other positions in the first area after entering the first area, or it can also be other positions before entering the first area. In other embodiments, without considering the actual position of the electronic device 22, the current position where the electronic device 22 is located in S307 can also be directly defined as the starting point of the electronic device 22 in the first area when it enters the first area, without the need for the electronic device 22 to obtain its own position in real time.

[0129] The passable route refers to a driving route that starts from the current position where the electronic device 22 is located and passes through the first area while complying with traffic rules. Here, the traffic rules include: only being able to change lanes across the dotted boundary line and not across the solid boundary line, and only being able to drive in the direction of the ground arrows in each lane and not going against the traffic. The high-precision route refers to a route including multiple high-precision road segments. The identifiers of the multiple high-precision road segments can be arranged in the passing order to represent the high-precision route. Since the high-precision route determined in S307 only passes through the first area from the current position where the electronic device 22 is located, it can also be called a local high-precision route, or it can also be called a high-precision short route. For the sake of simplicity of description, hereinafter, the passable high-precision route through the first area from the current position where the electronic device 22 is located will be referred to as the local high-precision route.

[0130] Reference Figure 4 , S307 may specifically include:

[0131] Step 0. Set the initial value of the position point L to the current position where the electronic device 22 is located.

[0132] Optionally, L can be refreshed subsequently.

[0133] Step 1. Determine whether it is possible to go straight at the position point L.

[0134] Step 2. Determine whether it is possible to change lanes to the left at the position point L.

[0135] Step 3. Determine whether it is possible to change lanes to the right at the position point L.

[0136] Steps 1 - 3 are executed independently. If the result of the determination in Step 1 is yes, then proceed to Step 4; if the result of the determination in Step 2 is yes, then proceed to Step 5; if the result of the determination in Step 3 is yes, then proceed to Step 6, otherwise end.

[0137] After the electronic device 22 obtains the high-precision map of the first area, it can project L into the high-precision map to find the lane where L is located. In one implementation, the electronic device 22 can project the coordinate points of L onto the center line of the lane in the high-precision map that is closest to L, and then search for the lane information of the lane where it is located according to the center line of the lane, and execute Step 1 - Step 3 according to the lane information. The center line of the lane in the high-precision map that is closest to L can be referred to as the first center line.

[0138] When executing Step 1, it can be judged according to whether there is a continuous lane in front of the lane where L is located and the direction of the ground arrow in the lane where L is located. If there is a continuous lane in front (with the direction the vehicle faces the first area as the front) or the direction of the ground arrow in the lane where it is located includes the direction of going straight in the lane direction, it is considered that straight driving is possible at L, otherwise straight driving is not possible at L.

[0139] When executing Step 2, it can be determined according to the boundary line information of the lane where L is located and the continuous lane in front of this lane. If the position of the first projection point on the left boundary line of the lane where L is located is a dotted line, and the length of a section of the boundary line of the dotted line starting from the first projection point in the lane direction is greater than the first minimum lane-changing distance, it is considered that lane-changing to the left is possible at L, otherwise it is considered that lane-changing to the left is not possible at L. The boundary line of the dotted line indicates support for lane-changing, and the length of the boundary line of the dotted line being greater than the minimum lane-changing distance indicates that it can support the vehicle to change lanes safely. The first minimum lane-changing distance is the minimum distance required to execute a lane change under the current conditions. The first minimum lane-changing distance can be preset, or it can also be determined according to any one or more of the following: the speed limit of the area where L is located (such as urban area, highway, section, lane), the vehicle speed detected by the electronic device 22, the width of the lane where L is located, the distance between the vehicle position detected by the electronic device 22 and the lane boundary line, etc. The first minimum lane-changing distance can be set to 20 meters or other values, for example.

[0140] When executing Step 3, it can be determined according to the boundary line information of the lane where L is located and the continuous lane in front of this lane. If the position of the second projection point on the right boundary line of the lane where L is located is a dotted line, and the length of a section of the boundary line of the dotted line starting from the second projection point in the lane direction is greater than the second minimum lane-changing distance, it is considered that lane-changing to the right is possible at L, otherwise it is considered that lane-changing to the right is not possible at L. The determination method of the second minimum lane-changing distance is similar to the determination method of the first minimum lane-changing distance, and the foregoing can be referred to. The first minimum lane-changing distance for lane-changing to the left and the second minimum lane-changing distance for lane-changing to the right can be the same or different.

[0141] Reference Figure 5, which is an example of a high-precision map when the first area is taken as the intersection area. Among them, 706 is the distance in the lane direction between the end point of vehicle 2 and the right boundary line of lane 2, 707 is the distance in the lane direction between vehicle 1 and the end point of the right boundary line of lane 2, and 709 is the distance in the lane direction between the starting point of lane 5 and vehicle 3. The position of the vehicle in the lane can be based on the position of the vehicle head.

[0142] Vehicle 1 is located in lane 2. Both the left and right boundary lines of lane 2 are dashed lines. The ground arrow directions of lane 2 include forward and right. The connecting lane of lane 2 is lane 6, and the boundary line type of lane 6 is left dashed and right solid. Therefore, vehicle 1 can go straight, or change lanes to the right with the remaining lane-changing distance of 707, or change lanes to the left with the remaining lane-changing distance being the sum of 707 and the length of lane 6.

[0143] Vehicle 2 is located in lane 2. Vehicle 2 can go straight, or change lanes to the right with the remaining lane-changing distance of 706, or change lanes to the left with the remaining lane-changing distance being the sum of 706 and the length of lane 6.

[0144] Vehicle 3 is located in lane 5. The projection point of vehicle 5 on the left boundary line of lane 5 is a solid line, and the right boundary line is a dashed line. The ground arrow direction of lane 5 includes forward. Therefore, vehicle 3 can go straight, or change lanes to the right with the remaining lane-changing distance being the distance obtained by subtracting 709 from the length of lane 5, and vehicle 3 cannot change lanes to the left.

[0145] Step 4. If the judgment result of step 1 is yes, then refresh the value of L with the position point obtained after going straight at L.

[0146] Step 5. If the judgment result of step 2 is yes, then refresh the value of L with the position point obtained after changing lanes to the left at L.

[0147] Step 6. If the judgment result of step 3 is yes, then refresh the value of L with the position point obtained after changing lanes to the right at L.

[0148] Step 7. Judge whether the historical value of L has passed through the first area and whether the latest value has left the first area. If the judgment result of step 7 is no, then return to execute steps 1-6; if the judgment result of step 7 is yes, then go to step 8.

[0149] Step 8. If the judgment result of step 7 is yes, then determine the route formed by the high-precision roads where the historical value and the latest value of L are located in chronological order as a local high-precision route.

[0150] Among them, the latest value of L refers to the value that L is refreshed for the last time during an execution process from step 0 to step 7 with the judgment result of step 7 being yes; the historical value of L refers to other values of L during this execution process except for the latest value of L, which may include the initial value of L and the values refreshed in the intermediate steps of L. It can be understood that there may be multiple execution processes from step 0 to step 7 with the judgment result of step 7 being yes, and the refresh situation of L is different in each execution process. Each execution process corresponds to a local high-precision route. Therefore, through Figure 4 the method shown, one or more local high-precision routes may be determined.

[0151] Execute Figure 4 the method shown, and the electronic device 22 can determine one or more local high-precision routes that drive through the first area from the current position where the electronic device 22 is located.

[0152] From Figure 4 the method shown, the value of L can be refreshed, and it can be any position point in the first area.

