Navigation method, lane prompt area determination method, device and program product

Abstract

The invention provides a navigation method, a prompt area determination method, a device and a program product. The navigation method comprises the following steps: acquiring position information of a target vehicle; determining information of a driving lane of the target vehicle based on the position information; when the target vehicle enters the lane prompt area of the driving lane, lane prompt information is broadcasted, the lane prompt area is determined according to road change points in a navigation route of the target vehicle, and the road change points are positions where at least two intersected roads exist. Therefore, the prompt is given according to the actual driving lane of the vehicle, so that the prompt sent by the terminal equipment is more matched with the actual driving condition of the target vehicle, and the object driving the target vehicle has sufficient time and distance to change the lane.

Description

Technical Field

[0001] The present application relates to the field of navigation technology, and in particular to a navigation method, a lane prompt area determination method, a device, and a program product. Background Art

[0002] With the increasing popularity of vehicles and complexity of roads, navigation devices are increasingly being used. Navigation devices can plan a navigation route based on a starting and ending point input, and guide the driver to steer the vehicle along the route. For example, suppose the navigation route indicates that the vehicle needs to travel on Road A and enter Road B via Exit a1 on Road A. Just before reaching Exit a1, the navigation device can play a lane prompt or other means to prompt the driver to enter Road B via Exit a1.

[0003] However, the inventors of this application have found that current navigation devices can only provide road-level guidance information. Around road change points, if the driver is guided only according to the road, the driver may not have enough time to change lanes, resulting in the vehicle being unable to enter the correct road in time. Summary of the Invention

[0004] This application provides a navigation method, a lane prompt area determination method, an apparatus, and a program product, which are intended to provide lane-based prompts to the driver, enabling the driver to change lanes in a timely manner and improving navigation efficiency. The technical solution is as follows.

[0005] In a first aspect, the present application provides a navigation method, comprising:

[0006] Obtain the location information of the target vehicle;

[0007] Determining information about the driving lane of the target vehicle based on the position information;

[0008] In response to the target vehicle entering a lane prompt area of the driving lane, lane prompt information is broadcast, wherein the lane prompt area is determined based on a road change point in the navigation route of the target vehicle, and the road change point is a location where at least two intersecting roads exist.

[0009] In a second aspect, the present application provides a method for determining a lane prompt area, the method comprising:

[0010] Obtain the navigation route of the target vehicle;

[0011] Determining a road change point in the navigation route, wherein the road change point is a location point where at least two roads intersect;

[0012] Based on the road change point, a lane prompt area of each lane corresponding to the road change point is obtained, and the lane prompt area is used to broadcast lane prompt information after the target vehicle enters.

[0013] In a third aspect, the present application provides a navigation device, comprising:

[0014] A positioning unit, used to obtain the location information of the target vehicle;

[0015] a lane determination unit, configured to determine information about a driving lane of the target vehicle based on the position information;

[0016] In response to the target vehicle entering a lane prompt area of the driving lane, lane prompt information is broadcast, wherein the lane prompt area is determined based on a road change point in the navigation route of the target vehicle, and the road change point is a location where at least two intersecting roads exist.

[0017] In a fourth aspect, the present application provides a lane prompt area determination device, the device comprising:

[0018] An acquisition unit, used to acquire a navigation route of a target vehicle;

[0019] a change point determining unit, configured to determine a road change point in the navigation route, wherein the road change point is a location point where at least two roads intersect;

[0020] The area determination unit is used to obtain a lane prompt area of each lane corresponding to the road change point based on the road change point, and the lane prompt area is used to broadcast lane prompt information after the target vehicle enters.

[0021] In a fifth aspect, the present application provides a device, comprising: a processor, the processor being coupled to a memory, the memory storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by the processor, so that the device implements the method as described in any one of the first aspects above, or implements the method as described in any one of the second aspects above.

[0022] In a sixth aspect, the present application provides a computer-readable storage medium, wherein the storage medium stores at least one instruction, and when the instruction is executed on a computer, the computer executes the method as described in any one of the first aspects above, or executes the method as described in any one of the second aspects above.

[0023] In the seventh aspect, the present application provides a computer program product, which includes one or more computer program instructions. When the computer program instructions are loaded and executed by a computer, the computer executes the method as described in any one of the first aspect or the method as described in any one of the second aspect.

[0024] It can be seen that this application has the following beneficial effects:

[0025] When a navigation terminal is navigating a target vehicle traveling in a lane, it can obtain the target vehicle's location information. Then, based on the location information, it can determine the target vehicle's lane information. Based on the target vehicle's location information, it can determine whether the target vehicle has entered a lane prompt area within the lane. If the target vehicle has entered the lane prompt area, lane prompt information can be played. The lane prompt area is determined based on a road change point in the target vehicle's navigation route, where a road change point is a location where multiple roads intersect. In other words, if two or more roads intersect at a certain point in the target vehicle's navigation route, a lane prompt area can be pre-set based on that location and the target vehicle's lane. After the target vehicle enters the lane prompt area, lane prompt information can be played to provide a prompt. This indicates that lane prompt areas are set at a lane-level granularity; different lanes on the same road can have different lane prompt areas. When providing prompts, the navigation terminal can select an appropriate lane prompt area based on the target vehicle's actual lane. This allows, compared to traditional prompting schemes, the lane prompt area used for prompting can be determined based on the vehicle's actual lane, thereby providing prompts tailored to the lane of the target vehicle. In this way, prompts are given based on the lane the vehicle is actually traveling in, so that the prompts issued by the terminal device are more consistent with the actual driving conditions of the target vehicle, and the person driving the target vehicle has sufficient time and distance to change lanes. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1a A schematic diagram of an application scenario provided in an embodiment of the present application;

[0027] Figure 1b A schematic diagram of another application scenario provided in an embodiment of the present application;

[0028] Figure 1c A schematic diagram of another application scenario provided in an embodiment of the present application;

[0029] Figure 2a A schematic diagram of another application scenario provided in an embodiment of the present application;

[0030] Figure 2bA schematic diagram of another application scenario provided in an embodiment of the present application;

[0031] Figure 3 A flowchart of a navigation method provided in an embodiment of the present application;

[0032] Figure 4 A schematic diagram of a flow chart of a method for determining a prompt area provided in an embodiment of the present application;

[0033] Figure 5 A schematic structural diagram of a navigation device provided in an embodiment of the present application;

[0034] Figure 6 A schematic structural diagram of a prompt area determination device provided in an embodiment of the present application;

[0035] Figure 7 A schematic diagram of the structure of a server provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0037] The following is an explanation of some terminology concepts involved in the embodiments of this application.

[0038] (1) Road

[0039] In a broad sense, a road refers to a surface on which people, vehicles, or other objects can pass. In the embodiments of the present application, a road refers to a surface on which vehicles can pass and which includes at least one lane, such as an urban highway or an expressway. A road may include one lane or multiple lanes.

[0040] (2) Lane

[0041] In the embodiments of this application, a lane refers to a pre-demarcated area on a road that can accommodate a single vehicle. That is, at a certain location in a lane, only one vehicle is allowed to travel at a time. A road may include multiple lanes. If a road includes multiple lanes, a vehicle traveling on that road may travel in any lane, or enter a lane adjacent to the current lane. If a vehicle changes lanes from one lane to another adjacent lane, it is considered to have changed lanes.

