Navigation method and related device

Abstract

This application discloses a navigation method and related devices in the field of intelligent driving technology. In the technical solution provided in this application, target position information of a vehicle is obtained. Based on the target position information of the vehicle, recommended route information is displayed. The displayed information on the recommended route includes information on an autonomous driving road segment, and the information on the autonomous driving road segment includes position information of the autonomous driving road segment and mileage information of the autonomous driving road segment. The technical solution provided in this application is more applicable to autonomous vehicles and improves the driving experience of users.

Description

[Technical Field]

[0001] The present application relates to the field of intelligent driving technology, and in particular to navigation methods and related devices. [Background technology]

[0002] Currently, autonomous driving technology is developing rapidly. During autonomous driving, autonomous vehicles usually rely on navigation map technology. The development of navigation map technology creates favorable conditions for optimizing autonomous driving routes. The combination of navigation map technology and autonomous driving technology has become the development direction of the autonomous driving field.

[0003] In conventional technology, a user inputs a starting point and a destination into a navigation map. The navigation map then plans one or more driving routes from the starting point to the destination, recommends driving routes to the user according to the user's needs, and displays information about the recommended driving routes. For example, the driving routes recommended to the user may include a driving route with the shortest distance, a driving route with the shortest time, a driving route that passes through specific locations, or a driving route that does not pass through specific locations. However, the routes recommended using this navigation map technology may not include autonomous road segments and are not applicable to autonomous vehicles. Summary of the Invention

[0004] Therefore, how to recommend driving routes for autonomous vehicles has become an urgent issue that needs to be resolved.

[0005] The present application provides a navigation method and related apparatus that is more applicable to autonomous vehicles and that improves the driving experience for users. [Means for solving the problem]

[0006] According to a first aspect, the present application provides a navigation method. The method includes acquiring target position information of a vehicle and displaying recommended route information based on the target position information. The information about the recommended route includes information about an autonomous driving road segment, and the information about the autonomous driving road segment includes location information of the autonomous driving road segment and mileage information of the autonomous driving road segment.

[0007] In this method, the information about the recommended route displayed based on the acquired information about the target position of the vehicle includes information about the autonomous driving road segment, and the information about the autonomous driving road segment includes location information and mileage information of the autonomous driving road segment. Compared with navigation methods that only provide global routes, mileage information, planned driving time, charging status, signal light information, etc., this method is more applicable to autonomous vehicles and improves the user's driving experience.

[0008] In a possible embodiment, the method further includes displaying different road segments in the information related to the recommended route in different display manners, the different road segments including a manually driven road segment and an automatically driven road segment.

[0009] In this embodiment, different display methods are used to display manually driven road segments and automatically driven road segments in the information about the recommended route. The recommended route planned for an automatically driven vehicle mainly includes manually driven road segments and automatically driven road segments. When the information about the recommended route is displayed, the planned manually driven road segments and automatically driven road segments are displayed using different display methods, so that the user can clearly know which road segments are manually driven road segments and which road segments are automatically driven road segments. This further improves the user's driving experience.

[0010] In possible implementations, the automated driving road segments include emergency assistance road segments, partial driver assistance road segments, combined driver assistance road segments, conditional automated driving road segments, highly automated driving road segments, and fully automated driving road segments.

[0011] In this embodiment, the emergency assistance road segment, partial driving assistance road segment, combined driving assistance road segment, conditional automated driving road segment, highly automated driving road segment, and fully automated driving road segment included in the automated driving road segment are displayed in different ways, so that the user can know which automated driving mode is specifically used for each automated driving road segment, which further improves the user's driving experience.

[0012] In a possible embodiment, the target location information includes location information of a parking location, and the location information of the destination in the information about the recommended route includes location information of the parking location.

[0013] In this embodiment, the acquired information about the target location includes parking location information, and the destination in the information about the recommended route acquired based on the parking location information may be the parking location indicated by the parking location information, which further improves the user's driving experience compared to when the destination in the information about the recommended route is the parking lot.

[0014] In a possible embodiment, the automated driving road segment further includes a parking road segment.

[0015] In this embodiment, when the location information of the destination in the information about the recommended route is location information of a parking location, the information about the autonomous driving road segment in the information about the recommended route further includes information about a parking road segment.

[0016] In a possible embodiment, the parking road segment includes an automatic parking assistance APA road segment, a remote parking assistance RPA road segment, a home zone parking assistance HPA road segment, and an automatic valet parking AVP road segment.

[0017] In this embodiment, the automatic parking assistance road segment, remote parking assistance road segment, home zone parking assistance road segment, and automatic valet parking road segment included in the parking road segment are displayed in different display methods, so that the user can know which parking mode is specifically used for the parking road segment, which further improves the user's driving experience.

[0018] In a possible implementation, displaying different road segments within the information relating to the recommended route in different display manners includes displaying different road segments within the information relating to the recommended route using different colors.

[0019] In a possible embodiment, displaying recommended route information based on the target location information further includes displaying mileage information for each of the different road segments.

[0020] In this embodiment, the information about the recommended route displayed based on the target location information further includes displaying mileage information for each of the different road segments, so that the user knows the mileage of each road segment, which further improves the user's driving experience.

[0021] In a possible embodiment, the method further includes displaying mileage information of the distance between the current position of the vehicle and the start position of the next road segment as the vehicle travels along any one of the road segments.

[0022] In this embodiment, when the vehicle travels through any one of the road sections in the information about the recommended route, the travel distance information of the distance between the vehicle's position within the current road section and the start position of the next road section is displayed, so that the user can know the current distance between the vehicle and the next road section, that is, the user can know the travel process information of the vehicle within the current road section, which improves the user's driving experience.

[0023] In a possible embodiment, the method further includes prompting the vehicle that it is about to switch to the next road segment when mileage information of the distance between the current position of the vehicle and the start position of the next road segment is less than or equal to a preset mileage information.

[0024] In this embodiment, when the mileage information of the distance between the vehicle's current location and the start location of the next road segment is equal to or less than the preset mileage information, a prompt is given indicating that the vehicle is about to switch to the next road segment. In this way, the user can prepare in advance when the vehicle is about to enter the next road segment. For example, when the vehicle is currently in an automated driving road segment and is about to enter a manually driven road segment, after receiving the prompt indicating that the vehicle is about to switch to the next road segment, the user can adjust the state in advance and prepare for manual driving. This improves the user's driving experience and the safety of the driving process.

[0025] In a possible implementation, the method of prompting that the vehicle is about to turn onto the next road segment includes a text prompt and / or an audio prompt.

[0026] In a possible embodiment, the method further includes, after the vehicle arrives at the target position indicated by the target position information based on the information about the recommended route, displaying statistical information about the entire course and statistical information about different road sections, wherein the statistical information about the entire course includes total mileage information, total time information, average speed information, and energy efficiency ratio, and the statistical information about the different road sections includes mileage information and time information for each of the different road sections.

[0027] In an embodiment, after the vehicle arrives at the target position indicated by the target position information based on the information about the recommended route, statistical information about the entire course and statistical information about each of the different road segments are displayed, where the statistical information about the entire course includes total mileage information, total time information, average speed information, and energy efficiency ratio, and the statistical information about the different road segments includes mileage information and time information about each of the different road segments, which improves the user's driving experience.