[0153] In some embodiments, when the electronic device 22 executes step 8, it can also determine whether there is a situation of changing lanes to the right after changing lanes to the left, or whether there is a situation of changing lanes to the left after changing lanes to the right in the route formed by the value of L. If so, the corresponding route will not be determined as a local high-precision route, and if not, the corresponding route will be determined as a local high-precision route. That is, the determined local high-precision route has at least one lane change and the direction of the at least one lane change is the same, and there is no situation of repeatedly changing lanes in different directions. This can avoid determining redundant or complex routes as local high-precision routes and ensure that the multiple local high-precision routes determined in S307 are all simple and convenient routes.

[0154] Take Figure 5 as an example. When the current position where the electronic device 22 is located is the position of vehicle 1 or vehicle 2, the local high-precision routes may include the following: lane 2 -> lane 6 -> lane 12, lane 2 -> lane 6 -> lane 8 -> lane 9, lane 2 -> lane 1 -> lane 7 -> lane 9, lane 2 -> lane 3 -> lane 5 -> lane 11, etc. When the current position where the electronic device 22 is located is the position of vehicle 3, the local high-precision route includes: lane 5 -> lane 11.

[0155] Figure 6 are examples of high-precision maps of the first area in several different road conditions. The first area is an intersection area.

[0156] For example Figure 6As shown in a of FIG., for vehicle 1, the boundary lines on both sides are solid lines or near-solid lines, not meeting the conditions for changing lanes to the left or right, and it can only go straight. Its local high-precision route includes: Lane 1 -> Lane 4 -> Lane 9; for vehicle 2, it is located in Lane 2 where it can go straight or turn right. The boundary lines on both sides are solid lines or near-solid lines, not meeting the condition for changing lanes to the left. It can go straight or use the dedicated right-turn lane. Its local high-precision route can include the following: Lane 2 -> Lane 5 -> Lane 10, Lane 2 -> Lane 5 -> Lane 7 -> Lane 8, Lane 2 -> Lane 6 -> Lane 8.

[0157] As Figure 6 As shown in b of FIG., for vehicle 1, the boundary lines on both sides are solid lines or near-solid lines, not meeting the conditions for changing lanes to the left or right, and it can only go straight. Its local high-precision route includes: Lane 1 -> Lane 4 -> Lane 9; for vehicle 2, it is located in Lane 0 where it can turn left. The right lane boundary line is a solid line or near-solid line, not meeting the condition for going straight and not meeting the condition for changing lanes to the right either. Its local high-precision route can include: Lane 0 -> Lane 3 -> Lane 11.

[0158] As Figure 6 As shown in c of FIG., for vehicle 1, it is located in Lane 1 where it can go straight. The lane boundary lines on both sides are dotted lines and the length of the dotted line is greater than the minimum lane-changing distance. Its local high-precision route includes the following: Lane 1 -> Lane 4 -> Lane 9, Lane 1 -> Lane 3 -> Lane 11, Lane 1 -> Lane 5 -> Lane 10, Lane 1 -> Lane 5 -> Lane 7 -> Lane 8, Lane 1 -> Lane 6 -> Lane 8; for vehicle 2, it is located in the dedicated right-turn Lane 6. Its local high-precision route includes: Lane 6 -> Lane 8.

[0159] As Figure 6 As shown in d of FIG., for vehicle 1, it is located in Lane 1 where it can go straight. The lane boundary lines on both sides are dotted lines and the length of the dotted line is greater than the minimum lane-changing distance. Its local high-precision route includes the following: Lane 1 -> Lane 4 -> Lane 9, Lane 1 -> Lane 3 -> Lane 11, Lane 1 -> Lane 5 -> Lane 7 -> Lane 8, Lane 1 -> Lane 6 -> Lane 8; for vehicle 2, it is located in the straight-through Lane 4. The lane boundary lines on both sides are solid lines, not meeting the conditions for changing lanes to the left or right. Its local high-precision route includes: Lane 4 -> Lane 9.

[0160] Figure 7 It is an example of a high-precision map of the ramp area. Among them, taking the first area as the ramp area as an example, Figure 7 It shows: ramp area 1101, standard-precision road topology 1102, high-precision lane centerline 1103, vehicle 1, vehicle 2, boundary line 1104, lane ground arrow 1105, vehicle position 1106, and high-precision lane number 1107.

[0161] As Figure 7 shown, for vehicle 1, which is located in straight lane 1, and the lane boundary lines on both sides are dashed lines and the length of the dashed lines is greater than the minimum lane change distance, its local high-precision route includes the following: lane 1 -> lane 4, lane 1 -> lane 2 -> lane 5; for vehicle 2, which is located in straight lane 1, the right lane line is close to a solid line and does not meet the right lane change distance, its local high-precision route includes: lane 1 -> lane 4.

[0162] S308, the electronic device 22 converts the local high-precision route into a passable standard-precision route for passing through the first area from the current position where the electronic device 22 is located.

[0163] Equivalently, the electronic device 22 translates the local high-precision route determined in S307 into a standard-precision route according to the mapping relationship between the high-precision map and the standard-precision map of the first area. The standard-precision route refers to a route including multiple standard-precision sections, and the identifiers of the multiple high-precision sections can be arranged in the passing order to represent the standard-precision route. The local high-precision route determined in S307 is passable, and the translated standard-precision route is also passable. One high-precision section can correspond to one or more standard-precision sections, or, multiple high-precision routes correspond to one standard-precision route. The high-precision section and its corresponding standard-precision section represent the same section, only with different precisions. When translating, one or more high-precision sections in the local high-precision route can be translated into the corresponding standard-precision sections. Before and after translation, the high-precision route and the standard-precision route represent the same route, only with different precisions.

[0164] Refer to Figure 1 , if the electronic device 22 determines the route of high-precision road 1 -> high-precision road 2 -> high-precision road 4 -> high-precision road 5 in Figure 1 b as the local high-precision route, then the translated standard-precision route of this route is Figure 1 standard-precision road 1 -> standard-precision road 2 -> standard-precision road 4 -> standard-precision road 5 -> standard-precision road 8 in

[0165] Since the translated standard-precision route obtained in S308 only passes through the first area from the current position where the electronic device 22 is located, it can also be called a local standard-precision route, or it can also be called a standard-precision short route. For the sake of simplicity of description, the passable standard-precision route passing through the first area from the current position where the electronic device 22 is located will be called a local standard-precision route hereinafter.

[0166] Optionally, Figure 3 the navigation method shown may further include the following steps:

[0167] After S308, S309 - S311 can be executed, or, S312 - S315 can be executed.

[0168] In S309, the electronic device 22 sends the information of the local fine - tuning route and the information of the end point to the server 21.

[0169] Optionally, if in S302 the electronic device 22 obtains the information of the way - point, and the historical path of this navigation of the electronic device 22 has not passed through this way - point, then the information of this way - point can also be sent to the server 21. If the electronic device 22 does not obtain the information of the way - point, or has already passed through this way - point, then there is no need to send the information of the way - point to the server 21.

[0170] In some embodiments, if in the previous step the server 21 has already obtained the current position of the electronic device 22, then in step S309, the electronic device 22 does not need to send its current position to the server 21.

[0171] In some other embodiments, in step S309, the current position of the electronic device 22 can be sent to the server 21.

[0172] In S310, the server 21 plans a global fine - tuning route starting from the current position of the electronic device 22, passing through the local fine - tuning route until the end point, according to the fine - tuning map of the area where the electronic device 22 is located.

[0173] If the server 21 obtains the information of the way - point, then it plans a global fine - tuning route starting from the current position of the electronic device 22, passing through the local fine - tuning route to the end point and passing through the way - point.

