Navigation method, navigation device, automobile and readable storage medium

Abstract

The invention provides a navigation method, a navigation device, an automobile and a readable storage medium. The navigation method comprises the following steps: acquiring map data, and generating a corresponding navigation route; receiving a viewing request about any intersection in the navigation route; when the existence of the intersection navigation image of the intersection is confirmed, the intersection navigation image is displayed, the intersection navigation image is a dynamic real-scene image within a preset distance of the intersection, and a moving route passing through the intersection in the intersection navigation image is the same as a navigation route within the preset distance of the intersection; and when the intersection navigation image of the intersection does not exist, displaying a static image of the intersection. According to the navigation method provided by the invention, more dynamic road details can be provided for the user, and better navigation can be provided for the user.

Description

Technical Field

[0001] The present invention relates to the field of navigation technology, and in particular, to a navigation method, a navigation device, an automobile, and a readable storage medium. Background Art

[0002] With the popularization of automobiles and the increasing complexity of existing roads, automobile navigation applications have become increasingly indispensable. Especially when traveling to unfamiliar locations, there is a greater need for automobile navigation applications to provide various traffic information to assist drivers in safely and smoothly reaching their destinations. However, existing automobile navigation applications usually can only preview the road names of the next intersection or display static road images. When a driver is driving on an unfamiliar road or entering a complex road (such as a viaduct), the existing static road images cannot well indicate the current driving route, and may still cause misjudgments by the driver. Summary of the Invention

[0003] In view of the above, it is necessary to provide a navigation method, a navigation device, an automobile, and a readable storage medium to at least partially solve the above problems.

[0004] The first aspect of the present application provides a navigation method, including:

[0005] Obtain map data and generate a corresponding navigation route;

[0006] Receive a viewing request for any intersection on the navigation route;

[0007] When it is confirmed that there is an intersection navigation image for the intersection, display the intersection navigation image, where the intersection navigation image is a dynamic real-scene image within a preset distance of the intersection, and the moving route passing through the intersection in the intersection navigation image is the same as the navigation route within the preset distance of the intersection;

[0008] When it is confirmed that there is no intersection navigation image for the intersection, display a static image of the intersection.

[0009] The second aspect of the present application provides a navigation device, including:

[0010] An obtaining module for obtaining map data and generating a corresponding navigation route;

[0011] A receiving module for receiving a viewing request for any intersection on the navigation route;

[0012] A display module for displaying an intersection navigation image when it is confirmed that there is a real-scene image of the intersection, where the intersection navigation image is a dynamic real-scene image within a preset distance of the intersection, and the moving route passing through the intersection in the intersection navigation image is the same as the navigation route within the preset distance of the intersection; when it is confirmed that there is no real-scene image of the intersection, display a static image of the intersection.

[0013] The third aspect of the present application provides a vehicle, including:

[0014] a memory storing at least one instruction; and

[0015] a processor configured to execute the instruction stored in the memory to implement the navigation method as described above.

[0016] The fourth aspect of the present application provides a computer-readable storage medium storing at least one instruction, and the at least one instruction is executed by a processor in an electronic device to implement the navigation method as described above.

[0017] The navigation method provided by the present application obtains dynamic intersection navigation images and preferentially displays the intersection navigation images to better provide road information for users, thereby assisting users to reach the destination safely and smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is an architecture diagram of the navigation system provided by the present application.

[0019] Figure 2 is a flowchart of the navigation method provided by an embodiment of the present application.

[0020] Figure 3 is a schematic diagram of the first type of intersection provided by an embodiment of the present application.

[0021] Figure 4 is a schematic diagram of the second type of intersection provided by an embodiment of the present application.

[0022] Figure 5 is a schematic diagram of the third type of intersection provided by an embodiment of the present application.

[0023] Figure 6 is a flowchart of the sub-steps of step S230 in an embodiment of the present application.

[0024] Figure 7 is a flowchart of the navigation method after step S220 in an embodiment of the present application.

[0025] Figure 8 is a schematic structural diagram of the navigation device provided by an embodiment of the present application.

[0026] Figure 9 is a schematic structural diagram of the electronic device provided by an embodiment of the present application.

