Navigation method, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a navigation method, electronic equipment and a storage medium. The navigation method comprises the following steps: in response to determining that a to-be-driven direction of a main vehicle deviates from an initial driving direction indicated by an initial navigation route, determining a current road section of the main vehicle based on position information of the main vehicle and map road network data; determining a target road section and target attribute information of the target road section based on the to-be-driven direction, the current road section and the map road network data; and generating a target navigation route based on the target attribute information, wherein the target navigation route meets the to-be-driven direction.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a navigation method, electronic device and storage medium. Background Art

[0002] Terminal devices can provide navigation routes for vehicles and guide them to their destinations. However, when navigating a vehicle, the terminal device typically detects the vehicle's deviation only after the vehicle has traveled a certain distance. The terminal then reroutes the vehicle to follow the re-planned navigation route. This results in the terminal device being unable to provide timely navigation when the vehicle deviates, impacting the user experience. Summary of the Invention

[0003] One purpose of the embodiments of the present application is to provide a navigation method, an electronic device, and a storage medium, the advantages of which are that when a main vehicle is about to deviate, a target navigation route that satisfies the direction of travel of the main vehicle can be promptly replanned, so that the replanned target navigation route can be promptly fed back to the user before or when the main vehicle deviates, guiding the main vehicle to travel according to the replanned target navigation route, thereby improving the user experience.

[0004] Another purpose of the implementation method of the present application is to provide a navigation method, electronic device and storage medium, which has the advantage that the target road section that meets the direction of travel can be determined through the direction of travel of the main vehicle, the current road section and the map road network data, which is conducive to the subsequent timely re-planning of the route according to the target attribute information of the target road section, thereby improving the user experience.

[0005] Another purpose of the embodiments of the present application is to provide a navigation method, an electronic device and a storage medium, which have the advantage of determining a target section from at least one candidate section through the matching results of the direction of travel of the main vehicle and the candidate attribute information of at least one candidate section related to the current section, which is conducive to quickly determining the target section that meets the direction of travel, and the calculation amount for determining the target section is small, and the time spent is less, which is conducive to providing the user with a re-planned target navigation route more timely.

[0006] Another purpose of the embodiments of the present application is to provide a navigation method, an electronic device and a storage medium, the advantage of which is that multiple matching candidate sections are pre-determined through the matching results of target attribute information and candidate attribute information, and then the target section is determined from the multiple matching candidate sections through the priority relationship between the candidate attribute information of the multiple matching candidate sections, which is conducive to re-planning a target navigation route that saves time or is more in line with the user's selection when the main vehicle is about to deviate.

[0007] Another purpose of the embodiments of the present application is to provide a navigation method, an electronic device and a storage medium, the advantage of which is that the route is replanned through the target attribute information of the target road section, which is conducive to generating a target navigation route that meets the direction of travel, and is further conducive to continuously providing navigation services to users and improving the user experience.

[0008] Another purpose of the embodiments of the present application is to provide a navigation method, an electronic device and a storage medium, the advantages of which are that the direction of travel of the main vehicle is determined in advance by the turning information of the surrounding vehicles, and then whether the main vehicle is about to deviate is determined based on the direction of travel of the main vehicle and the initial navigation route. This is conducive to timely identification of situations where the main vehicle needs to replan its route due to imminent deviation, and is also applicable to situations where the arrow sign information on the road in front of the main vehicle is blocked by surrounding vehicles.

[0009] Another purpose of the embodiments of the present application is to provide a navigation method, an electronic device and a storage medium, which have the advantage that a prompt message can be generated when the main vehicle is in a section that is prone to deviation. The prompt message can not only be used to remind the user that the section is prone to deviation, but also be used to obtain feedback information from the user based on the prompt message, and determine whether the main vehicle is about to deviate through the feedback information. This is conducive to timely and accurate identification of situations where the main vehicle needs to re-plan its route due to imminent deviation, reducing situations where re-planning of the route is triggered by mistake and situations where re-planning of the route is manually triggered by the user, thereby improving driving safety.

[0010] Another object of the embodiments of the present application is to provide a navigation method, an electronic device, and a storage medium, the advantages of which are that whether the subject vehicle is about to deviate is determined by the user's feedback information on the initial navigation route and / or the user's description of the direction in which the subject vehicle is to travel, which is conducive to timely triggering the re-planning of the navigation route when the vehicle is about to deviate but has not yet deviated and the user has not given clear navigation instructions.

[0011] To achieve at least one of the above-mentioned purposes, the first aspect of the embodiment of the present application provides a navigation method, which includes the following steps: in response to determining that the direction to be traveled of the subject vehicle deviates from the initial travel direction indicated by the initial navigation route, determining the current road section of the subject vehicle based on the position information of the subject vehicle and the map road network data; determining the target road section and target attribute information of the target road section based on the direction to be traveled, the current road section and the map road network data; and generating a target navigation route based on the target attribute information, the target navigation route meeting the direction to be traveled.

[0012] A second aspect of an embodiment of the present application provides an electronic device comprising at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the above-mentioned navigation method.

[0013] A third aspect of the embodiments of the present application provides a computer-readable storage medium having a computer program stored thereon, which can implement the above-mentioned navigation method when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Other features, objects and advantages of the present application will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings, in which: Figure 1 is a system architecture applicable to a navigation method according to an embodiment of the present application; Figure 2 is a system architecture applicable to a navigation method according to another embodiment of the present application; Figure 3 1 is a flowchart of a navigation method according to an embodiment of the present application; Figure 4 This is a schematic diagram of a scenario in which a subject vehicle is about to deviate according to an embodiment of the present application; Figure 5 This is a schematic diagram of a scenario in which a subject vehicle is about to deviate according to another embodiment of the present application; Figure 6 1 is a flowchart of a navigation method according to another embodiment of the present application; Figure 7 is a schematic block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0015] For a better understanding of the present application, various aspects of the present application will be described in more detail with reference to the accompanying drawings. It should be understood that these detailed descriptions are merely descriptions of exemplary embodiments of the present application and are not intended to limit the scope of the present application in any way. Throughout the specification, the same reference numerals refer to the same elements. The expression "and / or" includes any and all combinations of one or more of the associated listed items.

[0016] In the drawings, the thickness, size, and shape of components have been slightly adjusted for ease of explanation. The drawings are for illustration only and are not drawn strictly to scale.

[0017] Unless otherwise defined, all terms (including technical and scientific terms) used in this application have the same meaning as commonly understood by those skilled in the art to which this application belongs. It should also be understood that terms (such as those defined in commonly used dictionaries) should be understood to have meanings consistent with their meanings in the context of the relevant technology and should not be interpreted in an idealized or overly formal sense, unless expressly defined in this application.

[0018] Furthermore, the acquisition, storage, and application of the map network data, steering information of surrounding vehicles, user input, the subject vehicle's initial navigation route, location information, image information of the surrounding environment, steering information, and steering assistance information involved in the technical solution of this application all comply with relevant laws and regulations and do not violate public order and good morals. Furthermore, the acquired information / data is not intended to represent a specific type of user / vehicle and, therefore, cannot reflect information about a specific type of user / vehicle.

[0019] It should be noted that, unless there is a conflict, the embodiments and features of the embodiments in this application can be combined with each other. In addition, unless explicitly limited or inconsistent with the context, the specific steps included in the methods described in this application are not necessarily limited to the order described, but can be performed in any order or in parallel. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0020] In related technologies, terminal devices typically use precise maps to provide navigation routes for vehicles and guide them to their destinations. A road may have multiple lanes. A lane is a strip of road used by vehicles traveling in a single direction, separated from other lanes or areas by markings such as solid and dashed lines. Each lane has a clear functional division, such as straight ahead, left turn, or bus lane, and is a microscopic component of the road. However, precise maps are not lane-level maps. They only have meter-level accuracy and can identify the approximate location and direction of lanes, but lack detailed information such as lane boundaries, centerlines, or curvature. This can result in the terminal device being unable to identify the vehicle's lane and, consequently, unable to recognize situations where the vehicle is about to deviate from its lane and needs to reroute due to driving into the wrong lane. This means that during vehicle navigation, the terminal device often only detects the vehicle's deviation after it has traveled a certain distance, and then reroutes the vehicle to follow the rerouted navigation route. This results in the terminal device being unable to provide timely navigation when the vehicle deviates from its lane. Moreover, even if the user reports that they have driven into the wrong lane, since the vehicle has not deviated, its current position is still on the initial navigation route. Therefore, even if the terminal device replans the route, it still defaults to the vehicle's current position as the starting point. The replanned navigation route is still the initial navigation route and cannot meet the vehicle's subsequent navigation needs.