[0174] Since there may be multiple local fine - tuning routes, and there may also be multiple routes to the end point after passing through the first area, there may be multiple global fine - tuning routes planned by the server 21.

[0175] In S311, the server 21 sends the information of the global fine - tuning route determined in S310 to the electronic device 22.

[0176] Through S309 - S311, the server 21 plans a global fine - tuning route passing through the local fine - tuning route until the end point, and this global fine - tuning route meets the requirement of being passable under the condition of observing traffic rules, that is, it can ensure that the vehicle safely passes through the passable route through intersections or ramps and reaches the end point.

[0177] The electronic device 22 can also not execute S309 - S311, but instead execute S312 - S315.

[0178] In S312, the electronic device 22 sends the information of the end point to the server 21.

[0179] Optionally, if the electronic device 22 obtains the information of the waypoint in S302 and the historical path of the electronic device 22's current navigation has not passed through this waypoint, the information of this waypoint can also be sent to the server 21. If the electronic device 22 does not obtain the information of the waypoint, or has already passed through this waypoint, there is no need to send the information of the waypoint to the server 21.

[0180] In some embodiments, if the server 21 has obtained the current location of the electronic device 22 in the previous step, then in step S309, the electronic device 22 does not need to send its current location to the server 21.

[0181] In some other embodiments, the current location of the electronic device 22 can be sent to the server 21 in step S309.

[0182] S313, the server 21 plans a global refined route from the current location of the electronic device 22 to the destination according to the refined map of the area where the electronic device 22 is located.

[0183] If the server 21 obtains the information of the waypoint, it plans a global refined route from the current location of the electronic device 22 to the destination and passing through the waypoint.

[0184] There may be one or more global refined routes planned by the server 21.

[0185] S314, the server 21 sends the information of the global refined route determined in S313 to the electronic device 22.

[0186] S315, the electronic device 22 filters out the passable global refined routes from the global refined routes planned by the server 21 in S313 according to the local refined route determined in S308.

[0187] The passable global refined routes filtered out by the electronic device 22 are: the global refined routes including any one of the local refined routes determined in S308. There may be one or more global refined routes filtered out by the electronic device 22.

[0188] Through S312 - S315, the electronic device 22 does not need to upload the local refined route determined in S308 to the server 21, and the electronic device 22 can filter out the passable global refined routes locally. The filtered global refined route meets the requirement of being passable under the condition of observing traffic rules, that is, it can ensure that the vehicle can safely pass through the intersection or ramp through the passable route and drive to the destination.

[0189] S312 - S314 may also be executed not after S308, but at any time point after S305. S315 may be executed after both S314 and S308 are executed.

[0190] S316. The electronic device 22 navigates for the user according to the globally calibrated precise route obtained in S311 or S315.

[0191] In some embodiments, if there are multiple globally calibrated precise routes obtained in S311 or S315, the electronic device 22 may display information about the multiple globally calibrated precise routes (such as route directions, travel times, number of traffic lights, road conditions, etc.) in the user interface provided by the first application. After the user selects one of the globally calibrated precise routes, the electronic device 22 navigates according to the globally calibrated precise route selected by the user. Alternatively, the electronic device 22 may directly select a globally calibrated precise route for the user based on conditions such as the shortest travel time, the fewest number of traffic lights, and the best road conditions, and navigate accordingly. When the electronic device 22 navigates according to the globally calibrated precise route, it may also combine the high-precision navigation routes of each local route in the globally calibrated precise route to provide more abundant road information during the navigation process. The navigation here may refer to the relevant description of S304.

[0192] In some embodiments, if the globally calibrated precise route used for navigation in S316 is different from the calibrated precise route used for navigation in S314 in terms of the route from the current position of the electronic device 22 to the destination, the electronic device 22 may also output a prompt message to prompt the user that the route has been re-planned.

[0193] During the navigation process after S316, if the electronic device 22 detects that it enters the intersection area or ramp area again, it may execute S305 - S316 again to re-plan the navigation route before entering the intersection area or ramp area, ensuring that the user can safely drive through the intersection area or ramp area.

[0194] Through Figure 3 the navigation method shown, the electronic device 22 executes S306 - S308, that is, the electronic device 22 obtains the local calibrated precise route. In this way, the electronic device 22 can quickly obtain the local calibrated precise route, avoid the influence of delay, and provide the user with a real-time and fast navigation experience.

[0195] The navigation method provided by this application can be applied not only to the in-line recommendation scenario reflected by S301 - S304 such as Figure 3 but also to the scenario where the user starts the map application navigation after driving the vehicle into the intersection area or ramp area. Specifically, referring to Figure 8 the navigation method in this scenario may include the following steps:

[0196] S801, the electronic device 22 starts the first application. For the specific implementation of S801, reference can be made to S301.

[0197] S802, the electronic device 22 obtains the information of the starting point and the ending point input by the user, and the starting point is located in the first area. For the implementation of S802, reference can be made to S302, with the difference that the starting point input by the user at this time is located in the first area.

[0198] Optionally, S803, the electronic device 22 detects entry into the first area, and the first area is an intersection area or a ramp area.

[0199] After the electronic device starts the first application, the positioning function provided by the first application supports the electronic device 22 to obtain its own real-time position. When executing S801 - S802, the electronic device 22 may be located at the starting point input in S802, so that the electronic device 22 can detect entry into the first area after starting the first application. When executing S801 - S802, the electronic device 22 may not be at the starting point, but initiate navigation at other location points, so S803 may not be executed.

[0200] After that, the electronic device 22 can detect the operation input by the user for route planning and execute subsequent steps in response to this operation; or, without the user's operation, the electronic device 22 can directly execute subsequent steps.

[0201] S804 - S814, refer to S306 - S316. Among them, S807 - S814 are optional steps, and either S807 - S809 or S810 - S813 is executed.

[0202] This method plans a passable global standard-precision navigation route for the user before the user enters the intersection area or the ramp area, ensuring that the user can safely drive through the intersection area or the ramp area.

[0203] In some embodiments, it is also possible that the electronic device 22 does not need to determine the local standard-precision route, and the server 21 can determine the local standard-precision route. For example, Figure 3 The steps S307 - S308 shown can all be executed by the server 21.

[0204] Specifically, after the electronic device 22 detects that it has entered the first area, it can send the current location information of the electronic device 22, waypoint information (optional), destination information, etc. to the server 21, and the current location where the electronic device 22 is located is in the first area; then the server 21 determines a local high-precision route from the high-precision map of the first area, and according to the corresponding relationship between the high-precision map and the standard-precision map of the first area, converts the local high-precision route into a local standard-precision route. Further, the server 21 can also plan a global standard-precision route according to the local standard-precision route and the destination, and send the global standard-precision route to the electronic device 22. After that, the electronic device 22 can navigate for the user according to the global standard-precision route. The definitions of the local high-precision route, the local standard-precision route, and the global standard-precision route here, as well as the specific implementation manners for the server 21 to determine the above several routes, can all be referred to Figure 3 in the relevant descriptions. By having the server 21 determine the local standard-precision route, the computing power of the electronic device 22 can be saved.

[0205] The navigation method of having the server 21 determine the local standard-precision route is the same as the navigation method of having the electronic device 22 determine the local standard-precision route. The navigation method of having the server 21 determine the local standard-precision route can also be applied to the in-line recommendation scenario, and can also be applied to the scenario where the user starts the map application navigation after driving the vehicle into the intersection area or the ramp area.

