Navigation route planning method, electronic device, and storage medium

Abstract

Embodiments of the present application provide a navigation route planning method, an electronic device and a storage medium. The navigation route planning method comprises: determining, based on a surrounding environment image of a vehicle and map information of a parking lot, whether there is a feasible path between a parking position of the vehicle and an exit of the parking lot; in response to the existence of the feasible path, determining a first navigation route and a second navigation route based on position information and navigation information of the vehicle, the first navigation route comprising a reverse route and the second navigation route comprising a forward route; and determining a target navigation route from the first navigation route and the second navigation route based on predicted parking fees and / or predicted driving times of the first navigation route and the second navigation route.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, specifically to a navigation route planning method, electronic device, and storage medium. Background Technology

[0002] When navigating vehicles within a parking lot, the technology typically plans the route based on the vehicle's forward travel pattern. However, due to the location and number of parking lot exits, congestion can easily occur on the routes vehicles take to exit, leading to increased parking fees and / or travel time. Summary of the Invention

[0003] One embodiment of this application provides a navigation route planning method, which includes: determining whether there is a feasible path between the rear of the vehicle's parking position and the exit of the parking lot based on the surrounding environment image of the vehicle and the map information of the parking lot; in response to the existence of a feasible path, determining a first navigation route and a second navigation route based on the vehicle's location information and navigation information, wherein the first navigation route includes a reversing route and the second navigation route includes a forward route; and determining a target navigation route from the first navigation route and the second navigation route based on the estimated parking cost and / or estimated travel time of the first navigation route and the second navigation route.

[0004] In some implementations, determining whether a feasible path exists between the rear of the vehicle's parking position and the parking lot's exit based on the surrounding environment image and the parking lot's map information includes: determining whether a first obstacle exists behind the parking position based on the surrounding environment image; in response to the absence of a first obstacle behind the parking position, determining whether a connecting path exists between the rear of the parking position and the parking lot's exit based on the parking lot's map information; and in response to the existence of a connecting path, determining that a feasible path exists between the rear of the parking position and the parking lot's exit.

[0005] In some implementations, determining a target navigation route from the first and second navigation routes based on the estimated parking costs and / or estimated travel time of the first and second navigation routes includes: calculating the total parking time of the vehicle according to the first and second navigation routes based on the vehicle's current parking duration and the time required for the vehicle to travel to the exit of the parking lot according to the first and second navigation routes, respectively; determining the estimated parking costs of the first and second navigation routes based on the total parking time and the parking lot's billing rules; and determining the target navigation route from the first and second navigation routes based on the comparison result of the estimated parking costs.

[0006] In some implementations, a target navigation route is determined from a first navigation route and a second navigation route based on a comparison of estimated parking costs, including at least one of the following: determining the first navigation route as the target navigation route in response to the estimated parking cost of the first navigation route being less than or equal to the estimated parking cost of the second navigation route; or determining the target navigation route from the first navigation route and the second navigation route based on a comparison of estimated travel time in response to the estimated parking cost of the first navigation route being greater than the estimated parking cost of the second navigation route.

[0007] In some implementations, a target navigation route is determined from a first navigation route and a second navigation route based on a comparison of estimated travel times, including at least one of the following: determining the first navigation route as the target navigation route in response to the estimated travel time of the first navigation route being less than or equal to the estimated travel time of the second navigation route; or determining the second navigation route as the target navigation route in response to the estimated travel time of the first navigation route being greater than the estimated travel time of the second navigation route.

[0008] In some implementations, there are multiple first navigation routes, and the routes from the parking location to the exit of the parking lot are different among the multiple first navigation routes.

[0009] The determination of the first navigation route as the target navigation route includes: comparing the estimated parking fees of multiple first navigation routes and determining the first navigation route with the lowest estimated parking fee as the target navigation route; or comparing the estimated travel time of multiple first navigation routes and determining the first navigation route with the lowest estimated travel time as the target navigation route, wherein the estimated travel time includes the time required for the vehicle to travel to the exit of the parking lot according to the first navigation route.

[0010] In some implementations, there are multiple second navigation routes, and the routes from the parking location to the exit of the parking lot are different among the multiple second navigation routes.

[0011] The process of determining the second navigation route as the target navigation route includes: comparing the estimated travel time of multiple second navigation routes and determining the second navigation route with the shortest estimated travel time as the target navigation route. The estimated travel time includes the time required for the vehicle to travel to the exit of the parking lot according to the second navigation route.

[0012] In some implementations, the navigation information includes destination information, the routes from the parking lot exit to the destination differ between the first navigation route and the second navigation route, and the estimated travel time includes the time required for the vehicle to travel to the destination according to the first navigation route or the second navigation route.

[0013] In some implementations, the navigation route planning method further includes: in response to the absence of a feasible path between the rear of the parking location and the exit of the parking lot, determining a second navigation route based on the vehicle's location information and navigation information, and determining the second navigation route as the target navigation route.

[0014] Another embodiment of this 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 executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the above-described navigation route planning method.

[0015] Another embodiment of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the above-described navigation route planning method.

[0016] In some embodiments of this application, when there is a feasible path between the rear of the vehicle's parking position and the exit of the parking lot, a first navigation route and a second navigation route are planned for the vehicle from both directions in front of and behind the parking position where the vehicle can drive. Then, based on the estimated parking costs and / or estimated travel time of the first and second navigation routes, a target navigation route is determined from the first and second navigation routes. This is beneficial for utilizing both directions in front of and behind the parking position where the vehicle can drive to guide the vehicle through multiple navigation routes, and for selecting the cost-effective and / or time-saving route as the target navigation route from multiple navigation routes, thereby saving the vehicle's parking costs and / or travel time. Attached Figure Description

[0017] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings. Wherein:

[0018] Figure 1 This is a system architecture applicable to the navigation route planning method according to embodiments of this application;

[0019] Figure 2 This is a schematic diagram of a parking lot scene according to an embodiment of this application;

[0020] Figure 3 This is a schematic diagram of a parking lot scene according to an embodiment of this application;

[0021] Figure 4 This is a schematic diagram of a parking lot scene according to an embodiment of this application;

[0022] Figure 5 This is a flowchart illustrating the navigation route planning method according to an embodiment of this application;

[0023] Figure 6 This is a schematic diagram illustrating how to determine whether there is a feasible path between the rear of the vehicle's parking position and the exit of the parking lot, based on images of the vehicle's surrounding environment and map information of the parking lot, according to embodiments of this application.

