Satellite-based navigation method and device, electronic equipment and storage medium

Abstract

The invention provides a satellite-based navigation method and device, electronic equipment and a storage medium, and relates to the technical field of satellite navigation. The satellite-based navigation method provided by the invention comprises the following steps: determining a plurality of alternative roads and road congestion rates corresponding to the alternative roads based on acquired first image information and emergency early warning information; under the condition that the plurality of road congestion rates are all greater than a preset road congestion rate, determining a plurality of target terminals corresponding to the plurality of alternative roads and terminal information of the target terminals based on the first image information; based on the terminal information of the target terminal, determining coordination levels corresponding to the plurality of alternative roads respectively, and based on the coordination levels, determining a target road from the plurality of alternative roads; and based on the target road, generating navigation information and a coordination instruction, sending the navigation information to the emergency terminal, and sending the coordination instruction to a plurality of target terminals corresponding to the target road. The efficiency of the emergency terminal reaching the rescue point can be improved.

Description

Technical Field

[0001] This application relates to the field of satellite navigation technology, and in particular to a satellite-based navigation method, device, electronic device, and storage medium. Background Art

[0002] With the continuous development of low-Earth orbit (LEO) satellite technology, LEO satellites are now used in various fields, such as satellite communication, satellite remote sensing image acquisition, and satellite navigation. In the field of satellite navigation, the existing navigation method is that vehicles and other terminals receive navigation images formed by relevant navigation information acquired by LEO satellites through network connection, and learn about the road conditions of the road they are about to travel on based on the navigation images.

[0003] However, the applicant of this application found that existing satellite navigation methods only provide current road conditions and do not have the ability to help terminals such as emergency vehicles quickly pass through congested road sections. In this case, when a fire occurs in a community with poor vehicle management, due to the blocking of fire lanes or various illegal parking situations, emergency vehicles and other terminals cannot quickly reach the fire rescue point from the community entrance based on existing navigation methods, resulting in low rescue efficiency of emergency vehicles and other terminals. Summary of the Invention

[0004] To improve the efficiency of emergency terminals reaching rescue points, this application provides a satellite-based navigation method, device, electronic device, and storage medium.

[0005] This application provides a satellite-based navigation method, employing the following technical solution:

[0006] A satellite-based navigation method, comprising:

[0007] Based on the acquired first image information and emergency warning information, multiple alternative roads and their corresponding road congestion rates are determined.

[0008] When the congestion rate of multiple roads is greater than the preset road congestion rate, based on the first image information, multiple target terminals corresponding to multiple alternative roads and the terminal information of the target terminals are determined respectively.

[0009] Based on the terminal information of the target terminal, determine the coordination level corresponding to each of the multiple candidate roads, and based on the coordination level, determine the target road from the multiple candidate roads;

[0010] Based on the target road, navigation information and coordination instructions are generated, and the navigation information is sent to the emergency terminal, while the coordination instructions are sent to multiple target terminals corresponding to the target road.

[0011] According to some embodiments, the above-mentioned determination of multiple candidate roads and their corresponding road congestion rates based on the acquired first image information and emergency warning information includes: determining a target area in the first image information based on the emergency warning information, wherein the target area includes the residential area where the rescue point requiring rescue is located; acquiring multiple initial roads and emergency terminal information corresponding to the target area; and selecting multiple candidate roads from the multiple initial roads based on the emergency terminal information.

[0012] According to some embodiments, the above-mentioned determination of multiple candidate roads and their corresponding road congestion rates based on the acquired first image information and emergency warning information includes: determining the terminal information corresponding to multiple initial terminals located on the multiple candidate roads based on the first image information, and acquiring the road information corresponding to the multiple candidate roads; determining the first road reserve space corresponding to the multiple candidate roads based on the multiple terminal information and the road information, wherein the first road reserve space includes unoccupied areas in the candidate roads; and determining the road congestion rate corresponding to the multiple candidate roads based on the first road reserve space.

[0013] According to some embodiments, the above-mentioned method of determining the target terminals and terminal information of multiple candidate roads based on the first image information when the congestion rates of multiple roads are greater than the preset road congestion rate includes: determining the locations of multiple initial terminals based on the first image information when the congestion rates of multiple roads are greater than the preset road congestion rate; determining the second road reserve space corresponding to the multiple initial terminals based on the locations of the multiple initial terminals and the road information, wherein the second road reserve space includes the width of the unoccupied area of ​​the road at the location of the initial terminal; calculating the difference between the multiple second road reserve spaces and the width of the emergency terminal in the acquired emergency terminal information to obtain multiple differences; determining the initial terminal corresponding to the difference that is not greater than the preset difference among the multiple differences as the target terminal, and obtaining the terminal information of the target terminal.

