Lane-level navigation method and related apparatus

Abstract

A lane-level navigation method, an electronic device (100) and a computer-readable storage medium. The method comprises: an electronic device (100) displaying a first lane-level navigation route, and performing navigation according to the first lane-level navigation route, wherein the first lane-level navigation route indicates a travelling path between the current position and a destination address of a vehicle and a recommended lane at any position in the travelling path; when the vehicle travels on a first off-course early-warning road section, detecting whether the current lane on which the vehicle travels is a recommended lane in the first lane-level navigation route for the vehicle at the current position, wherein the first off-course early-warning road section is determined on the basis of non-reversible lane information and / or a preset distance; and if the current lane is not the recommended lane, displaying a second lane-level navigation route, wherein the second lane-level navigation route is determined on the basis of the current position of the vehicle, the current lane on which the vehicle travels, and the destination address of the first lane-level navigation route. By means of the method, an off-course risk can be detected in advance, and an off-course route is displayed in a timely manner, thereby effectively reducing the anxiety of a user when driving off course, and improving the user experience.

Description

Lane-level navigation method and related device

[0001] This application claims priority to the Chinese patent application with application number 202311131369.1 filed with the State Intellectual Property Office of China on August 31, 2023, and priority to the Chinese patent application with the invention name “LANE-LEVEL NAVIGATION METHOD AND RELATED DEVICES”, all contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of electronic technology, and in particular to a lane-level navigation method and related devices. Background Art

[0003] With the development of the automotive industry and urban transportation, map applications have become an important application on mobile devices and other terminal devices. Map navigation is a common function of map applications. Map navigation provides navigation routes from the starting point to the destination, assisting users in navigating the increasingly complex road network.

[0004] When using map navigation in map apps, vehicles often deviate from their original route due to driving in the wrong lane or missing an exit, triggering a deviation, forcing the app to replan a new route. However, current map apps take a long time to detect deviations and delay navigation route planning after a deviation. This can easily lead to user anxiety and traffic violations, potentially causing driving safety issues and resulting in driver license penalty points and fines.

[0005] At present, how to deal with the deviation during driving navigation and improve the user's driving navigation experience still needs further research.

[0006] Summary of the Invention

[0007] The embodiments of the present application provide a lane-level navigation method and related devices, which can detect the risk of deviation in advance and display the deviation route in a timely manner, thereby effectively reducing the user's anxiety about driving deviation and improving the user's driving navigation experience.

[0008] In a first aspect, the present application provides a lane-level navigation method, the method comprising: an electronic device displays a first lane-level navigation route and navigates according to the first lane-level navigation route; the first navigation route comprises at least one deviation warning section, the first lane-level navigation route indicates the driving path between the vehicle's current position and the destination address and the recommended lane at any position in the driving path; when the vehicle is traveling on the first deviation warning section, detecting whether the vehicle has a deviation risk; the above-mentioned at least one deviation warning section comprises a first deviation warning section; the first deviation warning section is determined based on non-variable lane information and / or a preset distance; if there is a deviation risk, the electronic device displays a second lane-level navigation route; the second lane-level navigation route is determined based on the vehicle's current position, the vehicle's current driving lane and the destination address of the first lane-level navigation route; wherein, detecting whether the vehicle has a deviation risk comprises: detecting whether the vehicle's current driving lane belongs to the recommended lane of the first lane-level navigation route at the vehicle's current position; if not, there is a deviation risk; otherwise, there is no deviation risk.

[0009] In the implementation of the present application, the lane-level navigation route is marked with deviation warning sections. When a user uses an electronic device to navigate along the lane-level navigation route, the electronic device performs deviation detection in advance within each deviation warning section. When the user's vehicle is detected to be at risk of deviation, the lane-level navigation route after the deviation is displayed in advance. This allows the user to promptly recognize the current deviation risk and respond to it in a timely manner (for example, by changing lanes to the recommended lane of the original navigation route). Observing the lane-level navigation route after the deviation in advance can reduce the user's anxiety caused by deviation and effectively improve the user experience when driving and navigating the deviation.

[0010] In an embodiment of the present application, the starting address of the second lane-level navigation route is located at the current position of the above-mentioned vehicle, the destination address of the second lane-level navigation route is the destination address of the first lane-level navigation route, and the recommended lane of the second lane-level navigation route at the starting position includes the current lane of the above-mentioned vehicle.