[0024] Figure 7 This is a schematic diagram illustrating the determination of a target navigation route from a first navigation route and a second navigation route based on the estimated parking costs and / or estimated travel time according to embodiments of this application.

[0025] Figure 8 This is a flowchart illustrating the navigation route planning method according to an embodiment of this application;

[0026] Figure 9 This is a schematic block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0027] To better understand this application, various aspects of this application will be described in more detail with reference to the accompanying drawings. It should be understood that these detailed descriptions are merely illustrative of exemplary embodiments of this application and are not intended to limit the scope of this 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.

[0028] It should be noted that in this specification, the terms "first," "second," "third," etc., are used only to distinguish one feature from another and do not imply any limitation on the features, especially not any order of precedence. Therefore, without departing from the teachings of this application, the first obstacle discussed herein may also be referred to as the second obstacle or the third obstacle, and vice versa.

[0029] Unless otherwise specified, all terms used in this application (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms (e.g., those defined in common dictionaries) should be understood to have a meaning consistent with their meaning in the context of the relevant art, and should not be interpreted in an idealized or overly formal sense, unless expressly so defined in this application.

[0030] Furthermore, the acquisition, storage, and application of vehicle surrounding environment images, location information, navigation information, radar information, current parking duration, and parking lot map information in the technical solution of this application all comply with relevant laws and regulations and do not violate public order and good morals. Additionally, the acquired information / data is not intended to characterize a specific type of user, and therefore cannot reflect information about a specific type of user.

[0031] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. Furthermore, unless explicitly limited or contradicted by the context, the specific steps included in the methods described in this application are not limited to the order in which they are described, but can be performed in any order or in parallel. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] Figure 1 This is a system architecture 1000 that can be applied to a navigation route planning method according to embodiments of this application. Figure 2 , Figure 3 and Figure 4 These are schematic diagrams of a parking lot 300 according to an embodiment of this application.

[0033] refer to Figures 1 to 4 The system architecture 1000 may include a vehicle 100, a cloud server 200, and a parking lot 300. The vehicle 100 may include an image sensor 110, a radar sensor 120, a vehicle infotainment system 130, and a positioning module 140. The image sensor 110 can be used to capture images of the surrounding environment of the vehicle 100, and may include, for example, a rear-view image sensor. The radar sensor 120 can be used to capture radar information around the vehicle 100, and may include, for example, a rear-view radar sensor. The positioning module 140 can be used to detect the position information of the vehicle 100. The vehicle infotainment system 130 is communicatively connected to the image sensor 110, the radar sensor 120, and the positioning module 140. The vehicle infotainment system 130 can, for example, acquire images of the surrounding environment of the vehicle 100 from the image sensor 110, acquire radar information of the vehicle 100 from the radar sensor 120, and acquire the position information of the vehicle 100 from the positioning module 140.

[0034] The cloud server 200 can communicate with the vehicle infotainment system 130 and the parking lot 300. The parking lot 300 may include an exit 310. The cloud server 200 can store map information of the parking lot 300 where the vehicle 100 is located. The map information of the parking lot 300 may include, but is not limited to, at least one of the following: parking space distribution information, lane information, exit location information, traffic congestion information, parking space status information, and parking information of the vehicle 100. The parking space status information may include vacancy status and / or occupancy status, and the parking information may include parking location information, which may include the current parking space information of the vehicle 100. The map information of the parking lot 300 may be sent to the cloud server 200, for example, and the cloud server 200 may dynamically update the map information of the parking lot 300. The vehicle infotainment system 130 may obtain the map information of the parking lot 300 from the cloud server 200, for example.

[0035] The vehicle infotainment system 130 can determine whether a feasible path exists between the rear of the parking position of the vehicle 100 and the exit 310 of the parking lot 300 based on the surrounding environment image of the vehicle 100 and the map information of the parking lot 300. In response to the existence of a feasible path, the vehicle infotainment system 130 can determine a first navigation route and a second navigation route based on the location information and navigation information of the vehicle 100. The first navigation route may include a reversing route, and the second navigation route may include a forward route. The navigation information may include destination information, such as destination information input by the user inside the vehicle 100. The reversing route may, for example, be the route by which the vehicle 100 reverses out of the parking position from behind the parking position, and the forward route may, for example, be the route by which the vehicle 100 moves forward out of the parking position from in front of the parking position.

[0036] After determining the first navigation route and the second navigation route, the vehicle system 130 can determine the target navigation route from the first navigation route and the second navigation route based on the estimated parking costs and / or estimated travel time of the first navigation route and the second navigation route.

[0037] In this embodiment, when there is a feasible path between the parking position of vehicle 100 and the exit 310 of parking lot 300, a first navigation route and a second navigation route are planned for vehicle 100 from both directions in front of and behind the parking position where vehicle 100 can drive. Then, based on the estimated parking costs and / or estimated travel time of the first and second navigation routes, a target navigation route is determined from the first and second navigation routes. This is beneficial for using both directions in front of and behind the parking position where vehicle 100 can drive to guide vehicle 100 through multiple navigation routes, and for selecting the cost-effective and / or time-saving route as the target navigation route from multiple navigation routes, thus saving parking costs and / or travel time for vehicle 100.

[0038] In some embodiments of this application, in response to receiving a navigation signal, the vehicle system 130 can determine whether there is a feasible path between the parking position of the vehicle 100 and the exit 310 of the parking lot 300 based on the surrounding environment image of the vehicle 100 and the map information of the parking lot 300. The navigation signal may include, but is not limited to, at least one of the following: a navigation signal generated by a user in the vehicle 100 inputting navigation information through the application interface of the vehicle system 130; or a navigation signal generated by the power module of the vehicle 100 being triggered.

[0039] For example, the application interface may be, for example, a graphical user interface and / or a voice interface of the application. The user may input navigation information through the application interface via touch screen and / or voice. The vehicle system 130 recognizes the navigation information input by the user and forms a navigation signal.

[0040] For example, vehicle 100 may include a power module, which may include, but is not limited to, an engine. Vehicle infotainment system 130 generates a navigation signal when it detects that the power module has been triggered. For instance, vehicle infotainment system 130 generates a navigation signal when it detects that the engine has started.