[0014] According to some embodiments, the above-mentioned determination of the coordination level corresponding to multiple roads based on the terminal information of the target terminal includes: determining the non-road areas corresponding to multiple candidate roads and multiple vacant areas within the non-road areas based on the first image information; determining the target vacant area corresponding to the target terminal and the time required for the target terminal to move to its corresponding target vacant area from the multiple vacant areas based on the terminal area occupancy included in the terminal information; determining the coordination level of the candidate roads corresponding to the multiple time periods as the first coordination level when the largest time period among the multiple time periods is less than a first preset time period; determining the coordination level of the candidate roads corresponding to the multiple time periods as the second coordination level when the largest time period among the multiple time periods is not less than the first preset time period and is less than a second preset time period, wherein the second preset time period is greater than the first preset time period; and determining the coordination level of the candidate roads corresponding to the multiple time periods as the third coordination level when the largest time period among the multiple time periods is not less than the second preset time period.

[0015] According to some embodiments, after determining the non-road areas corresponding to multiple candidate roads and multiple idle areas in the non-road areas based on the first image information, and determining the coordination level corresponding to multiple roads based on the terminal information of the target terminal, the method further includes: determining the coordination level of the candidate road corresponding to the target terminal as a fourth coordination level when the first number of multiple idle areas is less than the second number contained in the terminal information of the target terminal, and the difference between the first number and the second number exceeds a preset difference.

[0016] According to some embodiments, the above-described satellite-based navigation method further includes: determining the travel time corresponding to the emergency terminal, wherein the travel time is the time required for the emergency terminal to reach the rescue point; if the emergency travel time is longer than the monitoring cycle of the current satellite corresponding to the first image information, acquiring second image information, wherein the second image information is image information collected by the next satellite adjacent to the current satellite corresponding to the first image information; determining multiple new terminals and corresponding communication information based on the first image information and the second image information; generating a departure command based on the communication information, and sending the departure command to the personal terminals corresponding to the multiple new terminals respectively.

[0017] This application provides a satellite-based navigation device, which adopts the following technical solution:

[0018] A satellite-based navigation device includes: a road congestion rate determination module, a terminal information determination module, a target road determination module, and an information transmission module, wherein...

[0019] The road congestion rate determination module is used to determine multiple alternative roads and their respective road congestion rates based on the acquired first image information and emergency warning information.

[0020] The terminal information determination module is used to determine, based on the first image information, multiple target terminals corresponding to multiple alternative roads and the terminal information of the target terminals when the congestion rates of multiple roads are greater than the preset road congestion rates.

[0021] The target road determination module is used to determine the coordination level corresponding to multiple candidate roads based on the terminal information of the target terminal, and to determine the target road from the multiple candidate roads based on the coordination level.

[0022] The information sending module is used to generate navigation information and coordination instructions based on the target road, and send the navigation information to the emergency terminal and the coordination instructions to multiple target terminals corresponding to the target road.

[0023] According to some embodiments, the road congestion rate determination module described above is specifically used for: determining a target area in the first image information based on emergency warning information, wherein the target area includes the residential area where the rescue point requiring rescue is located; acquiring multiple initial roads and emergency terminal information corresponding to the target area; and selecting multiple alternative roads from the multiple initial roads based on the emergency terminal information.

[0024] According to some embodiments, the road congestion rate determination module described above is specifically used for: determining, based on first image information, the terminal information corresponding to multiple initial terminals located on multiple candidate roads, and obtaining road information corresponding to the multiple candidate roads; determining, based on the multiple terminal information and road information, the first road reserve amount corresponding to the multiple candidate roads, wherein the first road reserve amount includes unoccupied areas in the candidate roads; and determining the road congestion rate corresponding to the multiple candidate roads based on the first road reserve amount.

[0025] According to some embodiments, the terminal information determination module described above is specifically used for: when the congestion rates of multiple roads are all greater than a preset road congestion rate, determining the locations corresponding to multiple initial terminals based on first image information; determining the second road reserve corresponding to each of the multiple initial terminals based on the locations corresponding to the multiple initial terminals and road information, wherein the second road reserve includes the width of the unoccupied area of ​​the road at the location of the initial terminal; calculating the difference between the multiple second road reserve and the width of the emergency terminal in the acquired emergency terminal information to obtain multiple differences; determining the initial terminal corresponding to the difference that is not greater than the preset difference among the multiple differences as the target terminal, and obtaining the terminal information of the target terminal.

[0026] According to some embodiments, the target road determination module described above is specifically used for: determining, based on first image information, non-road areas corresponding to multiple candidate roads and multiple vacant areas within the non-road areas; determining, based on terminal area occupancy information contained in terminal information, the target vacant area corresponding to the target terminal and the time required for the target terminal to move to its corresponding target vacant area from the multiple vacant areas; determining, if the largest of the multiple time durations is less than a first preset time duration, the coordination level of the candidate roads corresponding to the multiple time durations as a first coordination level; determining, if the largest of the multiple time durations is not less than the first preset time duration and is less than a second preset time duration, the coordination level of the candidate roads corresponding to the multiple time durations as a second coordination level, wherein the second preset time duration is greater than the first preset time duration; and determining, if the largest of the multiple time durations is not less than the second preset time duration, the coordination level of the candidate roads corresponding to the multiple time durations as a third coordination level.