[0027] MAIN ELEMENT SYMBOL DESCRIPTION

[0028] Vehicle 101

[0029] Terminal device 102

[0030] Image acquisition device 103

[0031] Server 104

[0032] Navigation device 100

[0033] Acquisition module 10

[0034] Receiving module 20

[0035] Display module 30

[0036] Electronic device 200

[0037] Processor 201

[0038] Memory 202

[0039] Computer program 203

[0040] The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. Specific embodiments

[0041] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

[0042] In the following description, many specific details are set forth in order to fully understand the present invention. The described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

[0044] With the popularization of automobiles and the increasing complexity of existing roads, automotive navigation applications have become increasingly indispensable. Especially when traveling to unfamiliar locations, automotive navigation applications are more needed to provide various traffic information to assist drivers in safely and smoothly reaching their destinations. However, existing automotive navigation applications usually can only preview the road names at the next intersection or display static road images. When a driver is driving on unfamiliar roads or entering complex roads (such as viaducts), the existing static road images cannot well indicate the current driving route and may still cause misjudgment by the driver.

[0045] To this end, the present application provides a navigation method that can preferentially display dynamic intersection navigation images, enabling users to drive according to the intersection navigation images, thereby better navigating for users.

[0046] First, the architecture of the navigation system involved in the embodiments of the present application is introduced.

[0047] Figure 1 FIG. 7 is a system architecture diagram provided by an embodiment of the present application. In this system, it includes several vehicles 101, terminal devices 102, image acquisition devices 103, and a server 104. Among them, a terminal device 102 and an image acquisition device 103 are installed on each vehicle 101. The terminal device 102 on each vehicle 101 receives the images collected by the image acquisition device 103. The images are stamped with time and date and are coupled with the vehicle 101 coordinates and optionally with the operating status of the vehicle 101. The terminal device 102 stores and uploads the recorded images to the server 104 in chronological order together with the coupled vehicle data. When the server 104 receives a request for traffic condition information at a specific section from the terminal device 102 on any vehicle 101, the server 104 sends the images within the most recent time of the corresponding section to the terminal device 102 on the corresponding vehicle 101 through the communication network. Thus, in this system, the server 104 collects road images through the method of crowdsourcing.

[0048] The terminal device 102 can also send control instructions to the vehicle 101. Specifically, the terminal device 102 can be installed inside the vehicle 101 or can be a terminal device currently carried by the user riding in the vehicle 101. The terminal device 102 includes a processor for processing data information. Through this processor, the terminal device 102 can process the received images to obtain the road information corresponding to the vehicle 101. In addition, the terminal device 102 can also provide an interface for human-computer interaction. Through this human-computer interaction interface, information such as the most recent images of the requested section received, the current road conditions, and the route planning map can be displayed to the user.

[0049] The image acquisition device 103 is installed outside the vehicle body of the vehicle 101. Specifically, a plurality of image acquisition devices 103 can be installed around the vehicle body of the vehicle 101. For example, 4 image acquisition devices 103 can be installed around the vehicle body of the vehicle 101, and these 4 image acquisition devices can be used as a front-view image acquisition device, a rear-view image acquisition device, a left-view image acquisition device, and a right-view image acquisition device respectively. Among them, the front-view image acquisition device is installed at the central position of the vehicle head, the rear-view image acquisition device is installed at the central position of the vehicle tail, the left-view image acquisition device is installed at the midpoint position along the length direction on the left side of the vehicle, and the right-view image acquisition device is installed at the midpoint position along the length direction on the right side of the vehicle. It should be noted that the above is only an example with 4 image acquisition devices for illustration. In actual applications, more or fewer image acquisition devices 103 can also be installed around the vehicle body of the vehicle 101. The image acquisition device 103 can acquire images of the road conditions around the vehicle 101 during the driving of the vehicle 101. By processing and analyzing the acquired road condition images, obstacles, lane lines, traffic lights, and traffic light stop lines, etc. existing around the vehicle 101 can be detected. That is to say, by processing and analyzing the acquired road condition images, obstacle detection results, lane line detection results, traffic light detection results, and stop line detection results, etc. can be initially obtained.

[0050] The server 104 can be a cloud server or a remote server. The server 104 can set corresponding programs to process the received images, such as image recognition processing, image annotation, etc. In some embodiments, the server 104 can also actively update the images of the corresponding road sections to the terminal device 102 without the terminal device 102 sending a request.