[0011] In the embodiment of the present application, the first lane-level navigation route may be referred to as the original navigation route, and the second lane-level navigation route may be referred to as the detour route.

[0012] In one implementation, the first deviation warning section is a non-variable road section; the non-variable lane information includes the starting position, ending position, and length of the non-variable road section. In implementing this embodiment of the present application, a deviation warning section is set on the non-variable road section to perform deviation detection in advance on the non-variable road section, effectively improving the timeliness of deviation warnings.

[0013] In one implementation, the first deviation warning segment is determined based on a road segment at a preset distance before the intersection and a non-variable road segment; the non-variable lane information includes the starting position, ending position, and length of the non-variable road segment. By implementing this embodiment of the present application, deviation warning segments that may pose a deviation risk are appropriately configured within the lane-level navigation route, enabling early deviation detection within these segments, effectively improving the timeliness of deviation warnings.

[0014] In one implementation, if there is a risk of deviation, the electronic device simultaneously displays the first lane-level navigation route and the second lane-level navigation route; if the vehicle continues to drive along a non-recommended lane of the first lane-level navigation route, the electronic device stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route. By implementing the embodiment of the present application, in the scenario where the user continues to drive along the non-recommended lane, by displaying the deviated route in advance and stopping displaying the original navigation route at an appropriate time and switching to navigation according to the deviated route, the consistency and timeliness of the navigation route display when the user's driving navigation deviates can be ensured, reducing the user's anxiety about the temporary lack of navigation route prompts or the fact that they do not conform to the actual driving road when the vehicle deviates, reducing the possibility of the user changing lanes illegally, and improving the user's driving safety.

[0015] In one implementation, the first deviation warning section is a non-variable road section, and the method further includes: if there is a deviation risk, when the vehicle is traveling on the first deviation warning section, the electronic device automatically stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route. In implementing an embodiment of the present application, when the deviation warning section is a non-variable road section, after the deviation risk is detected, since the user cannot change lanes to the recommended lane on the non-variable road section, the electronic device automatically stops displaying the original navigation route and switches to navigating according to the deviation route, so as to reduce the possibility of the user changing lanes illegally and improve the user's driving safety. In one implementation, after the electronic device stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route, it includes: the electronic device outputs a new route navigation prompt, and the new route navigation prompt is used to prompt that navigation has been performed according to the second lane-level navigation route.

[0016] In one implementation, when the vehicle continues to travel along the first lane, the electronic device stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route, including: after detecting that the vehicle is at risk of deviation, if the vehicle's driving lane is not detected to be a recommended lane of the first lane-level navigation route within a specific duration, within a specific driving distance of the vehicle, or before the vehicle reaches a specific position on the deviation warning section, the electronic device stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route. By implementing the embodiment of the present application and reasonably setting the timing for stopping displaying the original navigation route and switching to navigation according to the deviated route, the consistency of the navigation route display when the user deviates during driving can be ensured, the user's anxiety about the navigation route not being consistent with the actual driving road when the vehicle deviates can be reduced, the possibility of the user changing lanes illegally can be reduced, and the user's driving safety can be improved.

[0017] In one implementation, the deviation warning section does not include a variable road section, and the variable road section is a section between the recommended lane and the non-recommended lane of the first lane-level navigation route in the first deviation warning section where lanes can be changed; when the vehicle continues to travel along the first lane, the electronic device stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route, including: after detecting that the vehicle is at risk of deviation, after a specific period of time, after a specific driving distance of the vehicle, or when the vehicle reaches a specific position on the deviation warning section, the electronic device automatically stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route. When implementing the embodiment of the present application, in the case where the deviation warning section does not include a variable road section, the original navigation route is automatically stopped from being displayed at an appropriate time and is switched to navigation according to the deviation route. This can ensure the consistency of the navigation route display when the user deviates from the navigation route, reduce the user's anxiety about the navigation route not being consistent with the actual driving road when the vehicle deviates, reduce the possibility of the user changing lanes illegally, and improve the user's driving safety.