[0021] The terminal device may include an in-vehicle electronic device or a mobile device, etc., which can run a navigation application and / or provide navigation services. Figure 1 The system architecture 100 is applicable to a navigation method according to an embodiment of the present application, wherein the terminal device executing the navigation method may be an onboard electronic device 111 installed in a subject vehicle 110. The onboard electronic device 111 is, for example, a vehicle computer, a navigation system, and the like. Figure 2 The system architecture 100 is applicable to a navigation method according to another embodiment of the present application. The terminal device executing the navigation method may be a mobile device 120 interacting with a subject vehicle 110. Mobile device 120 may include, but is not limited to, at least one of a smartphone, a laptop, a tablet, and a wearable device such as a smartwatch or smart glasses. A processing module 121 on mobile device 120 is communicatively connected to the in-vehicle electronic device 111.

[0022] The terminal device may be deployed with a navigation application and provide navigation services for the subject vehicle 110. For example, the terminal device may recommend at least one feasible driving route to the user in the subject vehicle 110, so that the user can determine the current navigation route of the subject vehicle 110 from the at least one feasible driving route. The current navigation route is the initial navigation route of the subject vehicle 110. The initial navigation route may be a route on a precise map.

[0023] In some embodiments of the present application, the system architecture 100 may include a positioning module 112. The positioning module 112 may be used to detect the location information of the subject vehicle 110. The location information of the subject vehicle 110 may include but is not limited to the latitude and longitude information and / or coordinate information of the subject vehicle 110.

[0024] For example, refer to Figure 1 The positioning module 112 can be installed on the subject vehicle 110, and the positioning module 112 can be communicatively connected with the vehicle-mounted electronic device 111. When the terminal device is the vehicle-mounted electronic device 111, the vehicle-mounted electronic device 111 can obtain the location information of the subject vehicle 110 from the positioning module 112.

[0025] For example, refer to Figure 2 The positioning module 112 may be integrated into the mobile device 120 . When the terminal device is the mobile device 120 , the processing module 121 on the mobile device 120 may obtain the location information of the subject vehicle 110 from the positioning module 112 .

[0026] In some embodiments of the present application, the terminal device may store map road network data, that is, the map road network data may be offline data. Alternatively, the terminal device may obtain map road network data from a server, that is, the map road network data may be online data. The map road network data may be the road network data in a standard precision map, or it may be the road network data in a high-precision map. The basic unit of a map road network is a road segment, which is a unique directed line segment connecting a starting node and an end node. Each road segment is connected to other road segments through a starting node and an end node to form a map road network. The map road network data may include but is not limited to the road segment attribute information, location information and topology information of the road segment. The road segment attribute information of the road segment is basic data related to the characteristics of the road segment. These data are used to describe the characteristics of the road segment, wherein the road segment attribute information may include but is not limited to at least one of the road segment length, road segment direction, road grade, traffic rules, and identity information of the road segment. Road grade is a classification method for dividing roads based on various factors such as traffic capacity, design standards, and road network function priorities. Road grades may include, but are not limited to, at least one of expressways, urban expressways, main roads, secondary roads, and branch roads. Traffic rules are traffic rules that vehicles and pedestrians need to abide by on a road section. For example, traffic rules may include, but are not limited to, at least one of speed limit information, one-way driving information, turn restriction information, no parking information, traffic light information, and right of way information. The location information of a road section may include, but is not limited to, the latitude and longitude information and / or coordinate information of any point on the road section, wherein any point may be at least one of the starting node, the end node, and any intermediate node between the starting node and the end node. The topological information of a road section is used to describe the location and connection relationship of the road section in the road network. The topological information of a road section may include, but is not limited to, at least one of the identification information of the starting node of the road section, the identification information of the end node, and the connection relationship with adjacent road sections.

[0027] The terminal device may be configured to: in response to determining that the direction of travel of the subject vehicle 110 deviates from the initial travel direction indicated by the initial navigation route, determine the current road segment of the subject vehicle 110 based on the location information of the subject vehicle 110 and the map road network data; determine the target road segment and target attribute information of the target road segment based on the direction of travel of the subject vehicle 110, the current road segment, and the map road network data; and generate a target navigation route for the subject vehicle 110 based on the target attribute information, wherein the target navigation route satisfies the direction of travel of the subject vehicle 110. When the subject vehicle 110 is about to deviate from its course, the terminal device can promptly re-plan the route, so as to promptly provide feedback to the user on the re-planned target navigation route before or when the subject vehicle 110 deviates from its course, thereby facilitating subsequent navigation of the subject vehicle 110 based on the re-planned target navigation route, reducing navigation response delays caused by re-planning the route after the subject vehicle 110 deviates from its course, and improving the user experience.

[0028] In some embodiments of the present application, the system architecture 100 may include a first sensor 113. The first sensor 113 may include a visual sensor for detecting image information of the surrounding environment of the subject vehicle 110. The visual sensor may include, but is not limited to, a front-view camera and / or a panoramic camera.

[0029] For example, refer to Figure 1 The first sensor 113 may be installed on the subject vehicle 110, and the first sensor 113 may be communicatively connected to the vehicle-mounted electronic device 111. When the terminal device is the vehicle-mounted electronic device 111, the vehicle-mounted electronic device 111 may obtain image information of the surrounding environment from the first sensor 113, and determine whether the direction of travel of the subject vehicle 110 deviates from the initial direction of travel based on the image information of the surrounding environment.

[0030] For example, refer to Figure 2 The first sensor 113 may be integrated into the mobile device 120. When the terminal device is the mobile device 120, the processing module 121 on the mobile device 120 may obtain image information of the surrounding environment from the first sensor 113 and determine whether the future traveling direction of the subject vehicle 110 deviates from the initial traveling direction based on the image information of the surrounding environment.

[0031] In some embodiments of the present application, reference Figure 1 The vehicle-mounted electronic device 111 can utilize V2V communication technology via a built-in communication module (not shown) to obtain steering information from surrounding vehicles. The steering information of surrounding vehicles may include, but is not limited to, at least one of the following: going straight, turning left, or turning right. If the terminal device is the vehicle-mounted electronic device 111, the vehicle-mounted electronic device 111 can determine whether the intended travel direction of the subject vehicle 110 deviates from the initial travel direction based on the steering information of the surrounding vehicles.

[0032] In other examples, refer to Figure 2 When the terminal device is a mobile device 120, the processing module 121 on the mobile device 120 can obtain the steering information of the surrounding vehicles from the on-board electronic device 111, and determine whether the direction of travel of the subject vehicle 110 deviates from the initial driving direction based on the steering information of the surrounding vehicles.

[0033] In some embodiments of the present application, the system architecture 100 may include a second sensor 114. The second sensor 114 may include a sound sensor for detecting user input information, which may be voice information. The sound sensor may include, but is not limited to, a microphone.

[0034] For example, refer to Figure 1The second sensor 114 may be installed on the subject vehicle 110, and the second sensor 114 may be communicatively connected to the in-vehicle electronic device 111. When the terminal device is the in-vehicle electronic device 111, the in-vehicle electronic device 111 may obtain user input information from the second sensor 114 and determine whether the intended driving direction of the subject vehicle 110 deviates from the initial driving direction based on the user input information.

[0035] For example, refer to Figure 2 The second sensor 114 may be integrated into the mobile device 120. When the terminal device is the mobile device 120, the processing module 121 on the mobile device 120 may obtain user input information from the second sensor 114 and determine whether the future traveling direction of the subject vehicle 110 deviates from the initial traveling direction based on the user input information.

[0036] In some embodiments of the present application, reference Figure 1 The system architecture 100 may include a third sensor 115, which may be installed on the subject vehicle 110 and communicatively connected to the in-vehicle electronic device 111. The third sensor 115 may be used to detect steering information of the subject vehicle 110. Steering information of the subject vehicle 110 is directional control information generated by the subject vehicle 110 during vehicle control operations. The third sensor 115 may include, but is not limited to, at least one of a turn signal switch state sensor, a steering wheel angle sensor, a steering torque sensor, a wheel speed sensor, and a yaw rate sensor. Steering information of the subject vehicle 110 may include, but is not limited to, at least one of the following: the state of the subject vehicle 110's turn signal, the steering wheel rotation angle, the steering wheel angle, the steering wheel speed information, and the yaw rate information. When the terminal device is the in-vehicle electronic device 111, the in-vehicle electronic device 111 may obtain the steering information of the subject vehicle 110 from the third sensor 115 and, based on the steering information of the subject vehicle 110, determine whether the intended driving direction of the subject vehicle 110 deviates from the initial driving direction.