[0028] According to a second aspect, the present application provides a navigation device, including: an acquisition module configured to acquire target position information of a vehicle; and a display module configured to display recommended route information based on the target position information, wherein the information about the recommended route includes information about an autonomous driving road segment, and the information about the autonomous driving road segment includes location information of the autonomous driving road segment and mileage information of the autonomous driving road segment.

[0029] In a possible embodiment, the display module is further configured to display different road segments in the information related to the recommended route in different display manners, the different road segments including manually driven road segments and automatically driven road segments.

[0030] In possible implementations, the automated driving road segments include emergency assistance road segments, partial driver assistance road segments, combined driver assistance road segments, conditional automated driving road segments, highly automated driving road segments, and fully automated driving road segments.

[0031] In a possible embodiment, the target location information includes location information of a parking location, and the location information of the destination in the information about the recommended route includes location information of the parking location.

[0032] In a possible embodiment, the automated driving road segment further includes a parking road segment.

[0033] In a possible embodiment, the parking road segment includes an automatic parking assistance APA road segment, a remote parking assistance RPA road segment, a home zone parking assistance HPA road segment, and an automatic valet parking AVP road segment.

[0034] In a possible implementation, the display module is specifically configured to display different road segments in the information relating to the recommended route using different colors.

[0035] In a possible embodiment, the display module is further configured to display mileage information for each of the different road segments.

[0036] In a possible embodiment, the display module is further configured to display mileage information of the distance between the current position of the vehicle and the start position of the next road segment as the vehicle travels along any one of the road segments.

[0037] In a possible embodiment, the device further includes a prompt module, which is configured to prompt that the vehicle is about to switch to the next road segment when mileage information of the distance between the current position of the vehicle and the start position of the next road segment is less than or equal to a preset mileage information.

[0038] In possible implementations, the prompt module is specifically configured for text prompts and / or voice prompts.

[0039] In a possible embodiment, the display module is further configured to display, based on the information about the recommended route, statistical information about the entire course and statistical information about different road sections after the vehicle arrives at the target position indicated by the target position information, wherein the statistical information about the entire course includes total mileage information, total time information, average speed information, and energy efficiency ratio, and the statistical information about the different road sections includes mileage information and time information for each of the different road sections.

[0040] For the beneficial effects of the second aspect and possible implementations of the second aspect, please refer to the beneficial effects of the first aspect and possible implementations of the first aspect, and the details will not be described again here.

[0041] According to a third aspect, the present application provides a navigation device, the device may include a processor coupled to a memory, the memory configured to store program code, and the processor configured to execute the program code in the memory to perform a method according to the first aspect or any one of the embodiments of the first aspect.

[0042] Optionally, the apparatus may further include a memory.

[0043] According to a fourth aspect, the present application provides an autonomous vehicle including a navigation device according to the second aspect or any one of the possible implementations of the second aspect.

[0044] According to a fifth aspect, the present application provides a chip including at least one processor and a communication interface, the communication interface and the at least one processor being interconnected via wiring, and the at least one processor being configured to execute a computer program or instructions to perform a method according to the first aspect or any one of the possible implementations of the first aspect.

[0045] According to a sixth aspect, the present application provides a computer-readable medium storing program code for execution by a device, the program code including instructions used to perform a method according to the first aspect or any one of the possible implementations of the first aspect.

[0046] According to a seventh aspect, the present application provides a computer program product comprising instructions which, when executed on a computer, enable the computer to perform a method according to the first aspect or any one of the possible implementations of the first aspect. [Brief explanation of the drawings]

[0047] [Figure 1] FIG. 1 is a functional block diagram of a vehicle according to an embodiment of the present application. [Figure 2] 1 is a schematic flowchart of a navigation method according to an embodiment of the present application; [Figure 3] FIG. 2 is a schematic diagram of recommended route information according to an embodiment of the present application; [Figure 4] 1 is a schematic diagram of a parking road section according to an embodiment of the present application; [Figure 5] FIG. 10 is a schematic diagram of prompt information for switching between different road segments according to an embodiment of the present application; [Figure 6] FIG. 10 is a schematic diagram of another prompt information for switching between different road segments according to an embodiment of the present application; [Figure 7] FIG. 2 is a schematic diagram of displaying running process information according to an embodiment of the present application; [Figure 8] FIG. 2 is a schematic diagram of travel information according to an embodiment of the present application; [Figure 9] 4 is a schematic flowchart of another navigation method according to an embodiment of the present application; [Figure 10] 1 is a schematic diagram of the structure of a navigation device according to an embodiment of the present application; [Figure 11] FIG. 2 is a schematic diagram of the structure of a navigation device according to another embodiment of the present application; DETAILED DESCRIPTION OF THE INVENTION

[0048] In order to clearly describe the technical solutions of the embodiments of the present application, terms such as "first" and "second" are used in the embodiments of the present application to distinguish between the same or similar items that basically provide the same function or purpose. For example, the terms "first value" and "second value" are only used to distinguish between different values, and do not limit the order. Those skilled in the art can understand that the terms "first" and "second" do not limit the number or execution order, and the terms "first" and "second" do not indicate a clear distinction.

[0049] It should be noted that in this application, terms such as "example" or "for example" are used to denote providing an example, illustration, or explanation. Any embodiment or design scheme described in this application as an "example" or "for example" is not described as more preferred or having more advantages than another embodiment or design scheme. Rather, the use of words such as "example" or "for example" is intended to present relative concepts in a concrete manner.

[0050] In this application, "at least one" means one or more, and "multiple" means two or more. Additionally, "and / or" describes an association between associated objects and indicates that three relationships may exist. For example, A and / or B may represent the following cases: only A is present, both A and B are present, and only B is present, where A and B may be singular or plural. The symbol " / " generally indicates an "or" relationship between associated objects. "At least one of" or similar expressions refers to any combination of these, including any combination of singular or plural. For example, at least one of a, b, or c may refer to a, b, c, a and b, a and c, b and c, or a, b, and c, where a, b, and c may be singular or plural.

[0051] A navigation method according to an embodiment of the present application may be applied to scenarios such as an autonomous driving scenario. For example, in an autonomous driving scenario, a recommended autonomous driving route for a vehicle from a start position to a destination position may be planned and displayed based on the navigation method according to an embodiment of the present application to perform vehicle navigation based on information about the recommended autonomous driving route. For example, in an autonomous driving scenario, the navigation method according to an embodiment of the present application may be applied to a vehicle, a chip in a vehicle, etc.

[0052] Currently, the Society of Automotive Engineers (SAE) classifies autonomous driving into six levels, from L0 to L5. Systems L0 to L2 are driver assistance systems, and systems L3 to L5 are autonomous driving systems.

[0053] Driver assistance systems primarily provide functions such as safety warnings, lane centering, and adaptive cruise control. The driver still needs to continuously monitor the vehicle's driving conditions and steer, brake, or accelerate as needed. L0 is no driving automation, where the driver has full control of the vehicle and can only obtain assistance from warning or intervention systems. L1 is driver assistance, where the driving system may provide driver assistance for a single operation of the steering wheel and accelerator based on the driving environment, and other driving actions are performed by the driver. L2 is partial driving automation, where the driving system may provide driver assistance for multiple operations of the steering wheel and accelerator based on the driving environment, and other driving actions are performed by the driver.