[0018] In one implementation, the method further includes: if there is a risk of deviation, outputting a first prompt message; the first prompt message is used to prompt one or more of the following: the risk of deviation of the vehicle, information about the second lane-level navigation route; the information about the second lane-level navigation route includes one or more of the following: the length of the second lane-level navigation route, the travel time of the second lane-level navigation route, the road condition of the second lane-level navigation route, the difference in length between the second lane-level navigation route and the first lane-level navigation route, and the difference in travel time between the second lane-level navigation route and the first lane-level navigation route. By implementing the embodiment of the present application, the presence of a deviation risk is detected in advance, and the user is promptly prompted with information about the vehicle's deviation risk and the deviated route after the deviation, so that the user can promptly respond to the aforementioned deviation risk, reduce the possibility of subsequent deviation, reduce the user's anxiety when driving the navigation deviation, and improve the user's driving safety.

[0019] In one implementation, if there is a risk of deviation and the first deviation warning section includes a variable road section, the first prompt information is used to prompt the user that the vehicle may deviate and change lanes to the recommended lane; if there is a risk of deviation and the first deviation warning section does not include a variable road section, the first prompt information is used to prompt the vehicle that the vehicle is deviating and that the current lane change may be illegal; the variable road section is the section between the recommended lane and the non-recommended lane of the first lane-level navigation route in the first deviation warning section that can be changed. When implementing the embodiment of the present application, if the deviation warning section includes a variable road section, the user is prompted to change lanes to the recommended lane of the original navigation route in a timely manner to avoid deviation; if the deviation warning section does not include a variable road section, the user is prompted that the current lane change may be illegal, thereby reducing the possibility of the user changing lanes illegally and improving the user's driving safety.

[0020] In one implementation, after the electronic device simultaneously displays the first lane-level navigation route and the second lane-level navigation route, the electronic device further includes: upon detecting that the vehicle's driving lane belongs to the recommended lane of the first lane-level navigation route at the vehicle's current location, the electronic device stops displaying the second lane-level navigation route and continues navigating according to the first lane-level navigation route. By implementing this embodiment of the present application, in the scenario where the user needs to return to the original navigation route, based on the prompt of the deviated route, the user can return to the original navigation route in a timely manner; after the user returns to the original navigation route, the deviated route is stopped from being displayed, which can also ensure the consistency of the navigation route display when the user deviates from the navigation route, effectively improving the user's user experience when driving off course.

[0021] In one implementation, after the electronic device stops displaying the second lane-level navigation route and continues navigating according to the first lane-level navigation route, the electronic device further includes: outputting an original route navigation prompt, where the original route navigation prompt is used to prompt the user to continue navigating according to the first lane-level navigation route.

[0022] In one implementation, the method further includes: in response to the first operation, the electronic device sending a first request to the server; the first request is for requesting planning of a lane-level navigation route; and the electronic device receiving first data; the first data indicating the first lane-level navigation route and a deviation warning section within the first lane-level navigation route. By implementing this embodiment of the present application, the server can provide the electronic device with services for planning lane-level navigation routes and determining deviation warning sections, thereby reducing the computing power requirements and load on the electronic device.

[0023] In one implementation, after detecting that the vehicle is at risk of deviation, the method further includes: the electronic device sending a second request to the server; the second request is used to request planning of a lane-level navigation route, and the second request includes the vehicle's current location, the vehicle's current lane, and the destination address of the first lane-level navigation route; the electronic device receiving second data; the first data indicating the second lane-level navigation route and a deviation warning section in the second lane-level navigation route. By implementing this embodiment of the present application, the server can provide the electronic device with services for planning lane-level navigation routes and determining deviation warning sections, thereby reducing the computing power requirements and load on the electronic device.

[0024] In a second aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory, wherein the memory is coupled to the processor, and the memory is used to store computer program code, wherein the computer program code comprises computer instructions. When the processor reads the computer instructions from the memory, the electronic device executes the lane-level navigation method described in the first aspect.

[0025] In a third aspect, an embodiment of the present application provides a computer storage medium comprising computer instructions, which, when executed on an electronic device, enables a communication device to execute the lane-level navigation method in any possible implementation of the first aspect described above.