[0051] It should be noted that the terminal device 102 can be an in-vehicle terminal device or other mobile terminal devices currently inside the vehicle 101. For example, the terminal device 102 can be terminals such as industrial computers, laptops, smartphones, and tablets. The image acquisition device 103 can be a camera or a camera head capable of image acquisition. For example, the image acquisition device 103 can be a fish-eye panoramic camera.

[0052] Optionally, the terminal device 102 in the above system architecture can be replaced by a vehicle control unit (VCU). In this case, the method steps provided in the following embodiments can be applied to the vehicle 101 and executed by the vehicle control unit of the vehicle 101.

[0053] Please refer to Figure 2 , Figure 2The flowchart of the navigation method provided by an embodiment of the present application. According to different requirements, the order of steps in this flowchart can be changed, and some steps can be omitted.

[0054] In some embodiments, the navigation method includes:

[0055] Step S210: Obtain map data and generate a corresponding navigation route.

[0056] Specifically, after the user inputs the starting position and the destination at the human-computer interaction interface of the terminal device 102, the terminal device 102 obtains the map data and generates a corresponding navigation route.

[0057] Among them, the map data can be stored in the memory of the terminal device 102; the map data can also be stored in the server 104 or other remote servers. The terminal device 102 sends a data request to the server 104 or other remote servers to download the map data.

[0058] Exemplarily, the terminal device 102 can generate several navigation routes according to the starting position and the destination input by the user, and then display one of the navigation routes according to the user's selection. Another example is that the terminal device 102 can also recommend and display one of the current several navigation routes according to factors such as the traffic congestion situation of the current road, the length of the journey, the driving duration, or the user's preference.

[0059] Step S220: Receive a viewing request for any intersection in the navigation route.

[0060] Among them, the intersection includes the position where the road name changes in the navigation route and the position where the road node changes. Specifically, the position where the road name changes in the navigation route includes the position where the navigation route turns. For example, please refer to Figure 3 , the intersection can include Figure 3 the position of node C where the first road A turns to the second road B shown in

[0061] The position where the road node changes can include the position where the vehicle gets on or off the viaduct in the navigation route. For example, please refer to Figure 4 , the intersection can include intersection F where the ground road D enters the viaduct E.

[0062] The changed positions of road nodes also include the positions of interchanges where the navigation route enters or exits the highway. For example, referring to FIG. 5, the intersection may include an interchange I where an ordinary road G enters the highway H. Exemplarily, in step S220, a viewing request can be received by receiving a touch command input by the user on the human-computer interaction interface of the terminal device 102 for any intersection. For example, when the user clicks on any intersection on the navigation route displayed on the human-computer interaction interface, a viewing request for the corresponding intersection in the navigation route can be received.

[0063] Also exemplarily, in other embodiments, the viewing request can also be a request instruction automatically triggered when the vehicle 101 travels within a preset range of the intersection. For example, the preset range can be within 1000 meters of the intersection. Thus, when the vehicle 101 travels to within 1000 meters of the intersection, the computer program in the terminal device 102 automatically generates a viewing request for this intersection and it is received.

[0064] Step S230: When it is confirmed that there is an intersection navigation image for the intersection, display the intersection navigation image.

[0065] Wherein, the intersection navigation image is a dynamic real-scene image within a preset distance of the intersection, and the moving route passing through the intersection in the intersection navigation image is the same as the navigation route within the preset distance of the intersection.

[0066] Wherein, the preset distance includes a starting point and an ending point, and the intersection is located between the starting point and the ending point.

[0067] In some embodiments, the starting point is the previous intersection adjacent to the intersection along the guiding direction of the navigation route, and the ending point is the next intersection adjacent to the intersection along the guiding direction of the navigation route. Thus, the intersection navigation image can be a real-scene image from the previous intersection adjacent to this intersection to the next intersection adjacent to this intersection.

[0068] In step S230, after the terminal device 102 receives a viewing request for any intersection in the navigation route, it sends a data request for the traffic condition information of this intersection to the server 104. Subsequently, the server 104 returns a real-scene image of this intersection according to this data request; when there is no real-scene image of this intersection, it returns a corresponding feedback message to prompt that no real-scene image of this intersection has been collected currently. Thus, the terminal device 102 can confirm whether there is an intersection navigation image for this intersection according to the real-scene image or feedback message returned by the server 104.