[0041] In some embodiments of this application, the vehicle system 130 can determine whether a first obstacle exists behind the parking position based on an image of the surrounding environment. The first obstacle may include, but is not limited to, a parking space limiting device and / or a wall. The parking space limiting device may, for example, be located at the parking position and / or behind and adjacent to a first surrounding parking space. For example, refer to… Figure 2 The parking position of vehicle 100 can be, for example, parking space A, and the first surrounding parking space can be, for example, parking space B. When the vehicle system 130 determines that parking space A and / or parking space B have parking space limiting devices, it determines that there is a first obstacle behind the parking position of vehicle 100; when the vehicle system 130 determines that parking space A and parking space B do not have parking space limiting devices, it determines that there is no first obstacle behind the parking position of vehicle 100. For example, refer to... Figure 3 The parking position of vehicle 100 can be, for example, parking space C. The vehicle system 130 determines that there is a wall behind the parking position of vehicle 100. In this case, regardless of whether there is a parking space limit device in parking space C, the vehicle system 130 can determine that there is a first obstacle behind the parking position of vehicle 100.

[0042] In response to the absence of a first obstacle behind the parking position, the vehicle system 130 can determine, based on map information of the parking lot 300, whether there is a connecting path between the parking position and the exit 310 of the parking lot 300. For example, the vehicle system 130 can determine, based on map information of the parking lot 300, whether there is a second obstacle between the parking position of vehicle 100 and the exit 310 of the parking lot 300. The second obstacle may include, but is not limited to, first surrounding vehicles and / or pillars. The first surrounding vehicles may, for example, be located in a first surrounding parking space adjacent to the parking position. In response to the absence of a second obstacle, the vehicle system 130 can determine that there is a connecting path between the parking position of vehicle 100 and the exit 310 of the parking lot 300. In response to the presence of a second obstacle, the vehicle system 130 can determine that there is no connecting path between the parking position of vehicle 100 and the exit 310 of the parking lot 300.

[0043] Specifically, refer to Figure 2The parking position of vehicle 100 can be, for example, parking space A, and the first surrounding parking space can be, for example, parking space B. There are no pillars between the rear of parking space A and the exit 310 of parking lot 300. When the parking space status information of parking space B is vacant, there are no vehicles in the first surrounding area of ​​parking space B, there are no second obstacles between the rear of the parking position of vehicle 100 and the exit 310 of parking lot 300, and there is a connecting path between the rear of the parking position of vehicle 100 and the exit 310 of parking lot 300. When the parking space status information of parking space B is occupied, there are vehicles in the first surrounding area of ​​parking space B, there are second obstacles between the rear of the parking position of vehicle 100 and the exit 310 of parking lot 300, and there is no connecting path between the rear of the parking position of vehicle 100 and the exit 310 of parking lot 300.

[0044] refer to Figure 4 The parking lot 300 may include multiple exits 310, such as exits 311 and 312. The parking position of vehicle 100 may be, for example, parking space A, and the first surrounding parking space may be, for example, parking space B. When the parking space status information of parking space B is vacant, there are no vehicles in the first surrounding area of ​​parking space B, and there are connecting paths between the parking position of vehicle 100 and exits 311 and 312 of the parking lot 300. When the parking space status information of parking space B is occupied, there are vehicles in the first surrounding area of ​​parking space B, and there are no connecting paths between the parking position of vehicle 100 and exits 311 and 312 of the parking lot 300.

[0045] If a connection path exists between the parking position of vehicle 100 and the exit 310 of parking lot 300, the vehicle system 130 can determine that a feasible path exists between the parking position of vehicle 100 and the exit 310 of parking lot 300. If no connection path exists between the parking position of vehicle 100 and the exit 310 of parking lot 300, the vehicle system 130 can determine that no feasible path exists between the parking position of vehicle 100 and the exit 310 of parking lot 300.

[0046] In some embodiments of this application, the vehicle infotainment system 130 can determine whether a third obstacle exists on the reversing path of the first navigation route based on images of the surrounding environment of the vehicle 100 and radar information of the vehicle 100. In response to the presence of a third obstacle on the reversing path, the vehicle infotainment system 130 can determine a second navigation route as the target navigation route. In response to the absence of a third obstacle on the reversing path, the vehicle infotainment system 130 can determine the target navigation route from the first and second navigation routes based on the estimated parking costs and / or estimated travel times of the first and second navigation routes. The third obstacle may include, but is not limited to, second surrounding vehicles and / or pedestrians. Second surrounding vehicles may be, for example, located behind the parking space and adjacent to the first surrounding parking space, or in the lane behind the parking space.

[0047] For example, the vehicle infotainment system 130 can determine whether a third obstacle exists in the surrounding environment of the vehicle 100 based on images of the vehicle's surrounding environment and radar information. If no third obstacle exists in the surrounding environment of the vehicle 100, the vehicle infotainment system 130 can determine that no third obstacle exists on the reversing path. If a third obstacle exists in the surrounding environment of the vehicle 100, the vehicle infotainment system 130 can determine whether the third obstacle is within the range of the reversing path model based on the obstacle's location information. The location information of the third obstacle can be obtained through images of the surrounding environment and radar information, and the reversing path model can be generated by the vehicle infotainment system 130. If the third obstacle is within the range of the reversing path model, the vehicle infotainment system 130 can determine that a third obstacle exists on the reversing path. If the third obstacle is outside the range of the reversing path model, the vehicle infotainment system 130 can determine that no third obstacle exists on the reversing path.

[0048] In this embodiment, the presence of a third obstacle on the reversing path is determined by using images of the vehicle's surrounding environment and radar information. This effectively improves the accuracy of third obstacle detection on the reversing path, thereby reducing the risk of collision for the vehicle 100 on the reversing path.

[0049] In some embodiments of this application, the vehicle-mounted system 130 can calculate the total parking time of the vehicle 100 according to the first navigation route and the second navigation route, based on the current parking time of the vehicle 100 and the time required for the vehicle 100 to travel to the exit 310 of the parking lot 300 according to the first navigation route and the second navigation route. The current parking time of the vehicle 100 can be stored, for example, in the vehicle-mounted system 130. The time required for the vehicle 100 to travel to the exit 310 of the parking lot 300 according to the first navigation route and the second navigation route can be determined based on the parking location information, exit location information, and traffic congestion information of the vehicle 100 in the map information of the parking lot 300.