[0026] In a fourth aspect, an embodiment of the present application provides a computer program product, which, when running on a computer, enables the computer to execute the lane-level navigation method in any possible implementation of the first aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 1A to 1C are schematic diagrams of user interfaces of a navigation method provided in an embodiment of the present application;

[0028] FIG2A is a schematic diagram of a communication system provided in an embodiment of the present application;

[0029] FIG2B is a schematic diagram of a lane-level navigation system provided in an embodiment of the present application;

[0030] FIG3 is a schematic diagram of a user interface for a lane-level navigation route provided in an embodiment of the present application;

[0031] 4A to 4E are schematic diagrams of several deviation warning sections provided by embodiments of the present application;

[0032] 5A to 5D are schematic diagrams of user interfaces for entering a lane-level navigation interface according to an embodiment of the present application;

[0033] 5E to 5H are schematic diagrams of user interfaces in an application scenario provided by an embodiment of the present application;

[0034] 5I to 5K are schematic diagrams of user interfaces in another application scenario provided by an embodiment of the present application;

[0035] FIG6 is a schematic diagram of a method flow of a lane-level navigation method provided by an embodiment of the present application;

[0036] FIG7 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0037] FIG8 is a schematic diagram of the structure of the server provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] The following is a clear and detailed description of the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in the text is only a description of the association relationship between related objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0039] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of the technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of this application, unless otherwise specified, "plurality" means two or more.

[0040] The term "user interface (UI)" in the following embodiments of this application refers to a medium interface for interaction and information exchange between an application or operating system and a user, which realizes the conversion between the internal form of information and the form acceptable to the user. The user interface is a source code written in a specific computer language such as Java and extensible markup language (XML). The interface source code is parsed and rendered on an electronic device and finally presented as content that the user can recognize. The commonly used form of user interface is graphical user interface (GUI), which refers to a user interface related to computer operations that is displayed in a graphical manner. It can be a visual interface element such as text, icons, buttons, menus, tabs, text boxes, dialog boxes, status bars, navigation bars, widgets, etc. displayed on the display screen of an electronic device.

[0041] In the traditional navigation method, as shown in FIG1A , the user drives according to the navigation route planned by the map application of the electronic device (such as a mobile phone or a car-mounted device); the electronic device determines the actual vehicle position (i.e., the position of the electronic device 100) based on the GPS information of the electronic device; the electronic device 100 displays the navigation route and the vehicle position, and the vehicle position displayed by the electronic device is usually bound to the navigation route, which may have a certain deviation from the actual vehicle position; the electronic device determines whether the actual vehicle position continues to match the navigation route. As shown in FIG1B , when it is detected that the actual vehicle position and the navigation route continue to mismatch, it is determined that the vehicle has deviated, and the user is prompted by voice broadcast that the vehicle has deviated; as shown in FIG1B , when the vehicle deviates, before displaying the new navigation route, the vehicle position displayed by the electronic device is still bound to the original navigation route, which deviates from the actual vehicle position. As shown in FIG1C , after determining that the vehicle has deviated, the new navigation route is replanned and displayed according to the actual vehicle position, and the vehicle position displayed by the electronic device is bound to the new navigation route. The above navigation method has the following problems:

[0042] (1) Delayed deviation notification. Deviation detection is performed only after the user has taken the wrong road. The vehicle will be detected as deviating only after the actual vehicle position is continuously identified as not matching the navigation route. Only after the deviation is confirmed will the user be notified through voice broadcast. This results in the user being unable to adjust the driving route in time to avoid further deviation.

[0043] (2) The new route is not displayed in a timely manner after the deviation. It takes a certain amount of time from the vehicle actually starting to deviate to the map application detecting the deviation. After the deviation is detected, the map application will re-plan the route based on the current vehicle position and display it. During this period, if the user realizes the deviation but cannot see the new navigation route, it will cause anxiety, which may lead to driving safety issues and traffic violations by the user, such as reversing the original navigation route, illegal lane changes, etc.

[0044] The present application provides a lane-level navigation method in which a map application sets a deviation warning section before intersections and road sections where deviation may occur. When a user uses the lane-level navigation function of the map application of the electronic device 100 to assist in driving, the electronic device 100 performs deviation detection in advance within the deviation warning section. When the risk of deviation is detected in the user's vehicle, a deviation warning prompt is issued in a timely manner, and the deviation route is planned and displayed. In this way, the user can be aware of the possibility of deviation in advance, adjust the driving route in time, and obtain relevant information about the deviation route after the deviation (such as guide lines, time consumption, road conditions, etc.), reducing the user's anxiety caused by deviation and effectively improving the user experience when driving navigation deviation.