[0042] (3) Road change points

[0043] A road change point is a location where at least two intersecting roads exist, wherein a road intersection means that a vehicle can drive from one road to another road at the road change point. For example, a road may be divided into two (or more) roads at a road change point, or two (or more) roads may be combined into one road at a road change point, or two (or more) roads may intersect at a road change point. Road change points may include, but are not limited to, road entrances, road exits, and road intersections (such as crossroads). Optionally, a road change point may also be the starting point or end point of a road.

[0044] It can be understood that if road a and road b intersect at a certain geographical location, but vehicles cannot directly drive into road b from road a, nor can they directly drive into road a from road b (for example, road a and road b are independent elevated sections), then road a and road b can be said to be non-intersecting.

[0045] Optionally, within a certain area around the road change point, a certain lane in the road may be associated with other lanes.

[0046] For example, if a road is divided into two roads at a road change point, then around the road change point, a lane in the road may be connected to a lane in another road, and the lane can be said to be associated with the other road. Figure 1a In the illustrated implementation, road 1110 includes lane 1111, lane 1112, and lane 1113. At road change point 1130, road 1120 is branched from road 1110, and road 1120 includes lane 1121. Figure 1a In the implementation shown, lane 1113 is connected to lane 1121, and lane 1113 can be said to be associated with road 1120, and lane 1113 is the associated lane corresponding to road 1120. Figure 1a In the illustrated implementation, the road change point 1130 is a road exit.

[0047] For another example, if two roads merge into one road at a road change point, then around the road change point, a lane in one road may connect to a lane in another road, and the lane can be said to be associated with the other road. Figure 1b In the illustrated implementation, road 1210 includes lane 1211, lane 1212, and lane 1213. At road change point 1230, road 1220 merges into road 1210, and road 1220 includes lane 1221. Figure 1b In the implementation shown, lane 1213 is connected to lane 1221, and lane 1213 can be said to be associated with road 1220, and lane 1213 is the associated lane corresponding to road 1220. Figure 1bIn the illustrated implementation, the road change point 1230 is a road entrance.

[0048] For another example, if two roads intersect at a road change point, then before the road change point, a lane in the road may be a turning lane (such as a left-turn lane or a right-turn lane) for entering the other road, and then the lane can be said to be associated with the other road. Figure 1c In the illustrated implementation, road 1310 includes lane 1311, lane 1312, and lane 1313. At road change point 1330, a vehicle can turn right through lane 1313 and enter road 1320. Figure 1c In the implementation shown, lane 1313 can be said to be associated with road 1320, and lane 1313 is the associated lane corresponding to road 1320. Figure 1c In the illustrated implementation, the road change point 1330 is a road intersection.

[0049] It should be noted that the above three examples are only for illustration. In actual scenarios, there may be other road intersections.

[0050] (4) Navigation route

[0051] A navigation route, also referred to as a route, represents the set of roads a vehicle needs to travel along as it travels from its starting point to its destination. The navigation route is generated by the navigation device based on the starting and ending points input.

[0052] A navigation route corresponds to at least one road. The "at least one road" here refers to the road that the vehicle must travel along from the starting point to the destination along the navigation route. If a navigation route corresponds to only one road, it means that the vehicle will travel along that one road from the starting point to the destination along the navigation route. If a navigation route corresponds to multiple roads, the roads corresponding to the navigation route can be arranged in an orderly manner. The order of the roads indicates the order in which the vehicle must travel along the navigation route.

[0053] (5) High-precision maps

[0054] A High Definition Map (HDM) is a high-precision map. Unlike traditional Standard Definition Maps (SDM) used for navigation, HDMs have higher accuracy, for example, they can achieve centimeter-level accuracy. In addition, HDMs include not only two-dimensional map information, but also three-dimensional information. Based on HDMs, autonomous driving devices can determine the location of the vehicle and make autonomous driving decisions. It should be noted that there are also high-quality maps, light maps, lane-level maps, etc. in the industry, and their accuracy is higher than that of Standard Definition Maps. In this application, such maps are equivalent to HDMs.

[0055] Alternatively, a high-precision map can be reconstructed based on 3D point cloud data, which is collected by a vehicle equipped with a collection device (such as a laser radar) while driving.

[0056] Currently, navigation devices can prompt users to change lanes through voice prompts, etc. For example, if the navigation route indicates that the road the vehicle is traveling on has changed, the navigation device can play a lane prompt voice to guide the driver to change lanes in the correct direction.

[0057] However, current navigation systems only provide road-level guidance, accounting for road variations along the route without considering the vehicle's actual driving conditions. This makes it impossible to guide drivers through lane changes at the lane level. Consequently, the guidance provided by navigation systems may be ineffective, preventing drivers from timely directing them to the correct road.

[0058] Combine Figure 1a For example, if the navigation route instructs the vehicle to first drive along road 1110 and then enter road 1120 at road change point 1130, the navigation device may play a voice prompt after the vehicle reaches a preset distance from road change point 130, prompting the user to promptly enter lane 1113.

[0059] If the vehicle was in lane 1111 before the voice prompt, the driver would first need to control the vehicle from lane 1111 to lane 1112 after hearing the voice prompt, and then control the vehicle from lane 1112 to lane 1113. This process requires the driver to perform two lane changes. Consequently, factors such as a short preset distance, poor driving skills, and a large number of vehicles on road 1110 may prevent the vehicle from entering lane 1113 in a timely manner, resulting in the vehicle being unable to travel along the navigation route.

[0060] To address this issue, some implementations can increase the preset distance, for example, by providing a one-kilometer or even two-kilometer advance warning for lane changes. However, due to the long distance, drivers may not be able to notice the navigation device's prompts in time, making it difficult to achieve effective guidance.

[0061] In order to solve the above problems, the embodiments of the present application provide a navigation method and a lane prompt area determination method. Among them, the navigation method can be applied to a navigation terminal associated with a target vehicle, and a prompt can be given after the target vehicle enters the lane prompt area. The navigation terminal is a terminal device with navigation capabilities, and can include, for example, mobile terminal devices such as mobile phones and computers, and can also include devices with navigation capabilities such as vehicle-mounted navigation terminals. If the navigation terminal is a mobile terminal device, during the driving process of the target vehicle, the position of the navigation terminal is associated with the position of the target vehicle, for example, the navigation terminal is located inside the target vehicle.

[0062] The lane warning area determination method provided in the embodiments of the present application can be applied to a navigation terminal or a server to determine lane warning areas for multiple lanes on a navigation route. The server refers to the server that provides navigation for users. The server can be implemented based on a server or a server cluster. Specifically, if the lane warning area determination method is applied to the server, the method can be implemented by a software module in the navigation server that is used to determine lane warning areas.

[0063] The following combination Figure 2a and Figure 2b , introduces two application scenarios of two navigation methods and lane prompt area determination methods.