[0069] Specifically, the server 104 is communicatively connected to a real-scene image database, which stores a number of real-scene images uploaded by vehicles 101. When the server 104 receives a data request from the terminal device 102, the server 104 intercepts at least one row of real-scene images passing through the intersection in the real-scene image database, and in the at least one intercepted real-scene image, the moving route passing through the intersection is the same as the navigation route within a preset distance from the intersection. For example, the intercepted real-scene image records the real-scene image of driving from the previous intersection adjacent to the intersection to the next intersection adjacent to the intersection. Further, the server 104 also obtains the timestamp when it receives the data request sent by the terminal device 102, and returns the real-scene image with the time closest to the timestamp among the at least one intercepted real-scene images passing through the intersection to the terminal device 102. The terminal device 102 uses the received real-scene image of the intersection as the intersection navigation image of the intersection.

[0070] In step S230, when it is confirmed that there is an intersection navigation image of the intersection, the terminal device 102 also performs image recognition processing and image annotation processing on the received intersection navigation image, so as to display dynamic driving marks (such as driving direction arrows) and landmark marks (Point of interest) simultaneously when displaying the intersection navigation image.

[0071] Specifically, in some embodiments, the terminal device 102 can identify lane directions, road sign information, and / or the driving directions of vehicles on the lane in the intersection navigation image based on image processing technology and neural networks, and then confirm traffic information such as the driving direction or current speed limit of the intersection. The terminal device 102 can also identify corresponding stores or buildings in the current intersection navigation image in combination with the intersection navigation image and the current map data. Further, based on the identified traffic information and building information, the terminal device 102 also generates corresponding dynamic indication graphics (such as arrows, convenience store icons, hospital icons, or gas station icons, etc.) through a graphics generation program, so as to display dynamic graphics while displaying the dynamic intersection navigation image, to better guide the user to drive safely and smoothly and improve the safety of the user's driving.

[0072] Step S240: When it is confirmed that there is no intersection navigation image of the intersection, display a static image of the intersection.

[0073] It can be understood that the static image of the intersection can be a map picture included in the map data, or a static picture of the intersection returned by the server 104.

[0074] In some embodiments, while the server 104 returns the real-scene image of the intersection to the terminal device 102, it also returns a reference data. The reference data is used to represent the preset duration for passing through the intersection. When the terminal device 102 detects that the difference between the actual duration for the vehicle 101 to pass through the intersection and the preset duration exceeds the preset threshold, the terminal device 102 also displays an evaluation box for the user to score the credibility of the displayed intersection navigation image. The terminal device 102 also feeds back the scoring data to the server 104. In this way, the server 104 can reduce the credibility of the corresponding real-scene image according to the scoring data, thereby reducing the number of times the corresponding real-scene image is sent to the terminal device 102.

[0075] It can be understood that for the navigation method provided in this application, when receiving a viewing request, by preferentially displaying the dynamic intersection navigation image, it provides the user with a navigation image with more road details, guiding the user to pass through the corresponding intersection smoothly, thereby enhancing the safety of the user's driving and improving the user experience. Further, the navigation method provided in this application also makes corresponding dynamic markings in the intersection navigation image to provide the user with more road reference information, thereby better guiding the user to pass through the current intersection smoothly.

[0076] Please continue to refer to Figure 6 , in some embodiments, when it is confirmed that there is an intersection navigation image of the intersection, displaying the intersection navigation image includes the following sub-steps:

[0077] Step S310: Obtain the timestamp when receiving the viewing request for the intersection and record it as the first timestamp.

[0078] Step S320: Obtain a plurality of real-scene images including the intersection. The plurality of real-scene images including the intersection are also marked with the timestamp when arriving at the intersection, which is recorded as the second timestamp.

[0079] In some embodiments, the terminal device 102 also sends a heartbeat signal to the server 104, and the heartbeat signal includes the current coordinate information of the vehicle 101 where the terminal device 102 is located to update the coordinates of the vehicle 101 to the server 104. In this way, when the server 104 receives the data request sent by the terminal device 102 and the server 104 confirms through the heartbeat signal that the vehicle 101 has not passed through the intersection yet, the server 104 also sends the real-scene image of the intersection to the terminal device 102 to update the real-scene image of the intersection received by the terminal device 102. Among them, the real-scene image sent by the server 104 is also marked with the timestamp when arriving at the intersection. In this way, the terminal device 102 can obtain a plurality of real-scene images including the intersection, and the plurality of real-scene images including the intersection are also marked with the timestamp when arriving at the intersection, which is recorded as the second timestamp.