[0045] The following introduces the communication system 10 involved in the lane-level navigation method provided in the embodiment of the present application.

[0046] Figure 2A exemplarily shows the system architecture of a communication system 10 provided in an embodiment of the present application. As shown in Figure 2A , the communication system 10 includes an electronic device 100 and a server 200. The electronic device 100 can communicate with the server 200 via a communication network.

[0047] Among them, the electronic device 100 can run a map application. The map application can be an application (Application, APP) with a navigation function, or it can be an application applet with a navigation function. This application does not specifically limit the APPs that can access the above application applet (such as social APPs, payment APPs, etc.). The map application can provide basic map display, map display during navigation, and map display in other modes. This application does not specifically limit the map type of the above map display, for example, including one or more of the following map types: basic map, 3D map, heat map, satellite map, topographic map, indoor map, bus map, custom layer, high-definition road map, etc.

[0048] In the embodiment of the present application, the map application running on the electronic device 100 has lane-level navigation and course deviation detection functions. The aforementioned map type can provide a lane-level map, which can display the aforementioned lane-level navigation route. Users can use the lane-level navigation and course deviation detection functions of the map application of the electronic device 100 through interactive methods such as clicking, touching, pressing keys, speaking, and gestures.

[0049] In this embodiment of the present application, the map application of the electronic device 100 can request the server 200 to plan a lane-level navigation route through the communication network, which has a deviation warning section marked. By performing deviation detection in advance on the deviation warning section, a deviation warning can be issued in a timely manner and the deviation route can be displayed.

[0050] The electronic device 100 may be a mobile phone, a tablet computer, a desktop computer, a laptop computer, a handheld computer, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a cellular phone, a personal digital assistant (PDA), an augmented reality (AR) device, a virtual reality (VR) device, an artificial intelligence (AI) device, a wearable device (such as a smart bracelet), an in-vehicle device, a smart home device (such as a smart TV, a smart screen, a large-screen device, etc.), and / or a smart city device. The embodiments of the present application do not impose any special restrictions on the specific type of the electronic device 100.

[0051] The server 200 carries the cloud service of the map application, and provides basic map display, real-time lane-level navigation and other services for the map application of the electronic device 100 through a network request service interface, including planning and issuing lane-level navigation routes with marked deviation warning sections for the map application.

[0052] The server 200 may be a single server, a server cluster consisting of multiple servers, or a cloud computing center. The server 200 involved in the embodiment of the present application may also be referred to as a cloud server, cloud, or cloud side.

[0053] The communication network may include local area networks (LANs) and / or wide area networks (WANs). The communication network may be implemented using any known network communication protocol, which may be various wired or wireless communication protocols, such as Ethernet, universal serial bus (USB), FireWire, global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), Bluetooth, wireless fidelity (Wi-Fi), NFC, voice over Internet protocol (VoIP), a communication protocol supporting a network slicing architecture, or any other suitable communication protocol.

[0054] It should be understood that Figure 2A is merely a schematic diagram of the system structure of the communication system provided in an embodiment of the present application, and does not constitute a specific limitation on the communication system 10. The communication system 10 may include more or fewer devices than shown in the figure. For example, it may also include wireless relay equipment and wireless backhaul equipment (not shown in Figure 2A), which are not limited here.

[0055] FIG2B exemplarily shows a system architecture of a lane-level navigation system provided in an embodiment of the present application.

[0056] As shown in FIG2B , the electronic device 100 includes modules such as a map application, a high-precision positioning module, a network communication module, a camera module, and a radar module, and the server 200 includes a cloud navigation module.

[0057] The cloud-based navigation module is used to interact with the map application on electronic device 100 to provide users with navigation route planning capabilities for one or more travel modes, such as walking, public transportation, driving, and taxis. The driving navigation route planning functionality includes planning lane-level navigation routes based on the starting and destination addresses uploaded by the map application, calculating deviation warning sections within the lane-level navigation routes, and delivering route data for the lane-level navigation routes, including deviation warning sections, to electronic device 100.