[0064] See also Figure 2a ,exist Figure 2a The implementation shown includes a vehicle 211, a navigation terminal 212, a server 213, and a high-precision map database 214. The user can input the starting point and end point of the navigation route on the navigation terminal 212, and the navigation terminal 212 can perform route planning locally to obtain the navigation route, or call the route planning service provided by the server 213 to obtain the navigation route. Then, the navigation terminal 212 can obtain the high-precision map data corresponding to the navigation route through the server 213. Specifically, the navigation terminal 212 can send an acquisition request to the server 213, and the server 213 can search the high-precision map data corresponding to the navigation route from the high-precision map database 214 according to the request of the navigation terminal and return it to the navigation terminal 212. In this way, the navigation terminal 212 can determine the lane prompt area on the navigation route based on the high-precision map data, and thus provide a prompt after the vehicle 211 enters the lane prompt area. Figure 2a In the illustrated implementation, the lane prompt area determination method may be implemented by the navigation terminal 212 .

[0065] See also Figure 2b ,exist Figure 2b The implementation shown includes a vehicle 221, a navigation terminal 222, a server 223, and a high-precision map database 224. The user can input the starting point and end point of the navigation route on the navigation terminal 222, and the navigation terminal 222 can perform route planning locally to obtain the navigation route, or call the route planning service provided by the server 223 to obtain the navigation route. Then, the navigation terminal 222 can send a request to the server 223. The server 223 can search the high-precision map data corresponding to the navigation route from the high-precision map database 224 according to the request of the navigation terminal, and determine the lane prompt area based on the high-precision map data and the navigation route, and finally send the lane prompt area to the navigation terminal 222. In this way, the navigation terminal 222 can give a prompt after the vehicle 221 enters the lane prompt area. Figure 2b In the illustrated implementation, the lane prompt area determination method may be implemented by the server 223 .

[0066] It should be noted that the above two implementation methods are only examples. In actual scenarios, the lane prompt area determination method provided in the embodiments of the present application can also be executed by other devices with data processing capabilities.

[0067] The lane prompt area determination method and navigation method provided in the embodiments of the present application are described in detail below in conjunction with the drawings in the specification.

[0068] First, the navigation method provided by the embodiment of the present application is introduced.

[0069] See also Figure 3 , which is a flowchart of a navigation method provided in an embodiment of the present application. The method can be applied to a navigation terminal.

[0070] Specifically, Figure 3 The lane warning area determination method shown specifically includes the following steps.

[0071] S301: Acquire the location information of the target vehicle.

[0072] In this embodiment of the present application, driver prompts can be provided on a lane-by-lane basis. Therefore, each lane on the navigation route corresponds to at least one lane prompt area, and the lane prompt areas for different lanes can be different. Accordingly, before determining the lane prompt area, lane-level positioning of the target vehicle is required. First, the target vehicle's location information can be obtained.

[0073] Optionally, the location information of the target vehicle may be obtained by satellite positioning or other methods. The location information of the target vehicle may also be obtained based on other methods.

[0074] S302: Determine the driving lane information of the target vehicle based on the position information.

[0075] After locating the target vehicle, the target vehicle's lane information can be determined based on the target vehicle's location information. The target vehicle's lane information refers to the lane in which the target vehicle is traveling. Lane information can include information related to the lane in which the target vehicle is located. For example, this information can include lane identification information and lane connection information. Lane identification information identifies the lane, while lane connection information describes the connection between the lane and other lanes or roads.

[0076] Optionally, the lane information may also include lane warning area information. The lane warning area information indicates the location and level of the lane warning area within the lane. Thus, based on the lane warning area information, it can be determined whether the target vehicle has entered the lane warning area within the lane.

[0077] In some possible implementations, information about the target vehicle's driving lane can be determined based on a high-precision map. Specifically, high-precision map data can be obtained, and based on the target vehicle's position information, the target vehicle can be positioned on the high-precision map to determine which lane the target vehicle is traveling in on the high-precision map. Information about the lane can then be obtained from the high-precision map to determine the target vehicle's driving lane information. Optionally, if the target vehicle's driving lane information is obtained based on high-precision map data, the lane information of the navigation route can include a link identifier in the navigation route.

[0078] Optionally, in addition to the lane information of the target vehicle, information about other lanes at the target vehicle's location may also be obtained. Specifically, lane information for the navigation route may be obtained based on the target vehicle's navigation route. The lane information for the navigation route includes information about the driving lane. Optionally, the information about other lanes may also include lane indication areas for the other lanes.

[0079] S303: In response to the target vehicle entering the lane prompt area of the driving lane, lane prompt information is broadcast.

[0080] As the vehicle travels, the target vehicle gradually approaches the road change point and gets closer and closer to the lane prompt area of the driving lane. After the target vehicle enters the lane prompt area of the driving lane, lane prompt information can be broadcast.

[0081] After determining that the target vehicle is located in the lane prompt area of the driving lane, the navigation terminal can play lane prompt information, thereby prompting the person driving the target vehicle to change lanes or maintain the current lane and continue driving through the lane prompt information. In this way, compared to traditional prompt solutions, the lane prompt area used for prompting can be determined based on the lane the vehicle is actually traveling in, so that prompts are provided in a manner suitable for the lane the target vehicle is traveling in. In this way, by providing prompts based on the lane the vehicle is actually traveling in, the lane prompt information issued by the terminal device is more consistent with the actual driving conditions of the target vehicle, and the person driving the target vehicle has sufficient time and distance to change lanes.

[0082] The lane prompt information may include a lane prompt voice. That is, after the target vehicle enters the lane prompt area of the driving lane, a lane prompt voice can be played to remind the target vehicle to change lanes through voice.

[0083] It is understood that in addition to playing lane prompt voice, the navigation terminal can also provide other prompts to the driver, such as changing the color of the display interface, flashing a flashlight, etc., to provide prompts to the user driving the target vehicle. In other words, the prompt information can also include interface color information, lighting control information, etc.

[0084] In some possible implementations, the navigation terminal may need to guide the person driving the target vehicle to change lanes. Accordingly, the lane prompt information played by the navigation terminal may be referred to as lane change prompt information. The lane change prompt information is used to prompt the person driving the target vehicle to control the target vehicle to change lanes.

[0085] For example, if the navigation route indicates that the target vehicle is entering an intersecting road at a road change point, and the target vehicle's driving lane is not the associated lane of the intersecting road, the navigation terminal can guide the person driving the target vehicle to change lanes in the direction of the associated lane. Accordingly, the lane change prompt information can be used to guide the person driving the target vehicle to change lanes in the direction of the associated road.

[0086] For another example, if the navigation route instructs the target vehicle to continue along the original road at a road change point, and the target vehicle's driving lane is an associated lane of an intersecting road, the navigation terminal can guide the person driving the target vehicle to change lanes in a direction away from the associated lane. Accordingly, the lane change prompt information can be used to guide the person driving the target vehicle to change lanes in the direction of the associated road. Accordingly, the lane change prompt information can be used to guide the person driving the target vehicle to change lanes in a direction away from the associated road.