[0080] Step S330: Compare a plurality of second timestamps with the first timestamp respectively.

[0081] Step S340: Confirm the real-scene image corresponding to the second timestamp with the marked time closest to the first timestamp among the plurality of second timestamps as the intersection navigation image.

[0082] For example, when the first timestamp is 1 / 10 / 14:00 (indicating 14:00 on January 10th), and the second timestamps of a plurality of real-scene images of the intersection sent by the server 104 to the terminal device 102 are respectively timestamp label 1: 1 / 10 / 12:00; timestamp label 2: 1 / 10 / 12:30; and timestamp label 3: 1 / 10 / 13:05, since timestamp labels 1-3 are all earlier than the first timestamp, the real-scene image corresponding to timestamp label 3 with the marked time closest to the first timestamp is selected as the intersection navigation image of this intersection.

[0083] In some other embodiments, confirming whether there is an intersection navigation image of an intersection further includes the following steps:

[0084] When the intersection has not been passed yet and there is a second timestamp later than the first timestamp among the plurality of second timestamps, confirm the real-scene image corresponding to the second timestamp with the latest marked time among the plurality of second timestamps as the intersection navigation image.

[0085] For example, when the first timestamp is 1 / 10 / 14:00 (indicating 14:00 on January 10th), and the plurality of second timestamps include timestamp label 1: 1 / 10 / 12:00; timestamp label 2: 1 / 10 / 14:02; and timestamp label 3: 1 / 10 / 14:05, then the real-scene image corresponding to timestamp label 3 is selected as the current intersection navigation image.

[0086] In some embodiments, after the server 104 (terminal device 102) obtains a plurality of real-scene images, it also filters the real-scene images according to the current weather condition and lighting condition (such as day or night) of the intersection. For example, when the vehicle 101 passes through the intersection on a sunny day, the server 104 (terminal device 102) preferentially filters the real-scene images recorded on a sunny day as the intersection navigation images.

[0087] In some embodiments, after the server 104 (terminal device 102) obtains a plurality of real-scene images, it also classifies the real-scene images according to factors such as the weather condition or lighting condition in the real-scene images. In this way, the user can select to display the intersection navigation images under different weather conditions or lighting conditions.

[0088] In this way, by performing the above steps, the terminal device 102 can display the intersection navigation image, thereby providing a better navigation service for the user and better prompting the current traffic condition information of the intersection.

[0089] Please continue to refer to Figure 7 , in some embodiments, after receiving a viewing request for any intersection in the navigation route, the navigation method further includes the following sub-steps:

[0090] Step S410: Divide the route between every adjacent several intersections in the navigation route into a section of path to obtain at least one section of path.

[0091] For example, in one embodiment, starting from the intersection where the viewing request is received, the route between every two adjacent intersections in the navigation route is divided into a section of path.

[0092] Step S420: Obtain the timestamp when the viewing request for this intersection is received and record it as the first timestamp.

[0093] Step S430: Obtain a plurality of real-scene images including the path, and each real-scene image including the path is also marked with a start timestamp, denoted as the third timestamp.

[0094] Specifically, in step S430, the terminal device 102 sends the path information divided according to the navigation route to the server 104, and the path information includes the number of each path. After receiving the path information sent by the terminal device 102, the server 104 performs screening and intercepting operations on the real-scene images in the real-scene image database to generate a plurality of real-scene images corresponding to the paths. Each real-scene image includes the number information of the corresponding path and the start timestamp when passing through the starting point of the corresponding path, denoted as the third timestamp. The server 104 also sends the generated plurality of real-scene images corresponding to the paths to the terminal device 102. In this way, the terminal device 102 can identify the corresponding real-scene image of each path according to the path number information.

[0095] It can be understood that when the server 104 determines according to the heartbeat signal that the vehicle 101 where the terminal device 102 is located has not passed through the corresponding path, the server 104 also updates the real-scene image including the path at any time. In this way, each path has at least one corresponding real-scene image.