[0206] Specifically, in the in-line recommendation scenario, during the process of the server 21 providing the navigation service from the starting point to the destination to the electronic device 22 (the process of providing the navigation service can be referred to Figure 3 in S301 - S304 of [reference]), after the electronic device 22 enters the first area, the server 21 determines a local high-precision route from the high-precision map of the first area. In some embodiments, during the navigation process, when the electronic device 22 detects that it has entered the first area and the time point of detecting the entry into the first area is the time point for periodically planning the route during the navigation process, it sends a navigation request to the server 21, and then the server 21 responds to the navigation request and determines a local high-precision route from the high-precision map of the first area. In other embodiments, during the navigation process, when the electronic device 22 detects a deviation during the navigation process, it sends a navigation request to the server 21, and then the server 21 responds to the navigation request and determines a local high-precision route from the high-precision map of the first area. In other embodiments, during the navigation process, the electronic device 22 can also send its own location information to the server 21 in real time. When the server 21 learns that the electronic device 22 has entered the first area and the time point of entering the first area is the time point for periodically planning the route, or when the server 21 learns that the electronic device 22 has deviated, it can actively determine a local high-precision route from the high-precision map of the first area without the electronic device 22 sending a navigation request.

[0207] Specifically, in a scenario where the map application navigation is started after the user drives the vehicle into the intersection area or ramp area, the electronic device 22 can first start the first application, obtain the information of the starting point, the information of the waypoint (optional), and the information of the ending point input by the user, and send a navigation request to the server 21 when the starting point is located in the first area. After that, the server 21 can respond to the navigation request and determine a local high-precision route from the high-precision map of the first area.

[0208] The following introduces various devices provided in the embodiments of the present application.

[0209] Figure 9 FIG. is a hardware structure block diagram of an electronic device 100 provided in an embodiment of the present application. The electronic device 100 can be Figure 2 the electronic device 22 implemented in a non-vehicle form in the communication system 20 shown, and is used to execute Figure 3 each step executed on the side of the electronic device 22 in the method shown.

[0210] As Figure 9 shown, the electronic device 100 may include: The electronic device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, a headphone interface 170D, a sensor module 180, a button 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a subscriber identification module (SIM) card interface 195, etc. The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, a barometric pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc.

[0211] It can be understood that the structure illustrated in the embodiments of the present application does not constitute a specific limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 may include more or fewer components than shown, or combine certain components, or split certain components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0212] The processor 110 may include one or more processing units. For example, the processor 110 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units may be independent devices or integrated in one or more processors.

[0213] The controller can generate operation control signals according to the instruction operation code and timing signals to complete the control of fetching and executing instructions.

[0214] A memory may also be provided in the processor 110 for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. This memory can save the instructions or data that the processor 110 has just used or recycled. If the processor 110 needs to use the instruction or data again, it can directly call it from the memory. This avoids repeated accesses, reduces the waiting time of the processor 110, and thus improves the efficiency of the system.

[0215] The charging management module 140 is used to receive charging input from a charger. While charging the battery 142, the charging management module 140 can also supply power to the electronic device through the power management module 141.

[0216] The power management module 141 is used to connect the battery 142, the charging management module 140 and the processor 110. The power management module 141 receives the inputs from the battery 142 and / or the charging management module 140 and supplies power to the processor 110, the internal memory 121, the display screen 194, the camera 193, the wireless communication module 160, etc.

[0217] The wireless communication function of the electronic device 100 can be implemented through the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor, and the baseband processor, etc.

[0218] The antenna 1 and the antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in the electronic device 100 can be used to cover a single or multiple communication frequency bands. Different antennas can also be multiplexed to improve the utilization rate of the antennas. For example, the antenna 1 can be multiplexed as a diversity antenna for a wireless local area network. In some other embodiments, the antenna can be used in combination with a tuning switch.

[0219] The mobile communication module 150 may provide solutions for wireless communications including 2G / 3G / 4G / 5G, etc., which are applied to the electronic device 100. The mobile communication module 150 may include at least one filter, switch, power amplifier, low noise amplifier (LNA), etc.

[0220] The modulation and demodulation processor may include a modulator and a demodulator. Among them, the modulator is used to modulate the low-frequency baseband signal to be transmitted into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. Subsequently, the demodulator transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After being processed by the baseband processor, the low-frequency baseband signal is transmitted to the application processor. The application processor outputs a sound signal through an audio device (not limited to the speaker 170A, receiver 170B, etc.), or displays an image or video through the display screen 194.

[0221] The wireless communication module 160 may provide solutions for wireless communications including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared technology (IR), etc., which are applied to the electronic device 100.

[0222] In some embodiments, antenna 1 of electronic device 100 is coupled to mobile communication module 150, and antenna 2 is coupled to wireless communication module 160, so that electronic device 100 can communicate with a network and other devices through wireless communication technologies. The wireless communication technologies may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technologies, etc. The GNSS may include global positioning system (GPS), global navigation satellite system (GLONASS), beidou navigation satellite system (BDS), quasi-zenith satellite system (QZSS), and / or satellite based augmentation systems (SBAS).

[0223] Electronic device 100 implements a display function through a GPU, display screen 194, and an application processor, etc. The GPU is a microprocessor for image processing, and is connected to display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. Processor 110 may include one or more GPUs, which execute program instructions to generate or change display information.

[0224] The display screen 194 is used to display images, videos, etc. The display screen 194 includes a display panel. The display panel can be a liquid crystal display (LCD). The display panel can also be made of an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), a miniLED, a microLED, a micro-OLED, a quantum dot light-emitting diode (QLED), etc. In some embodiments, the electronic device may include one or N display screens 194, where N is a positive integer greater than 1.

[0225] The electronic device 100 can implement the shooting function through the ISP, the camera 193, the video codec, the GPU, the display screen 194, and the application processor, etc.

[0226] The internal memory 121 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM).

[0227] The random access memory can be directly read and written by the processor 110, and can be used to store the operating system or the executable programs of other running programs (such as machine instructions), and can also be used to store the data of users and application programs, etc.

[0228] The non-volatile memory can also store executable programs and store the data of users and application programs, etc., and can be pre-loaded into the random access memory for the processor 110 to directly read and write.

[0229] The external memory interface 120 can be used to connect to an external non-volatile memory to expand the storage capacity of the electronic device 100. The external non-volatile memory communicates with the processor 110 through the external memory interface 120 to implement the data storage function. For example, files such as music and videos are saved in the external non-volatile memory.

[0230] The electronic device 100 can implement the audio function through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the headphone jack 170D, and the application processor, etc. For example, music playback, recording, etc.

[0231] In an embodiment of the present application, the internal memory 121 may store program instructions for implementing the navigation method provided by the present application, and the processor 110 is configured to call the program instructions to trigger the electronic device 100 to execute the navigation method.

[0232] Specifically, the processor 110 is configured to start the first application. Input devices such as the display screen 194 and the microphone 170C are used to obtain information about the starting point and the ending point input by the user. The wireless communication module 160, the mobile communication module 150, the antenna 1, the antenna 2, etc. are used to send this information to the server 21 and obtain the refined route from the starting point to the ending point from the server 21. After that, the wireless communication module 160, the mobile communication module 150, etc. use technologies such as global satellite navigation technology, base station positioning, Wi-Fi positioning, and infrared positioning to detect the position of the electronic device 100. After the processor 110 determines that the electronic device 100 enters the first area, it controls the wireless communication module 160 and the mobile communication module 150 to obtain the high-precision map and the refined map of the first area from the server 21. Then, the processor 110 determines the local high-precision route from the high-precision map of the first area and translates it into a local refined route.