[0054] Autonomous driving systems are graded based on the conditions for activating the system and whether the driver is required to temporarily take over the vehicle. After the system is activated, the autonomous driving system assumes control of the vehicle. L3 is conditional driving automation, where the autonomous driving system performs all driving operations and the driver is required to respond to all system requests. L4 is high driving automation, where the autonomous driving system performs all driving operations and the driver is only required to respond to some system requests. L5 is full driving automation, where the autonomous driving system can independently perform all driving operations under all road and environmental conditions that the driver can handle.

[0055] 1 is a functional block diagram of a vehicle according to an embodiment of the present application. As shown in FIG. 1, vehicle 100 is set to one of driving modes L1 to L5. For example, when vehicle 100 is set to one of driving modes L1 to L4, in an autonomous driving mode, vehicle 100 may further manually determine the vehicle's current situation and surrounding environment, for example, determine possible actions of at least one other vehicle in the surrounding environment, determine a reliability level corresponding to the likelihood that the other vehicle will perform the possible actions, and control vehicle 100 based on the determined information. In another example, when vehicle 100 is in L5 driving mode, vehicle 100 may automatically perform all driving-related operations.

[0056] Vehicle 100 may include various subsystems, such as a traction system 102, a sensor system 104, a control system 106, one or more peripheral devices 108, a power source 110, a computer system 112, and a user interface 116. Optionally, vehicle 100 may include more or fewer subsystems, and each subsystem may include multiple components. Additionally, each subsystem and component of vehicle 100 may be interconnected in a wired or wireless manner.

[0057] The traction system 102 may include components that provide power for the vehicle 100 to move. In one embodiment, the traction system 102 may include an engine 118, an energy source 119, a transmission 120, and wheels / tires 121. The engine 118 may be an internal combustion engine, a motor, a fully automatic engine, an air-compression engine, or a combination of another type of engine, such as a hybrid engine made up of a gasoline engine and a motor, or a hybrid engine made up of an internal combustion engine and an air-compression engine. The engine 118 converts the energy source 119 into mechanical energy.

[0058] Examples of energy source 119 include gasoline, diesel, other oil-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other power sources. Energy source 119 may also provide energy to other systems of vehicle 100.

[0059] The transmission 120 may transmit mechanical power from the engine 118 to the wheels 121. The transmission 120 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 120 may further include other components, such as a clutch. The drive shaft may include one or more shafts that may be coupled to one or more of the wheels 121.

[0060] The sensor system 104 may include several sensors capable of sensing information about the surrounding environment of the vehicle 100. For example, the sensor system 104 may include a positioning system 122 (which may be a GPS system, a BeiDou system, or another positioning system), an inertial measurement unit (IMU) 124, a radar 126, a laser rangefinder 128, and a camera 130. The sensor system 104 may further include sensors of internal systems of the vehicle 100 being monitored (e.g., an interior air quality monitor, a fuel gauge, or an engine oil temperature gauge). Sensor data from one or more of these sensors can be used to detect objects and corresponding characteristics of the objects (such as position, shape, orientation, and speed). Such detection and recognition are important functions for the safe operation of the autonomous vehicle 100.

[0061] The positioning system 122 may be configured to estimate the geographic position of the vehicle 100. The IMU 124 is configured to sense changes in position and orientation of the vehicle 100 based on inertial acceleration. In one embodiment, the IMU 124 may be a combination of an accelerometer and a gyroscope.

[0062] Radar 126 may use radio signals to detect objects in the environment surrounding vehicle 100. In some embodiments, in addition to detecting objects, radar 126 may be further configured to detect the speed and / or direction of movement of the objects.

[0063] Laser rangefinder 128 may use a laser to detect objects in the environment in which vehicle 100 is located. In some embodiments, laser rangefinder 128 may include one or more laser sources, a laser scanner, one or more detectors, and other system components.

[0064] Camera 130 may be configured to capture multiple images of the environment surrounding vehicle 100. Camera 130 may be a static camera or a video camera.

[0065] The control system 106 controls the operation of the vehicle 100 and the components of the vehicle 100. The control system 106 may include various components, including a steering system 132, a throttle 134, a braking unit 136, a sensor fusion algorithm 138, a computer vision system 140, a route control system 142, and an obstacle avoidance system 144.

[0066] The steering system 132 may be operated to adjust the direction of travel of the vehicle 100. For example, in one embodiment, the steering system 132 may be a steering wheel system.

[0067] The throttle 134 is configured to control the operating speed of the engine 118 , which in turn controls the speed of the vehicle 100 .

[0068] Brake unit 136 is configured to control the deceleration of vehicle 100. Brake unit 136 may use friction to decelerate wheels 121. In another embodiment, brake unit 136 may convert the kinetic energy of wheels 121 into electric current. Brake unit 136 may alternatively use another form to reduce the rotational speed of wheels 121 to control the speed of vehicle 100.

[0069] Computer vision system 140 may operate to process and analyze images captured by camera 130 to identify objects and / or features in the environment surrounding vehicle 100. Objects and / or features may include traffic lights, road boundaries, and obstacles. Computer vision system 140 may use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, computer vision system 140 may be configured to draw a map of the environment, track objects, estimate object speeds, etc.

[0070] Route control system 142 is configured to determine a driving route for vehicle 100. In some embodiments, route control system 142 may combine data from sensors 138, a global positioning system (GPS) 122, and one or more pre-defined maps to determine a driving route for vehicle 100.

[0071] The obstacle avoidance system 144 is configured to identify, evaluate, and avoid or otherwise circumvent potential obstacles in the environment of the vehicle 100.

[0072] Of course, in one example, control system 106 may include or have additional components other than those shown and described, or some of the aforementioned components may be eliminated.

[0073] The vehicle 100 uses peripheral devices 108 to interact with external sensors, other vehicles, other computer systems, or a user. The peripheral devices 108 may include a wireless communication system 146, an on-board computer 148, a microphone 150, and / or a speaker 152.

[0074] In some embodiments, peripheral devices 108 provide a means for a user of vehicle 100 to interact with user interface 116. For example, onboard computer 148 may provide information to the user of vehicle 100. User interface 116 may further operate onboard computer 148 to accept user input. Onboard computer 148 may perform operations via a touchscreen. In other cases, peripheral devices 108 may provide a means for vehicle 100 to communicate with another device located within the vehicle. For example, microphone 150 may accept sound (e.g., voice commands or another sound input) from the user of vehicle 100. Similarly, speaker 152 may output sound to the user of vehicle 100.

[0075] In a possible implementation, the display screen of the on-board computer 148 may further display information about the recommended route provided by the navigation method in this embodiment of the present application, thereby allowing the user to drive based on the information about the recommended route displayed on the display screen.