[0027] According to some embodiments, after determining the non-road areas corresponding to multiple candidate roads and multiple vacant areas in the non-road areas based on the first image information, the target road determination module is further configured to: determine the coordination level of the candidate road corresponding to the target terminal as the fourth coordination level when the first number of multiple vacant areas is less than the second number contained in the terminal information of the target terminal, and the difference between the first number and the second number exceeds a preset difference.

[0028] According to some embodiments, the above-described satellite-based navigation device further includes: a travel duration determination module, an image information acquisition module, and a communication information determination module, wherein,

[0029] The driving time determination module is used to determine the driving time corresponding to the emergency terminal, wherein the driving time is the time required for the emergency terminal to reach the rescue point;

[0030] The image information acquisition module is used to acquire second image information when the emergency duration is longer than the monitoring cycle of the current satellite corresponding to the first image information. The second image information is the image information acquired by the next satellite adjacent to the current satellite corresponding to the first image information.

[0031] The contact information determination module is used to determine multiple newly added terminals and their corresponding contact information based on the first image information and the second image information.

[0032] The information sending module is used to generate a departure command based on the contact information and send the departure command to the personal terminal corresponding to each of the multiple newly added terminals.

[0033] This application provides an electronic device that adopts the following technical solution:

[0034] An electronic device comprising:

[0035] processor;

[0036] The memory stores computer programs, which, when executed by the processor, cause the processor to perform the aforementioned satellite-based navigation method.

[0037] This application provides a computer-readable storage medium, which adopts the following technical solution:

[0038] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the processor to perform the aforementioned satellite-based navigation method.

[0039] According to the embodiments provided in this application, multiple candidate roads and their congestion rates are determined using the acquired first image information and emergency warning information. If the congestion rates of multiple roads are greater than the preset road congestion rates, it indicates that there is terminal congestion on each road. Subsequently, multiple target terminals on each road and their corresponding terminal information are determined using the first image information. The coordination level of each road is determined using the terminal information, and the target road is determined from the multiple roads based on the coordination level. Navigation information and coordination instructions are generated. Navigation services are provided to emergency terminals using the navigation information, and multiple target terminals on the target road are coordinated to leave using the coordination instructions, thereby improving the efficiency of emergency terminals reaching the rescue point. Attached Figure Description

[0040] Figure 1 This is a block diagram illustrating a satellite-based navigation method according to an embodiment of this application;

[0041] Figure 2 This is a block diagram of a satellite-based navigation device according to an embodiment of this application;

[0042] Figure 3 This is a schematic diagram of an electronic device according to an embodiment of this application.

[0043] Explanation of reference numerals in the attached figures:

[0044] 20: Satellite-based navigation device; 201: Road congestion rate determination module; 202: Terminal information determination module; 203: Target road determination module; 204: Information transmission module; 30: Electronic device; 301: Processor; 302: Bus; 303: Memory; 304: Transceiver. Detailed Implementation

[0045] The following is in conjunction with the appendix Figures 1-3 This application will be described in further detail.

[0046] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] This application provides a satellite-based navigation method that can be executed by an electronic device, which can be a server. The server can be an independent physical server, a server cluster composed of multiple physical servers, or a distributed device, or a cloud server that provides cloud computing services. The server can be installed on a ground terminal, on a high-orbit satellite, or on a low-orbit satellite.

[0048] Reference Figure 1 A satellite-based navigation method includes steps S101, S102, S103, and S104, wherein...

[0049] S101, based on the acquired first image information and emergency warning information, determine multiple alternative roads and their corresponding road congestion rates.

[0050] In some embodiments, the first image information is image information collected by the current satellite that includes the rescue point and the residential area where the rescue point is located; the emergency warning information is alarm information received by the station where the emergency terminal is located; and the road congestion rate is the proportion of the area occupied by road-occupying terminals, such as social vehicles, in the road area.

[0051] The electronic device acquires emergency warning information from the site where the emergency terminal is located, and simultaneously generates an image acquisition command, which is then sent to the current satellite. The current satellite is a low-orbit satellite capable of capturing images of the area containing the rescue point corresponding to the emergency warning information. The current satellite responds to the image acquisition command and sends the acquired first image information to the electronic device. The electronic device analyzes the emergency warning information, determines the address information of the rescue point, and, based on the analysis results of the first image information, identifies multiple roads for the emergency terminal to travel on. These multiple roads are candidate roads, and the final road for the emergency terminal to travel on is subsequently selected from these roads. Simultaneously, based on the analysis results of the first image information, the electronic device determines the road congestion rate for each road.

[0052] S102, when the congestion rate of multiple roads is greater than the preset road congestion rate, based on the first image information, determine the multiple target terminals corresponding to the multiple alternative roads and the terminal information of the target terminals.

[0053] In some embodiments, the target terminal is a terminal that occupies an area in the road and affects the passage of emergency terminals.