[0233] After that, the wireless communication module 160 and the mobile communication module 150 are used to send the information of the local refined route and the information of the ending point to the server 21 and receive the globally refined route planned by it. Alternatively, the wireless communication module 160 and the mobile communication module 150 are used to send the ending point information to the server and receive the globally refined route planned by the server 21, and then the processor 110 filters out the globally refined route including the local refined route from it.

[0234] Output devices such as the display screen 194 and the speaker 170A can be used to output navigation information during navigation. For example, the display screen 194 displays the navigation interface provided by the first application (including navigation information such as driving directions, driving lengths, forward driving strategies, traffic light information, etc.), and the speaker 170A can be used to broadcast navigation information.

[0235] Figure 10 It is a hardware structure block diagram of an electronic device in the form of a vehicle provided by an embodiment of the present application. Among them, the vehicle form is the vehicle 200, and this vehicle 200 can be Figure 2 The electronic device 22 implemented as a vehicle form in the communication system 20 shown is used to execute Figure 3 Each step executed on the side of the electronic device 22 in the method shown.

[0236] Such as Figure 10As shown in the figure, vehicle 200 includes: a controller area network (CAN) bus 210, multiple electronic control units (ECUs), an engine 230, a telematics box (T-box) 240, a transmission 250, a driving recorder 260, an antilock brake system (ABS) 270, a sensor system 280, a camera system 290, etc.

[0237] The CAN bus 210 is a serial communication network that supports distributed control or real-time control and is used to connect various components of the vehicle 200. Any component on the CAN bus 210 can detect all the data transmitted on the CAN bus 210. The frames transmitted by the CAN bus 210 can include data frames, remote frames, error frames, and overload frames, and different frames transmit different types of data. In the embodiments of the present application, the CAN bus 210 can be used to transmit data related to the operation of various components during the driving of the vehicle 200.

[0238] Not limited to the CAN bus 210, in some other embodiments, the various components of the vehicle 200 can also be connected and communicate in other ways. For example, the various components can also communicate through in-vehicle Ethernet, local interconnect network (LIN) bus, FlexRay, and media oriented systems (MOST) bus, etc. The embodiments of the present application do not limit this. The following embodiments will be described with the various components communicating through the CAN bus.

[0239] The ECU is equivalent to the processor or brain of the vehicle 200 and is used to instruct the corresponding component to perform the corresponding action according to the instructions obtained from the CAN bus 210 or according to the operations input by the user. The ECU can be composed of a security chip, a microcontroller unit (MCU), a random access memory (RAM), a read-only memory (ROM), an input / output interface (I / O), an analog / digital converter (A / D converter), and large-scale integrated circuits such as input, output, shaping, and driving.

[0240] There are many types of ECUs, and different types of ECUs can be used to implement different functions.

[0241] The multiple ECUs in vehicle 200 may include, for example: engine ECU 2201, ECU 2202 of the telematics box (T-box), transmission ECU 2203, driving recorder ECU 2204, antilock brake system (ABS) ECU 2205, etc.

[0242] The engine ECU 2201 is used to manage the engine and coordinate various functions of the engine. For example, it can be used to start the engine, shut down the engine, etc. The engine is a device that provides power for vehicle 200. The engine is a machine that converts one form of energy into mechanical energy. Vehicle 200 can be used to convert the chemical energy of liquid or gas combustion, or convert electrical energy into mechanical energy and output power externally. The components of the engine can include two major mechanisms: the crankshaft connecting rod mechanism and the valve train mechanism, as well as five major systems: cooling, lubrication, ignition, energy supply, and starting systems. The main components of the engine are cylinder block, cylinder head, piston, piston pin, connecting rod, crankshaft, flywheel, etc.

[0243] The T-box ECU 2202 is used to manage the T-box 240.

[0244] The T-box 240 is mainly responsible for communicating with the Internet, providing a remote communication interface for vehicle 200, and providing services including navigation, entertainment, driving data collection, driving path recording, vehicle fault detection, vehicle remote query and control (such as unlocking / locking, air conditioning control, window control, engine torque limitation, engine start / stop, seat adjustment, querying battery power, fuel level, door status, etc.), driving behavior analysis, wireless hotspot sharing, road rescue, anomaly reminder, etc.

[0245] The T-box 240 can be used to communicate with a telematics service provider (TSP) and electronic devices such as mobile phones, and is used to implement vehicle information display and control on the user-side electronic device. For example, data such as vehicle condition reports, driving reports, fuel consumption statistics, traffic violation inquiries, location paths, driving behaviors, etc. can be transmitted through the network to the TSP back-end system, and then forwarded by the TSP back-end system to the user-side electronic device for the user to view.

[0246] The T-box 240 may specifically include a communication module and a display screen.

[0247] Among them, the communication module can be used to provide wireless communication functions, supporting the vehicle 200 to communicate with other devices through wireless communication technologies such as WLAN (such as Wi-Fi), BT, GNSS, FM, NFC, IR, etc. The communication module can also be used to provide mobile communication functions, supporting the vehicle 200 to communicate with other devices through communication technologies such as GSM, UMTS, WCDMA, TD-SCDMA, LTE / 4G, 5G, and 6G that may emerge in the future.

[0248] The display screen is used to provide a visual interface for the driver. One or more display screens can be included in the vehicle 200. For example, it can include an in-vehicle display screen set beside the seat, a display screen set above the seat for displaying the surrounding situation, and a head-up display (HUD) that projects information onto the windshield, etc. The display screen used to display the user interface in the vehicle 200 provided in subsequent embodiments can be an in-vehicle display screen set beside the seat, or a display screen set above the seat, or a HUD, etc., which is not limited here.

[0249] T-box 240 can also be referred to as a vehicle infotainment system, a telematics unit, a vehicle gateway, etc., and the embodiments of this application do not limit this.

[0250] The transmission ECU 2203 is used to manage the transmission.

[0251] The transmission 250 is a mechanism that can be used to change the engine speed and torque. It can fix or shift gears to change the transmission ratio between the output shaft and the input shaft. The components of the transmission 250 can include a transmission mechanism, a control mechanism, and a power output mechanism, etc. The main function of the transmission mechanism is to change the value and direction of torque and speed; the main function of the control mechanism is to control the transmission mechanism to achieve the change of the transmission ratio of the transmission, that is, to achieve gear shifting to achieve speed change and torque change.

[0252] The driving recorder ECU 2204 is used to manage the driving recorder 260.

[0253] The components of the driving recorder 260 can include a host, a vehicle speed sensor, data analysis software, etc. The driving recorder 260 refers to an instrument that records the images and sounds during vehicle driving, including relevant information such as driving time, speed, and location. In the embodiments of this application, when the vehicle is driving, the vehicle speed sensor collects the wheel speed and sends the vehicle speed information to the driving recorder 260 through the CAN bus.

[0254] The ABS ECU 2205 is used to manage the ABS 270.

[0255] When the vehicle brakes, the ABS270 automatically controls the braking force of the brake to prevent the wheels from locking up and keep them in a state of rolling and sliding, so as to ensure that the adhesion between the wheels and the ground reaches the maximum value. During braking, when the electronic control device determines that a wheel tends to lock up based on the wheel speed signal input by the wheel speed sensor, the ABS enters the anti-lock braking pressure regulation process.