[0037] In other examples, refer to Figure 2 When the terminal device is a mobile device 120, the processing module 121 on the mobile device 120 can obtain the steering information of the subject vehicle 110 from the on-board electronic device 111, and determine whether the direction of travel of the subject vehicle 110 deviates from the initial driving direction based on the steering information of the subject vehicle 110.

[0038] Figure 3: A flowchart of a navigation method 200 according to an embodiment of the present application is shown. The terminal device executing the navigation method 200 may include an electronic device such as the onboard electronic device 111 of the subject vehicle 110 or a mobile device 120 interacting with the subject vehicle 110. In addition, the navigation method 200 may also include additional steps not shown and / or may omit the steps shown, and the scope of the present application is not limited in this respect. Figure 3 , the navigation method 200 may include the following steps: Step S210 , in response to determining that the direction of travel of the subject vehicle deviates from the initial travel direction indicated by the initial navigation route, determining the current road section of the subject vehicle based on the position information of the subject vehicle and the map road network data.

[0039] In some embodiments of the present application, the direction of travel of the subject vehicle 110 is the direction that the subject vehicle 110 has not yet traveled but will travel to when it reaches the next intersection along the initial navigation route. The next intersection is the nearest intersection that the subject vehicle 110 will reach along the initial navigation route. For example, if the subject vehicle 110, while the initial navigation route indicates straight ahead, mistakenly enters a left-turn lane and cannot change lanes, the direction of travel of the subject vehicle 110 is a left turn. In another example, if the subject vehicle 110, while the initial navigation route indicates straight ahead, mistakenly enters a left-turn waiting area of ​​a composite lane, the direction of travel of the subject vehicle 110 is a left turn. When the terminal device determines that the direction of travel of the subject vehicle 110 deviates from the initial direction of travel indicated by the initial navigation route, the terminal device may determine the current road segment of the subject vehicle 110 based on the location information of the subject vehicle 110 and the map road network data. The current road segment of the subject vehicle 110 may be located on the initial navigation route.

[0040] In some embodiments of the present application, the terminal device can determine whether the subject vehicle 110 is about to deviate by determining whether the direction of travel of the subject vehicle 110 deviates from the initial direction of travel. For example, the terminal device can determine whether the subject vehicle 110 is about to deviate by determining whether the angle between the direction of travel of the subject vehicle 110 and the initial direction of travel exceeds a preset threshold, and / or whether the direction of travel of the subject vehicle 110 is the same as the initial direction of travel. The preset threshold can be set based on experience or customized by the user and is not limited here.

[0041] For example, when the direction to be driven of the subject vehicle 110 deviates from the initial driving direction, for example, the angle between the direction to be driven of the subject vehicle 110 and the initial driving direction exceeds a preset threshold, and / or the direction to be driven of the subject vehicle 110 is different from the initial driving direction, the terminal device may determine that the subject vehicle 110 is about to deviate. When the direction to be driven of the subject vehicle 110 does not deviate from the initial driving direction, for example, the angle between the direction to be driven of the subject vehicle 110 and the initial driving direction does not exceed a preset threshold, and / or the direction to be driven of the subject vehicle 110 is the same as the initial driving direction, the terminal device may determine that the subject vehicle 110 is not deviating.

[0042] In some embodiments of the present application, when the subject vehicle 110 reaches any location within a preset distance from the next intersection in the initial navigation route, the terminal device may trigger a deviation detection function to detect whether the subject vehicle 110 is about to deviate. Upon detecting that the subject vehicle 110 is about to deviate, the terminal device may trigger a re-route function. The preset distance may be, for example, any value between 100m and 500m. The preset distance may be set based on experience or customized by the user and is not limited here.

[0043] For ease of understanding, the following provides an exemplary description of a method for determining whether the future traveling direction of the subject vehicle deviates from the initial traveling direction indicated by the initial navigation route.

[0044] Method 1

[0045] In some embodiments of the present application, the terminal device may determine whether the future travel direction of the subject vehicle 110 deviates from the initial travel direction based on input information from a user in the subject vehicle 110. The input information may include voice information and / or text information, and the input information may include but is not limited to user feedback on the initial navigation route and / or a description of the future travel direction of the subject vehicle 110.

[0046] Exemplarily, the input information may include user feedback information on the initial navigation route. The input information may be negative information about the situation of driving according to the initial navigation route, such as "Oops, I drove the wrong way." The terminal device can determine that the direction of travel of the subject vehicle 110 deviates from the initial driving direction.

[0047] For example, the input information may include a user's description of the direction in which the subject vehicle 110 is to travel. The terminal device may determine the direction in which the subject vehicle 110 is to travel based on the user's input information, and determine whether the direction in which the subject vehicle 110 is to travel deviates from the initial direction based on the direction in which the subject vehicle 110 is to travel and the initial navigation route. When the direction in which the subject vehicle 110 is to travel is the same as the initial direction in which the subject vehicle 110 is to travel, the terminal device may determine that the direction in which the subject vehicle 110 is to travel has not deviated from the initial direction in which the subject vehicle 110 is to travel. When the direction in which the subject vehicle 110 is to travel is different from the initial direction in which the subject vehicle 110 is to travel, the terminal device may determine that the direction in which the subject vehicle 110 is to travel deviates from the initial direction in which the subject vehicle 110 is to travel.

[0048] For example, the input information may be "Oops, I'm driving into the right turn lane," and the terminal device may determine that the subject vehicle 110's intended driving direction is right. When the initial driving direction is right, the terminal device may determine that the subject vehicle 110's intended driving direction has not deviated from the initial driving direction; when the initial driving direction is forward or left, the terminal device may determine that the subject vehicle 110's intended driving direction has deviated from the initial driving direction.

[0049] In this embodiment, the terminal device can determine whether the subject vehicle 110 is about to deviate through the user's feedback information on the initial navigation route and / or the user's description of the direction in which the subject vehicle 110 is to travel. This is conducive to timely triggering the re-planning of the navigation route when the vehicle is about to deviate but has not yet deviated and the user has not given clear navigation instructions to re-plan the route.

[0050] It should be understood that the specific content of the user's input information is merely exemplary. Without departing from the teachings of this application, the user's input information may also include other content, and this application does not impose any specific restrictions on this.

[0051] Method 2

[0052] In some embodiments of the present application, the terminal device may obtain road marking information of the lane in which the subject vehicle 110 is located based on image information of the surrounding environment, and determine the intended travel direction of the subject vehicle 110 based on the road marking information. The road marking information may include, but is not limited to, arrow marking information on the road surface in front of the subject vehicle 110, and the arrow marking information may include, but is not limited to, at least one of going straight, turning left, turning right, and making a U-turn. After determining the intended travel direction of the subject vehicle 110, the terminal device may determine whether the intended travel direction of the subject vehicle 110 deviates from the initial travel direction based on the intended travel direction of the subject vehicle 110 and the initial navigation route.

[0053] For example, when the arrow identification information is straight ahead, the terminal device can determine that the direction of the subject vehicle 110 to be driven is forward; when the arrow identification information is turn left, the terminal device can determine that the direction of the subject vehicle 110 to be driven is left; when the arrow identification information is turn right, the terminal device can determine that the direction of the subject vehicle 110 to be driven is right; when the arrow identification information is turn around, the terminal device can determine that the direction of the subject vehicle 110 to be driven is turn around.

[0054] In this embodiment, the terminal device can obtain the road marking information of the lane in which the subject vehicle 110 is located through image information of the surrounding environment, and determine whether the subject vehicle 110 is about to deviate based on the direction of travel of the subject vehicle 110 obtained from the road marking information and the initial navigation route, which is conducive to timely identifying the situation where the subject vehicle 110 needs to re-plan its route due to imminent deviation.

[0055] In some embodiments of the present application, the lane in which the subject vehicle 110 is located is a composite lane, and the arrow sign information on the road surface ahead of the subject vehicle 110 may include, but is not limited to, multiple indications of going straight, turning left, turning right, and turning around. The terminal device may determine the intended direction of travel of the subject vehicle 110 based on the road sign information in the lane in which the subject vehicle 110 is located, as well as the steering information of the subject vehicle 110 or image information of the surrounding environment. The steering information of the subject vehicle 110 may include, but is not limited to, at least one of the following: the state of the turn signal of the subject vehicle 110, the steering wheel rotation angle, the steering wheel angle, the steering wheel speed information, and the yaw rate information.