[0058] The high-precision positioning module combines the hardware of the electronic device 100 (e.g., GPS), intelligent positioning algorithms, fusion positioning, and other technologies to provide high-precision positioning information. This provides information about the current geographic location of the electronic device 100, enabling real-time location display and navigation for users in map applications. In one implementation, the high-precision positioning module is a sub-meter high-precision positioning module, with a real-time positioning error of less than 1 meter.

[0059] In the driving navigation route planning function and the real-time navigation function provided by the electronic device 100 , the current geographical location of the electronic device 100 may be regarded as the current location of the vehicle.

[0060] The network communication module connects to the Internet through wired or wireless communication to transmit data, so as to realize the function of interaction between the electronic device 100 and the server 200 and other devices.

[0061] The camera module is used to perceive the surrounding environment through images captured by the camera; and to perform graphic processing on the images captured by the camera so as to enable the electronic device 100 to identify the current driving lane.

[0062] Optionally, the electronic device 100 is an in-vehicle device, and one or more cameras may be configured on the front, rear, left, and right sides of the vehicle body, and the camera module includes the one or more cameras. Optionally, the electronic device 100 is a mobile terminal such as a mobile phone, and the vehicle body is configured with a camera module. The mobile phone can establish a communication connection with the in-vehicle device and obtain images captured by the camera module through the in-vehicle device.

[0063] The radar module is used to sense the surrounding environment through ultrasonic radar, millimeter wave radar or laser radar, so as to enable the electronic device 100 to identify the current driving lane.

[0064] Optionally, electronic device 100 is an onboard device, the vehicle body is equipped with one or more radars, and the radar module includes the one or more radars. Optionally, electronic device 100 is a mobile terminal such as a mobile phone, the vehicle body is equipped with a radar module, and the mobile phone can establish a communication connection with the onboard device, and the mobile phone can obtain radar information collected by the radar module through the onboard device.

[0065] The camera module is optional, and the radar module is also optional. In some embodiments, the electronic device 100 is not limited to the camera module and the radar module, and can also sense the surrounding environment and identify the current driving lane in other ways.

[0066] The following introduces the relevant concepts involved in the lane-level navigation method provided in the embodiment of the present application.

[0067] (1) Road refers to a passage for vehicles to travel and connect two places.

[0068] (2) Lane refers to a passage for a single column of vehicles traveling in the same direction. Common lanes include straight lanes, left-turn lanes, and right-turn lanes. A road includes one or more lanes. For example, a road includes: one left-turn lane, two straight lanes, and one right-turn lane, totaling four lanes.

[0069] (3) Lane-level navigation refers to a navigation method that combines high-precision road data and high-precision positioning information of the vehicle to plan lane-level navigation routes. Lane-level navigation may include: recommending lanes, recommending the optimal driving lane, guiding users to change lanes in advance, and displaying the driving direction and speed limit of specific lanes. Users can use lane-level navigation to understand the lane division on the current road and which lane their vehicle is currently traveling in. Lane-level navigation can restore the real road scene with high precision during the navigation process, provide users with lane-level driving action guidance, reduce the difficulty of users understanding navigation, and improve driving safety and driving experience.

[0070] The above-mentioned high-precision road data may include but is not limited to the number of lanes, lane width, lane direction, road signs in the lane, lane connection relationship, lane index and other data of each road. The high-precision positioning information of the above-mentioned vehicle can be obtained by positioning through the global positioning system (GPS) or ultra-wide band (UWB) positioning technology, etc. The high-precision positioning of the vehicle can accurately locate the vehicle to the lane, that is, obtain the lane-level position of the vehicle. The above-mentioned high-precision positioning can be sub-meter positioning (that is, the positioning error range is within 1 meter). The embodiment of the present application does not limit the positioning method of the vehicle.

[0071] In an embodiment of the present application, the electronic device 100 can receive the destination address entered by the user in the map application, and obtain high-precision road data between the current location of the electronic device 100 and the destination address entered by the user; based on the above high-precision road data, a lane-level navigation route can be displayed.

[0072] In some embodiments, lane-level navigation routes provide guidance lines that indicate the driving path from the vehicle's current location to the destination, as well as recommended lanes at any point along the route. Lane-level navigation routes also display high-definition road and intersection information for the roads along the route.