[0256] The sensor system 280 may include: an acceleration sensor, a vehicle speed sensor, a vibration sensor, a gyroscope sensor, a radar sensor, etc. The acceleration sensor and the vehicle speed sensor are used to detect the speed of the vehicle 200. The vibration sensor can be arranged in the airbag and other positions to detect whether the vehicle 200 is collided. The gyroscope sensor can be used to determine the motion posture of the vehicle 200. The radar sensor may include a lidar, an ultrasonic radar, a millimeter wave radar, etc. The radar sensor is used to emit electromagnetic waves to irradiate the target and receive its echo, thereby obtaining information such as the distance from the target to the electromagnetic wave emission point, the rate of change of distance (radial velocity), azimuth, altitude, etc., so as to identify other vehicles, pedestrians or roadblocks near the vehicle 200.

[0257] The camera system 290 may include multiple cameras, and the cameras are used to capture static images or videos. The cameras in the camera system 290 can be arranged in front of the vehicle, behind the vehicle, on the side, inside the vehicle, etc., to facilitate functions such as assisted driving, driving record, panoramic view, and in-vehicle detection.

[0258] The sensor system 280 and the camera system 290 can be used to detect the surrounding environment, so that the vehicle 200 can make corresponding decisions to cope with environmental changes. For example, they can be used to complete the task of paying attention to the surrounding environment during the autonomous driving stage.

[0259] In addition, the vehicle 200 may also include multiple interfaces, such as USB interfaces, RS-232 interfaces, RS485 interfaces, etc., which can be externally connected to cameras, microphones, headphones, and user electronic devices.

[0260] It can be understood that the structure illustrated in the embodiments of this application does not constitute a specific limitation on the vehicle system. The vehicle 200 may include more or fewer components than shown in the figure, or combine certain components, or split certain components, or have different component arrangements. The illustrated components can be implemented in hardware, software, or a combination of software and hardware.

[0261] For example, the vehicle 200 may further include a battery, vehicle lights, windshield wipers, instrument panel, audio system, auxiliary control unit (ACU), passive entry passive start (PEPS), on-board unit (OBU), body control module (BCM), charging interface, and so on.

[0262] In the embodiment of the present application, the T-box ECU 2202 is used to start the first application. Input devices such as microphones and the display screen in the T-box 240 are used to obtain information about the starting point and the ending point input by the user. The communication module therein is used to send this information to the server 21 and obtain the accurate route from the starting point to the ending point from the server 21. After that, the communication module uses technologies such as global satellite navigation technology, base station positioning, Wi-Fi positioning, and infrared positioning to detect the position of the vehicle 200. After the T-box ECU 2202 determines that the vehicle 200 enters the first area, it controls the communication module to obtain the high-precision map and accurate map of the first area from the server 21. Then, the T-box ECU 2202 determines the local high-precision route from the high-precision map of the first area and translates it into a local accurate route.

[0263] After that, the communication module is used to send the information of the local accurate route and the information of the ending point to the server 21 and receive the globally accurate route planned by it. Alternatively, the communication module is used to send the ending point information to the server and receive the globally accurate route planned by the server 21, and then the T-box ECU 2202 filters out the globally accurate route containing the local accurate route from it.

[0264] Output devices such as the display screen and the speaker can be used to output navigation information during navigation. For example, the display screen displays the navigation interface provided by the first application (including navigation information such as driving direction, driving length, forward driving strategy, traffic light information, etc.), and the speaker can be used to broadcast navigation information.

[0265] The software system of the electronic device 22 provided by the embodiment of the present application can be and so on. The software system of the electronic device 22 can adopt a layered architecture, event-driven architecture, microkernel architecture, microservices architecture, or cloud architecture. In the embodiment of the present application, taking the mobile operating system with a layered architecture as an example, the software structure of the electronic device 100 is exemplarily described.

[0266] Figure 11 is the software structure block diagram of the electronic device 22 in the embodiment of the present application.

[0267] The layered architecture divides software into several layers, and each layer has clear roles and divisions of labor. Layers communicate with each other through software interfaces. In some embodiments, the mobile operating system is divided into four layers, from top to bottom: the application layer, the program framework layer / core service layer, the underlying library and runtime, and the kernel layer.

[0268] The application layer may include a series of application packages.

[0269] As Figure 11 shown, the application packages may include applications such as map applications, cameras, galleries, calendars, calls, WLAN, Bluetooth, music, videos, short messages, etc.

[0270] The map application can be a map APP, a map mini-program, a map web page, an APP / mini-program / web page containing map functions, etc. The map application includes functions such as navigation and route planning, and supports the electronic device to execute the navigation method provided by the embodiments of the present application to navigate for the user. Specifically, the map application can be used to determine a passable high-precision route through the intersection or ramp using the local high-precision map of the intersection area or ramp area, and then convert the passable high-precision route into a passable standard-precision route. Further, the map application can also be used to plan a passable global standard-precision route based on the passable standard-precision route and the destination input by the user, and navigate for the user accordingly.

[0271] The program framework layer provides application programming interfaces (APIs) and programming frameworks for the applications in the application layer. The program framework layer includes some predefined functions.

[0272] As Figure 11 shown, the program framework layer may include a window manager, a content provider, a view system, a phone manager, a resource manager, a notification manager, etc.

[0273] The window manager is used to manage window programs. The window manager can obtain the display screen size, determine whether there is a status bar, lock the screen, capture the screen, etc.

[0274] The content provider is used to store and obtain data, and make this data accessible to applications. The data may include videos, images, audio, dialed and answered calls, browsing history and bookmarks, phone books, etc.

[0275] The view system includes visual controls, such as controls for displaying text, controls for displaying pictures, etc. The view system can be used to build applications. The display interface can be composed of one or more views. For example, a display interface including a short message notification icon may include a view for displaying text and a view for displaying pictures.

[0276] The telephone manager is used to provide the communication function of the electronic device. For example, the management of call status (including answering, hanging up, etc.).

[0277] The resource manager provides various resources for applications, such as localized strings, icons, pictures, layout files, video files, and so on.

[0278] The notification manager enables applications to display notification information in the status bar. It can be used to convey notification-type messages, which can disappear automatically after a short stay without user interaction. For example, the notification manager is used to inform that the download is complete, message reminders, etc. The notification manager can also be a notification that appears in the system top status bar in the form of a chart or scroll bar text, such as the notification of a background-running application, or a notification that appears in the form of a dialogue window on the screen. For example, it prompts text information in the status bar, emits a prompt tone, the electronic device vibrates, the indicator light flashes, etc.

[0279] Runtime can refer to all code libraries, frameworks, etc. required when the program runs. For example, for the C language, the runtime includes a series of function libraries required for C program running. For the Java language, in addition to the core library, the runtime also includes a virtual machine required for Java program running. The above core library can include functional functions that the Java language needs to call.

[0280] The underlying library can include multiple functional modules. For example: surface manager, Media Libraries, 3D graphics processing library (e.g., OpenGL ES), 2D graphics engine (e.g., SGL), etc.

[0281] The surface manager is used to manage the display subsystem and provides the fusion of 2D and 3D layers for multiple applications.

[0282] The media library supports the playback and recording of a variety of common audio and video formats, as well as static image files, etc. The media library can support a variety of audio and video coding formats, such as: MPEG4, H.264, MP3, AAC, AMR, JPG, PNG, etc.

[0283] The 3D graphics processing library is used to implement 3D graphics drawing, image rendering, synthesis, and layer processing, etc.

[0284] The 2D graphics engine is a drawing engine for 2D drawing.

[0285] The kernel layer is the layer between hardware and software. The kernel layer at least includes a display driver, a camera driver, an audio driver, and a sensor driver.

[0286] The following combines the capture and photo-taking scenario to exemplarily illustrate the working processes of the software and hardware of the electronic device.