[0087] In these implementations, lane change prompt information can be used to guide the subject driving the target vehicle to change lanes. Specifically, when determining the lane prompt area, an association relationship can be established between the lane prompt area and the corresponding lane change prompt voice. In this way, after the vehicle enters the lane prompt area, the lane change prompt information corresponding to the lane prompt area can be played based on the association relationship. Among them, the above-mentioned information for guiding the subject driving the target vehicle to change lanes can include, for example, voice information such as "Please change lanes to the left", "Please change lanes to the rightmost lane", and "Please change lanes to the rightmost lane", which are used to prompt the subject driving the target vehicle to change lanes.

[0088] That is, assuming the road change point is the intersection of a first road and a second road, and the navigation route instructs the target vehicle to enter the second road from the first road at the road change point. If the target vehicle's driving lane is not associated with the second road, a lane change prompt message may be played to prompt the person driving the target vehicle to control the target vehicle to change lanes in the direction of the lane associated with the second road. Alternatively, assuming the road change point is the intersection of a third road and a fourth road, and the navigation route instructs the target vehicle to continue traveling along the third road at the road change point, if the target vehicle's driving lane is associated with the fourth road, a lane change prompt message may be played to prompt the person driving the target vehicle to control the target vehicle to change lanes away from the lane associated with the fourth road.

[0089] In some other possible implementations, the navigation terminal may need to guide the person driving the target vehicle to continue driving in the current lane. Accordingly, the lane prompt information played by the navigation terminal may be referred to as lane-maintaining prompt information. The lane-maintaining prompt information is used to prompt the person driving the target vehicle to control the target vehicle to continue driving in the current lane (i.e., the driving lane).

[0090] For example, if the navigation route instructs the target vehicle to enter an intersecting road at a road change point, and the target vehicle's driving lane is a lane associated with the intersecting road, the navigation terminal can guide the person driving the target vehicle to continue driving in the driving lane. For another example, if the navigation route instructs the target vehicle to continue driving along the original road at a road change point, and the target vehicle's driving lane is not a lane associated with the intersecting road, the navigation terminal can guide the person driving the target vehicle to continue driving in the driving lane.

[0091] In these implementations, the lane maintenance prompt information can be used to guide the subject driving the target vehicle to continue driving in the current lane. Specifically, when determining the lane prompt area, an association relationship can be established between the lane prompt area and the corresponding lane maintenance prompt information. The association relationship is used to associate the lane prompt area and the lane maintenance prompt information. In this way, after the vehicle enters the lane prompt area, the corresponding lane maintenance prompt information can be determined and played based on the association relationship and the lane prompt area entered by the vehicle. The above-mentioned information for guiding the subject driving the target vehicle to continue driving in the driving lane can, for example, include voice information such as "Please maintain the current lane and continue driving."

[0092] That is, assuming the road change point is the intersection of a first road and a second road, and the navigation route instructs the target vehicle to enter the second road from the first road at the road change point. If the target vehicle's driving lane is associated with the second road, a lane maintenance prompt message may be played to prompt the person driving the target vehicle to control the target vehicle to continue driving on the driving lane and enter the second road. Alternatively, assuming the road change point is the intersection of a third road and a fourth road, and the navigation route instructs the target vehicle to continue driving along the third road at the road change point. If the target vehicle's driving lane is not associated with the fourth road, a lane maintenance prompt message may be played to prompt the person driving the target vehicle to control the target vehicle to continue driving in the driving lane to avoid entering the fourth road.

[0093] In some implementations, each lane can correspond to multiple lane warning areas at a road change point. Accordingly, the navigation terminal can play the corresponding lane warning information when the target vehicle passes through each lane warning area. Furthermore, the lane warning information corresponding to different lane warning areas can be different.

[0094] In other words, assuming the lane warning area of the driving lane includes a first lane warning area and a second lane warning area, and the distance from the first lane warning area to the road change point is greater than the distance from the second lane warning area to the road change point, if the target vehicle is located in the first lane warning area, the navigation terminal may play the first lane warning information. If the target vehicle is located in the second lane warning area, the navigation terminal may play the second lane warning information. Furthermore, the second lane warning information has a stronger warning intensity than the first lane warning information.

[0095] Specifically, if the vehicle is farther from a road change point, the driver has ample space and time to change lanes. Therefore, a less forceful prompt can be used, such as a gentle voice prompt. The closer the vehicle is to the road change point, the less time and space the driver has to change lanes. Therefore, for lane prompt areas closer to the road change point, a more forceful prompt can be used, such as a more urgent voice prompt or words expressing urgency in the text of the lane prompt.

[0096] by Figure 1c The middle lane 1311 is used as an example for explanation. Assume that the navigation route indicates that the target vehicle enters the road 1320 from the road 1310 at the road change point 1330. Figure 1c In the implementation shown, lane 1311 corresponds to three lane warning areas, namely lane warning area 1341, lane warning area 1342 and lane warning area 1343, and the distance from lane warning area 1341 to road change point 1330 is greater than the distance from lane warning area 1342 to road change point 1330, and the distance from lane warning area 1342 to road change point 1330 is greater than the distance from lane warning area 1343 to road change point 1330.

[0097] Since lane prompt area 1341 is the farthest from road change point 1330, the lane prompt voice corresponding to lane prompt area 1341 can have the smallest prompt intensity. Since lane prompt area 1344 is the closest to road change point 1330, the lane prompt information corresponding to lane prompt area 1341 can have the largest prompt intensity. Since the distance between lane prompt area 1342 and road change point 1330 is less than the distance between lane prompt area 1341 and road change point 1330, and greater than the distance between lane prompt area 1343 and road change point 1330, the lane prompt information corresponding to lane prompt area 1342 can have a smaller prompt intensity than the lane prompt information corresponding to lane prompt area 1341, and a larger prompt intensity than the lane prompt information corresponding to lane prompt area 1343.

[0098] For example, the voice text of the lane prompt information corresponding to lane prompt area 1341 may be "You will enter another road ahead. You need to enter the rightmost lane before X distance." The X distance may be the distance from lane prompt area 1341 to lane intersection 1330. The voice text of the lane prompt information corresponding to lane prompt area 1342 may be "You will enter another road ahead. Please enter the rightmost lane." The voice text of the lane prompt information corresponding to lane prompt area 1343 may be "You will enter a road ahead. Please enter the rightmost lane as soon as possible to avoid entering the wrong lane."

[0099] By setting multiple lane warning areas and corresponding lane warning information for each lane, the driver of the target vehicle can be reminded multiple times. Moreover, different lane warning information corresponds to different warning levels, which can be layered to achieve better warning effects.

[0100] In some possible implementations, the target vehicle may change lanes in the opposite direction of the navigation route due to road conditions or the decision of the person driving the target vehicle. In an embodiment of the present application, it is possible to monitor whether the target vehicle changes lanes in the opposite direction and provide a timely reminder.

[0101] Specifically, the navigation terminal can update the location information of the target vehicle while the target vehicle is traveling. Based on the location information before and after the update, it can be determined whether the lane in which the target vehicle is traveling has changed. If it has changed, the navigation terminal can obtain lane change information. The lane change information indicates that the target vehicle has changed lanes. Then, the navigation terminal can match the lane change information with the navigation route. If the lane change information matches the navigation route, it means that the target vehicle is traveling according to the guidance of the navigation route. If the lane change information matches the navigation route, it means that the target vehicle is not traveling according to the guidance of the navigation route. In this way, the navigation terminal can play a reverse lane change prompt message. The reverse lane change prompt message is used to prompt the person driving the target vehicle to change lanes in the opposite direction. In this way, the user can be prompted to drive into the correct lane in time to avoid the target and measurement deviating from the navigation route.