[0050] After obtaining the total parking duration, the vehicle system 130 can determine the estimated parking costs for the first and second navigation routes based on the total parking duration and the parking lot's billing rules. The parking lot's billing rules can be obtained, for example, from the cloud server 200. The parking lot's billing rules may include, but are not limited to, one or more of the following: hourly billing, minute-based billing, and segmented billing. Then, the vehicle system 130 can determine the target navigation route from the first and second navigation routes based on the comparison of the estimated parking costs. For example, the vehicle system 130 can determine whether the estimated parking cost of the first navigation route is less than or equal to the estimated parking cost of the second navigation route. When the estimated parking cost of the first navigation route is less than or equal to the estimated parking cost of the second navigation route, the vehicle system 130 can determine the first navigation route as the target navigation route. When the estimated parking cost of the first navigation route is greater than the estimated parking cost of the second navigation route, the vehicle system 130 can determine the target navigation route from the first and second navigation routes based on the comparison of the estimated travel time.

[0051] For example, the number of first navigation routes can be one or more. When there are multiple first navigation routes, the routes from the parking location of vehicle 100 to exit 310 of parking lot 300 may be different. When the first navigation route is the target navigation route, and there are multiple first navigation routes, the vehicle system 130 can compare the estimated parking fees of the multiple first navigation routes and determine the first navigation route with the lowest estimated parking fee as the target navigation route.

[0052] In this embodiment, when the estimated parking fee of the first navigation route is less than or equal to the estimated parking fee of the second navigation route, using the first navigation route as the target navigation route helps guide the vehicle 100 to exit the parking lot 300 from behind the parking position, saving the parking fee of the vehicle 100 and minimizing congestion when the vehicle 100 exits the parking lot 300 from in front of the parking position.

[0053] In some embodiments of this application, when the estimated parking cost of the first navigation route is greater than the estimated parking cost of the second navigation route, the vehicle system 130 can determine whether the estimated travel time of the first navigation route is less than or equal to the estimated travel time of the second navigation route. When the estimated travel time of the first navigation route is less than or equal to the estimated travel time of the second navigation route, the vehicle system 130 can determine the first navigation route as the target navigation route. When the estimated travel time of the first navigation route is greater than the estimated travel time of the second navigation route, the vehicle system 130 can determine the second navigation route as the target navigation route.

[0054] For example, the number of first navigation routes can be one or more. When there are multiple first navigation routes, the routes from the parking position of vehicle 100 to the exit 310 of parking lot 300 may be different. When the first navigation route is the target navigation route, the vehicle system 130 can compare the estimated travel time of multiple first navigation routes and determine the first navigation route with the shortest estimated travel time as the target navigation route. The estimated travel time may include the time required for vehicle 100 to travel to the exit 310 of parking lot 300 according to the first navigation route.

[0055] For example, the number of second navigation routes can be one or more. When there are multiple second navigation routes, the routes from the parking position of vehicle 100 to the exit 310 of parking lot 300 may be different. When a second navigation route is the target navigation route, the vehicle system 130 can compare the estimated travel time of multiple second navigation routes and determine the second navigation route with the shortest estimated travel time as the target navigation route. The estimated travel time may include the time required for vehicle 100 to travel to the exit 310 of parking lot 300 according to the second navigation route.

[0056] For example, the routes from exit 310 of parking lot 300 to the destination in the first navigation route and the second navigation route can be the same (e.g., Figure 2 ) or different (e.g. Figure 4 The estimated travel time for the first navigation route may include the time required for vehicle 100 to travel to its destination along the first navigation route. The estimated travel time for the second navigation route may include the time required for vehicle 100 to travel to its destination along the second navigation route.

[0057] In this embodiment, when the estimated parking cost of the first navigation route is greater than the estimated parking cost of the second navigation route, the time-saving route is selected from the first and second navigation routes as the target navigation route based on the comparison of the estimated travel time, which helps to save the vehicle's travel time by 100%.

[0058] In some embodiments of this application, in response to the absence of a feasible path between the parking position of vehicle 100 and the exit of parking lot 300, vehicle system 130 can determine a second navigation route based on the location information and navigation information of vehicle 100, and determine the second navigation route as the target navigation route.

[0059] This application also provides a navigation route planning method. Figure 5This is a flowchart illustrating a navigation route planning method 2000 according to an embodiment of this application. The navigation route planning method 2000 can be executed, for example, by an electronic device such as the vehicle infotainment system 130 of a vehicle 100. The navigation route planning method 2000 is applicable to application scenarios such as navigation route planning for vehicles waiting to exit a parking lot. It should be understood that the navigation route planning method 2000 can also be applied to navigation route planning for other vehicles, and this is not a limitation. Furthermore, the navigation route planning method 2000 may include additional steps not shown and / or steps that may be omitted; the scope of this application is not limited in this respect.

[0060] refer to Figure 5 The navigation route planning method 2000 may include the following steps:

[0061] S2100: Based on the surrounding environment image of the vehicle and the map information of the parking lot, determine whether there is a feasible path between the rear of the vehicle's parking position and the exit of the parking lot.

[0062] S2200, in response to the existence of a feasible path, determines a first navigation route and a second navigation route based on the vehicle's location information and navigation information. The first navigation route includes a reversing route, and the second navigation route includes a forward route.

[0063] S2300 determines the target navigation route from the first navigation route and the second navigation route based on the estimated parking costs and / or estimated travel time of the first navigation route and the second navigation route.

[0064] In some embodiments of this application, when there is a feasible path between the rear of the vehicle's parking position and the exit of the parking lot, a first navigation route and a second navigation route are planned for the vehicle from both directions in front of and behind the parking position where the vehicle can drive. Then, based on the estimated parking costs and / or estimated travel time of the first and second navigation routes, a target navigation route is determined from the first and second navigation routes. This is beneficial for utilizing both directions in front of and behind the parking position where the vehicle can drive to guide the vehicle through multiple navigation routes, and for selecting the cost-effective and / or time-saving route as the target navigation route from multiple navigation routes, thereby saving the vehicle's parking costs and / or travel time.

[0065] The steps S2100 to S2300 of the exemplary embodiments of this application will be described in detail below.

[0066] In step S2100, based on the surrounding environment image of the vehicle and the map information of the parking lot, it is determined whether there is a feasible path between the rear of the vehicle's parking position and the exit of the parking lot.

[0067] refer to Figure 6Determining whether a feasible path exists between the vehicle's parking location and the parking lot exit, based on images of the vehicle's surrounding environment and map information of the parking lot, may include the following steps:

[0068] S2110. Determine whether there is a first obstacle behind the parking position based on the surrounding environment image.