[0056] For example, when the terminal device determines that the subject vehicle 110 has multiple candidate driving directions based on the road marking information of the lane in which the subject vehicle 110 is located, the terminal device may further obtain the subject vehicle 110's turning intention based on the subject vehicle 110's steering information or the image information of the surrounding environment, and determine the subject vehicle 110's desired driving direction from the multiple candidate driving directions based on the subject vehicle 110's turning intention. The subject vehicle 110's turning intention may include, but is not limited to, at least one of going straight, turning left, turning right, and making a U-turn. For example, when the arrow marking information includes going straight and turning left, the terminal device may determine that the subject vehicle 110's candidate driving directions include forward and left. When the steering wheel angle of the subject vehicle 110 indicates a left turn or the image information of the surrounding environment indicates that the subject vehicle 110 is in a left turn waiting area, the terminal device may determine that the subject vehicle 110's turning intention is a left turn and the subject vehicle 110's desired driving direction is left.

[0057] In this embodiment, when the subject vehicle 110 is in a complex scenario such as a compound lane, the terminal device can jointly determine the direction in which the subject vehicle 110 is to travel through the road marking information of the lane in which the subject vehicle 110 is located, the steering information of the subject vehicle 110, or the image information of the surrounding environment. This is beneficial for accurately determining the direction in which the subject vehicle 110 is to travel in complex scenarios such as compound lanes, and reducing the situation in which the subject vehicle 110 is mistakenly identified as about to deviate.

[0058] It should be understood that the specific information of the road surface marking information is only exemplary. Without departing from the teachings of this application, the road surface marking information may also include other information, and this application does not impose specific limitations on this.

[0059] Method 3

[0060] In some embodiments of the present application, the terminal device may determine the intended travel direction of the subject vehicle 110 based on the steering information of the subject vehicle 110, and determine whether the intended travel direction of the subject vehicle 110 deviates from the initial travel direction based on the intended travel direction of the subject vehicle 110 and the initial navigation route. The steering information of the subject vehicle 110 may include, but is not limited to, at least one of the following: the state of the turn signal of the subject vehicle 110, the steering wheel rotation angle, the steering wheel angle, the steering wheel speed information, and the yaw rate information.

[0061] In some embodiments of the present application, the terminal device may determine the direction of travel of the subject vehicle 110 based on the turn signal status of the subject vehicle 110. The turn signal status of the subject vehicle 110 may include, but is not limited to, at least one of the following: the left turn signal is off, the left turn signal is on, the right turn signal is off, and the right turn signal is on. When the turn signal status of the subject vehicle 110 is the left turn signal off and the right turn signal is off, the terminal device may determine that the direction of travel of the subject vehicle 110 is forward; when the turn signal status of the subject vehicle 110 is the left turn signal on, the terminal device may determine that the direction of travel of the subject vehicle 110 is left; and when the turn signal status of the subject vehicle 110 is the right turn signal on, the terminal device may determine that the direction of travel of the subject vehicle 110 is right.

[0062] In some embodiments of the present application, the terminal device may determine the intended driving direction of the subject vehicle 110 based on the steering wheel rotation angle of the subject vehicle 110 and a steering wheel angle threshold. The steering wheel angle threshold may include different thresholds corresponding to different driving directions, such as going straight, turning left, turning right, and turning around. The specific value of the threshold can be set based on experience or customized by the user and is not limited here.

[0063] For example, when the steering wheel angle is at a first steering wheel angle threshold, the terminal device may determine that the vehicle 110 is traveling forward; when the steering wheel angle is at a second steering wheel angle threshold, the terminal device may determine that the vehicle 110 is traveling left; when the steering wheel angle is at a third steering wheel angle threshold, the terminal device may determine that the vehicle 110 is traveling right; and when the steering wheel angle is at a fourth steering wheel angle threshold, the terminal device may determine that the vehicle 110 is turning around. The first steering wheel angle threshold may, for example, be between -10° and +10°. The second steering wheel angle threshold may, for example, be between +15° and +180°. The third steering wheel angle threshold may, for example, be between -15° and -180°. The fourth steering wheel angle threshold may, for example, be greater than ±180°. The first, second, third, and fourth steering wheel angle thresholds may, for example, be numerical ranges.

[0064] In some embodiments of the present application, the terminal device may determine the direction in which the subject vehicle 110 is to travel based on the steering wheel speed information of the subject vehicle 110. The steering wheel speed information of the subject vehicle 110 may include, but is not limited to, the speed difference information between the left steering wheel and the right steering wheel. The speed difference information is a vector and has direction information. For example, when the absolute value of the speed difference information between the left steering wheel and the right steering wheel is greater than the speed difference threshold, and the speed difference information is a positive value, the direction in which the subject vehicle 110 is to travel is to travel to the right; when the absolute value of the speed difference information between the left steering wheel and the right steering wheel is greater than the speed difference threshold, and the speed difference information is a negative value, the direction in which the subject vehicle 110 is to travel is to travel to the left. The speed difference threshold may be set based on experience or customized by the user, and is not limited here.

[0065] In some embodiments of the present application, a terminal device may determine the intended direction of travel of the subject vehicle 110 based on the yaw rate information of the subject vehicle 110. The yaw rate information of the subject vehicle 110 may include, but is not limited to, the yaw rate direction. The yaw rate direction may include clockwise and / or counterclockwise. For example, when the yaw rate direction is clockwise, the terminal device may determine that the intended direction of travel of the subject vehicle 110 is right; and when the yaw rate direction is counterclockwise, the terminal device may determine that the intended direction of travel of the subject vehicle 110 is left.

[0066] Optionally, the terminal device may determine the intended direction of travel of the subject vehicle 110 based on the steering information and steering assistance information of the subject vehicle 110, and determine whether the intended direction of travel of the subject vehicle 110 deviates from the initial direction of travel based on the intended direction of travel of the subject vehicle 110 and the initial navigation route. The steering assistance information of the subject vehicle 110 may include at least one of vehicle model information, steering gear ratio, vehicle speed information, steering wheel rotation time, and steering wheel rotation time.

[0067] For example, different vehicle models may have different steering ratios. The same steering wheel rotation angle results in different steering wheel angles on different vehicle models. Therefore, the corresponding steering wheel angle threshold needs to be adjusted based on the vehicle model. Here, steering ratio = steering wheel rotation angle / steering wheel angle. For example, the steering ratio of a commercial vehicle > the steering ratio of a family car > the steering ratio of a performance vehicle. The steering ratio of a commercial vehicle may be, for example, 24:1. The steering ratio of a family car may be, for example, 12:1 to 20:1. The steering ratio of a performance vehicle may be, for example, 8:1. The terminal device may determine a steering wheel angle threshold for the subject vehicle 110 based on the vehicle model of the subject vehicle 110, and then determine the desired direction of travel for the subject vehicle 110 based on the steering wheel rotation angle of the subject vehicle 110 and the steering wheel angle threshold. In some embodiments, the terminal device may determine the steering wheel angle threshold for the subject vehicle 110 based on the proportional relationship between the steering ratio of the corresponding vehicle model and the steering ratio of a standard vehicle model. For example, the steering transmission ratio of the standard vehicle model is 12:1, and the first steering wheel angle threshold is -10°~+10°, while the steering transmission ratio of the corresponding vehicle model of the subject vehicle 110 is 24:1, so the first steering wheel angle threshold of the subject vehicle 110 is -20°~+20°.

[0068] In this embodiment, the terminal device pre-acquires the steering wheel angle threshold of the main vehicle 110 through the model of the main vehicle 110, and then determines the direction of travel of the main vehicle 110 based on the steering wheel rotation angle of the main vehicle 110 and the steering wheel angle threshold, which is conducive to improving the accuracy of determining the direction of travel of the main vehicle 110 and reducing the situation of misidentification of the main vehicle 110 being about to deviate.

[0069] For example, the terminal device may determine a steering wheel angle threshold for the subject vehicle 110 based on the speed information of the subject vehicle 110, and then determine the direction of travel of the subject vehicle 110 based on the steering wheel rotation angle of the subject vehicle 110 and the steering wheel angle threshold. The speed of the subject vehicle 110 is negatively correlated with the steering wheel angle threshold. For example, the higher the speed of the subject vehicle 110, the smaller the steering wheel angle threshold of the subject vehicle 110; and the lower the speed of the subject vehicle 110, the larger the steering wheel angle threshold of the subject vehicle 110. In other examples, when the speed of the subject vehicle 110 is low, the terminal device may determine the direction of travel of the subject vehicle 110 based on the positioning information of the subject vehicle 110 and the shape of the intersection identified by the visual sensor.