[0054] The electronic device compares the congestion rates of multiple roads with preset road congestion rates. If it determines that the congestion rates of multiple roads are all greater than the preset road congestion rates, it indicates that multiple roads are occupied by terminals, and emergency terminals cannot reach the rescue point under these circumstances. In this case, if the emergency terminals are to reach the rescue point with the highest efficiency, it is necessary to coordinate and avoid the terminals on the roads through supervisory intervention. Therefore, the electronic device analyzes the first image information to identify multiple target terminals corresponding to each road, and at the same time acquires the terminal information of each target terminal. The terminal information is used as the basis for subsequently determining the target road from multiple roads.

[0055] S103, based on the terminal information of the target terminal, determine the coordination level corresponding to each of the multiple candidate roads, and based on the coordination level, determine the target road from the multiple candidate roads.

[0056] In some embodiments, terminal information includes information such as terminal area occupancy and terminal location; coordination level reflects the ease or difficulty of coordinating and avoiding target terminals located in the area of ​​the road.

[0057] Based on terminal information, the electronic device determines the time required to coordinate and avoid multiple target terminals on each road, and selects the longest time from among the multiple times. Based on the longest time, the electronic device determines the coordination level for each road. After determining the coordination levels for multiple roads, the electronic device selects the road with the lowest coordination level and uses that road as the target road.

[0058] S104, based on the target road, generates navigation information and coordination instructions, and sends the navigation information to the emergency terminal and the coordination instructions to multiple target terminals corresponding to the target road.

[0059] In some embodiments, the coordination instruction is an instruction to remind the owner corresponding to the target terminal to leave the target terminal.

[0060] The electronic device generates navigation information corresponding to the target road and sends it to the emergency terminal. The emergency terminal then travels to the rescue point based on the navigation information. Simultaneously, the electronic device generates a coordination command and retrieves relevant information about the target terminal's owner, such as a mobile phone number, based on the target terminal's photographic information. The coordination command is then sent to the current satellite, which in turn sends it to the target terminal's owner's terminal. Alternatively, if the owner is within the target terminal's vicinity, the coordination command is sent directly to the target terminal, thus reminding the owner to move the target terminal away. Or, the electronic device sends the coordination command to a ground communication terminal within the rescue point's area, which then forwards it to the target terminal's owner's terminal or the target terminal, thus reminding the owner to move the target terminal away.

[0061] Step S101, based on the acquired first image information and emergency warning information, determines multiple candidate roads and their corresponding road congestion rates, including: based on the emergency warning information, determining the target area in the first image information, wherein the target area includes the residential area where the rescue point requiring rescue is located; acquiring multiple initial roads and emergency terminal information corresponding to the target area; and based on the emergency terminal information, selecting multiple candidate roads from the multiple initial roads.

[0062] In some embodiments, the electronic device obtains the relevant address information of the rescue point in the emergency warning information and inputs the relevant address information into the first image information to determine the location of the rescue point in the first image information. Subsequently, the electronic device extracts feature points from the first image information to determine the residential area where the rescue point is located and uses the residential area as the target area. Then, the electronic device obtains multiple roads corresponding to the target area, wherein the multiple roads are roads from the entrance of the residential area to the rescue point. At the same time, the electronic device analyzes the rescue type of the rescue point based on the emergency warning information and determines the emergency terminal that needs to be dispatched to the rescue station based on the rescue type, and obtains the relevant information of the emergency terminal, namely the emergency terminal information. The emergency terminal information reflects various parameters of the emergency terminal. Based on the emergency terminal information, the target road is determined from the multiple roads, wherein the target road is the road that the emergency terminal will ultimately travel on.

[0063] Step S101, based on the acquired first image information and emergency warning information, determines multiple candidate roads and their corresponding road congestion rates, including: based on the first image information, determining the terminal information corresponding to multiple initial terminals located on the multiple candidate roads, and acquiring the road information corresponding to the multiple candidate roads; based on the multiple terminal information and road information, determining the first road reserve space corresponding to the multiple candidate roads, wherein the first road reserve space includes unoccupied areas in the candidate roads; and based on the first road reserve space, determining the road congestion rate corresponding to the multiple candidate roads.

[0064] In some embodiments, the initial terminal is a terminal located within the candidate road and occupying a portion of the target road area; the terminal information is the top-view area information of the initial terminal; and the road information represents the area range of the candidate road.

[0065] The electronic device analyzes the first image information to obtain analysis results, and based on the analysis results, determines multiple initial terminals corresponding to each candidate road, and obtains terminal information corresponding to each initial terminal. Subsequently, the electronic device integrates the terminal information to obtain the terminal occupancy area corresponding to each candidate road. Then, the electronic device calculates the difference between the road information and the terminal occupancy area to determine the first road reserve corresponding to the candidate road. The electronic device calculates the ratio between the first road reserve and the road information to determine the road congestion rate corresponding to the candidate road.

[0066] In some embodiments, when the congestion rates of multiple roads are greater than a preset road congestion rate, based on the first image information, the target terminals corresponding to multiple candidate roads and the terminal information of the target terminals are determined, including: when the congestion rates of multiple roads are greater than the preset road congestion rate, based on the first image information, determining the locations corresponding to multiple initial terminals; based on the locations corresponding to the multiple initial terminals and the road information, determining the second road reserve space corresponding to the multiple initial terminals; calculating the difference between the multiple second road reserve spaces and the emergency terminal width in the acquired emergency terminal information to obtain multiple differences; determining the initial terminal corresponding to the difference that is not greater than the preset difference among the multiple differences as the target terminal, and obtaining the terminal information of the target terminal.