[0102] Optionally, the above method can be implemented in a lane prompt area. If the target vehicle leaves the lane prompt area, the navigation terminal can stop playing the reverse lane change prompt information.

[0103] The above describes some implementation methods of playing lane prompt voice based on the lane prompt area of the target vehicle. The following describes some implementation methods of determining the lane prompt area.

[0104] See also Figure 4, which is a flow chart of a method for determining a lane prompt area according to an embodiment of the present application. This method can be applied to a server or a navigation terminal.

[0105] Specifically, Figure 4 The lane warning area determination method shown specifically includes the following steps.

[0106] S401: Obtaining the navigation route of the target vehicle. The navigation route of the target vehicle can be determined based on the input start and end points. For example, a user of a navigation terminal (e.g., the driver and / or passenger of the target vehicle) can input the start and end points of the navigation route on the navigation terminal via voice or keyboard. Route planning can then be performed based on the start and end points of the navigation route to obtain the navigation route of the target vehicle.

[0107] The lane information of a navigation route is used to indicate information about multiple lanes within the route. Lane information may include lane identification information and lane connection information. Lane identification information identifies the lane, while lane connection information describes the connection between the lane and other lanes or roads. Optionally, if the lane information of the navigation route is derived from high-precision map data, the lane information may include link identifiers within the route.

[0108] In actual navigation scenarios, a navigation route may pass through multiple roads. Accordingly, lane information can include lane information for each road in the navigation route. In other words, if the target vehicle needs to pass through n roads (n is a positive integer) along the navigation route from the starting point to the end point, the lane information can include lane information for each of these n roads.

[0109] In real-world scenarios, lanes on a road may vary. For example, the same road may have three lanes in one section and two lanes in another. In this embodiment of the present application, the lane information for the navigation route may include lane information for the portion of the road that overlaps with the navigation route. In other words, the lane information for the navigation route includes lane information for each of the n road segments that the target vehicle needs to traverse as it travels from its starting point along the navigation route to its destination.

[0110] Alternatively, the lane information of the navigation route can be obtained from the high-precision map data. Accordingly, the lane information of the navigation route can be found from the high-precision map database. Figure 4 The method shown is executed by the server and the navigation terminal as examples to introduce two implementation methods of obtaining the navigation route and the lane information of the navigation route.

[0111] Implementation method 1: Figure 4 The lane warning area determination method shown is executed by the server.

[0112] In the first implementation, Figure 4 Each step in the illustrated embodiment is implemented by the server. Accordingly, when obtaining lane information for a navigation route, the server can query the lane information for the navigation route from a high-precision map database based on the navigation route. Optionally, the server can send a query request to the high-precision map database and receive a query result returned by the high-precision map database. The query request can include relevant information about the navigation route, and the query result can include the lane information for the navigation route.

[0113] Specifically, a navigation route can indicate at least one road segment that the vehicle needs to travel, as well as the starting and ending points of each road segment. Based on the starting and ending points of each road segment, the server can query the high-precision map database for the lane conditions between the starting and ending points of this road segment, thereby obtaining the lane information for this road segment.

[0114] Implementation method 2: Figure 4 The lane warning area determination method shown is executed by a navigation terminal.

[0115] In the second implementation, Figure 4 Each step shown is implemented by the navigation terminal. Accordingly, when obtaining the lane information of the navigation route, the navigation terminal can obtain the lane information of the navigation route from the high-precision map database. Specifically, the navigation terminal can send a query request including the navigation route to the server through the network. The server can be a server for providing high-precision map services, or a server that provides navigation services to the navigation terminal. Based on the query request, the server can obtain the lane information of the navigation route from the high-precision map database. In this way, through the vehicle-cloud collaboration, the navigation terminal can obtain the lane information of the navigation route.

[0116] In some application scenarios, navigation routes may involve multiple sections of road, or the lane information on a road may be complex, while the navigation terminal's own data processing capabilities are relatively limited. Therefore, if the navigation terminal cannot obtain complete lane information at once, or if processing complete lane information takes a long time, processing efficiency will be reduced.

[0117] To this end, in some implementations, the navigation terminal can obtain lane information in segments. That is, the navigation terminal can obtain lane information for the navigation route multiple times and determine lane prompt areas based on the lane information multiple times. Each time lane information is obtained, the navigation terminal can obtain lane information for the navigation route within a certain range around the target vehicle based on the target vehicle's location. For example, the navigation terminal can also obtain information only about the target vehicle's lane.

[0118] S402: Determine a road change point in the navigation route.

[0119] After obtaining the target vehicle's navigation route, a road change point can be determined from the target vehicle's navigation route. A road change point is a point on the navigation route where at least two roads intersect. In other words, a road change point is a point on the route where a road intersects with other roads, and the navigation route passes through the road change point.

[0120] It is understood that at a road change point, the navigation route may instruct the target vehicle to continue traveling along the current road, or it may instruct the target vehicle to move from the current road into another lane. In other words, regardless of whether the navigation route instructs the target vehicle to change the road at a road change point, as long as a section of the navigation route intersects with another road, the location where this section of the road intersects with the other road can be determined as a road change point.

[0121] In real-world scenarios, a navigation route may contain multiple road change points. Accordingly, for each road change point, a lane warning area can be determined for each lane at that road change point. For ease of explanation, the following uses one road change point in a navigation route as an example; this does not necessarily mean that a navigation route contains only one road change point.

[0122] S403: Based on the road change point, a lane prompt area of each lane corresponding to the road change point is obtained.

[0123] After determining the road change point, the lane prompt area of each lane corresponding to the road change point can be determined, so that after the target vehicle approaches the road change point, the person driving the target vehicle (such as the driver) is prompted according to the lane prompt area of the lane in which the target vehicle is traveling.

[0124] Among them, the above-mentioned "each lane corresponding to the road change point" refers to each lane of the road corresponding to the navigation route before the road change point. For example, assuming that road a intersects road b at the road change point, and the target vehicle is traveling on road a before reaching the road change point, then when determining the lane prompt area, the lane prompt area of each lane on road a before the road change point can be determined separately. Accordingly, when the target vehicle is traveling on road a and approaches the road change point, the corresponding lane prompt information can be selected according to the lane of the target vehicle on road a to prompt the object driving the target vehicle. In this way, in the area near the road change point on the driving route, an independent lane prompt area is set for each lane, and targeted prompts can be given according to the actual driving conditions of the target vehicle (such as the lane in which the target vehicle is traveling), so that the prompts issued by the terminal device are more in line with the actual driving conditions of the target vehicle, and the driver of the target vehicle has sufficient time and distance to change lanes.

[0125] The following describes some methods for determining lane warning areas, using the intersection of two roads as an example. When there are multiple intersecting roads at a road change point, a similar method can be used to determine the lane warning area for each lane.