[0070] In this embodiment, the terminal device determines the steering wheel angle threshold of the subject vehicle 110 through the vehicle speed information of the subject vehicle 110, and then determines the direction of travel of the subject vehicle 110 based on the steering wheel rotation angle of the subject vehicle 110 and the steering wheel angle threshold. This is conducive to improving the accuracy of determining the direction of travel of the subject vehicle 110 and reducing the situation of misidentifying that the subject vehicle 110 is about to deviate.

[0071] For example, the terminal device may determine a candidate driving direction for the subject vehicle 110 based on the steering wheel angle of the subject vehicle 110 and a steering wheel angle threshold, and determine whether the candidate driving direction for the subject vehicle 110 is the intended driving direction for the subject vehicle 110 based on the steering wheel turning time of the subject vehicle 110 and the steering wheel turning time threshold. The steering wheel turning time threshold may be set based on experience or customized by the user and is not limited here. When the steering wheel turning time is less than the steering wheel turning time threshold, the terminal device may determine that the candidate driving direction for the subject vehicle 110 is not the intended driving direction for the subject vehicle 110; when the steering wheel turning time is greater than or equal to the steering wheel turning time threshold, the terminal device may determine that the candidate driving direction for the subject vehicle 110 is the intended driving direction for the subject vehicle 110. In other examples, when the steering wheel turning time is greater than or equal to the steering wheel turning time threshold, the terminal device may also determine that the candidate driving direction for the subject vehicle 110 is the intended driving direction for the subject vehicle 110 by combining factors such as the rate of change of the steering wheel turning angle. The steering wheel turning time threshold may be, for example, 2 seconds.

[0072] In this embodiment, the terminal device determines whether the candidate driving direction of the subject vehicle 110 is the direction to be driven of the subject vehicle 110 through the steering wheel turning time and the steering wheel turning time threshold of the subject vehicle 110, which is conducive to reducing the situation where the direction to be driven is judged incorrectly due to obstacle avoidance or lane fine-tuning of the subject vehicle 110.

[0073] It should be understood that, in addition to the steering wheel rotation angle, the terminal device can also determine the intended travel direction of the subject vehicle 110 based on the steering wheel angle and steering wheel angle threshold of the subject vehicle 110, and compensate or adjust the intended travel direction of the subject vehicle 110 in combination with the vehicle model, speed information, steering wheel rotation time, etc. Furthermore, the different embodiments of Method 3 can be combined arbitrarily.

[0074] It should be understood that, without departing from the teachings of this application, the terminal device can combine the steering information of the subject vehicle 110, such as the turn signal status, steering wheel turning angle, steering wheel angle, steering wheel speed information, yaw angular velocity information, and multiple pieces of information in the steering auxiliary information, such as vehicle model information, steering gear ratio, vehicle speed information, steering wheel turning time, and steering wheel turning time, to determine the direction to be driven of the subject vehicle 110, so as to maximize the accuracy of the direction to be driven of the subject vehicle 110, which is conducive to reducing the situation where the subject vehicle 110 is mistakenly identified as about to deviate due to the error in the determined direction to be driven.

[0075] Method 4

[0076] In some embodiments of the present application, the terminal device may obtain steering information of surrounding vehicles, determine the direction of travel of the subject vehicle 110 based on the steering information of the surrounding vehicles, and then determine whether the direction of travel of the subject vehicle 110 deviates from the initial direction of travel based on the direction of travel of the subject vehicle 110 and the initial navigation route. The surrounding vehicles may include vehicles located in front of the subject vehicle 110.

[0077] Optionally, when the arrow sign information on the road ahead of the subject vehicle 110 is blocked by surrounding vehicles, the terminal device can pre-determine the direction in which the subject vehicle 110 is to travel through the steering information of the surrounding vehicles, and then determine whether the subject vehicle 110 is about to deviate based on the direction in which the subject vehicle 110 is to travel and the initial navigation route, which is conducive to timely identification of situations where the subject vehicle 110 needs to re-plan its route due to imminent deviation.

[0078] In some embodiments of the present application, the terminal device may obtain the steering information of the surrounding vehicles based on the image information of the surrounding environment. The steering information of the surrounding vehicles may include, but is not limited to, the turn signal status of the surrounding vehicles, and the turn signal status may include at least one of the left turn signal off, the left turn signal on, the right turn signal off, and the right turn signal on. After obtaining the steering information of the surrounding vehicles, the terminal device may determine the direction to be traveled of the subject vehicle 110 based on the steering information of the surrounding vehicles. It should be noted that the method of determining the direction to be traveled of the subject vehicle 110 based on the steering information of the surrounding vehicles is the same as the method of determining the direction to be traveled of the subject vehicle 110 based on the turn signal status of the subject vehicle 110, and will not be repeated here.

[0079] In some embodiments of the present application, when the terminal device is an in-vehicle electronic device 111, the terminal device can use the built-in communication module and V2V communication technology to send a request to surrounding vehicles to obtain the steering information of the surrounding vehicles; after receiving the request, the on-board sensors of the surrounding vehicles detect the steering information of the surrounding vehicles, and the communication modules of the surrounding vehicles send the steering information of the surrounding vehicles to the terminal device via V2V communication technology. The steering information of the surrounding vehicles may include but is not limited to at least one of the surrounding vehicles going straight, turning left, and turning right. When the terminal device is a mobile terminal 120, the terminal device can obtain the steering information of the surrounding vehicles from the in-vehicle electronic device 111; after obtaining the steering information of the surrounding vehicles, the terminal device can determine the direction of travel of the subject vehicle 110 based on the steering information of the surrounding vehicles.

[0080] Method 5

[0081] In some embodiments of the present application, the terminal device may determine whether the subject vehicle 110 is in a section prone to deviation based on the subject vehicle 110's location information and a preset database. In response to determining that the subject vehicle 110 is in a section prone to deviation, the terminal device may generate a prompt message for obtaining feedback information regarding route replanning and, based on the feedback information, determining whether the subject vehicle 110's intended travel direction has deviated from the initial travel direction.

[0082] In this embodiment, when the main vehicle 110 is in a section that is prone to deviation, it does not necessarily deviate. If the section that is prone to deviation is directly used as the basis for re-planning the route, it is easy to trigger the re-planning of the route by mistake. Therefore, the prompt information can not only be used to remind the user that the section is a section that is prone to deviation, but also be used to obtain feedback information from the user based on the prompt information, and determine whether the main vehicle 110 is about to deviate through the feedback information. This is conducive to timely and accurate identification of situations where the main vehicle 110 needs to re-plan the route due to imminent deviation, reducing situations where users manually trigger re-planning of the route, and improving driving safety.

[0083] In some embodiments of the present application, a preset database may include at least one preset location information in the map network data and auxiliary data associated with at least one preset location information. This auxiliary data can be used to assist in determining sections prone to deviation. The auxiliary data may include, but is not limited to, at least one of the following: the number of location correction requests, the number of error reporting, and user marking information. The number of location correction requests may be the number of times rerouting is automatically triggered at a preset location. When the number of location correction requests exceeds a threshold number of location correction requests, the preset location corresponding to this number of location correction requests is marked as a section prone to deviation. The number of error reporting may be the number of times a user actively triggers rerouting at a preset location. When the number of error reporting exceeds a threshold number of error reporting, the preset location corresponding to this number of error reporting is marked as a section prone to deviation. The user marking information may be user-added identification information for sections prone to deviation and / or sections not prone to deviation at the preset location. The terminal device may determine, from the at least one preset location information, target location information that matches the location information of the subject vehicle 110, and then determine whether the subject vehicle 110 is in a section prone to deviation based on the auxiliary data corresponding to the target location information.

[0084] For example, the terminal device may determine whether the subject vehicle 110 is in a section prone to deviation based on a comparison result of the number of position correction requests corresponding to the target position information and a position correction number threshold, or a comparison result of the number of error markings corresponding to the target position information and a threshold of the number of error markings. When the number of position correction requests corresponding to the target position information is equal to or greater than the position correction number threshold, or the number of error markings corresponding to the target position information is equal to or greater than the threshold of the number of error markings, the terminal device may determine that the subject vehicle 110 is in a section prone to deviation. When the number of position correction requests corresponding to the target position information is less than the position correction number threshold, or the number of error markings corresponding to the target position information is less than the threshold of the number of error markings, the terminal device may determine that the subject vehicle 110 is not in a section prone to deviation.

[0085] For example, the terminal device may determine whether the subject vehicle 110 is in a section prone to deviation based on the user tag information corresponding to the target location information. When the user tag information corresponding to the target location information is information identifying a section prone to deviation, the terminal device may determine that the subject vehicle 110 is in a section prone to deviation. When the user tag information corresponding to the target location information is information identifying a section not prone to deviation or there is no user tag information, the terminal device may determine that the subject vehicle 110 is not in a section prone to deviation.