[0067] In some embodiments, the second road reserve is the width of the unoccupied area of ​​the road at the location of the initial terminal. The electronic device compares multiple road congestion rates with a preset road congestion rate. If the electronic device determines that multiple road congestion rates are all greater than the preset road congestion rate, it indicates that the emergency terminal cannot successfully reach the rescue point on multiple alternative roads. Therefore, the electronic device determines the location corresponding to each initial terminal by analyzing the first image information. Based on the location of the initial terminal, the electronic device determines a portion of the initial road corresponding to that location. Subsequently, the electronic device compares the top-view area of ​​the initial terminal with this portion of the area to determine the occupancy and reserve of the initial terminal in that portion of the area, and determines the reserve as the second road reserve.

[0068] Subsequently, the emergency terminal information includes the emergency terminal width. The electronic device subtracts the emergency terminal width from multiple second road reserve amounts in the emergency terminal information to determine the difference between the second road reserve amount and the emergency terminal width. Then, the electronic device compares these differences with a preset difference. If the electronic device determines that any of the multiple differences is not greater than the preset difference, it indicates that the initial terminal corresponding to that difference will affect the emergency terminal's passage and needs to be coordinated. The electronic device then identifies the initial terminal as the target terminal. If the electronic device determines that any of the multiple differences is greater than the preset difference, it indicates that the initial terminal corresponding to that difference will not affect the emergency terminal's communication and does not need to be coordinated. The electronic device then removes the initial terminal corresponding to that difference.

[0069] In step S103, based on the terminal information of the target terminal, the coordination levels corresponding to multiple roads are determined, including: based on the first image information, determining the non-road areas corresponding to multiple candidate roads and multiple vacant areas within the non-road areas; based on the terminal area occupancy information contained in the terminal information, determining the target vacant area corresponding to the target terminal and the time required for the target terminal to move to its corresponding target vacant area from the multiple vacant areas; if the largest time among the multiple time periods is less than a first preset time period, determining the coordination level of the candidate roads corresponding to the multiple time periods as the first coordination level; if the largest time among the multiple time periods is not less than the first preset time period and less than a second preset time period, determining the coordination level of the candidate roads corresponding to the multiple time periods as the second coordination level, wherein the second preset time period is greater than the first preset time period; if the largest time among the multiple time periods is not less than the second preset time period, determining the coordination level of the candidate roads corresponding to the multiple time periods as the third coordination level.

[0070] In some embodiments, the electronic device determines non-road areas in each candidate road based on first image information, wherein the non-road areas are areas on both sides of the candidate road used for parking terminals, i.e., social vehicles; subsequently, the electronic device determines multiple vacant areas from the non-road areas, wherein the vacant areas are areas where terminals are not currently parked, i.e., social vehicles.

[0071] The electronic device uses the terminal area occupancy information contained in the terminal information as comparison information to determine the available free area where the target terminal can be parked from multiple available free areas, and designates this free area as the target free area. At the same time, the electronic device determines the relative distance between the target free area and the location of the target terminal, and determines the time required for the target terminal to move to its corresponding target free area based on the relative distance.

[0072] After determining the duration corresponding to each target area, i.e., obtaining multiple durations, the electronic device filters out the longest duration from the multiple durations and compares the longest duration with the first preset duration. If the electronic device determines that the longest duration is less than the first preset duration, it indicates that the target terminal corresponding to the longest duration has high efficiency in moving to its corresponding target vacant area. The other target terminals in the alternative roads corresponding to this target terminal have even higher efficiency in moving to their respective target vacant areas. Therefore, the alternative road can be used as the optimal road for emergency terminals to travel. Thus, the electronic device can determine the coordination level of the alternative roads corresponding to these multiple durations as the first coordination level.

[0073] If the electronic device determines that the maximum duration is not less than the second preset duration but less than the second preset duration, it indicates that the target terminal corresponding to the maximum duration has a high efficiency in moving to its corresponding target idle area. Therefore, the coordination level of the alternative road can be determined as the second coordination level. If there is no alternative road of the first coordination level among the coordination levels corresponding to multiple alternative roads, the alternative road of the second coordination level can be used as the target road.

[0074] If the electronic device determines that the maximum duration is not less than the second preset duration, it indicates that the efficiency of the target terminal corresponding to the maximum duration in moving to its corresponding target idle area is low. Therefore, the coordination level of the alternative road can be determined as the third coordination level. If there are no alternative roads of the first coordination level and the second coordination level among the coordination levels corresponding to multiple alternative roads, the alternative road of the third coordination level can be used as the target road.