[0076] The wireless communication system 146 may wirelessly communicate with one or more devices directly or through a communication network. For example, the wireless communication system 146 may use 3G cellular communications such as code division multiple access (CDMA), EVDO, global system for mobile communications (GSM) / general packet radio service (GPRS), 4G cellular communications such as long term evolution (LTE) of universal mobile telecommunications technology, or 5G cellular communications. The wireless communication system 146 may communicate with a wireless local area network (WLAN) using WiFi. In some embodiments, the wireless communication system 146 may communicate directly with devices via an infrared link, Bluetooth, or the ZigBee protocol. Other wireless protocols, for example, various vehicle communication systems such as wireless communication system 146, may include one or more dedicated short range communications (DSRC) devices, which may include public and / or private data communications between vehicles and / or roadside stations.

[0077] Power source 110 may provide power to various components of vehicle 100. In one embodiment, power source 110 may be a rechargeable lithium-ion or lead-acid battery. One or more battery packs of such batteries may be configured as a power source for powering various components of vehicle 100. In some embodiments, power source 110 and energy source 119 may be implemented together, for example, in some purely electric vehicles.

[0078] Some or all of the functions of vehicle 100 are controlled by computer system 112. Computer system 112 may include at least one processor 113. Processor 113 executes instructions 115 stored on a non-transitory computer-readable medium, such as data storage device 114. Computer system 112 may alternatively be multiple computing devices providing distributed control of individual components or subsystems of vehicle 100.

[0079] The processor 113 may be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor may be an application-specific integrated circuit (ASIC) or another dedicated device, such as a hardware-based processor. While FIG. 3 functionally illustrates the processor, memory, and computer system 112 as separate elements in the same block, those skilled in the art will understand that a processor, computer, or memory may actually include multiple processors, computers, or memories, which may or may not be housed in the same physical housing. For example, the memory may be a hard disk drive or another storage medium located in a different housing than the computer. Thus, reference to a processor or computer is understood to include reference to a set of processors or computers or memories, which may or may not operate in parallel. Unlike using a single processor to perform the steps described herein, some components, such as steering and deceleration components, may include their own processors. The processors perform only calculations related to the component's specific function.

[0080] In various aspects described herein, the processor may be located remotely from the vehicle and communicate wirelessly with the vehicle. In other aspects, some processes described herein, including performing the steps necessary for a single operation, are performed on a processor located within the vehicle, and other processes are performed by a remote processor.

[0081] In some embodiments, data storage 114 may include instructions 115 (e.g., program logic) that may be executed by processor 113 to perform various functions of vehicle 100, including the functions described above. Data storage 114 may further include additional instructions, including instructions for transmitting data to, receiving data from, interacting with, and / or controlling one or more of propulsion system 102, sensor system 104, control system 106, and peripheral devices 108.

[0082] In addition to instructions 115, data storage device 114 may further store data such as road maps, route information, vehicle position, direction, speed, and other vehicle data, and other information. Such information may be used by vehicle 100 and computer system 112 when vehicle 100 operates in autonomous, semi-autonomous, and / or manual modes.

[0083] The user interface 116 is configured to provide information to or accept information from a user of the vehicle 100. Optionally, the user interface 116 may include one or more input / output devices in the set of peripheral devices 108, such as a wireless communication system 146, an on-board computer 148, a microphone 150, and a speaker 152.

[0084] Computer system 112 may control functions of vehicle 100 based on inputs received from various subsystems (e.g., cruise control system 102, sensor system 104, and control system 106) and user interface 116. For example, computer system 112 may use inputs from control system 106 to control steering unit 132 to avoid obstacles detected by sensor system 104 and obstacle avoidance system 144. In some embodiments, computer system 112 may operate to provide control over vehicle 100 and its subsystems in many aspects.

[0085] Optionally, one or more of the aforementioned components may be located separately from or associated with vehicle 100. For example, data storage device 114 may exist partially or completely separate from vehicle 100. The aforementioned components may be communicatively coupled to each other in wired and / or wireless manners.

[0086] Optionally, the above components are only examples. In actual applications, the components in the above modules may be added or deleted according to actual needs. Figure 1 should not be construed as a limitation on this embodiment of the present application.

[0087] In addition to providing instructions to adjust the speed or route of the autonomous vehicle, the computing device may further provide instructions to modify the steering angle of vehicle 100 so that the autonomous vehicle follows a given trajectory and / or maintains a safe horizontal and vertical distance from obstacles near the autonomous vehicle (e.g., vehicles in adjacent lanes on the road).

[0088] The vehicle 100 may be a car, truck, bus, recreational vehicle, playground vehicle, construction device, tram, golf cart, etc., which is not specifically limited in this embodiment of the application.

[0089] 2 is a schematic flowchart of a navigation method according to an embodiment of the present application. As shown in FIG. 2, the method includes at least S201 to S202.

[0090] S201: Obtain target position information of the vehicle.

[0091] The target position information of the vehicle indicates the position information of the destination where the vehicle is scheduled to arrive.

[0092] In one example, the location information of the target location is determined based on the name of the target location input by the user.

[0093] For example, the name of the target location input by the user is "municipal library," and the specific location information of the target location is determined within the map based on the name of the target location, i.e., "municipal library."

[0094] In most cases, a parking maneuver is required after the vehicle has arrived at its destination.

[0095] In a possible implementation, the name of the target location input by the user is the name of the destination. For example, if the name of the target location input by the user is "municipal library," the location information for determining the target location is the location information of the municipal library. After arriving at the municipal library, the user uses another method to find a parking lot and a parking spot.

[0096] In another possible embodiment, the name of the target location input by the user is the name of the destination parking lot. For example, if the name of the target location input by the user is "municipal library parking lot," the location information for determining the target location is the location information of the municipal library parking lot. After arriving at the municipal library parking lot, the user uses another method to find a parking spot within the parking lot.

[0097] In yet another possible embodiment, the name of the target location input by the user is the name of a parking space within the destination parking slot. For example, the name of the target location input by the user is "parking space B1-13 in the parking lot of the municipal library," where B1 represents the first basement floor of the parking lot of the municipal library and 13 represents the parking space number. In this case, the location information to be determined for the target location is the location information of parking space 13 on the first basement floor of the municipal library. The user can be directly navigated to the corresponding parking space, which saves time and improves parking efficiency.

[0098] S202: Display recommended route information based on target position information of the vehicle, where the information about the recommended route includes information about an autonomous driving road section, and the information about the autonomous driving road section includes location information of the autonomous driving road section and mileage information of the autonomous driving road section.

[0099] A recommended route is planned based on the acquired information about the target position of the vehicle, and information about the recommended route is displayed. The information about the recommended route includes information about an autonomous driving road segment, and the information about the autonomous driving road segment includes location information of the autonomous driving road segment and mileage information of the autonomous driving road segment. A recommended route preferred for autonomous driving is selected by default for navigation. The recommended route preferred for autonomous driving represents a recommended route among multiple recommended routes that shows the largest proportion of mileage of the autonomous driving road segment in the total mileage of the recommended route.

[0100] In a possible embodiment, the information about the recommended route further includes information about the proportion of road segments within the recommended route in the entire course of the recommended route, and the road segments within the recommended route include automated driving road segments and manually driven road segments. The information about the recommended route displays mileage information for the automated driving road segments and information about the proportion of the automated driving road segments and manually driven road segments in the total mileage of the recommended route.