[0086] In some embodiments of the present application, after determining that the subject vehicle 110 is in a section of road prone to deviation, the terminal device may generate a prompt message, which is used to obtain feedback information about re-planning the route. The prompt message may include but is not limited to "whether the route needs to be re-planned". The user in the subject vehicle 110 inputs feedback information based on the prompt message, and the feedback information may include but is not limited to "yes" or "no". When the feedback information is "yes", the terminal device may determine that the direction of travel of the subject vehicle 110 deviates from the initial direction of travel. When the feedback information is "no", the terminal device may determine that the direction of travel of the subject vehicle 110 does not deviate from the initial direction of travel.

[0087] It should be understood that the specific content of the prompt information and feedback information is merely exemplary. Without departing from the teachings of this application, the prompt information and feedback information may also include other content, and this application does not impose any specific restrictions on this.

[0088] For ease of understanding, the following provides an exemplary description of a method for determining the current road section of the subject vehicle based on the position information of the subject vehicle and map road network data.

[0089] In some embodiments of the present application, the terminal device may determine the projected distances from the current location of the subject vehicle 110 to multiple road segments in the mapped road network based on the location information of the subject vehicle 110 and the mapped road network data, and determine the current road segment of the subject vehicle 110 from the multiple road segments based on the projected distances. The current road segment of the subject vehicle 110 may be located on the initial navigation route.

[0090] In some embodiments of the present application, a terminal device may determine the projected distances from the current location of the subject vehicle 110 to multiple road segments in the mapped road network based on the location information of the subject vehicle 110 and the mapped road network data. The location information of the subject vehicle 110 may include, but is not limited to, the latitude and longitude information and / or coordinate information of the subject vehicle 110. The multiple road segments may be road segments at a preset distance from the current location of the subject vehicle 110. The preset distances may be set based on experience or customized by the user, and are not limited here. For each of the multiple road segments, the terminal device may determine the projected distance from the current location of the subject vehicle 110 to the road segment based on the location information of the subject vehicle 110 and the location information of the road segment. The projected distance may be the vertical projected distance from the current location of the subject vehicle 110 to the road segment. The vertical projected distance may be the shortest distance from the current location of the subject vehicle 110 to the road segment. The location information of the road segment may include, but is not limited to, the latitude and longitude information and / or coordinate information of the starting node of the road segment and the latitude and longitude information and / or coordinate information of the ending node. For multiple road segments, the terminal device may determine multiple projected distances. Then, the terminal device may determine the road segment with the minimum projection distance as the current road segment of the subject vehicle 110 .

[0091] In some embodiments of the present application, the terminal device can filter out at least one alternative road section from multiple road sections based on the projection distance, and determine the current road section of the subject vehicle 110 from at least one alternative road section based on the angle between the heading angle of the subject vehicle 110 and the road section direction of at least one alternative road section.

[0092] For example, the terminal device may determine a road section among multiple road sections whose projected distance is less than a projection distance threshold as at least one alternative road section, and then determine the current road section of the subject vehicle 110 from the at least one alternative road section based on a comparison result of the angle between the heading angle of the subject vehicle 110 and the road section direction of the at least one alternative road section with the angle threshold. The projection distance threshold and the angle threshold may be set based on experience or customized by the user, and are not limited here. When the angle between the heading angle of the subject vehicle 110 and the road section direction of the alternative road section is less than the angle threshold, the current driving direction of the subject vehicle 110 is consistent with the road section direction of the alternative road section, and the terminal device may determine that the alternative road section is the current road section of the subject vehicle 110. When the angle between the heading angle of the subject vehicle 110 and the road section direction of the alternative road section is equal to or greater than the angle threshold, the current driving direction of the subject vehicle 110 is inconsistent with the road section direction of the alternative road section, and the terminal device may determine that the alternative road section is not the current road section of the subject vehicle 110.

[0093] In this embodiment, the terminal device can filter out a section from multiple sections that satisfies both a smaller projection distance and a consistent current driving direction through the projection distance and the heading angle of the subject vehicle 110, and determine the section as the current section of the subject vehicle 110, which is beneficial to improving the accuracy of the current section of the subject vehicle 110 and reducing the subsequent situation where the target section is incorrect due to an error in the current section.

[0094] Step S220 , determining the target road section and target attribute information of the target road section based on the direction to be traveled, the current road section and the map road network data.

[0095] In some embodiments of the present application, the terminal device may determine at least one candidate road section associated with the current road section and candidate attribute information of at least one candidate road section based on the current road section and map road network data. "Associated with the current road section" may be a road section that has a connection relationship and / or a proximity relationship with the current road section. That is, the candidate road section may include but is not limited to a road section that has a connection relationship and / or a proximity relationship with the current road section. The candidate attribute information may include but is not limited to the road section attribute information of the candidate road section. Then, the terminal device may determine the target road section and the target attribute information of the target road section from at least one candidate road section based on the direction to be traveled and the candidate attribute information. The target road section may meet the direction to be traveled of the subject vehicle 110 and is not located on the initial navigation route. The target attribute information may include but is not limited to the road section attribute information of the target road section.

[0096] In this embodiment, the target road section meets the direction to be traveled and is not located on the initial navigation route, which facilitates the subsequent generation of a target navigation route that meets the direction to be traveled through the target attribute information of the target road section, so as to better re-plan an accurate navigation route for the user and enhance the user's usage experience.

[0097] In some embodiments of the present application, the terminal device can determine at least one candidate segment associated with the current segment and candidate attribute information of at least one candidate segment based on the location information of the current segment and the location information and topology information of multiple segments in the map road network data.

[0098] For example, based on the location information of the end node of the current road segment of the subject vehicle 110, the terminal device may filter out a road segment from the map road network data that connects a starting node and an end node as at least one candidate road segment, and obtain candidate attribute information for the at least one candidate road segment. The starting node of the candidate road segment is directly or indirectly connected to the end node of the current road segment. Indirect connection means that the starting node of the candidate road segment is connected to the end node of the current road segment via another road segment in the map road network. For example, the terminal device may filter out road segments that are directly or indirectly connected to the starting node and the end node of the current road segment within a preset distance from the current road segment, and select these filtered road segments as at least one candidate road segment. The preset distance may be, for example, 100 meters. The preset distance can be set based on experience or customized by the user, and is not limited here. The candidate attribute information may include, but is not limited to, at least one of the direction of the at least one candidate road segment, the road grade, and the angle between the at least one candidate road segment and the current road segment. The direction and road grade of the at least one candidate road segment are determined from the map road network data.

[0099] Exemplarily, the angle between at least one candidate road segment and the current road segment is determined based on the position information of the current road segment of the subject vehicle 110 and the position information of at least one candidate road segment. When the position information of the current road segment and at least one candidate road segment is longitude and latitude information, the angle between at least one candidate road segment and the current road segment is obtained by converting the longitude and latitude information based on the current road segment. For example, the terminal device may determine the direction vector of the current road segment based on the position information of the starting node and the end node of the current road segment, and determine the direction vector of at least one candidate road segment based on the position information of the starting node and the end node of at least one candidate road segment; then, determine the angle between at least one candidate road segment and the current road segment based on the direction vectors of the at least one candidate road segment and the current road segment. The terminal device may obtain the cosine value of the angle between at least one candidate road segment and the current road segment based on the dot product formula of the direction vectors of at least one candidate road segment and the current road segment, and obtain the angle between at least one candidate road segment and the current road segment using the inverse cosine function.

[0100] The following combination Figure 4 The process of determining at least one candidate road segment will be described in detail.

[0101] Figure 4 Schematic diagram of a scene in which the subject vehicle is about to deviate according to an embodiment of the present application. Figure 4 The environment in which the subject vehicle 110 is located may include 12 road sections, for example, road section ①, road section ②, road section ③, road section ④, road section ⑤, road section ⑥, road section ⑦, road section ⑧, road section ⑨, road section ⑩, road section , road section The current road section of the subject vehicle 110 is road section ①, which includes the starting node A and the end node B. Within the preset distance from road section ①, the road sections where the starting node is directly or indirectly connected to the end node B of road section ① include road section ⑥, road section ⑨ and road section ②, road section ⑩ and road section ⑧, and road section and section ④, section ⑥ is directly connected to the end node B of section ①, section ② is indirectly connected to the end node B of section ① through section ⑨, and section ④ is indirectly connected to the end node B of section ① through sections ⑨, ⑩, It is indirectly connected to the terminal node B of segment ①. Segment ⑧ is indirectly connected to the terminal node B of segment ① through segments 9 and 10. Segments ②, ④, ⑥, and ⑧ can all be candidate segments associated with the current segment. The segment directions of segments ① and ② are 0°, and the angle between segment ② and segment 1 is 0°. The segment direction of segment ④ is 180°, and the angle between segment ④ and segment 1 is 180°. The segment direction of segment ⑥ is 90°, and the angle between segment ⑥ and segment 1 is 90°. The segment direction of segment ⑧ is 270°, and the angle between segment ⑧ and segment 1 is 270°.