[0126] For ease of explanation, the road in the navigation route before the road change point is referred to as the original road, and the road intersecting the original road at the road change point is referred to as the intersecting road. Accordingly, the navigation route can indicate that the target vehicle enters the intersecting road at the road change point, or the navigation route can instruct the target vehicle to continue along the original road at the road change point.

[0127] First, we introduce the situation where the navigation route instructs the target vehicle to enter an intersecting road at a road change point.

[0128] If the navigation route indicates that the target vehicle will enter an intersecting road at a road change point, the driver of the target vehicle can be prompted to change lanes toward the intersecting road before the road change point to allow them sufficient time to control the vehicle. Furthermore, the farther the lane is from the associated lane of the intersecting road, the earlier the prompt can be given.

[0129] Specifically, when determining the lane warning area for a lane, the lane change cost from that lane to the associated lane on the original road corresponding to the intersecting road can be calculated. The distance from the lane warning area to the road change point is then determined based on this lane change cost. Finally, the lane warning area is determined based on this distance. The lane change cost can represent the number of lane changes required to travel from the current lane to the associated lane.

[0130] It's easy to see that the higher the lane change cost, the more lane changes the target vehicle will need to make to continue along the navigation route, assuming the target vehicle is traveling in that lane. This means the driver of the target vehicle will need to perform more maneuvers. Accordingly, the driver of the target vehicle can be prompted in advance to give them more time to control the target vehicle and perform lane changes. Therefore, the greater the lane change cost, the further the lane prompt area is from the road change point. Optionally, the size of the lane prompt area can be pre-set.

[0131] Optionally, the distance between the lane warning area and the road change point can be the distance between the center point of the lane warning area and the road change point, or the closest distance between the lane warning area and the road change point. For ease of description, the following example uses the distance between the lane warning area and the road change point as the closest distance between the lane warning area and the road change point.

[0132] Continued use Figure 1aAssume that the navigation route indicates that the target vehicle first drives along road 1110 and then drives into road 1120 at road change point 1130. Figure 1a In the illustrated implementation, road 1110 is the original road, road 1120 is the intersecting road, and lane 1113 is the associated lane corresponding to road 1120 .

[0133] When determining the lane warning area 1141 of lane 1111, the lane change cost from lane 1111 to lane 1113 can be calculated. Figure 1a In a corresponding implementation, the lane change cost from lane 1111 to lane 1113 is 2. Next, the distance from lane warning area 1141 to road change point 1130 (i.e., distance 1151) can be determined based on lane change cost 2. Lane warning area 1141 can then be determined based on distance 1151 and a predetermined size.

[0134] When determining the lane warning area 1142 of lane 1112, the lane change cost from lane 1112 to lane 1113 can be calculated. Figure 1a In a corresponding implementation, the lane change cost from lane 1112 to lane 1113 is 1. Next, the distance from lane warning area 1142 to road change point 1130 (i.e., distance 1152) can be determined based on lane change cost 1. Lane warning area 1142 can then be determined based on distance 1152 and a predetermined size.

[0135] exist Figure 1a In the illustrated implementation, because the lane change cost from lane 1111 to lane 1113 is greater than the lane change cost from lane 1112 to lane 1113, distance 1151 may be greater than distance 1152. Similarly, the size of lane prompting area 1141 may be greater than the size of lane prompting area 1142. Thus, a larger prompting area may better prompt the person driving the target vehicle to perform a lane change.

[0136] The above describes a case where the navigation route instructs the target vehicle to enter an intersecting road at a road change point. The following describes a case where the navigation route instructs the target vehicle to travel along the original road at a road change point.

[0137] In contrast to a situation where the navigation route instructs the target vehicle to enter an intersecting road at a road change point, if the navigation route instructs the target vehicle to travel along the original road at the road change point, the target vehicle does not need to enter the intersecting road or a road associated with the intersecting road. In particular, considering that other vehicles on the original road may enter the intersecting road and / or other vehicles on the intersecting road may enter the original road, when traveling along the original road through the road change point, the person driving the target vehicle may be guided away from the road associated with the intersecting road for the sake of safe driving.

[0138] To this end, when determining the lane warning area for a particular lane, the lane change cost from that lane to the associated lane can be calculated. The distance between the lane warning area and the road change point can then be determined based on this lane change cost. Furthermore, the lane change cost can be negatively correlated with distance: a higher lane change cost indicates a smaller distance from the lane warning area to the road change point. Finally, the lane warning area can be determined based on distance. For example, the lane warning area can be determined based on distance and a preset size.

[0139] Continued use Figure 1b Assume that the navigation route instructs the target vehicle to first drive along the road 1210 and then continue to drive along the road 1210 at the road change point 1230. Figure 1b In the illustrated implementation, road 1210 is the original road, road 1220 is the intersecting road, and lane 1213 is the associated lane corresponding to road 1220 .

[0140] When determining the lane warning area 1241 of lane 1211, the lane change cost from lane 1211 to lane 1213 can be calculated. Figure 1b In a corresponding implementation, the lane change cost from lane 1211 to lane 1213 is 2. Next, the distance from lane warning area 1241 to road change point 1230 (i.e., distance 1251) can be determined based on lane change cost 2. Lane warning area 1241 can then be determined based on distance 1251 and a predetermined size.

[0141] When determining the lane warning area 1242 of lane 1212, the lane change cost from lane 1212 to lane 1213 can be calculated. Figure 1b In a corresponding implementation, the lane change cost from lane 1212 to lane 1213 is 1. Next, the distance (i.e., distance 1252) between lane warning area 1242 and road change point 1230 can be determined based on lane change cost 1. Lane warning area 1242 can then be determined based on distance 1252 and a predetermined size.

[0142] exist Figure 1b In the illustrated implementation, because the lane change cost from lane 1211 to lane 1213 is greater than the lane change cost from lane 1212 to lane 1213, distance 1252 may be greater than distance 1251. Similarly, the size of lane warning area 1242 may be greater than the size of lane warning area 1241. This allows vehicles in lane 1212 to be warned earlier to move away from lane 1213 associated with road 1220.

[0143] In some implementations described above, the lane warning area is determined primarily based on the lane change cost. In some other implementations, the lane warning area may also be determined in combination with the lane change cost and the road type.

[0144] In real-world scenarios, vehicles may travel at different speeds on different roads, and this speed affects the space required for lane changes. Obviously, the faster a vehicle travels, the more space it requires for lane changes, and the sooner the driver needs to be prompted to change lanes.

[0145] Therefore, in some implementations, the lane prompt area can be determined in combination with the lane change cost and the road type. Among them, the road type can be determined based on the average driving speed of vehicles on the road. For example, the road type of a road may include, for example, expressways, urban expressways, and ordinary urban roads. Alternatively, the road type of a road can also be determined based on the speed limit of the road. Optionally, the road type of a road can be obtained from map data (such as a high-precision map or a standard map). For example, the map data may be pre-marked with the type of road, such as a high-speed road, a provincial expressway, etc. When it is necessary to determine the lane prompt area, the road type can be obtained from the high-precision map data.