[0073] In some embodiments, road information includes some or all of the following: basic static road conditions, real-time dynamic road conditions, number of lanes, lane geometry, lane curvature, lane centerline, lane width, vehicle travel direction, lane speed limit, road signs in the lane, lane lines, lane connections, lane location, and other information for each road along the navigation route. For example, basic static road conditions include information such as curbs, guardrails, tunnels, traffic signs, toll booths, traffic signal indicators, turn arrows, and crossbars; real-time dynamic road conditions include information such as traffic accidents, road construction, road closures, lane closures, and traffic control. Lane line orientation is generally consistent with the lane travel direction. For example, lane line types include white dashed lines, solid white lines, white guide lines, yellow dashed lines, solid yellow lines, double white dashed lines, double white solid lines, and double yellow solid lines.

[0074] In some embodiments, the intersection information includes some or all of the following: intersection type, intersection stop line location and other information. An intersection is the junction of two or more roads, and is also the place where vehicles and pedestrian traffic converge, turn and evacuate. Generally speaking, the intersection types can be divided according to the number of intersecting roads. For example, they can be divided into three-way intersections, four-way intersections and multiple-way intersections. According to the way of intersection, the intersection types include plane intersections and three-dimensional intersections. The embodiment of the present application does not specifically limit the road type of the intersection. The intersection stop line is usually set in front of the traffic light and the sidewalk, perpendicular to the direction of road traffic, and is usually used to indicate slow down and give way / stop and give way; the lane line in front of the intersection stop line is usually a solid white line.

[0075] In some embodiments, when the electronic device 100 displays the lane-level navigation route, it also displays lane-level driving guidance information. The lane-level driving guidance information is used to provide the user with driving guidance according to the lane-level navigation route.

[0076] For example, FIG3 shows a schematic diagram of a lane-level navigation route displayed by the electronic device 100 based on high-precision road data.

[0077] Each road shown in Figure 3 has four lanes. From left to right, they are the first, second, third, and fourth lanes, respectively, in the direction of travel. Lane markings are also displayed for each lane. The lane markings for the first, second, and third lanes are all straight ahead signs, while the lane marking for the fourth lane is a right turn sign. The vehicle is currently in the third lane. The lane-level navigation route guide lines indicate that the recommended lanes for the vehicle at its current location include the aforementioned four lanes. They also indicate that after proceeding straight ahead for a distance, the vehicle will pass an intersection and head towards a right turn. The recommended lane before the next intersection is the aforementioned fourth lane (i.e., the first lane on the right). The vehicle must change lanes to the fourth lane before reaching the right turn. The driving guidance information instructs the user, "Go straight for 1.1 kilometers and then turn right. Please change lanes to the first lane on the right."

[0078] Traditional road-level navigation typically combines low-precision road data with vehicle positioning to plan a road-level navigation route. Road-level navigation can include recommending optimal routes and displaying vehicle direction and speed limits. However, road-level navigation is not as accurate as lane-level navigation and cannot display the number of lanes on the road the vehicle is currently traveling on, nor does it indicate which lane the vehicle is currently in.

[0079] Figures 1A to 1C illustrate a schematic diagram of an electronic device 100 displaying a road-level navigation route based on low-precision road data. As shown in Figure 1A , the road-level navigation route only displays the vehicle's direction of travel and guide lines. The guide lines indicate the path between the current location of the electronic device 100 and the destination address, but do not indicate which lane the vehicle is in.

[0080] (4) Deviation warning section: refers to a detection section set up before an intersection where deviation may occur, on a road section where deviation may occur, or before a road section where deviation may occur. After detecting that a vehicle enters this section, the system detects in advance whether the vehicle has a deviation risk; after detecting that the vehicle has a deviation risk, it issues a deviation warning and plans and displays the navigation route after the deviation in advance.

[0081] For the convenience of description, in the embodiment of the present application, the above-mentioned pre-planned navigation route after the deviation is referred to as the yaw route.

[0082] In one implementation, if the vehicle's current driving lane does not belong to the recommended lane of the lane-level navigation route at the vehicle's current position, the electronic device 10 predicts that the vehicle will deviate if it continues to travel along the current driving lane.