[0102] It should be understood that the direction of each road section is determined based on the north direction. The number of sections, the direction of each section, and the angle between each section and the current section are merely exemplary. Without departing from the teachings of this application, the number of sections, the direction of each section, and the angle between each section and the current section may also be other values, and this application does not impose any specific restrictions on this.

[0103] In some embodiments of the present application, the terminal device may determine a target road section and target attribute information from at least one candidate road section based on the matching result between the direction to be traveled of the subject vehicle 110 and the candidate attribute information. For example, the terminal device may determine target attribute information that matches the direction to be traveled of the subject vehicle 110 based on the direction to be traveled of the subject vehicle 110, wherein the target attribute information may include, but is not limited to, specific data or a specific numerical range of the road section direction of the target road section and / or the angle between the target road section and the current road section; then, the terminal device may determine the target road section from at least one candidate road section based on the matching result between the target attribute information and the candidate attribute information. The driving direction indicated by the target attribute information is substantially the same as the direction to be traveled of the subject vehicle 110.

[0104] The following combination Figure 4 The process of determining the target road segment and the target attribute information of the target road segment will be described in detail.

[0105] refer to Figure 4 The initial driving direction of the subject vehicle 110 is forward, the current road segment of the subject vehicle 110 is road segment ①, and the candidate road segments associated with the current road segment include road segment ⑥, road segment ⑨, road segment ②, road segment ⑩, road segment ⑧, and road segment and road section ④. When the subject vehicle 110 is traveling to the left, the target attribute information may include that the road section direction of the target road section is 270° and / or the angle between the target road section and the current road section is 270°. Accordingly, the target road section is road section 10 or road section 8. When the subject vehicle 110 is traveling to the right, the target attribute information may include that the road section direction of the target road section is 90° and / or the angle between the target road section and the current road section is 90°. Accordingly, the target road section is road section ⑥.

[0106] In this embodiment, the terminal device predetermines the target attribute information based on the direction of travel of the subject vehicle 110, and then determines the target section from at least one candidate section based on the matching result of the target attribute information and the candidate attribute information. This is beneficial for quickly determining the target section that meets the direction of travel when the lane in which the subject vehicle 110 is located cannot be identified, and the calculation amount for determining the target section is small, and the time spent is less, thereby providing the user with a re-planned route more timely.

[0107] It should be understood that the section direction of the target section is determined based on the true north direction. The section direction of the target section and the angle between the target section and the current section are merely exemplary. Without departing from the teachings of this application, the section direction of the target section and the angle between the target section and the current section may also be other values, and this application does not impose any specific restrictions on this.

[0108] In some embodiments of the present application, the terminal device may determine a plurality of matching candidate road sections from at least one candidate road section based on the matching results of the target attribute information and the candidate attribute information.

[0109] Optionally, the target segment can be determined from the multiple matching candidate segments based on the distances between the multiple matching candidate segments and the current segment. For example, the candidate segment closest or second closest to the current segment can be determined as the target segment. Figure 4 The initial driving direction of the subject vehicle 110 is forward, and the current section of the subject vehicle 110 is section ①. Assuming that the candidate sections include section ⑩ or section ⑧, the section ⑩ closest to section ① can be determined as the target section.

[0110] Optionally, the target road segment may be determined from the multiple matching candidate road segments based on the priority relationship between the candidate attribute information of the multiple matching candidate road segments.

[0111] Exemplarily, the terminal device may filter out the matching candidate road section with the highest priority from multiple matching candidate road sections as the target road section. The priority relationship may include, but is not limited to, the priority relationship of the road grades of multiple matching candidate road sections. In other examples, the priority relationship of road grades may satisfy "urban expressway > main road > secondary road > branch road". Urban expressways, main roads, secondary roads and branch roads belong to different grades of roads in the road system. Urban expressways are high-grade roads for rapid traffic; main roads are medium-grade roads for carrying the main traffic flow, such as main roads; secondary roads are low-grade roads for assisting main roads, such as auxiliary roads; and branch roads are low-grade roads for serving local areas.

[0112] The following combination Figure 5 The process of determining the target road section is described in detail.

[0113] Figure 5 Schematic diagram of a scene in which the subject vehicle is about to deviate according to an embodiment of the present application. Figure 5 The environment in which the subject vehicle 110 is located may include 13 road sections, for example, road section ①, road section ②, road section ③, road section ④, road section ⑤, road section ⑥, road section ⑦, road section ⑧, road section ⑨, road section ⑩, road section , road section , road section The current road section of the subject vehicle 110 is road section ①, and the candidate road sections associated with the current road section include road section ⑥, road section ⑨ and road section ②, road section ⑩ and road section ⑧, and road section and road section ④, road section Section ①, Section ②, Section The direction of the road section ⑨ is 0°, and the road sections ② and The angle between section ⑨ and section ① is 0°. The direction of the road section is 180°, and the road sections ④, The angle between it and section ① is 180°. The direction of section ⑥ is 90°, and the angle between section ⑥ and section ① is 90°. The direction of sections ⑧ and ⑩ is 270°, and the angle between sections ⑧ and ⑩ and section ① is 270°.

[0114] When the initial driving direction of the subject vehicle 110 is left and the future driving direction of the subject vehicle 110 is forward, the target attribute information may include that the target road segment direction is 0° and / or the angle between the target road segment and the current road segment is 0°. Accordingly, the matching candidate road segments include road segment ②, road segment and section 9. The priority of the road level of is lower than that of the road levels of sections ② and ⑨. For example, sections ② and ⑨ are urban expressways, and sections is one of the main roads, secondary roads, and branch roads; or, sections ② and ⑨ are main roads, and sections If it is a secondary trunk road or a branch road, the target road section is section ② or ⑨ accordingly.

[0115] In this embodiment, the terminal device predetermines multiple matching candidate road sections through the matching results of the target attribute information and the candidate attribute information, and then determines the target road section from the multiple matching candidate road sections through the priority relationship between the candidate attribute information of the multiple matching candidate road sections, which is conducive to re-planning a navigation route that saves time or is more in line with the user's selection when the main vehicle is about to deviate.

[0116] Step S230: generating a target navigation route based on the target attribute information, where the target navigation route satisfies the direction to be traveled.

[0117] In some embodiments of the present application, the target road segment is a road segment in a map road network, that is, the target road segment is a single road segment; or, the target road segment is a collection of multiple road segments in a map road network, that is, the target road segment is a road segment collection, and the target road segment may include multiple sub-road segments. The target attribute information may include the location information of the target road segment, and the location information of the target road segment may include but is not limited to the latitude and longitude information and / or coordinate information of any point in the target road segment. In one example, any point may be at least one of the starting node, the end node, or any intermediate node between the starting node and the end node of the target road segment. In another example, any point may be at least one of the end node, or any intermediate node between the starting node and the end node of the target road segment. Figure 4 or Figure 5As shown, when the target segment is segment 10, the location information of segment 10 does not include the latitude and longitude information and / or coordinate information of the starting node C. This can reduce the occurrence of the generated target navigation route being the same as the initial navigation route. When the target segment is a segment set, the location information of the target segment may include, but is not limited to, the location information of any sub-segment in the target segment.

[0118] The terminal device may generate a target navigation route that satisfies the direction of travel of the subject vehicle 110 based on the location information of the target road segment, wherein the target road segment may be set as at least one of the starting road segment, the passing road segment, and the necessary road segment of the target navigation route. For example, when the target road segment is the nearest road segment reached by the subject vehicle 110 while traveling in the direction of travel, the target road segment may be set as the starting road segment of the target navigation route; when the target road segment is a non-nearest road segment that the subject vehicle 110 needs to pass through while traveling in the direction of travel, the target road segment may be set as the necessary road segment of the target navigation route; when the target road segment is a road segment that the subject vehicle 110 must pass through when traveling in the direction of travel to the destination, the target road segment may be set as the necessary road segment of the target navigation route.

[0119] In this embodiment, the terminal device replans the route through the target attribute information of the target road section, which is conducive to generating a target navigation route that meets the direction of travel of the main vehicle 110, and is further conducive to continuously providing navigation services to users according to the target navigation route, thereby improving the user's usage experience.