[0069] In some embodiments of this application, the vehicle infotainment system 130 can acquire images of the surrounding environment of the vehicle 100. These images can be detected, for example, by an image sensor 110 disposed on the vehicle 100. The image sensor 110 may include, for example, a rear-view image sensor. (See reference...) Figure 8 After obtaining an image of the surrounding environment of the vehicle 100, the vehicle system 130 can determine whether there is a first obstacle behind the parking position of the vehicle 100 based on the image of the surrounding environment of the vehicle 100. The first obstacle may include, but is not limited to, a parking space limiting device and / or a wall. The parking space limiting device may, for example, be located at the parking position and / or behind the parking position and adjacent to a first surrounding parking space.

[0070] For example, refer to Figure 2 The parking position of vehicle 100 can be, for example, parking space A, and the first surrounding parking space can be, for example, parking space B. When the vehicle system 130 determines that parking space A and / or parking space B have parking space limiting devices, it determines that there is a first obstacle behind the parking position of vehicle 100; when the vehicle system 130 determines that parking space A and parking space B do not have parking space limiting devices, it determines that there is no first obstacle behind the parking position of vehicle 100.

[0071] For example, refer to Figure 3 The parking position of vehicle 100 can be, for example, parking space C. The vehicle system 130 determines that there is a wall behind the parking position of vehicle 100. In this case, regardless of whether there is a parking space limit device in parking space C, the vehicle system 130 can determine that there is a first obstacle behind the parking position of vehicle 100.

[0072] S2120, In response to the absence of a first obstacle behind the parking position, determine whether there is a connecting path between the parking position and the parking lot exit based on the map information of the parking lot.

[0073] In some embodiments of this application, when there is no first obstacle behind the parking position of vehicle 100, the vehicle system 130 can obtain map information of parking lot 300. The map information of parking lot 300 can be obtained, for example, from cloud server 200. The map information of parking lot 300 may include, but is not limited to, at least one of the following: parking space distribution information, lane information, exit location information, traffic congestion information, parking space status information, and parking information of vehicle 100. The parking space status information may include vacancy status and / or occupancy status, and the parking information may include parking location information, which may be the current parking space information of vehicle 100. (Reference) Figure 8 After obtaining the map information of parking lot 300, the vehicle system 130 can determine whether there is a connecting path between the parking position of vehicle 100 and the exit 310 of parking lot 300 based on the map information of parking lot 300.

[0074] In some embodiments of this application, the vehicle-mounted system 130 can determine, based on map information of the parking lot 300, whether there is a second obstacle between the rear of the parking position of the vehicle 100 and the exit 310 of the parking lot 300. The second obstacle may include, but is not limited to, first surrounding vehicles and / or pillars. The first surrounding vehicles may, for example, be located in a first surrounding parking space adjacent to the parking position. In response to the absence of a second obstacle between the rear of the parking position of the vehicle 100 and the exit 310 of the parking lot 300, the vehicle-mounted system 130 can determine that a connecting path exists between the rear of the parking position of the vehicle 100 and the exit 310 of the parking lot 300. In response to the presence of a second obstacle between the rear of the parking position of the vehicle 100 and the exit 310 of the parking lot 300, the vehicle-mounted system 130 can determine that no connecting path exists between the rear of the parking position of the vehicle 100 and the exit 310 of the parking lot 300.

[0075] For example, refer to Figure 2 The parking position of vehicle 100 can be, for example, parking space A, and the first surrounding parking space can be, for example, parking space B. There are no pillars between the rear of parking space A and the exit 310 of parking lot 300. When the parking space status information of parking space B is vacant, there are no vehicles in the first surrounding area of ​​parking space B, there are no second obstacles between the rear of the parking position of vehicle 100 and the exit 310 of parking lot 300, and there is a connecting path between the rear of the parking position of vehicle 100 and the exit 310 of parking lot 300. When the parking space status information of parking space B is occupied, there are vehicles in the first surrounding area of ​​parking space B, there are second obstacles between the rear of the parking position of vehicle 100 and the exit 310 of parking lot 300, and there is no connecting path between the rear of the parking position of vehicle 100 and the exit 310 of parking lot 300.

[0076] For example, refer to Figure 4The parking lot 300 may include multiple exits 310, such as exits 311 and 312. The parking position of vehicle 100 may be, for example, parking space A, and the first surrounding parking space may be, for example, parking space B. When the parking space status information of parking space B is vacant, there are no vehicles in the first surrounding area of ​​parking space B, and there are connecting paths between the parking position of vehicle 100 and exits 311 and 312 of the parking lot 300. When the parking space status information of parking space B is occupied, there are vehicles in the first surrounding area of ​​parking space B, and there are no connecting paths between the parking position of vehicle 100 and exits 311 and 312 of the parking lot 300.

[0077] S2130. In response to the existence of a connected path, determine that there is a feasible path between the parking location and the exit of the parking lot.

[0078] In some embodiments of this application, when there is a connecting path between the rear of the parking position of vehicle 100 and the exit 310 of parking lot 300, vehicle system 130 can determine that there is a feasible path between the rear of the parking position of vehicle 100 and the exit 310 of parking lot 300.

[0079] In some embodiments of this application, when there is no connecting path between the rear of the parking position of vehicle 100 and the exit 310 of parking lot 300, vehicle system 130 can determine that there is no feasible path between the rear of the parking position of vehicle 100 and the exit 310 of parking lot 300.

[0080] In step S2200, in response to the existence of a feasible path, a first navigation route and a second navigation route are determined based on the vehicle's location information and navigation information. The first navigation route includes a reversing route, and the second navigation route includes a forward route.

[0081] In some embodiments of this application, when there is a feasible path between the parking position of vehicle 100 and the exit 310 of parking lot 300, vehicle system 130 can obtain the location information and navigation information of vehicle 100. The location information can be detected, for example, by the positioning module 140 installed in vehicle 100, and the navigation information can include destination information, such as the destination information input by the user inside vehicle 100.

[0082] After obtaining the location and navigation information of vehicle 100, the vehicle system 130 can determine a first navigation route and a second navigation route based on the location and navigation information of vehicle 100. The first and second navigation routes may include a first sub-route. The first sub-route of the first navigation route is a reversing route, which may be, for example, a route in which vehicle 100 reverses out of its parking position from behind. The first sub-route of the second navigation route is a forward route, which may be, for example, a route in which vehicle 100 moves forward out of its parking position from in front of it.