[0101] Optionally, each of the manually driven road segments and the automatically driven road segments in the information about the recommended route is displayed in a different manner.

[0102] For example, each of the manually driven and automatically driven road segments in the recommended route may be displayed using a different color.

[0103] Optionally, the automated driving road section includes an emergency assistance road section, a partial automated driving road section, a combined automated driving road section, a conditional automated driving road section, a highly automated driving road section, and a fully automated driving road section. The emergency assistance road section, the partial automated driving road section, the combined automated driving road section, the conditional automated driving road section, the highly automated driving road section, and the fully automated driving road section are displayed in different display methods. The emergency assistance road section and the partial automated driving road section correspond to L1 automated driving road sections in the automated driving classification provided by the SAE, the combined automated driving road section corresponds to L2 automated driving road sections, the conditional automated driving road section corresponds to L3 automated driving road sections, the highly automated driving road section corresponds to L4 automated driving road sections, and the fully automated driving road section corresponds to L5 automated driving road sections.

[0104] For example, emergency assistance road sections, partial driving assistance road sections, combined driving assistance road sections, conditional automated driving road sections, highly automated driving road sections, and fully automated driving road sections are displayed using different colors.

[0105] Optionally, when the information about the recommended route includes sections in different areas, the sections in different areas are displayed in different display methods.

[0106] For example, if the starting position of the vehicle is in Xuhui District, Shanghai, and the destination position is in Jing'an District, Shanghai, the road segments located in Xuhui District and Jing'an District in the information about the recommended route are displayed in different ways, for example, the road segments in Xuhui District and Jing'an District are displayed in different colors.

[0107] 3 is a schematic diagram of recommended route information according to an embodiment of the present application. As shown in FIG. 3, a recommended route is planned and displayed for a vehicle with a target location of "municipal library." A user may select a route preference based on an actual situation. The route preferences include a default recommended route (i.e., a recommended route preferred for automatic driving), a preferred recommended route involving highways, a recommended route avoiding highways, a recommended route with low tolls, a preferred recommended route involving main roads, and a recommended route with the fastest speed, etc.

[0108] The three recommended routes displayed on the map are a recommended route preferred for automated driving, a recommended route with the shortest time, and a recommended route with the shortest distance, respectively. The three recommended routes are individually numbered. The recommended route preferred for automated driving is numbered 1, the recommended route with the shortest time is numbered 2, and the recommended route with the shortest distance is numbered 3. The user may select one recommended route for navigation according to actual needs. If the user does not make a selection, navigation will be performed based on the recommended route preferred for automated driving by default.

[0109] The map further displays information about each of the three recommended routes, such as total distance, automated driving distance, and estimated time for the entire route. For example, the recommended route preferred for automated driving has a total distance of 980 kilometers (km), an automated driving distance of 827 km, and an estimated time for the entire route of 13 hours and 35 minutes.

[0110] Additionally, the manually driven and autonomously driven road segments in each of the three recommended routes are further indicated on the map using different colors, for example, white represents autonomously driven road segments and gray represents manually driven road segments.

[0111] In another possible embodiment, when the target location information includes parking location information and the destination location information in the information about the recommended route is also parking location information, the automated driving road segment further includes a parking road segment. The parking road segment includes an auto parking assist (APA) road segment, a remote parking assist (RPA) road segment, a home zone parking assist (HPA) road segment, and an automated valet parking (AVP) road segment. In the information about the recommended route, the APA road segment, the RPA road segment, the HPA road segment, and the AVP road segment are displayed using different colors.

[0112] In one example, when the user's target location is a parking space whose specific parking space location is known or whose corresponding number is known and it can be guaranteed that no other vehicles are parked in that parking space, the target location information input by the user may be the specific location or the corresponding number of the specific parking space. For example, the target location information input by the user is the location information of the user's parking space. The information about the recommended route includes a manual driving road segment and an automated driving road segment, and the automated driving road segment includes a parking road segment. Navigation performed based on the information about the recommended route can enable the vehicle to be parked directly from the starting point to the parking space indicated by the target location information without intermediate interactive operation during driving.

[0113] In another example, when a user does not know the specific location information of a parking space or cannot determine whether other vehicles are parked in a specific parking space, the location information of an electronic fence can be used as target location information. An electronic fence is a specific virtual area depicted on a map. Specific map content is presented in the area based on different purposes. The electronic fence in this embodiment of the present application is mainly used for parking functions and mainly displays parking spaces. After a vehicle moves into the electronic fence based on information about the recommended route, available parking spaces within the electronic fence are provided to the user for selection.

[0114] 4 is a schematic diagram of a parking road section according to an embodiment of the present application. As shown in FIG. 4, after a vehicle is navigated to an electronic fence where a parking spot is located based on information about the recommended route, a map of the parking spot within the electronic fence is automatically zoomed in to present the status of the parking spot inside, and optional parking spots are recommended.

[0115] In one example, the user may manually select a parking location for parking based on the recommended optional parking locations, and the navigation system parks the vehicle in a parking spot based on the parking location selected by the user.

[0116] For example, after the vehicle enters a parking lot, the navigation system recommends three parking locations to the user, and the numbers of the three parking locations are "1", "A233", and "A169", respectively.

[0117] In another example, a user may set the parking location currently closest to the vehicle as the default parking location, and after the vehicle enters the parking lot, the navigation system automatically searches for the available parking location currently closest to the vehicle and automatically parks the vehicle in the parking location without manual selection by the user.

[0118] In yet another possible embodiment, when a vehicle travels through any one of the road segments included in the information about the recommended route based on the information about the recommended route, mileage information of the distance between the current position of the vehicle and the start position of the next road segment may be displayed in real time. When the mileage information of the distance between the current position of the vehicle and the start position of the next road segment is equal to or less than a preset mileage information, a prompt is given that the vehicle is about to switch to the next road segment. Methods of prompting that the vehicle is about to switch to the next road segment include a text prompt and / or a voice prompt, etc.

[0119] For example, the preset mileage information is 2 km. Assume that the vehicle is currently traveling on a manually driven road segment, and the next road segment is an autonomously driven road segment. As the vehicle travels on the current manually driven road segment, mileage information of the distance to the start position of the next autonomously driven road segment can be displayed in real time. When the distance between the vehicle's position on the current manually driven road segment and the start position of the next autonomously driven road segment equals 2 km, a prompt is given indicating that the vehicle is about to enter the next road segment. Prompt methods include text prompts and voice prompts. For example, a text prompt saying "You are about to enter an autonomously driven road segment" is displayed on the vehicle's display screen, and the voice prompt includes a voice instruction saying "You are about to enter an autonomously driven road segment." Starting from the distance between the vehicle's current position and the start position of the next autonomously driven road segment, which is 2 km, prompts are given at 30-second intervals until the vehicle enters the autonomously driven road segment.

[0120] Optionally, switching by the vehicle from a current road segment to a next road segment based on information about the recommended route further comprises map switching.

[0121] For example, when a vehicle travels on a manually driven road segment, navigation is performed using a common map. When the vehicle travels on an autonomously driven road segment, navigation is performed using a high-definition map. When the vehicle switches from a manually driven road segment to an autonomously driven road segment, the map used for navigation correspondingly switches from the common map to the high-definition map.