[0075] In some embodiments, after determining the non-road areas corresponding to multiple roads and multiple vacant areas within the non-road areas based on the first image information, step S103, which determines the coordination level corresponding to the multiple roads based on the terminal information of the target terminal, further includes: if the first number of multiple vacant areas is less than the second number contained in the terminal information of the target terminal, and the difference between the first number and the second number exceeds a preset difference, determining the coordination level of the candidate road corresponding to the target terminal as the fourth coordination level.

[0076] In some embodiments, if the first number of multiple vacant areas is less than the second number contained in the terminal information of the target terminal, it indicates that the vacant areas cannot accommodate all target terminals. Therefore, it is necessary to coordinate the parking of the target terminals exceeding the first number to other vacant areas on roads within the residential area, or to areas outside the residential area of ​​the rescue point. Furthermore, if the difference between the first and second numbers exceeds a preset difference, it indicates that the number of target terminals that need to be coordinated to other vacant areas on roads within the residential area, or to areas outside the residential area, is too large, and the time required is too long. This could easily lead to a situation where, when the emergency terminal arrives at the entrance of the residential area, these target terminals have not been coordinated. Therefore, the electronic device determines the coordination level corresponding to the target terminal as the fourth coordination level. If the coordination levels of multiple alternative roads do not include the first, second, and third coordination levels, the alternative lane corresponding to the fourth coordination level is determined as the target lane.

[0077] In some embodiments, a satellite-based navigation method further includes: determining the travel time corresponding to an emergency terminal, wherein the travel time is the time required for the emergency terminal to reach a rescue point; if the emergency travel time is longer than the monitoring cycle of the current satellite corresponding to the first image information, acquiring second image information, wherein the second image information is image information acquired by the next satellite adjacent to the current satellite corresponding to the first image information; determining multiple new terminals and corresponding communication information based on the first image information and the second image information; generating a departure command based on the communication information, and sending the departure command to the personal terminals corresponding to the multiple new terminals respectively.

[0078] In some embodiments, the electronic device acquires the location of the emergency terminal and the location of the rescue point. Then, based on the locations of both and the road information of the road being traveled, it calculates the travel time corresponding to the emergency terminal. At the same time, the electronic device acquires the current satellite monitoring cycle corresponding to the first image information. Then, the electronic device compares the travel time with the monitoring cycle. If the electronic device determines that the travel time is greater than the operating cycle, it indicates that the emergency terminal has not yet reached the area of ​​the rescue point when the current satellite is about to leave the area monitoring the rescue point.

[0079] At this point, it is necessary to monitor the area of ​​the rescue point through other satellites. Then, the electronic device acquires the second image information of the satellites adjacent to the current satellite. By comparing the first and second image information, it determines the newly added terminals in the area when the next satellite monitors the area of ​​the rescue point. That is, multiple new terminals are identified. Then, the electronic device acquires the terminal information of the new terminals and determines the contact information of the new terminals based on the terminal information. The electronic device generates a departure command based on the contact information and sends the departure command to the personal terminal corresponding to the new terminal for display. The personal terminal is the terminal owned by the owner of the new terminal, such as a mobile phone, thereby reminding the owner of the new terminal to leave the area where the rescue point is located immediately.

[0080] This application provides a satellite-based navigation device, which adopts the following technical solution:

[0081] Reference Figure 2 A satellite-based navigation device 20 includes: a road congestion rate determination module 201, a terminal information determination module 202, a target road determination module 203, and an information transmission module 204, wherein...

[0082] The road congestion rate determination module 201 is used to determine multiple candidate roads and their respective road congestion rates based on the acquired first image information and emergency warning information.

[0083] The terminal information determination module 202 is used to determine, based on the first image information, multiple target terminals corresponding to multiple candidate roads and the terminal information of the target terminals when the congestion rates of multiple roads are greater than the preset road congestion rates.

[0084] The target road determination module 203 is used to determine the coordination level corresponding to multiple candidate roads based on the terminal information of the target terminal, and to determine the target road from the multiple candidate roads based on the coordination level.

[0085] The information sending module 204 is used to generate navigation information and coordination instructions based on the target road, and send the navigation information to the emergency terminal and the coordination instructions to multiple target terminals corresponding to the target road.

[0086] In some embodiments, the road congestion rate determination module 201 described above is specifically used for: determining a target area in the first image information based on emergency warning information, wherein the target area includes the residential area where the rescue point in need of rescue is located; acquiring multiple initial roads and emergency terminal information corresponding to the target area; and selecting multiple candidate roads from the multiple initial roads based on the emergency terminal information.

[0087] In some embodiments, the road congestion rate determination module 201 described above is specifically used for: determining, based on the first image information, the terminal information corresponding to the multiple initial terminals located on multiple candidate roads respectively, and obtaining the road information corresponding to the multiple candidate roads respectively; determining the first road reserve amount corresponding to the multiple candidate roads based on the multiple terminal information and the road information, wherein the first road reserve amount includes the unoccupied area in the candidate roads; and determining the road congestion rate corresponding to the multiple candidate roads based on the first road reserve amount.