[0083] In this embodiment, when there is a feasible path between the rear of the parking position of vehicle 100 and the exit 310 of parking lot 300, a first navigation route and a second navigation route are planned for vehicle 100 from both the front and rear directions of the parking position in which vehicle 100 can drive, which is beneficial to realize multiple navigation route guidance for vehicle 100.

[0084] In some embodiments of this application, the first navigation route and the second navigation route may include a second sub-route, which may be, for example, a route from the parking location of vehicle 100 to exit 310 of parking lot 300. The second sub-route of the first navigation route and the second navigation route may be different.

[0085] For example, the number of first navigation routes may be one or more. When there are multiple first navigation routes, the routes from the parking position of vehicle 100 to the exit 310 of parking lot 300 in the multiple first navigation routes may be different, that is, the second sub-routes in the multiple first navigation routes may be different.

[0086] For example, the number of second navigation routes can be one or more. When the number of second navigation routes is multiple, the routes from the parking position of vehicle 100 to the exit 310 of parking lot 300 in the multiple second navigation routes can be different, that is, the second sub-routes in the multiple second navigation routes can be different.

[0087] In some embodiments of this application, the first navigation route and the second navigation route may include a third sub-route, which may be, for example, a route from exit 310 of parking lot 300 to the destination.

[0088] For example, refer to Figure 2 The vehicle 100 can exit the parking lot 300 at exit 310 according to the first navigation route and the second navigation route. The route from exit 310 of the parking lot 300 to the destination in the first navigation route and the second navigation route can be the same. That is, the third sub-route of the first navigation route and the second navigation route can be the same.

[0089] For example, refer to Figure 4The exit 310 of the parking lot 300 for vehicle 100 according to the first navigation route and the second navigation route may be different. The route from the exit 310 of the parking lot 300 to the destination in the first navigation route and the second navigation route may be different. That is, the third sub-route of the first navigation route and the second navigation route may be different.

[0090] Before step S2300, the navigation route planning method 2000 may include the following steps: determining whether there is a third obstacle on the reversing route of the first navigation route based on the surrounding environment image and the vehicle's radar information.

[0091] In some embodiments of this application, the vehicle infotainment system 130 can acquire radar information from the vehicle 100. This radar information can be detected, for example, by a radar sensor 120 located on the vehicle 100. The radar sensor 120 may include, for example, a rear radar sensor. (See reference...) Figure 8 After obtaining the radar information of vehicle 100, vehicle system 130 can determine whether there is a third obstacle on the reversing route of the first navigation route based on the surrounding environment image and radar information of vehicle 100. The third obstacle may include, but is not limited to, second surrounding vehicles and / or pedestrians. The second surrounding vehicles may be located, for example, in a second surrounding parking space adjacent to the first surrounding parking space and / or in the lane behind the parking space.

[0092] For example, the vehicle infotainment system 130 can determine whether a third obstacle exists in the surrounding environment of the vehicle 100 based on images of the vehicle's surroundings and radar information. If no third obstacle exists in the surrounding environment, the vehicle infotainment system 130 can determine that no third obstacle exists on the reversing path. If a third obstacle exists in the surrounding environment, the vehicle infotainment system 130 can determine whether the third obstacle is within the range of the reversing path model based on the obstacle's location information. The location information of the third obstacle can be obtained through images of the surrounding environment and radar information, and the reversing path model can be generated by the vehicle infotainment system 130. If the third obstacle is within the range of the reversing path model, the vehicle infotainment system 130 can determine that a third obstacle exists on the reversing path. If the third obstacle is outside the range of the reversing path model, the vehicle infotainment system 130 can determine that no third obstacle exists on the reversing path.

[0093] In this embodiment, the presence of a third obstacle on the reversing path is determined by using images of the vehicle's surrounding environment and radar information. This effectively improves the accuracy of third obstacle detection on the reversing path, thereby reducing the risk of collision for the vehicle 100 on the reversing path.

[0094] In step S2300, a target navigation route is determined from the first and second navigation routes based on the estimated parking costs and / or estimated travel times of the first and second navigation routes. For example, in response to the absence of a third obstacle on the reversing route, the vehicle system 130 may determine the target navigation route from the first and second navigation routes based on the estimated parking costs and / or estimated travel times of the first and second navigation routes.

[0095] refer to Figure 7 Determining a target navigation route from the first navigation route and the second navigation route based on the estimated parking costs and / or estimated travel time may include the following steps:

[0096] S2310. Based on the vehicle's current parking duration and the time required for the vehicle to travel to the exit of the parking lot according to the first navigation route and the second navigation route, calculate the total parking duration of the vehicle according to the first navigation route and the second navigation route, respectively.

[0097] In some embodiments of this application, when there are no third obstacles on the reversing route, the vehicle system 130 can calculate the total parking time of the vehicle 100 according to the first navigation route and the second navigation route, based on the current parking time of the vehicle 100 and the time required for the vehicle 100 to travel to the exit 310 of the parking lot 300 according to the first navigation route and the second navigation route. The current parking time of the vehicle 100 can be stored, for example, in the vehicle system 130. The time required for the vehicle 100 to travel to the exit 310 of the parking lot 300 according to the first navigation route and the second navigation route can be determined based on the parking location information, exit location information, and traffic congestion information of the vehicle 100 in the map information of the parking lot 300.

[0098] S2320. Determine the estimated parking costs for the first and second navigation routes based on the total parking duration and the parking lot's billing rules.

[0099] In some embodiments of this application, the vehicle-mounted system 130 can calculate the estimated parking fees for the first navigation route and the second navigation route based on the total parking duration and the billing rules of the parking lot 300, respectively. The billing rules of the parking lot 300 can be obtained, for example, from the cloud server 200. The billing rules of the parking lot 300 may include, but are not limited to, one or more of the following: hourly billing, minute-based billing, and segmented billing.

[0100] It should be understood that the billing rules for parking lot 300 are merely exemplary, and other billing rules may be included without departing from the teachings of this application. This application does not impose any specific restrictions on such billing rules.

[0101] S2330. Based on the comparison of estimated parking costs, determine the target navigation route from the first navigation route and the second navigation route.

[0102] In some embodiments of this application, the first navigation route is determined as the target navigation route in response to the estimated parking cost of the first navigation route being less than or equal to the estimated parking cost of the second navigation route. In response to the estimated parking cost of the first navigation route being greater than the estimated parking cost of the second navigation route, the target navigation route is determined from the first and second navigation routes based on a comparison of estimated travel times.