[0122] FIG. 5 is a schematic diagram of prompt information for switching between different road segments according to an embodiment of the present application. As shown in FIG. 5, the vehicle is currently traveling on a manually driven road segment. When the mileage information of the distance between the vehicle and the start position of the next road segment is equal to or less than the preset mileage information, a prompt is given that the vehicle is about to switch to an automatically driven road segment. As shown by 3, "Entering an automatically driven road segment" is displayed on the map. As shown by 1, the vehicle's progress within the current road segment is displayed on the map in real time. There is a progress bar on 1, where white represents the manually driven road segment, gray represents the automatically driven road segment, and a black dot represents the vehicle's current position within the manually driven road segment to display the vehicle's current driving progress. As shown by 3, the manually driven road segment and the automatically driven road segment are displayed on the map. The white road segment represents the manually driven road segment, the gray road segment represents the automatically driven road segment, and the black dot represents the vehicle's current position within the manually driven road segment on the map. When the navigation line turns gray, as shown by 2, the vehicle enters the autonomous driving road section and activates the autonomous driving mode.

[0123] 6 is a schematic diagram of another prompt information for switching between different road sections according to an embodiment of the present application. As shown in FIG. 6, the vehicle is currently within an autonomous driving road section and is about to enter a parking lot within an electronic fence for parking. The electronic fence is filled with white diagonal stripes. When the distance between the vehicle's current position and the electronic fence is less than or equal to a preset driving distance, a prompt is given that the vehicle is about to enter the electronic fence road section. As indicated by 1, "Entering Parking Lot" is displayed. As indicated by 2, the vehicle's driving process, remaining driving distance information, and estimated remaining time information on the current autonomous driving road section are displayed.

[0124] 7 is a schematic diagram of a display of driving process information according to an embodiment of the present application. As shown in FIG. 7, after a vehicle enters a parking lot and a specific parking location is determined, the remaining driving distance between the vehicle's current location and the parking location, the estimated remaining time, and information about the vehicle's current driving process are displayed in real time. As shown by 2, a black dot represents the vehicle's current location and is used to display the vehicle's current process information. In addition, it is displayed that the vehicle is currently 600 meters away from the parking location and the estimated remaining time is 12 minutes.

[0125] Information about the recommended route to the parking location is displayed on the map as shown by 1. The black dots represent information about the current location of the vehicle on the map and are used to display the process information of the vehicle on the map.

[0126] In yet another possible embodiment, after the vehicle arrives at the target position indicated by the target position information based on the information about the recommended route, statistical information about the entire course and statistical information about different road sections are displayed, the statistical information about the entire course including total mileage information, total time information, average speed information, and energy efficiency ratio, and the statistical information about the different road sections including mileage information and time information for each of the different road sections.

[0127] 8 is a schematic diagram of driving information according to an embodiment of the present application. As shown in FIG. 8, a total driving distance of 14 kilometers, a total time consumed of 1 hour and 13 minutes, a total automated driving distance of 6.3 kilometers, and an average speed of 22 kilometers per hour (km / h) are displayed for the entire course traveled by the vehicle to the target location based on the information about the recommended route. The time, driving distance, and average speed of each different road section in the information about the recommended route are also displayed, including the time, driving distance, and average speed of each manual driving road section and the time, driving distance, and average speed of each automated driving road section. The automated driving road section further includes a parking road section.

[0128] According to the technical solution provided in this application, the information about the recommended route displayed based on the target position information of the vehicle includes the position information and mileage information of the automated driving route, and the route preferred for automated driving is recommended by default, which is more applicable to automated driving vehicles.

[0129] 9 is a schematic flowchart of another navigation method according to an embodiment of the present application. As shown in FIG. 9, the method includes at least S901 to S904.

[0130] S901: Obtain location information of the target parking location of the vehicle.

[0131] In one example, when the user's target location is a parking space whose specific parking space location is known or whose corresponding number is known and it can be guaranteed that no other vehicles are parked in that parking space, the target location information input by the user may be the specific location or the corresponding number of the specific parking space. For example, the target location information input by the user is the location information of the user's parking space. The recommended route information includes a manually driven road segment and an autonomously driven road segment, and the autonomously driven road segment includes a parking road segment. Navigation performed based on the information about the recommended route can enable the vehicle to be parked directly from the starting point to the parking space indicated by the target location information without intermediate interactive operation during driving.

[0132] In another example, when a user does not know the specific location information of a parking space or cannot determine whether other vehicles are parked in a specific parking space, the location information of an electronic fence can be used as target location information. An electronic fence is a specific virtual area depicted on a map. Specific map content is presented in the area based on different purposes. The electronic fence in this embodiment of the present application is mainly used for parking functions and mainly displays parking spaces. After a vehicle moves into the electronic fence based on information about the recommended route, available parking spaces within the electronic fence are provided to the user for selection.

[0133] S902: Display information about a recommended route based on location information of the vehicle's target parking location, where the information about the recommended route includes information about an autonomous driving road section, and the information about the autonomous driving road section includes location information of the autonomous driving road section and mileage information of the autonomous driving road section.

[0134] A recommended route is planned based on the acquired information about the target position of the vehicle, and information about the recommended route is displayed. The information about the recommended route includes information about autonomous driving road segments, and the information about the autonomous driving road segments includes location information of the autonomous driving road segments and mileage information of the autonomous driving road segments. A recommended route preferred for autonomous driving is selected by default for navigation. The recommended route preferred for autonomous driving represents a recommended route that shows the largest proportion of mileage on autonomous driving road segments in the total mileage of the recommended route.

[0135] In a possible embodiment, the information about the recommended route further includes information about the proportion of road segments within the recommended route in the entire course of the recommended route, and the road segments within the recommended route include automated driving road segments and manually driven road segments. The information about the recommended route displays travel distance information for the automated driving road segments and information about the proportion of the automated driving road segments and the manually driven road segments in the total travel distance of the recommended route. The manually driven road segments and the automated driving road segments within the information about the recommended route are each displayed using different display methods.

[0136] For example, each of the manually driven and automatically driven road segments in the recommended route may be displayed using a different color.

[0137] Optionally, the automated driving road section includes an emergency assistance road section, a partial automated driving road section, a combined automated driving road section, a conditional automated driving road section, a highly automated driving road section, and a fully automated driving road section. The emergency assistance road section, the partial automated driving road section, the combined automated driving road section, the conditional automated driving road section, the highly automated driving road section, and the fully automated driving road section are displayed in different display methods. The emergency assistance road section and the partial automated driving road section correspond to L1 automated driving road sections in the automated driving classification provided by the SAE, the combined automated driving road section corresponds to L2 automated driving road sections, the conditional automated driving road section corresponds to L3 automated driving road sections, the highly automated driving road section corresponds to L4 automated driving road sections, and the fully automated driving road section corresponds to L5 automated driving road sections.