[0088] In some embodiments, the terminal information determination module 202 described above is specifically used for: when the congestion rates of multiple roads are all greater than a preset road congestion rate, determining the locations corresponding to multiple initial terminals based on the first image information; determining the second road reserve corresponding to the multiple initial terminals based on the locations corresponding to the multiple initial terminals and the road information, wherein the second road reserve includes the width of the unoccupied area of ​​the road at the location of the initial terminal; calculating the difference between the multiple second road reserve and the width of the emergency terminal in the acquired emergency terminal information to obtain multiple differences; determining the initial terminal corresponding to the difference that is not greater than the preset difference among the multiple differences as the target terminal, and obtaining the terminal information of the target terminal.

[0089] In some embodiments, the target road determination module 203 described above is specifically used for: determining, based on the first image information, non-road areas corresponding to multiple candidate roads and multiple vacant areas within the non-road areas; determining, based on the terminal area occupancy included in the terminal information, the target vacant area corresponding to the target terminal and the time required for the target terminal to move to its corresponding target vacant area from the multiple vacant areas; determining the coordination level of the candidate roads corresponding to the multiple time periods as a first coordination level if the largest time period among the multiple time periods is less than a first preset time period; determining the coordination level of the candidate roads corresponding to the multiple time periods as a second coordination level if the largest time period among the multiple time periods is not less than the first preset time period and less than a second preset time period; and determining the coordination level of the candidate roads corresponding to the multiple time periods as a third coordination level if the largest time period among the multiple time periods is not less than the second preset time period.

[0090] In some embodiments, after determining the non-road areas corresponding to multiple candidate roads and multiple vacant areas in the non-road areas based on the first image information, the target road determination module 203 is further configured to: determine the coordination level of the candidate road corresponding to the target terminal as the fourth coordination level when the first number of multiple vacant areas is less than the second number contained in the terminal information of the target terminal, and the difference between the first number and the second number exceeds a preset difference.

[0091] In some embodiments, the satellite-based navigation device 20 described above further includes: a travel duration determination module, an image information acquisition module, and a communication information determination module, wherein,

[0092] The driving time determination module is used to determine the driving time corresponding to the emergency terminal, wherein the driving time is the time required for the emergency terminal to reach the rescue point;

[0093] The image information acquisition module is used to acquire second image information when the emergency duration is longer than the monitoring cycle of the current satellite corresponding to the first image information. The second image information is the image information acquired by the next satellite adjacent to the current satellite corresponding to the first image information.

[0094] The contact information determination module is used to determine multiple newly added terminals and their corresponding contact information based on the first image information and the second image information.

[0095] The information sending module is used to generate a departure command based on the contact information and send the departure command to the personal terminal corresponding to each of the multiple newly added terminals.

[0096] In some embodiments, the road congestion rate determination module 201 may include logic circuits or be implemented by a central processing unit, digital signal processor, or field-programmable gate array (FPGA) included in an electronic device; the terminal information determination module 202 may include logic circuits or be implemented by a central processing unit, digital signal processor, or FPGA included in an electronic device; the target road determination module 203 may include logic circuits or be implemented by a central processing unit, digital signal processor, or FPGA included in an electronic device; and the information transmission module 204 may include logic circuits or be implemented by a central processing unit, digital signal processor, or FPGA included in an electronic device.

[0097] In some embodiments, the driving time determination module may include logic circuits or be implemented by a central processing unit, digital signal processor, or field-programmable gate array (FPGA) included in the electronic device; the image information acquisition module may include logic circuits or be implemented by a central processing unit, digital signal processor, or FPGA included in the electronic device; the contact information determination module may include logic circuits or be implemented by a central processing unit, digital signal processor, or FPGA included in the electronic device.

[0098] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0099] This application discloses an electronic device, including: a processor; and a memory storing a computer program, which, when executed by the processor, causes the processor to perform the aforementioned satellite-based navigation method.

[0100] For example, refer to Figure 3 , Figure 3 The illustrated electronic device 30 includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the electronic device 30 may also include a transceiver 304. It should be noted that in practical applications, the transceiver 304 is not limited to one type, and the structure of this electronic device 30 does not constitute a limitation on the embodiments of the present invention.

[0101] Processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in this disclosure. Processor 301 may also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0102] Bus 302 may include a pathway for transmitting information between the aforementioned components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 302 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0103] The memory 303 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or it may be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other storage medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0104] The memory 303 stores application code that executes the present invention and is controlled by the processor 301. The processor 301 executes the application code stored in the memory 303 to implement the content shown in the foregoing method embodiments.

[0105] Figure 3 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0106] This application discloses a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, causes the processor to execute a satellite-based navigation method.

[0107] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0108] The above are only some embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A satellite-based navigation method, characterized in that, include: Based on the acquired first image information and emergency warning information, multiple alternative roads and their corresponding road congestion rates are determined. When the congestion rate of multiple roads is greater than the preset road congestion rate, based on the first image information, multiple target terminals corresponding to the multiple candidate roads and the terminal information of the target terminals are determined respectively. Based on the terminal information of the target terminal, the coordination level corresponding to each of the multiple candidate roads is determined, and based on the coordination level, the target road is determined from the multiple candidate roads. Based on the target road, navigation information and coordination instructions are generated, and the navigation information is sent to the emergency terminal, and the coordination instructions are sent to multiple target terminals corresponding to the target road.