[0287] When the touch sensor 180K receives a touch operation, a corresponding hardware interrupt is sent to the kernel layer. The kernel layer processes the touch operation into a raw input event (including information such as touch coordinates and the timestamp of the touch operation). The raw input event is stored in the kernel layer. The application framework layer obtains the raw input event from the kernel layer and identifies the control corresponding to the input event. Taking the touch operation as a touch click operation and the control corresponding to the click operation being the control of the camera application icon as an example, the camera application calls the interface of the application framework layer to start the camera application, and then starts the camera driver by calling the kernel layer to capture a static image or video through the camera 193.

[0288] Figure 12 It is a hardware structure block diagram of the server 21 provided by an embodiment of the present application. The server 21 can be Figure 2 the server 21 in the communication system 20 shown in Figure 3 and is used to execute each step performed on the server 21 side in the method shown in

[0289] As Figure 12 shown, the server 21 may include: one or more processors 1210, a memory 1220, a communication interface 1230, a transmitter (TX) 1250, a receiver (RX) 1260, a coupler 1270, and an antenna 1280. These components may be connected through a bus 1240 or other means. Figure 12 Taking the connection through the bus as an example. Among them:

[0290] The communication interface 1230 can be used for the server 21 to communicate with other communication devices (such as the electronic device 22). Specifically, the communication interface 1230 can be a 3G communication interface, a Long Term Evolution (LTE) (4G) communication interface, a 5G communication interface, a WLAN communication interface, a WAN communication interface, and so on. Not limited to wireless communication interfaces, the network device can also be configured with a wired communication interface 1230 to support wired communication. For example, the backhaul link between the server 21 and other servers can be a wired communication connection.

[0291] In some embodiments of the present application, the transmitter (TX) 1250 and the receiver (RX) 1260 can be regarded as a wireless modem. The transmitter (TX) 1250 can be used to perform transmission processing on the signals output by the processor 1210. The receiver (RX) 1260 can be used to receive signals. In the server 21, the number of the transmitter (TX) 1250 and the receiver (RX) 1260 can each be one or more. The antenna 1280 can be used to convert the electromagnetic energy in the transmission line into electromagnetic waves in the open space, or convert the electromagnetic waves in the open space into electromagnetic energy in the transmission line. The coupler 1270 can be used to divide the mobile communication signal into multiple paths and distribute them to multiple receivers (RX) 1260. It can be understood that the antenna 1280 of the network device can be implemented as a massive antenna array.

[0292] The memory 1220 is coupled to the processor 1210 and is used to store various software programs and / or multiple sets of instructions. Specifically, the memory 1220 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more disk storage devices, flash memory devices, or other non-volatile solid-state storage devices.

[0293] The memory 1220 can store an operating system (hereinafter referred to as the system), such as embedded operating systems like uCOS, VxWorks, RTLinux, etc. The memory 1220 can also store a network communication program, which can be used to communicate with one or more other devices.

[0294] In the embodiments of the present application, the implementation code of the navigation method provided in the embodiments of the present application on the server 21 side can be associated and stored in the memory 1220.

[0295] In the embodiments of the present application, the processor 1210 can be used to read and execute computer-readable instructions. Specifically, the processor 1210 can be used to call a program stored in the memory 1220, such as the implementation program of the navigation method provided in the present application on the server 21 side, and execute the instructions included in the program.

[0296] It should be noted that Figure 12 The shown server 21 is only one implementation manner of the embodiments of the present application. In actual applications, the server 21 may further include more or fewer components, which are not limited here.

[0297] In the embodiments of the present application:

[0298] The receiver (RX) 1260 is used to receive various types of messages and information (such as the information of the starting point, the information of the waypoint, the information of the end point, the information of the local precise route) sent by multiple electronic devices 22 to the server 21.

[0299] The processor 1210 is used to plan a global accurate mapping route from the starting point to the ending point for the electronic device 22 according to the information uploaded by the electronic device 22.

[0300] The transmitter (TX) 1250 is used to send some messages and information to the electronic device 22, such as a notification message for entering the first area, the high-precision map and accurate mapping map of the first area, the information of the global accurate mapping route, the local high-precision map, etc.

[0301] The communication interface 1230, the transmitter (TX) 1250, the receiver (RX) 1260, the antenna 1280, etc. are used to support the communication between the server 21 and other devices (such as the electronic device 22, etc.). For the communication process between the server 21 and other devices, reference can be made to the detailed introduction in the foregoing method embodiments.

[0302] It should be understood that each step in the foregoing method embodiments can be completed by the integrated logic circuit in the hardware of the processor or the instructions in the form of software. The method steps disclosed in combination with the embodiments of the present application can be directly embodied as being executed and completed by the hardware processor, or executed and completed by the combination of the hardware and software modules in the processor.

[0303] The present application also provides an electronic device, which may include: a memory and a processor. Among them, the memory can be used to store a computer program; the processor can be used to call the computer program in the memory so that the electronic device executes the method executed on the electronic device 22 side in any one of the foregoing embodiments.

[0304] The present application also provides a server, which may include: a memory and a processor. Among them, the memory can be used to store a computer program; the processor can be used to call the computer program in the memory so that the server executes the method executed on the server 21 side in any one of the foregoing embodiments.

[0305] The present application also provides a chip system, which includes at least one processor and is used to implement the functions involved on the electronic device 22 or server 21 side in any one of the foregoing embodiments.

[0306] In a possible design, the chip system further includes a memory, and the memory is used to store program instructions and data, and the memory is located inside or outside the processor.

[0307] The chip system can be composed of chips or can include chips and other discrete devices.

[0308] Optionally, there may be one or more processors in the chip system. The processor may be implemented by hardware or by software. When implemented by hardware, the processor may be a logic circuit, an integrated circuit, etc. When implemented by software, the processor may be a general-purpose processor that implements its functions by reading software code stored in a memory.

[0309] Optionally, there may also be one or more memories in the chip system. The memory may be integrated with the processor or may be separately provided from the processor, which is not limited in the embodiments of the present application. Exemplarily, the memory may be a non-transitory processor, such as a read-only memory (ROM). It may be integrated with the processor on the same chip or may be separately provided on different chips. The embodiments of the present application do not specifically limit the type of the memory and the setting manner of the memory and the processor.

[0310] Exemplarily, the chip system may be a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a central processing unit (CPU), a network processor (NP), a digital signal processing circuit (DSP), a micro controller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0311] The present application also provides a computer program product, which includes a computer program (which may also be referred to as code or instruction). When the computer program is run, it causes a computer to execute the method performed on the side of the electronic device 22 or the server 21 in any one of the above embodiments.

[0312] The present application also provides a computer-readable storage medium that stores a computer program (which may also be referred to as code or instruction). When the computer program is run, it causes a computer to execute the method performed on the side of the electronic device 22 or the server 21 in any one of the above embodiments.

[0313] In the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. The "and / or" in the text is merely an association relationship describing associated objects, indicating that there can be three relationships. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.

[0314] The terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0315] The various embodiments of the present application can be combined arbitrarily to achieve different technical effects.

[0316] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in accordance with the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid-state disk (SSD)), etc.

[0317] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by relevant hardware instructed by a computer program. This program can be stored in a computer-readable storage medium. When this program is executed, it can include the processes of the above method embodiments. The foregoing storage medium includes: various media that can store program codes such as ROM or random access memory RAM, magnetic disks, or optical discs.