[0146] Specifically, when determining the lane warning area, the distance from the lane warning area to the road change point can be determined based on the lane change cost and road type. For example, a pre-established relationship between the lane change cost, road type, and distance can be used to determine the distance from the lane warning area to the road change point based on this relationship. Next, the size of the lane warning area can be determined, and then the lane warning area can be determined based on the distance and size. Optionally, the size of the lane warning area can be determined based on the road type. Roads with higher average travel speeds may require a larger lane warning area, and the size of the lane warning area may be larger.

[0147] Optionally, the lane prompt area may be a rectangle, the size of the lane prompt area specifically refers to the length of the lane prompt area, and the width of the lane prompt area may be determined according to the lane corresponding to the lane prompt area.

[0148] That is, when determining the lane warning area for the first lane on a first road, the road type of the first road can be first obtained. Then, based on the road type of the first road and the lane change cost of the first lane, the distance from the lane warning area of the first lane to the road change point can be determined. Next, the size of the lane warning area for the first lane can be determined based on the road type of the first road. Finally, the lane warning area for the first lane can be determined based on the size of the lane warning area and the distance from the lane warning area to the road change point.

[0149] In real-world scenarios, the driver of the target vehicle may not receive or ignore the navigation terminal's prompts for some reason. Therefore, if the driver is only prompted once, this prompt may be ineffective, preventing them from entering the correct lane early and resulting in poor lane prompting. To address this issue, in some possible implementations, a single lane can correspond to multiple lane prompt areas.

[0150] Specifically, the number of lane warning areas corresponding to each lane can be pre-set. When determining the lane warning areas, a preset number of lane warning areas can be determined for each lane. Furthermore, the distances from different lane warning areas corresponding to the same lane to the road change point can be different. In this way, if a vehicle does not change lanes while approaching a road change point, it will pass through multiple lane warning areas in sequence. In each lane warning area, the navigation terminal can provide a prompt to the person driving the vehicle. In this way, by providing prompts multiple times, the probability of the person driving the vehicle noticing the prompts can be increased, thereby guiding the person driving the vehicle to change lanes according to the prompts.

[0151] Continued use Figure 1c Assume that the navigation route indicates that the target vehicle first drives along road 1310 and then drives into road 1320 at road change point 1330. Figure 1c In the illustrated implementation, road 1310 is the original road, road 1320 is the intersecting road, and lane 1313 is the associated lane corresponding to road 1320 .

[0152] Based on the navigation route and the lane information of the road 1310, multiple lane prompt areas can be determined. Figure 1c In the corresponding implementation, three lane warning areas can be defined for each lane. Specifically, lane 1311 corresponds to lane warning areas 1341, 1342, and 1343; lane 1312 corresponds to lane warning areas 1344, 1345, and 1346; and lane 1313 corresponds to lane warning areas 1347, 1348, and 1349.

[0153] Among them, the distance from the lane prompt area 1341 to the road change point 1330 is greater than the distance from the lane prompt area 1342 to the road change point 1330; the distance from the lane prompt area 1342 to the road change point 1330 is greater than the distance from the lane prompt area 1343 to the road change point 1330; the distance from the lane prompt area 1344 to the road change point 1330 is greater than the distance from the lane prompt area 1345 to the road change point 1330; the distance from the lane prompt area 1345 to the road change point 1330 is greater than the distance from the lane prompt area 1346 to the road change point 1330; the distance from the lane prompt area 1347 to the road change point 1330 is greater than the distance from the lane prompt area 1348 to the road change point 1330; and the distance from the lane prompt area 1348 to the road change point 1330 is greater than the distance from the lane prompt area 1349 to the road change point 1330.

[0154] Furthermore, since the lane change cost of lane 1311 is the largest and the lane change cost of lane 1313 is the smallest, the distance from lane prompt area 1341 to road change point 1330 is greater than the distance from lane prompt area 1344 to road change point 1330; the distance from lane prompt area 1344 to road change point 1330 is greater than the distance from lane prompt area 1347 to road change point 1330; the distance from lane prompt area 1342 to road change point 1330 is greater than the distance from lane prompt area 1348 to road change point 1330. 1345 to the road change point 1330; the distance from the lane prompt area 1345 to the road change point 1330 is greater than the distance from the lane prompt area 1348 to the road change point 1330; the distance from the lane prompt area 1343 to the road change point 1330 is greater than the distance from the lane prompt area 1346 to the road change point 1330; the distance from the lane prompt area 1346 to the road change point 1330 is greater than the distance from the lane prompt area 1349 to the road change point 1330.

[0155] Based on the above method embodiment, the present application embodiment also provides a navigation device and a prompt area determination device. Figure 5 , Figure 5 A schematic diagram of a navigation device provided in an embodiment of the present application.

[0156] exist Figure 5 In the illustrated implementation, the navigation device 500 includes:

[0157] Positioning unit 510, used to obtain the location information of the target vehicle;

[0158] a lane determination unit 520, configured to determine information about a driving lane of the target vehicle based on the position information;

[0159] The prompt unit 530 is used to broadcast lane prompt information in response to the target vehicle entering the lane prompt area of the driving lane, wherein the lane prompt area is determined based on a road change point in the navigation route of the target vehicle, and the road change point is a location where there are at least two intersecting roads.

[0160] In some possible implementations, the lane prompt area includes a first lane prompt area and a second lane prompt area, and the distance from the first lane prompt area to the road change point is greater than the distance from the second lane prompt area to the road change point; the prompt unit 530 is specifically used to play the first lane prompt information in response to the target vehicle entering the first lane prompt area; and play the second lane prompt information in response to the target vehicle entering the second lane prompt area.

[0161] In some possible implementations, the road change point is the intersection of a first road and a second road, and the navigation route instructs the target vehicle to drive from the first road into the second road at the road change point; the prompt unit 530 is specifically used to play a lane maintenance prompt voice in response to the driving lane being associated with the second road, and the lane maintenance prompt voice is used to prompt the target vehicle to continue driving in the driving lane; in response to the driving lane being not associated with the second road, play a lane change prompt voice, and the lane change prompt voice is used to prompt the target vehicle to change lanes to the lane associated with the second road.

[0162] In some possible implementations, the road change point is the intersection of a third road and a fourth road, and the navigation route instructs the target vehicle to continue traveling along the third road at the road change point; the prompt unit 530 is specifically configured to play a lane maintenance prompt voice in response to the driving lane being not associated with the fourth road, and the lane maintenance prompt voice is used to prompt the target vehicle to continue traveling in the driving lane; and play a lane change prompt voice in response to the driving lane being associated with the fourth road, and the lane change prompt voice is used to prompt the target vehicle to change lanes to a lane away from the lane associated with the fourth road.

[0163] In some possible implementations, the prompt unit 530 is specifically used to broadcast reverse lane change prompt information if it is detected that the lane change information of the target vehicle is inconsistent with the lane change corresponding to the lane prompt information, wherein the reverse lane change prompt information is used to prompt the target vehicle to change lanes in the opposite direction.

[0164] See also Figure 6 , Figure 6A schematic diagram of a prompt area determination device provided in an embodiment of the present application.