[0138] For example, emergency assistance road segments, partial driver assistance road segments, combined driver assistance road segments, conditional automated driving road segments, highly automated driving road segments, and fully automated driving road segments are displayed using different colors. Optionally, the automated driving road segments further include parking road segments. The parking road segments include APA road segments, RPA road segments, HPA road segments, and AVP road segments. The APA road segments, RPA road segments, HPA road segments, and AVP road segments are displayed using different display methods.

[0139] For example, in information about a recommended route, APA road segments, RPA road segments, HPA road segments, and AVP road segments are displayed using different colors.

[0140] Optionally, when the information about the recommended route includes sections in different areas, the sections in different areas are displayed in different display methods.

[0141] For example, if the starting position of the vehicle is in Xuhui District, Shanghai, and the destination position is in Jing'an District, Shanghai, the road segments located in Xuhui District and Jing'an District in the information about the recommended route are displayed in different ways, for example, the road segments in Xuhui District and Jing'an District are displayed in different colors.

[0142] S903: Prompt to switch between different road segments in the recommended route.

[0143] In a possible embodiment, when the vehicle travels through any one of the road segments in the information about the recommended route based on the information about the recommended route, mileage information of the distance between the current position of the vehicle and the start position of the next road segment may be displayed in real time. When the mileage information of the distance between the current position of the vehicle and the start position of the next road segment is equal to or less than a preset mileage information, a prompt is given that the vehicle is about to switch to the next road segment. Methods of prompting that the vehicle is about to switch to the next road segment include a text prompt and / or a voice prompt, etc.

[0144] For example, the preset mileage information is 2 km. Assume that the vehicle is currently traveling on a manually driven road segment, and the next road segment is an autonomously driven road segment. As the vehicle travels on the current manually driven road segment, mileage information of the distance to the start position of the next autonomously driven road segment can be displayed in real time. When the distance between the vehicle's position on the current manually driven road segment and the start position of the next autonomously driven road segment equals 2 km, a prompt is given indicating that the vehicle is about to enter the next road segment. Prompt methods include text prompts and voice prompts. For example, a text prompt saying "You are about to enter an autonomously driven road segment" is displayed on the vehicle's display screen, and the voice prompt includes a voice instruction saying "You are about to enter an autonomously driven road segment." Starting from the distance between the vehicle's current position and the start position of the next autonomously driven road segment, which is 2 km, prompts are given at 30-second intervals until the vehicle enters the autonomously driven road segment.

[0145] Optionally, switching by the vehicle from a current road segment to a next road segment based on information about the recommended route further comprises map switching.

[0146] For example, when a vehicle travels on a manually driven road segment, navigation is performed using a common map. When the vehicle travels on an autonomously driven road segment, navigation is performed using a high-definition map. When the vehicle switches from a manually driven road segment to an autonomously driven road segment, the map used for navigation correspondingly switches from the common map to the high-definition map.

[0147] For example, reference may be made to the switching prompting or switching display methods shown in Figure 5, Figure 6, or Figure 7. The details will not be described again here.

[0148] S904: Display driving information for the entire course and for each road section.

[0149] In a possible embodiment, after the vehicle arrives at the target position indicated by the target position information based on the information about the recommended route, statistical information about the entire course and statistical information about different road sections are displayed, the statistical information about the entire course including total mileage information, total time information, average speed information, and energy efficiency ratio, and the statistical information about the different road sections including mileage information and time information for each of the different road sections.

[0150] For example, reference may be made to the method for displaying driving information for the entire course and driving information for each road segment shown in Figure 8. Details will not be described again here.

[0151] According to the technical solution provided in this application, information about the recommended route is displayed based on the location information of the target parking location of the vehicle, and the information about the recommended route includes location information and mileage information of the autonomous driving road segment. During the driving process based on the information about the recommended route, switching between different road segments can be prompted. After the vehicle drives to the target parking location, driving information for the entire route and each road segment can be displayed. This simplifies the user's operation steps, improves driving efficiency, and enhances the user's driving experience.

[0152] 10 is a schematic diagram of the structure of a navigation device according to an embodiment of the present application. As shown in FIG. 10, the device 1000 may include: an acquisition module 1001 and a display module 1002.

[0153] In a possible implementation, the apparatus 1000 may be configured to perform the method shown in Fig. 2. For example, the acquisition module 1001 is configured to perform S201, and the display module 1002 is configured to perform S202.

[0154] In another possible embodiment, the apparatus 1000 further includes a prompt module. The apparatus 1000 in the embodiment may be configured to perform the method shown in Figure 9. For example, the acquisition module 1001 is configured to perform S901, the display module 1002 is configured to perform S902 and S904, and the prompt module is configured to perform S903.

[0155] 11 is a schematic diagram of the structure of a navigation device according to another embodiment of the present application. As shown in FIG. 11, a device 1100 in this embodiment includes a memory 1101, a processor 1102, a communication interface 1103, and a bus 1104. The memory 1101, the processor 1102, and the communication interface 1103 are communicatively connected to each other via the bus 1104.

[0156] The memory 1101 may be a read only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1101 may store a program. When the program stored in the memory 1101 is executed by the processor 1102, the processor 1102 may be configured to perform the steps of the methods shown in FIGS. 2 and 9.

[0157] The processor 1102 may be a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits configured to execute associated programs to implement the navigation methods in the method embodiments of the present application.

[0158] The processor 1102 may alternatively be an integrated circuit chip and have signal processing capabilities. In the implementation process, the steps of the methods in the embodiments of the present application may be performed using hardware integrated logic circuits in the processor 1102 or using instructions in the form of software.

[0159] The processor 1102 may alternatively be a general-purpose processor, a digital signal processing (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or another programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, etc. The processor may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc.

[0160] The steps in the methods disclosed with reference to the embodiments of the present application may be directly executed and performed by a hardware decoding processor, or may be executed and performed by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium well-established in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, or a register. The storage medium is located in the memory 1101. The processor 1102 reads information in the memory 1101 and performs the functions required to be performed in the methods of the embodiments of the present application in combination with the hardware of the processor 1102. For example, the processor 1102 may perform the steps / functions in the embodiments shown in FIGS. 2 and 9.

[0161] The communication interface 1103 may use a transceiver device, such as, but not limited to, a walkie-talkie, to facilitate communications between the apparatus 1100 and another device or communication network.

[0162] The bus 1104 may include a path for transferring information between components of the device 1100 (eg, the memory 1101, the processor 1102, and the communication interface 1103).

[0163] It should be understood that the apparatus 1100 shown in this embodiment of the present application may be an electronic device or a chip configured within an electronic device.

[0164] It should be understood that the processor in this embodiment of the present application may be a central processing unit (CPU). The processor may alternatively be another general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc.

[0165] It can be understood that the memory in this embodiment of the present application may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory may be random access memory (RAM) and is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) may be used, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink dynamic random access memory (SLDRAM), and direct rambus random access memory (DR RAM).

[0166] All or part of the above-described embodiments may be implemented using software, hardware, firmware, or any combination thereof. When software is used in an implementation, the above-described embodiments may be implemented, in whole or in part, in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the program instructions or computer programs are loaded and executed on a computer, the procedures or functions according to the embodiments of the present application are generated, in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or another programmable device. The computer instructions may be stored on a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, radio, microwave, etc.) methods. The computer-readable storage medium may be any available medium that can be accessed by a computer, or may be a data storage device, such as a server or data center, incorporating one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, hard disk, or magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium may be a solid-state drive.