[0120] Figure 6 FIG2 shows a flowchart of a navigation method 200 according to another embodiment of the present application. Figure 6 , the navigation method 200 may further include the following steps: Step S240: Navigate the subject vehicle based on the target navigation route.

[0121] In some embodiments of the present application, the terminal device may navigate the subject vehicle 110 based on the target navigation route. When navigating the subject vehicle 110 using the target navigation route, the initial navigation route may still be stored in the terminal device, allowing for a quick switch to the initial navigation route if the subject vehicle 110 does not follow the target navigation route. Upon determining that the subject vehicle 110 has traveled a certain distance along the target navigation route, the terminal device may delete the initial navigation route.

[0122] In this embodiment, when the target navigation route is used to navigate the subject vehicle 110, the initial navigation route can be retained for a period of time, so that when the subject vehicle 110 does not follow the target navigation route, it can be quickly switched to the initial navigation route, so that the subject vehicle 110 can continue to be navigated using the initial navigation route, and then, in the event of an erroneous triggering of route re-planning, it can quickly fall back to the initial navigation route, thereby reducing the impact of the erroneous triggering of route re-planning on the user's experience.

[0123] Another aspect of the present application provides an electronic device, which includes at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform one or more steps of the above-mentioned navigation method 200.

[0124] Another aspect of the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements one or more steps of the above-mentioned navigation method 200 when executed by a processor.

[0125] Figure 7 Schematic block diagram of an electronic device according to an embodiment of the present application. Figure 7 The electronic device 300 includes a processor 301, which can execute various appropriate steps and processes according to computer program instructions stored in a read-only memory (ROM) 302 or loaded from a memory 308 into a random access memory (RAM) 303. The RAM 303 can also store various programs and data required for the operation of the electronic device 300. The processor 301, ROM 302, and RAM 303 are connected to each other via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0126] Multiple components in the electronic device 300 are connected to the I / O interface 305, including: an input unit 306; an output unit 307; a memory 308, such as a magnetic disk, an optical disk, etc.; and a communication unit 309, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 309 allows the electronic device 300 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0127] The processor 301 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 301 can execute the various methods and processes described above, such as executing one or more steps of the navigation method 200 described above. For example, in some embodiments, one or more steps of the navigation method 200 described above can be implemented as a computer software program stored in a machine-readable medium, such as the memory 308. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 300 via the ROM 302 and / or the communication unit 309. When the computer program is loaded into the RAM 303 and executed by the processor 301, one or more steps of the navigation method 200 described above can be executed. Alternatively, in other embodiments, the processor 301 may be configured to execute one or more steps of the above navigation method 200 in any other appropriate manner (eg, by means of firmware).

[0128] Various aspects of the present application are described herein with reference to flowcharts and / or step diagrams of methods, devices (systems), and computer program products according to exemplary embodiments of the present application. It should be understood that each step of the flowcharts and / or step diagrams, as well as combinations of steps in the flowcharts and / or step diagrams, can be implemented by computer-readable program instructions.

[0129] These computer-readable program instructions can be provided to a processor in an electronic device, a general-purpose computer, a special-purpose computer, or a processing unit of other programmable data processing devices, thereby producing a machine such that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device is generated that implements the functions / steps specified in one or more steps in the flowchart and / or step diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / steps specified in one or more steps in the flowchart and / or step diagram.

[0130] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / steps specified in one or more steps in the flowchart and / or step diagram.

[0131] The flowcharts and step diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each step in the flowchart or step diagram can represent a part of a module, program segment or instruction, and a part of this module, program segment or instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the steps can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each step in the step diagram and / or flowchart, and the combination of the steps in the step diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0132] The above description is merely an exemplary embodiment of this application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of protection provided by this application is not limited to technical solutions formed by a specific combination of the aforementioned technical features. It also encompasses other technical solutions formed by any combination of the aforementioned technical features or their equivalents, without departing from the technical concept. For example, a technical solution formed by replacing the aforementioned features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A navigation method, comprising: In response to determining that the direction of travel of the subject vehicle deviates from the initial direction of travel indicated by the initial navigation route, determining a current road segment of the subject vehicle based on the position information of the subject vehicle and map road network data; Determining a target road segment and target attribute information of the target road segment based on the direction to be traveled, the current road segment, and the map road network data; as well as A target navigation route is generated based on the target attribute information, where the target navigation route satisfies the direction to be traveled.

2. The method according to claim 1, wherein The determining of a target road segment and target attribute information of the target road segment based on the to-be-traveled direction, the current road segment, and the map road network data includes: Determining, based on the current road segment and the map road network data, at least one candidate road segment associated with the current road segment and candidate attribute information of the at least one candidate road segment; Based on the to-be-traveled direction and the candidate attribute information, the target road segment and the target attribute information of the target road segment are determined from the at least one candidate road segment.

3. The method according to claim 2, wherein: The determining, based on the current road segment and the map road network data, at least one candidate road segment associated with the current road segment and candidate attribute information of the at least one candidate road segment includes: Based on the position information of the end node of the current road segment, a road segment connecting a starting node and an end node is selected from the map road network data as the at least one candidate road segment; and Acquire candidate attribute information of the at least one candidate road segment, where the candidate attribute information includes at least one of a road segment direction, a road grade, and an angle between the at least one candidate road segment and the current road segment.

4. The method according to claim 3, wherein: The angle between the at least one candidate road segment and the current road segment is determined based on the position information of the current road segment and the position information of the at least one candidate road segment.

5. The method according to claim 2, wherein: The determining the target road segment and the target attribute information of the target road segment from the at least one candidate road segment based on the to-be-traveled direction and the candidate attribute information includes: Based on the matching result between the to-be-traveled direction and the candidate attribute information, the target road section and the target attribute information are determined from the at least one candidate road section.

6. The method according to claim 5, wherein: The determining the target road section and the target attribute information from the at least one candidate road section based on the matching result between the to-be-traveled direction and the candidate attribute information includes: determining a plurality of matching candidate road segments from the at least one candidate road segment based on a matching result between the target attribute information and the candidate attribute information; and The target road segment is determined from the multiple matching candidate road segments based on the priority relationship between the candidate attribute information of the multiple matching candidate road segments.

7. The method according to any one of claims 1 to 6, wherein The target attribute information includes the location information of the target road segment; The generating of the target navigation route based on the target attribute information includes: The target navigation route is generated based on the position information of the target segment, wherein the target segment is set as at least one of a starting segment, a passing segment, and a necessary segment of the target navigation route.

8. The method according to any one of claims 1 to 6, wherein The determining that the direction of travel of the subject vehicle deviates from the initial travel direction indicated by the initial navigation route includes: Obtain steering information of surrounding vehicles; Determining the direction to be traveled based on the turning information; and Based on the direction to be traveled and the initial navigation route, it is determined whether the direction to be traveled deviates from the initial travel direction.

9. The method according to claim 8, wherein The surrounding vehicles include vehicles located in front of the subject vehicle, and the turn information includes turn signal states of the surrounding vehicles.

10. The method according to any one of claims 1 to 6, wherein The determining that the direction of travel of the subject vehicle deviates from the initial travel direction indicated by the initial navigation route includes: Based on the position information of the subject vehicle and a preset database, determining whether the subject vehicle is in a road section prone to deviation; In response to determining that the subject vehicle is in the easily deviated section, generating prompt information, wherein the prompt information is used to obtain feedback information about re-planning the route; and Based on the feedback information, it is determined whether the direction to be traveled deviates from the initial travel direction.

11. The method according to claim 10, wherein: The preset database includes at least one preset location information in the map road network data and the number of location correction requests corresponding to the at least one preset location information; The determining whether the subject vehicle is in a road section prone to deviation based on the position information of the subject vehicle and a preset database includes: Determining target position information that matches the position information of the subject vehicle from the at least one preset position information; and Based on a comparison result of the number of position correction requests corresponding to the target position information and a position correction number threshold, it is determined whether the subject vehicle is in the road section prone to deviation.

12. The method according to any one of claims 1 to 6, wherein The determining that the direction of travel of the subject vehicle deviates from the initial travel direction indicated by the initial navigation route includes: Based on the input information of the user in the subject vehicle, it is determined whether the direction to be driven deviates from the initial direction of drive, The input information includes voice information and / or text information, and the input information includes the user's feedback information on the initial navigation route and / or description information of the direction to be traveled.

13. The method according to any one of claims 1 to 6, wherein The map road network data is the road network data in the standard map.

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

15. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the navigation method according to any one of claims 1 to 13 is implemented.

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