[0318] In summary, the above are only embodiments of the technical solutions of this application and are not used to limit the protection scope of this application. Any modifications, equivalent replacements, improvements, etc. made according to the disclosure of this application shall be included within the protection scope of this application.

Claims

1. A navigation method, characterized in that, The method includes: The electronic device detects entering a first area, where the first area is an area including an intersection or a ramp; The electronic device determines a local high-precision route from the high-precision map of the first area, where the local high-precision route includes multiple high-precision road segments and is a driving route that complies with traffic rules and passes through the first area from the current position of the electronic device; The electronic device converts the local high-precision route into a local standard-precision route according to the correspondence between the high-precision map and the standard-precision map of the first area, where the local standard-precision route includes multiple standard-precision road segments.

2. The method according to claim 1, characterized in that, After the electronic device converts the local high-precision route into a local standard-precision route, the method further includes: The electronic device obtains a global standard-precision route, where the global standard-precision route includes multiple standard-precision road segments, and the global standard-precision route is a driving route from the current position of the electronic device through the local standard-precision route and to the end point; The electronic device navigates according to the global standard-precision route.

3. The method according to claim 2, characterized in that, Before the electronic device obtains the global standard-precision route, the method further includes: The electronic device sends the information of the local standard-precision route and the information of the end point to the server; The electronic device obtains the global standard-precision route, specifically including: The electronic device receives the information of the global standard-precision route sent by the server.

4. The method according to claim 2, characterized in that, Before the electronic device obtains the global standard-precision route, the method further includes: The electronic device sends the information of the end point to the server; The electronic device receives the standard-precision route from the current position of the electronic device to the end point sent by the server; The electronic device obtains the global standard-precision route, specifically including: The electronic device screens out the global standard-precision route from the standard-precision route from the current position of the electronic device to the end point.

5. The method according to any one of claims 1-4, characterized in that, The traffic rules include: The projection point of L on the left boundary line of the lane where it is located is the first projection point. If the position of the first projection point on the left boundary line is a dotted line, and the boundary line distance of a section of dotted line in the lane direction from the first projection point is greater than the first minimum lane-changing distance, then a left lane change can be made at L, otherwise a left lane change cannot be made at L; The projection point of L on the right boundary line of the lane where it is located is the second projection point. If the position of the second projection point on the right boundary line is a dotted line, and the boundary line distance of a section of dotted line in the lane direction from the second projection point is greater than the second minimum lane-changing distance, then a right lane change can be made at L, otherwise a right lane change cannot be made at L; If the ground arrow direction of the lane where L is located includes a direction of going straight in the lane direction, then going straight can be done at L, otherwise going straight cannot be done at L; Wherein, L is any position point in the first area.

6. The method according to any one of claims 1-5, characterized in that, The local high-precision route undergoes at least one lane change, and the directions of the at least one lane change are the same.

7. The method according to any one of claims 1-6, characterized in that, Before the electronic device detects entering the first area, the method further includes: The electronic device navigates according to the driving route from the starting point to the end point; During the navigation process, the electronic device detects entering the first area.

8. The method according to claim 7, characterized in that, The time point when the electronic device detects entering the first area is the time point for periodically planning a route during navigation, or the electronic device detects a yaw during navigation.

9. The method according to claim 7 or 8, characterized in that, Before the electronic device navigates according to the driving route from the starting point to the ending point, the method further includes: The electronic device starts a first application, where the first application is a map application; The electronic device obtains information on the input starting point and the ending point; The electronic device obtains the driving route from the starting point to the ending point.

10. The method according to any one of claims 1-6, characterized in that, Before the electronic device detects entering the first area, the method further includes: The electronic device starts a first application, where the first application is a map application; The electronic device obtains information on the input starting point and the ending point, where the starting point is located in the first area.

11. The method according to any one of claims 1-10, characterized in that, After the electronic device detects entering the first area, the method further includes: The electronic device requests the server to obtain the high-precision map of the first area.

12. A navigation method, characterized in that, The method includes: The server receives the information on the current position of the electronic device sent by the electronic device, where the current position of the electronic device is located in the first area, and the first area is an area including an intersection or a ramp; The server determines a local high-precision route from the high-precision map of the first area, where the local high-precision route includes multiple high-precision road segments and is a driving route that complies with traffic rules and passes through the first area from the current position of the electronic device; The server converts the local high-precision route into a local standard-precision route according to the correspondence between the high-precision map and the standard-precision map of the first area, where the local standard-precision route includes multiple standard-precision road segments.

13. The method according to claim 12, characterized in that, The method further includes: The server receives the information on the ending point sent by the electronic device; After the server converts the local high-precision route into a local standard-precision route, the method further includes: The server determines a global standard-precision route, where the global standard-precision route includes multiple standard-precision road segments, and the global standard-precision route is a driving route from the current position of the electronic device through the local standard-precision route and to the ending point; The server sends the global standard-precision route to the electronic device.

14. The method according to claim 12 or 13, characterized in that, The traffic rules include: The projection point of L on the left boundary line of the lane where it is located is the first projection point. If the position of the first projection point on the left boundary line is a dotted line, and the boundary line distance of a section of the dotted line in the lane direction from the first projection point is greater than the first minimum lane-changing distance, then a left lane change is possible at L, otherwise a left lane change is not possible at L; The projection point of L on the right boundary line of the lane where it is located is the second projection point. If the position of the second projection point on the right boundary line is a dotted line, and the boundary line distance of a section of the dotted line in the lane direction from the second projection point is greater than the second minimum lane-changing distance, then a right lane change is possible at L, otherwise a right lane change is not possible at L; If the ground arrow direction of the lane where L is located includes the direction of going straight ahead to the forward lane, then going straight is possible at L, otherwise going straight is not possible at L; Wherein, L is any position point in the first area.

15. The method according to any one of claims 12-14, characterized in that, The local high-precision route undergoes at least one lane change in the same direction.

16. The method according to any one of claims 12-15, characterized in that, Before the server determines the local high-precision route from the high-precision map of the first area, the method further includes: The server provides navigation service from the starting point to the ending point to the electronic device.

17. The method according to claim 16, characterized in that, The method further includes: During the process that the server provides navigation service from the starting point to the ending point to the electronic device, the server receives a navigation request sent by the electronic device. Wherein, the navigation request is sent when the electronic device detects entering the first area and the time point of detecting entering the first area is the time point for periodically planning the route during the navigation process, or the navigation request is sent when the electronic device detects yaw during the navigation process.

18. The method according to any one of claims 12-15, characterized in that, Before the server receives the information of the current position of the electronic device and the information of the ending point sent by the electronic device, the method further includes: The server receives a navigation request sent by the electronic device. Wherein, the navigation request is sent when the electronic device starts a first application, obtains the information of the input starting point and the ending point, and the starting point is located in the first area, and the first application is a map application.

19. An electronic device, characterized in that, Comprising: A memory, one or more processors; The memory is coupled to the one or more processors. The memory is used for storing one or more programs, and the one or more processors call the one or more programs to enable the electronic device to execute the method according to any one of claims 1-11.

20. A server, characterized in that, Comprising: A memory, one or more processors; The memory is coupled to the one or more processors. The memory is used for storing one or more programs, and the one or more processors call the one or more programs to enable the server to execute the method according to any one of claims 12-18.

21. A computer-readable storage medium, comprising instructions, characterized in that, When the instruction runs on the electronic device, enabling the electronic device to execute the method according to any one of claims 1-18.

22. A chip system, the chip system comprising at least one processor and a memory, the memory being used for storing program instructions and data, the processor being used for calling the program instructions and data to implement the method according to any one of claims 1-18.

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