[0167] It should be understood that the term "and / or" in this specification describes only the association between associated objects and represents that three relationships may exist. For example, A and / or B may represent the following three cases: only A is present, both A and B are present, and only B is present. A and B may be singular or plural. In addition, the symbol " / " in this specification usually indicates an "or" relationship between associated objects, but may also indicate an "and / or" relationship. For more details, please refer to the context for understanding.

[0168] As used herein, "at least one" means one or more, and "plurality" means two or more. "At least one of the following" or similar phrases means any combination of these, including any combination of singular or plural. For example, at least one of a, b, or c can refer to a, b, c, ab, ac, bc, or abc, where a, b, and c may be singular or plural.

[0169] It should be understood that in the embodiments of the present application, the sequence numbers of the above processes do not refer to the order of execution, and the order of execution of the processes should be determined based on the functions and internal logic of the processes, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0170] Those skilled in the art may recognize that, in combination with the examples described in the embodiments disclosed herein, the units and algorithm steps may be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether a function is performed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods for specific applications to implement the described functions, but this implementation should not be considered to go beyond the scope of this application.

[0171] Those skilled in the art may clearly understand that for the sake of convenience, for the detailed operation processes of the aforementioned systems, devices and units, please refer to the corresponding processes in the aforementioned method embodiments, and the details will not be described again here.

[0172] In some embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other ways. For example, the described device embodiments are merely examples. For example, the division into units is merely a logical division of functions, and in actual implementation, other divisions may be used. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not implemented. In addition, the shown or described mutual couplings or direct couplings or communication connections may be implemented using some interfaces. Indirect couplings or communication connections between devices or units may be implemented in electronic, mechanical, or other forms.

[0173] The units described as separate parts may or may not be physically separate, and the parts presented as units may or may not be physical units, and may be located in one location or distributed across multiple network units. Some or all of the units may be selected based on actual needs to achieve the objectives of the solutions of the embodiments.

[0174] In addition, the functional units in the embodiments of the present application may be integrated into one processing unit, and each of these units may exist physically alone, or two or more units may be integrated into one unit.

[0175] When a function is implemented in the form of a software functional unit and sold or used as an independent product, the function may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may essentially be implemented, or a portion of the technical solution may be implemented in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for instructing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes any medium capable of storing program code, such as a USB flash disk, a removable hard disk, a read-only memory, a random access memory, a magnetic disk, or an optical disk.

[0176] The above description is merely a specific embodiment of the present application, and the protection scope of the present application is not limited thereto. Any modifications or replacements that can be easily conceived by those skilled in the art within the technical scope disclosed in the present application shall fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims. [Explanation of symbols]

[0177] 100 vehicles 102 Driving System 104 Sensor System 106 Control System 108 Peripheral Devices 110 Power supply 112 Computer Systems 113 processors 114 Data storage device 115 Command 116 User Interface 118 Engine 119 Energy Sources 120 Transmission 121 Wheels 122 Global Positioning System 124 Inertial Measurement Unit 126 Radar 128 Laser Rangefinder 130 Camera 132 Steering System 134 Throttle 136 Brake unit 138 Sensors 140 Computer Vision Systems 142 Route Control System 144 Obstacle Avoidance System 146 Wireless Communication Systems 148 In-vehicle computer 150 microphones 152 Speaker 1000 devices 1001 Acquisition Module 1002 Display Module 1100 equipment 1101 Memory 1102 processor 1103 Communication Interface 1104 Bus

Claims

1. 1. A navigation method comprising: acquiring target position information of the vehicle by an acquisition module of the navigation device; displaying information about a recommended route based on the target position information by a display module of the navigation device, wherein the information about the recommended route includes information about an autonomous driving road section, the information about the autonomous driving road section includes location information of the autonomous driving road section and mileage information of the autonomous driving road section, the autonomous driving road section is an autonomous driving road section with a level indicating driver assistance or driving automation in an autonomous driving classification, and autonomous driving road sections with different levels are displayed using different colors; Including, the target location information includes location information of a parking location, and location information of a destination in the information regarding the recommended route includes the location information of the parking location; The method, wherein the automated driving road segment further includes a parking road segment in which the navigation device performs or assists in maneuvering the vehicle for parking.

2. displaying, by the display module, different road segments in the information related to the recommended route in different display manners, the different road segments including a manually driven road segment and the autonomously driven road segment; The method of claim 1 further comprising:

3. 3. The method of claim 2, wherein the automated driving road segments include emergency assistance road segments, partial driver assistance road segments, combined driver assistance road segments, conditional automated driving road segments, highly automated driving road segments, and fully automated driving road segments.

4. The method of claim 1 , wherein the parking road section includes an automatic parking assistance (APA) road section, a remote parking assistance (RPA) road section, a home zone parking assistance (HPA) road section, and an automatic valet parking (AVP) road section.

5. The step of displaying different road sections in the information about the recommended route in different display methods by the display module includes: displaying, by the display module, the different road segments in the information regarding the recommended route using different colors.

3. The method of claim 2, comprising:

6. the step of displaying information about a recommended route based on the target position information by a display module of the navigation device, displaying, by the display module, mileage information for each of the different road sections; 3. The method of claim 2, further comprising:

7. a step of displaying travel distance information of the distance between the current position of the vehicle and the start position of the next road section when the vehicle travels on any one of the road sections; The method of claim 1 further comprising:

8. a step of prompting the vehicle that it is about to switch to the next road section when mileage information of the distance between the current position of the vehicle and the start position of the next road section is equal to or less than a preset mileage information; The method of claim 1 further comprising:

9. The method of claim 8 , wherein the method of prompting that the vehicle is about to switch onto the next road segment includes a text prompt and / or a voice prompt.

10. displaying, by the display module, statistical information of the entire course and statistical information of the different road sections based on the information about the recommended route after the vehicle has arrived at the target position indicated by the target position information, wherein the statistical information of the entire course includes total travel distance information, total time information, average speed information, and an energy efficiency ratio, and the statistical information of the different road sections includes travel distance information and time information of each of the different road sections.

3. The method of claim 2, further comprising:

11. A navigation device, an acquisition module configured to acquire target position information of the vehicle; a display module configured to display information about a recommended route based on the target position information, the information about the recommended route including information about an autonomous driving road section, the information about the autonomous driving road section including location information of the autonomous driving road section and mileage information of the autonomous driving road section, the autonomous driving road section being an autonomous driving road section with a level indicating driver assistance or driving automation in an autonomous driving classification, and autonomous driving road sections with different levels being displayed using different colors; Equipped with the target location information includes location information of a parking location, and location information of a destination in the information regarding the recommended route includes the location information of the parking location; A navigation device, wherein the automated driving road segment further includes a parking road segment in which the navigation device performs or assists in maneuvering the vehicle for parking.

12. A navigation device comprising a memory and a processor, the memory is configured to store program instructions; The processor is configured to invoke the program instructions in the memory to perform the method of claim 1. Navigation device.

13. An autonomous vehicle equipped with the navigation device according to claim 11.

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