[0103] For example, refer to Figure 8 After obtaining the estimated parking cost, the vehicle system 130 can determine whether the estimated parking cost of the first navigation route is less than or equal to the estimated parking cost of the second navigation route. When the estimated parking cost of the first navigation route is less than or equal to the estimated parking cost of the second navigation route, the vehicle system 130 can determine the first navigation route as the target navigation route. When the estimated parking cost of the first navigation route is greater than the estimated parking cost of the second navigation route, the vehicle system 130 can determine the target navigation route from the first and second navigation routes based on the comparison of estimated travel time.

[0104] For example, when the first navigation route is the target navigation route, and there are multiple first navigation routes, the vehicle system 130 can compare the estimated parking fees of the multiple first navigation routes and determine the first navigation route with the lowest estimated parking fee as the target navigation route.

[0105] In this embodiment, when the estimated parking fee of the first navigation route is less than or equal to the estimated parking fee of the second navigation route, using the first navigation route as the target navigation route helps guide the vehicle 100 to exit the parking lot 300 from behind the parking position, saving the parking fee of the vehicle 100 and minimizing congestion when the vehicle 100 exits the parking lot 300 from in front of the parking position.

[0106] In some embodiments of this application, the first navigation route is determined as the target navigation route in response to the estimated travel time of the first navigation route being less than or equal to the estimated travel time of the second navigation route; the second navigation route is determined as the target navigation route in response to the estimated travel time of the first navigation route being greater than the estimated travel time of the second navigation route.

[0107] For example, refer to Figure 8When the estimated parking cost of the first navigation route is greater than the estimated parking cost of the second navigation route, the vehicle system 130 can determine whether the estimated travel time of the first navigation route is less than or equal to the estimated travel time of the second navigation route. If the estimated travel time of the first navigation route is less than or equal to the estimated travel time of the second navigation route, the vehicle system 130 can determine the first navigation route as the target navigation route. If the estimated travel time of the first navigation route is greater than the estimated travel time of the second navigation route, the vehicle system 130 can determine the second navigation route as the target navigation route.

[0108] For example, when the first navigation route is the target navigation route, the vehicle system 130 can compare the estimated travel time of multiple first navigation routes and determine the first navigation route with the shortest estimated travel time as the target navigation route. The estimated travel time may include the time required for the vehicle 100 to travel to the exit 310 of the parking lot 300 according to the first navigation route.

[0109] For example, when the second navigation route is the target navigation route, the vehicle system 130 can compare the estimated travel time of multiple second navigation routes and determine the second navigation route with the shortest estimated travel time as the target navigation route. The estimated travel time may include the time required for the vehicle 100 to travel to the exit 310 of the parking lot 300 according to the second navigation route.

[0110] For example, the estimated travel time for the first navigation route may include the time required for vehicle 100 to travel to its destination along the first navigation route. The estimated travel time for the second navigation route may include the time required for vehicle 100 to travel to its destination along the second navigation route.

[0111] In this embodiment, when the estimated parking cost of the first navigation route is greater than the estimated parking cost of the second navigation route, the time-saving route is selected from the first and second navigation routes as the target navigation route based on the comparison of the estimated travel time, which helps to save the vehicle's travel time by 100%.

[0112] In some embodiments of this application, the navigation route planning method 2000 may further include the following steps: in response to the absence of a feasible path between the rear of the parking location and the exit of the parking lot, determining a second navigation route based on the vehicle's location information and navigation information, and determining the second navigation route as the target navigation route. For example, refer to... Figure 8 When there is no feasible path between the parking position of vehicle 100 and the exit 310 of parking lot 300, vehicle system 130 can determine a second navigation route based on the location information and navigation information of vehicle 100, and determine the second navigation route as the target navigation route.

[0113] In some embodiments of this application, the navigation route planning method 2000 may further include the following step: in response to the presence of a third obstacle on the reversing route, determining a second navigation route as the target navigation route. For example, refer to Figure 8 When there is a third obstacle in the reversing route, the vehicle system 130 can determine the second navigation route as the target navigation route.

[0114] In some embodiments of this application, the navigation route planning method 2000 may further include the following steps: in response to receiving a navigation signal, determining whether a feasible path exists between the rear of the vehicle's parking position and the exit of the parking lot based on an image of the vehicle's surrounding environment and map information of the parking lot. The navigation signal may include, but is not limited to, at least one of the following: a navigation signal generated by a user inside the vehicle 100 inputting navigation information through the application interface of the vehicle infotainment system 130; or a navigation signal generated by the power module of the vehicle 100 being triggered.

[0115] For example, the application interface may be, for example, a graphical user interface and / or a voice interface of the application. The user may input navigation information through the application interface via touch screen and / or voice. The vehicle system 130 recognizes the navigation information input by the user and forms a navigation signal.

[0116] For example, vehicle 100 may include a power module, which may include, but is not limited to, an engine. Vehicle infotainment system 130 generates a navigation signal when it detects that the power module has been triggered. For instance, vehicle infotainment system 130 generates a navigation signal when it detects that the engine has started.

[0117] Some embodiments of this application also provide 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 executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform one or more steps of the above-described navigation route planning method.

[0118] Some embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements one or more steps of the above-described navigation route planning method.

[0119] Figure 9 This is a schematic block diagram of an electronic device according to some embodiments of this application. (Reference) Figure 9The electronic device 3000 includes a processor 3100, which can execute various appropriate steps and processes according to computer program instructions stored in read-only memory (ROM) 3200 or loaded from memory 3800 into random access memory (RAM) 3300. The RAM 3300 may also store various programs and data required for the operation of the electronic device 3000. The processor 3100, ROM 3200, and RAM 3300 are interconnected via a bus 3400. An input / output (I / O) interface 3500 is also connected to the bus 3400.