[0165] exist Figure 6 In the illustrated implementation, the prompt area determining device 600 includes:

[0166] An acquisition unit 610 is configured to acquire a navigation route of a target vehicle;

[0167] a change point determining unit 620, configured to determine a road change point in the navigation route, wherein the road change point is a location point where at least two roads intersect;

[0168] The area determination unit 630 is configured to obtain a lane prompt area of each lane corresponding to the road change point based on the road change point, wherein the lane prompt area is used to broadcast lane prompt information after the target vehicle enters.

[0169] In some possible implementations, the navigation route enters the second road from the first road at the road change point; the first road includes a first lane and a second lane before the road change point, and the second lane is used to enter the second road; the area determination unit 630 is specifically used to calculate the lane change cost from the first lane to the second lane; determine the distance from the lane prompt area of the first lane to the road change point according to the lane change cost; and determine the lane prompt area of the first lane according to the distance.

[0170] In some possible implementations, the area determination unit 630 is specifically used to determine the distance from the lane warning area of the first lane to the road change point based on the road type of the first road and the lane change cost; determining the lane warning area of the first lane based on the distance includes: determining the size of the lane warning area of the first lane based on the road type; determining the lane warning area of the first lane based on the distance and the size.

[0171] Based on the above method embodiment and apparatus embodiment, the present application also provides a device, which will be described below with reference to the accompanying drawings.

[0172] See also Figure 7 , Figure 7 This is a schematic diagram of a device provided in an embodiment of the present application. The device 700 includes: a processor 701, a memory 702, and a bus 703.

[0173] The processor 701 and the memory 702 communicate with each other via the bus 703 .

[0174] The processor 701 is configured to call program instructions in the memory 702 so as to implement the navigation method and prompt area determination method described in any of the aforementioned embodiments in the device 700. The navigation method and prompt area determination method provided in the embodiments of the present application can be implemented by a single device or by a device cluster consisting of multiple devices.

[0175] The present application also provides a computer-readable storage medium, wherein the storage medium stores at least one instruction. When the instruction is executed on a computer, the computer executes the method described in any of the aforementioned embodiments.

[0176] The present application also provides a computer program product, which includes one or more computer program instructions. When the computer program instructions are loaded and executed by a computer, the computer is enabled to execute the method according to any of the aforementioned embodiments.

[0177] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0178] A refers to B, which means that A is the same as B or A is a simple variant of B.

[0179] The terms "first" and "second" in the description and claims of the embodiments of this application are used to distinguish different objects, not to describe a specific order of objects, and should not be construed as indicating or implying relative importance. For example, the terms "first road segment" and "second road segment" are used to distinguish different road segments, not to describe a specific order of road segments, and should not be construed as implying that the first road segment is more important than the second road segment.

[0180] The information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in the embodiments of this application are all authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the road information involved in this application was obtained with full authorization.

[0181] In the embodiments of the present application, unless otherwise specified, "at least one" means one or more, and "a plurality" means two or more. For example, a plurality of road segments refers to two or more road segments.

[0182] The above embodiments 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 process or function described in accordance with the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. 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 available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0183] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A navigation method, characterized in that: include: Obtain the location information of the target vehicle; Determining information about the driving lane of the target vehicle based on the position information; In response to the target vehicle entering a lane prompt area of the driving lane, lane prompt information is broadcast, wherein the lane prompt area is determined based on a road change point in the navigation route of the target vehicle, and the road change point is a location where at least two intersecting roads exist.

2. The method according to claim 1, characterized in that The lane prompt area includes a first lane prompt area and a second lane prompt area, and the distance from the first lane prompt area to the road change point is greater than the distance from the second lane prompt area to the road change point; In response to the target vehicle entering the lane prompt area of the driving lane, broadcasting lane prompt information includes: In response to the target vehicle entering the first lane prompt area, playing first lane prompt information; In response to the target vehicle entering the second lane prompt area, second lane prompt information is played.

3. The method according to claim 1 or 2, characterized in that The road change point is an intersection of a first road and a second road, and the navigation route instructs the target vehicle to drive from the first road to the second road at the road change point; The lane prompt information broadcast includes: In response to the driving lane being associated with the second road, playing a lane-maintaining prompt voice, wherein the lane-maintaining prompt voice is used to prompt the target vehicle to continue driving in the driving lane; In response to the driving lane being unassociated with the second road, a lane change prompt voice is played, where the lane change prompt voice is used to prompt the target vehicle to change lanes to a lane associated with the second road.

4. The method according to claim 1 or 2, characterized in that The road change point is an intersection of a third road and a fourth road, and the navigation route instructs the target vehicle to continue traveling along the third road at the road change point; The lane prompt information broadcast includes: In response to the driving lane being unassociated with the fourth road, playing a lane-maintaining prompt voice, wherein the lane-maintaining prompt voice is used to prompt the target vehicle to continue driving in the driving lane; In response to the driving lane being associated with the fourth road, a lane change prompt voice is played, wherein the lane change prompt voice is used to prompt the target vehicle to change lanes to a lane away from the lane associated with the fourth road.

5. The method according to any one of claims 1 to 4, characterized in that After the lane prompt information is broadcasted, the method further includes: If it is detected that the lane change information of the target vehicle is inconsistent with the lane change corresponding to the lane prompt information, reverse lane change prompt information is broadcast, wherein the reverse lane change prompt information is used to prompt the target vehicle to change lanes in the opposite direction.

6. A method for determining a lane prompt area, characterized in that: The method comprises: Obtain the navigation route of the target vehicle; Determining a road change point in the navigation route, wherein the road change point is a location point where at least two roads intersect; Based on the road change point, a lane prompt area of each lane corresponding to the road change point is obtained, and the lane prompt area is used to broadcast lane prompt information after the target vehicle enters.

7. The method according to claim 6, characterized in that The navigation route enters a second road from a first road at the road change point; the first road includes a first lane and a second lane before the road change point, and the second lane is used for entering the second road; The determining of a lane prompt area road change point of each lane based on the road change point includes: calculating a lane change cost from the first lane to the second lane; determining a distance from a lane prompt area of the first lane to the road change point according to the lane change cost; A lane warning area of the first lane is determined according to the distance.

8. The method according to claim 7, characterized in that Determining the distance from the lane prompt area of the first lane to the road change point according to the lane change cost includes: determining, based on the road type of the first road and the lane change cost, a distance from a lane prompt area of the first lane to the road change point; Determining the lane prompt area of the first lane according to the distance includes: determining a size of a lane prompt area of the first lane according to the road type; A lane prompt area of the first lane is determined according to the distance and the size.

9. A navigation device, characterized in that: The device comprises: A positioning unit, used to obtain the location information of the target vehicle; a lane determination unit, configured to determine information about a driving lane of the target vehicle based on the position information; A prompt unit is configured to broadcast lane prompt information in response to the target vehicle entering a lane prompt area of the driving lane, wherein the lane prompt area is determined based on a road change point in the navigation route of the target vehicle, and the road change point is a location where at least two intersecting roads exist.

10. A computer program product, characterized in that The computer program product comprises one or more computer program instructions, and when the computer program instructions are loaded and executed by a computer, the computer is caused to perform the method according to any one of claims 1 to 8.

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