[0096] Step S440: For each path, compare a number of third timestamps with the first timestamp respectively; when there is a third timestamp later than the first timestamp among the number of third timestamps, confirm the real-scene image corresponding to the third timestamp with the latest marked time among the number of third timestamps as the intersection navigation image corresponding to this path; when there is no third timestamp later than the first timestamp among the number of third timestamps, confirm the real-scene image corresponding to the third timestamp with the time closest to the first timestamp among the number of third timestamps as the intersection navigation image corresponding to this path.

[0097] In this way, according to the navigation route, the intersection navigation images corresponding to the paths are displayed in sequence, and then the real-scene navigation for the entire navigation route can be provided.

[0098] In some embodiments, the human-computer interaction interface of the terminal device 102 also displays a button for exiting the real-scene navigation mode for the user to exit the real-scene navigation mode.

[0099] In this way, by executing the above Step S410 - Step S440, when the user issues a viewing request for any intersection of the navigation route, the real-scene navigation images of all paths in the subsequent navigation route can be automatically displayed to provide better navigation services for the user.

[0100] Please refer to Figure 8 , the second embodiment of the present application also provides a navigation device 100, which can be applied to a vehicle 101. The navigation device 100 includes an acquisition module 10, a receiving module 20, and a display module 30.

[0101] Among them, the acquisition module 10 is used to acquire map data and generate a corresponding navigation route.

[0102] The receiving module 20 is used to receive a viewing request for any intersection in the navigation route.

[0103] The display module 30 is used to display the corresponding real-scene image when it is confirmed that there is a real-scene image of this intersection, where the real-scene image is the real-scene image within a preset distance including this intersection, and the moving route passing through this intersection in the real-scene image is the same as the navigation route within the preset distance; when it is confirmed that there is no real-scene image of this intersection, display a static image of this intersection.

[0104] It can be understood that the acquisition module 10, the receiving module 20, and the display module 30 are used to execute the Figure 2 , Figure 6 and Figure 7 corresponding steps in the embodiments, and for specific details, please refer to the relevant descriptions in the previous embodiment, which will not be elaborated here.

[0105] Please refer to Figure 9, the third embodiment of the present application further provides an electronic device 200, including a processor 201, a memory 202, and a computer program 203 stored in the memory 202 and executable on the processor 201.

[0106] The electronic device 200 can be any one of a cloud system, an embedded computer, a vehicle-mounted system, or a server, etc. Those skilled in the art can understand that the schematic diagram is only an example of the electronic device 200, and does not constitute a limitation on the electronic device 200. It may include more or fewer components than shown in the figure, or combine some components, or different components.

[0107] When the processor 201 is used to execute the computer program 203, it implements the steps in the above-mentioned detection method embodiments, such as steps S210 - S240, steps S310 - S340, and steps S410 - S440 shown in the first embodiment.

[0108] Exemplarily, the computer program 203 can be divided into one or more modules / units. One or more modules / units are stored in the memory 202 and executed by the processor 201 to complete the present invention. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 203 in the electronic device 200.

[0109] The processor 201 can be a central processing module (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application-specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor 201 can also be any conventional processor, etc. The processor 201 is the control center of the electronic device 200, and connects various parts of the entire electronic device 200 through various interfaces and lines.

[0110] The memory 202 can be used to store computer programs 203 and / or modules / units. The processor 201 realizes various functions of the electronic device 200 by running or executing the computer programs and / or modules / units stored in the memory 202, and by invoking the data stored in the memory 202. The memory 202 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.). The data storage area can store data created according to the use of the electronic device 200 (such as video data, audio data, phone book, etc.). In addition, the memory 202 can include high-speed random access memory, and can also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0111] If the modules / units integrated in the electronic device 200 are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-described embodiment methods of the present invention, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, an executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disc, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical signal, and a software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0112] In several embodiments provided by the present invention, it should be understood that the disclosed electronic device and method can be implemented in other ways. For example, the above-described electronic device embodiments are merely illustrative. For example, the division of the modules is only a logical function division, and there can be other division methods in actual implementation.

[0113] In addition, in each embodiment of the present invention, the functional modules can be integrated in the same processing module, or each module can exist physically alone, or two or more modules can be integrated in the same module. The above integrated modules can be implemented in the form of hardware, or in the form of a combination of hardware and software functional modules.