[0120] Multiple components in electronic device 3000 are connected to I / O interface 3500, including: input unit 3600; output unit 3700; memory 3800, such as disk, optical disk, etc.; and communication unit 3900, such as network card, modem, wireless transceiver, etc. Communication unit 3900 allows electronic device 3000 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0121] Processor 3100 can be various general-purpose and / or special-purpose processing units with processing and computing capabilities. Some examples of processor 3100 include, but are not limited to, central processing unit (CPU), graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 3100 can perform the various methods and processes described above, such as performing one or more steps of the navigation route planning method described above. For example, in some embodiments, one or more steps of the navigation route planning method described above can be implemented as a computer software program stored in a machine-readable medium, such as memory 3800. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 3000 via ROM 3200 and / or communication unit 3900. When the computer program is loaded into RAM 3300 and executed by processor 3100, one or more steps of the navigation route planning method described above can be performed. Alternatively, in other embodiments, the processor 3100 may be configured by any other suitable means (e.g., by means of firmware) to perform one or more steps of the navigation route planning method described above.

[0122] Various aspects of this application have been described herein with reference to flowchart illustrations and / or step diagrams of methods, apparatus (systems), and computer program products according to exemplary embodiments of this application. It should be understood that each step in the flowchart illustrations and / or step diagrams, as well as combinations of steps in the flowchart illustrations and / or step diagrams, can be implemented by computer-readable program instructions.

[0123] These computer-readable program instructions can be provided to a processor, general-purpose computer, special-purpose computer, or other programmable data processing device in an electronic device to produce a machine such that, when executed by the processing device of the computer or other programmable data processing device, they create means for implementing the functions / steps specified in one or more steps of the flowchart and / or diagram of steps. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing device, and / or other device to operate in a particular manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / steps specified in one or more steps of the flowchart and / or diagram of steps.

[0124] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be 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 perform the functions / steps specified in one or more steps of a flowchart and / or a diagram of steps.

[0125] The flowcharts and step diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of devices, methods, and computer program products according to various embodiments of this application. In this regard, each step in a flowchart or step diagram may represent a module, segment, or part of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions indicated in the steps may occur in a different order than indicated in the drawings. For example, two consecutive steps may actually be performed substantially in parallel, and they may sometimes be performed in reverse order, depending on the functions involved. It should also be noted that each step in the step diagrams and / or flowcharts, and combinations of steps in the step diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0126] The above description is merely an exemplary embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of protection involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the technical concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A navigation route planning method, comprising: Based on the surrounding environment image of the vehicle and the map information of the parking lot, determine whether there is a feasible path between the rear of the vehicle's parking position and the exit of the parking lot. In response to the existence of the feasible path, a first navigation route and a second navigation route are determined based on the vehicle's location information and navigation information. The first navigation route includes a reversing route, and the second navigation route includes a forward route. as well as The target navigation route is determined from the first navigation route and the second navigation route based on the estimated parking costs and / or estimated travel time.

2. The method according to claim 1, wherein, The step of determining whether a feasible path exists between the vehicle's parking location and the parking lot exit, based on images of the vehicle's surrounding environment and map information of the parking lot, includes: Based on the surrounding environment image, determine whether there is a first obstacle behind the parking position; In response to the absence of a first obstacle behind the parking location, the system determines, based on the map information of the parking lot, whether a connecting path exists between the area behind the parking location and the exit of the parking lot; and In response to the existence of the connectivity path, it is determined that a feasible path exists between the parking location and the exit of the parking lot.

3. The method according to claim 1, wherein, The process of determining the target navigation route from the first navigation route and the second navigation route based on the estimated parking costs and / or estimated travel time of the first navigation route and the second navigation route includes: Based on the current parking duration of the vehicle and the time required for the vehicle to travel to the exit of the parking lot according to the first navigation route and the second navigation route, calculate the total parking duration of the vehicle according to the first navigation route and the second navigation route respectively; The estimated parking costs for the first navigation route and the second navigation route are determined based on the total parking duration and the parking lot's billing rules; and The target navigation route is determined from the first navigation route and the second navigation route based on the comparison of the estimated parking costs.

4. The method according to claim 3, wherein, The determination of the target navigation route from the first navigation route and the second navigation route based on the comparison result of the estimated parking cost includes at least one of the following: In response to the fact that the estimated parking cost of the first navigation route is less than or equal to the estimated parking cost of the second navigation route, the first navigation route is determined to be the target navigation route; In response to the fact that the estimated parking cost of the first navigation route is greater than the estimated parking cost of the second navigation route, the target navigation route is determined from the first navigation route and the second navigation route based on the comparison of the estimated travel time.

5. The method according to claim 4, wherein, The determination of the target navigation route from the first navigation route and the second navigation route based on the comparison result of the estimated travel time includes at least one of the following: In response to the fact that the estimated travel time of the first navigation route is less than or equal to the estimated travel time of the second navigation route, the first navigation route is determined to be the target navigation route; In response to the fact that the estimated travel time of the first navigation route is greater than the estimated travel time of the second navigation route, the second navigation route is determined to be the target navigation route.

6. The method according to claim 4 or 5, wherein, There are multiple first navigation routes, and the routes from the parking location to the exit of the parking lot are different among the multiple first navigation routes; Wherein, determining the first navigation route as the target navigation route includes: Compare the estimated parking costs of multiple first navigation routes and determine the first navigation route with the lowest estimated parking cost as the target navigation route; or, The estimated travel times of multiple first navigation routes are compared, and the first navigation route with the shortest estimated travel time is determined as the target navigation route. The estimated travel time includes the time required for the vehicle to travel to the exit of the parking lot according to the first navigation route.

7. The method according to claim 5, wherein, There are multiple second navigation routes, and the routes from the parking location to the exit of the parking lot are different among the multiple second navigation routes; Wherein, determining the second navigation route as the target navigation route includes: The estimated travel times of multiple second navigation routes are compared, and the second navigation route with the shortest estimated travel time is determined as the target navigation route. The estimated travel time includes the time required for the vehicle to travel to the exit of the parking lot according to the second navigation route.

8. The method according to any one of claims 1 to 7, wherein, The navigation information includes destination information, the routes from the exit of the parking lot to the destination in the first navigation route and the second navigation route are different, and the estimated travel time includes the time required for the vehicle to travel to the destination according to the first navigation route or the second navigation route.

9. The method according to any one of claims 1 to 7, wherein, The method further includes: In response to the absence of a feasible path between the parking location and the exit of the parking lot, a second navigation route is determined based on the vehicle's location information and navigation information, and the second navigation route is determined as the target navigation route.

10. 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 to cause the at least one processor to perform the navigation route planning method according to any one of claims 1 to 9.

11. A computer-readable storage medium storing a computer program, wherein, When the computer program is executed by the processor, it implements the navigation route planning method as described in any one of claims 1 to 9.

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