2. The method according to claim 1, characterized in that, The process of determining multiple alternative roads and their corresponding congestion rates based on the acquired first image information and emergency warning information includes: Based on the emergency warning information, the target area in the first image information is determined, wherein the target area includes the residential area where the rescue point in need of rescue is located; Obtain information on multiple initial roads and emergency terminals corresponding to the target area; Based on the emergency terminal information, multiple alternative roads are selected from the multiple initial roads.

3. The method according to claim 1, characterized in that, The process of determining multiple alternative roads and their corresponding congestion rates based on the acquired first image information and emergency warning information includes: Based on the first image information, determine the terminal information corresponding to the multiple initial terminals located on the multiple candidate roads respectively, and obtain the road information corresponding to the multiple candidate roads respectively; Based on the terminal information and the road information, the first road reserve amount corresponding to the multiple candidate roads is determined, wherein the first road reserve amount includes the unoccupied area of ​​the candidate roads; Based on the first road reserve, the road congestion rate corresponding to each of the multiple alternative roads is determined.

4. The method according to claim 3, characterized in that, When the congestion rates of multiple roads are all greater than a preset road congestion rate, based on the first image information, determining the target terminals corresponding to the multiple candidate roads and the terminal information of the target terminals includes: When the congestion rates of multiple roads are greater than the preset road congestion rate, the locations corresponding to the multiple initial terminals are determined based on the first image information. Based on the locations corresponding to the plurality of initial terminals and the road information, a second road reserve is determined for each of the plurality of initial terminals, wherein the second road reserve includes the width of the unoccupied area of ​​the road at the location of the initial terminal; The difference between the multiple second road reserve quantities and the emergency terminal width in the acquired emergency terminal information is calculated to obtain multiple differences; The initial terminal corresponding to the difference that is not greater than a preset difference among the multiple differences is determined as the target terminal, and the terminal information of the target terminal is obtained.

5. The method according to claim 1, characterized in that, The step of determining the coordination level corresponding to each of the multiple candidate roads based on the terminal information of the target terminal includes: Based on the first image information, the non-road areas corresponding to the multiple candidate roads and multiple vacant areas in the non-road areas are determined. Based on the terminal area occupancy information contained in the terminal information, the target free area corresponding to the target terminal and the time required for the target terminal to move to its corresponding target free area are determined from the multiple free areas. If the longest of the multiple durations is less than the first preset duration, the coordination level of the candidate roads corresponding to the multiple durations is determined as the first coordination level. If the longest of the multiple durations is not less than the first preset duration and is less than the second preset duration, the coordination level of the candidate roads corresponding to the multiple durations is determined to be the second coordination level, wherein the second preset duration is longer than the first preset duration. If the largest of the multiple durations is not less than the second preset duration, the coordination level of the candidate roads corresponding to the multiple durations is determined as the third coordination level.

6. The method according to claim 5, characterized in that, After determining the non-road areas corresponding to the multiple candidate roads and multiple vacant areas within the non-road areas based on the first image information, the step of determining the coordination level corresponding to the multiple roads based on the terminal information of the target terminal further includes: If the first number of the multiple vacant areas is less than the second number contained in the terminal information of the target terminal, and the difference between the first number and the second number exceeds a preset difference, the coordination level of the alternative road corresponding to the target terminal is determined to be the fourth coordination level.

7. The method according to claim 1, characterized in that, The method further includes: Determine the travel time corresponding to the emergency terminal, wherein the travel time is the time required for the emergency terminal to reach the rescue point; If the emergency duration is longer than the monitoring cycle of the current satellite corresponding to the first image information, second image information is acquired, wherein the second image information is the image information collected by the next satellite adjacent to the current satellite corresponding to the first image information; Based on the first image information and the second image information, multiple newly added terminals and the corresponding contact information of the newly added terminals are determined. Based on the communication information, a departure command is generated and sent to the personal terminals corresponding to the multiple newly added terminals.

8. A satellite-based navigation device, characterized in that, include: The road congestion rate determination module is used to determine multiple alternative roads and their respective road congestion rates based on the acquired first image information and emergency warning information. The terminal information determination module is used to determine, based on the first image information, multiple target terminals corresponding to the multiple candidate roads and the terminal information of the target terminals when the congestion rates of multiple roads are greater than the preset road congestion rate. The target road determination module is used to determine the coordination level corresponding to each of the multiple candidate roads based on the terminal information of the target terminal, and to determine the target road from the multiple candidate roads based on the coordination level. The information sending module is used to generate navigation information and coordination instructions based on the target road, and send the navigation information to the emergency terminal and the coordination instructions to multiple target terminals corresponding to the target road.

9. An electronic device, characterized in that, include: processor; A memory storing a computer program that, when executed by the processor, causes the processor to perform the method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, the processor performs the method according to any one of claims 1-7.

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