[0114] The fourth embodiment of the present application further provides a vehicle (refer to Figure 1 vehicle 101 shown in the figure), including a memory and a processor (not shown in the figure). Among them, the memory stores at least one instruction; the processor is used to execute the instructions stored in the memory to implement the navigation method described in the first embodiment, such as steps S210-S240, steps S310-S340, and steps S410-S440.

[0115] It can be understood that the vehicle can be an electric vehicle, a fuel vehicle, or a hybrid vehicle, and the present application does not limit the specific type of the vehicle.

[0116] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights. In addition, obviously, the word "including" does not exclude other modules or steps, and the singular does not exclude the plural. The multiple modules or electronic devices stated in the claims of the electronic device can also be implemented by the same module or electronic device through software or hardware. First, second, etc. are used to represent names and do not represent any specific order.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A navigation method, characterized in that, The navigation method includes: Obtaining map data and generating a corresponding navigation route; Receiving a viewing request for any intersection in the navigation route; When it is confirmed that there is an intersection navigation image of the intersection, displaying the intersection navigation image, where the intersection navigation image is a dynamic real-scene image within a preset distance of the intersection, and the moving route passing through the intersection in the intersection navigation image is the same as the navigation route within the preset distance of the intersection; When it is confirmed that there is no intersection navigation image of the intersection, displaying a static image of the intersection.

2. The navigation method according to claim 1, characterized in that, The preset distance includes a starting point and an ending point, and the intersection is located between the starting point and the ending point.

3. The navigation method according to claim 2, wherein The starting point is the previous intersection close to the intersection in the guiding direction along the navigation route, and the ending point is the next intersection close to the intersection in the guiding direction along the navigation route.

4. The navigation method according to claim 1, wherein The step of, when it is confirmed that there is an intersection navigation image of the intersection, displaying the intersection navigation image, includes: Obtaining the timestamp when the viewing request for the intersection is received, and recording it as the first timestamp; Obtaining a plurality of real-scene images including the intersection, and the plurality of real-scene images including the intersection are also marked with the timestamp when arriving at the intersection, and recording it as the second timestamp; Respectively comparing the plurality of second timestamps with the first timestamp; Confirming the real-scene image corresponding to the second timestamp with the marked time closest to the first timestamp among the plurality of second timestamps as the intersection navigation image.

5. The navigation method according to claim 1, wherein After receiving the viewing request for any intersection in the navigation route, the navigation method further includes: Dividing the route between every adjacent several intersections in the navigation route into a section of path to obtain at least one section of the path; Obtaining the timestamp when the viewing request for the intersection is received, and recording it as the first timestamp; Obtaining a plurality of real-scene images including the path, and each real-scene image including the path is also marked with a start timestamp, and recording it as the third timestamp; For each path, respectively comparing the plurality of third timestamps with the first timestamp; When there is a third timestamp later than the first timestamp among the plurality of third timestamps, confirming the real-scene image corresponding to the third timestamp with the latest marked time among the plurality of third timestamps as the intersection navigation image corresponding to the path; When there is no third timestamp later than the first timestamp among the plurality of third timestamps, confirming the real-scene image corresponding to the third timestamp with the time closest to the first timestamp among the plurality of third timestamps as the intersection navigation image corresponding to the path.

6. The navigation method according to claim 1, characterized in that The intersection includes the position where the road name changes in the navigation route and the position where the road node changes.

7. The navigation method according to claim 6, wherein The position where the road name changes in the navigation route includes the position where the navigation route turns, and the position where the road node changes includes the positions of going up and down viaducts and interchanges in the navigation route.

8. A navigation device, characterized in that, The navigation device includes: An obtaining module for obtaining map data and generating a corresponding navigation route; A receiving module for receiving a viewing request for any intersection in the navigation route; A display module, configured to display the intersection navigation image when it is confirmed that there is a real scene image of the intersection, wherein the intersection navigation image is a dynamic real scene image within a preset distance of the intersection, and the moving route passing through the intersection in the intersection navigation image is the same as the navigation route within the preset distance of the intersection; when it is confirmed that there is no real scene image of the intersection, display the static image of the intersection.

9. A vehicle, characterized in that, The vehicle includes: a memory storing at least one instruction; and a processor configured to execute the instruction stored in the memory to implement the navigation method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: At least one instruction is stored in the computer-readable storage medium, and the at least one instruction is executed by a processor in an electronic device to implement the navigation method according to any one of claims 1 to 7.

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