[0083] In some embodiments, when navigating a vehicle, taking the wrong turn at an intersection can cause a deviation; the road section X meters (e.g., 100 meters) before the intersection is marked as a deviation warning section. The deviation warning section is located between the vehicle and the intersection, and one end of the deviation warning section is the entrance to the intersection. This embodiment of the application does not specifically limit the type of intersection.

[0084] For ease of description, in the embodiment of the present application, the section of road before the intersection may be referred to as the section of road before the intersection.

[0085] For example, referring to FIG4A , after driving straight for 1.1 kilometers, the vehicle will pass through a fork in the road. The lane-level navigation route instructs the vehicle to turn right at the fork in the road and drive into the right-turn fork. Before turning right, the vehicle needs to change lanes to the right lane (i.e., the fourth lane), otherwise it will deviate. The section of road X meters before the fork in the road is marked as a deviation warning section. After entering this section, the electronic device 100 detects in advance whether the vehicle has a deviation risk.

[0086] In some embodiments, the road section where deviation may occur refers to a non-variable road section where driving in the wrong lane may cause deviation. A non-variable road section refers to a road section where some or all lanes in the same driving direction cannot be changed.

[0087] Optionally, the road sections where deviation may occur may include sections where lane markings are long solid white lines or sections where lane markings are white guide lines. Optionally, the road sections where deviation may occur may include sections where the front lane markings are long solid white lines or white guide lines at specific locations (e.g., intersections, tunnels, etc.). The road sections where deviation may occur may also include other types of road sections, which are not specifically limited here.

[0088] The following embodiments are mainly described by taking a road section with a long white solid line as an example. For ease of description, the embodiments of the present application may refer to a road section with a long white solid line as a long white solid line section.

[0089] A long solid white line is a solid white lane line longer than a preset distance (e.g., 10 meters). These lines are typically placed at intersections, traffic lights, and before tunnels. A long solid white line between two lanes indicates that vehicles are prohibited from crossing or pressing the line, meaning lane changes and overtaking are prohibited. When driving, if you are not in the recommended lane for the navigation route before a long solid white line, you may veer off course because lane changes are prohibited after entering that section.

[0090] For example, as shown in Figure 4B, a long white solid line is set in and in front of the tunnel. After entering the long white solid line section, you cannot change lanes. The lane-level navigation route indicates that the vehicle needs to take the right lane after exiting the tunnel. The vehicle needs to change lanes to the right lane before entering the long white solid line section, otherwise it will deviate; the map application marks the above-mentioned long white solid line section as a deviation warning section.

[0091] White guide lines are arranged in parallel in a V-shape and are usually set up at entrances, exits, intersections, and other roads. A guide line is set between two lanes to indicate that vehicles are not allowed to cross or press the line, that is, they cannot change lanes or overtake.

[0092] In some embodiments, the road section before the intersection is the above-mentioned road section where deviation may occur (for example, road section 1), and the intersection borders one end of road section 1. The collective road section of road section 1 and the road section X meters before the intersection is marked as a deviation warning section, that is, the longer road section between the above-mentioned road section 1 and the road section X meters before the intersection is marked as a deviation warning section.

[0093] For example, referring to Figures 4C and 4D , a long, solid white line is placed before an intersection, and lane changes are prohibited after entering the long, solid white line segment. The lane-level navigation route instructs the vehicle to turn right at the intersection and enter the right-turn fork. It is necessary to change lanes to the right lane before entering the long, solid white line segment before the intersection, otherwise the vehicle will deviate. This long, solid white line segment is a section where deviating may occur. As shown in Figure 4C , if the length of the long, solid white line segment is less than or equal to X meters, the map application will mark the X-meter segment before the intersection as a deviating warning segment. As shown in Figure 4D , if the length of the long, solid white line segment is greater than X meters, the map application will mark the long, solid white line segment as a deviating warning segment.

[0094] In some embodiments, the first X meters of the road section where deviation may occur (e.g., road section 1) is marked as a deviation warning section. The deviation warning section is located between the vehicle and the road section 1, and one end of the deviation warning section borders the road section 1.

[0095] Exemplarily, referring to FIG4E , section 1 is a long white solid line section before the intersection, and the map application marks the section X meters before the long white solid line section as a deviation warning section.

[0096] The following describes the application scenarios of the lane-level navigation method provided in the embodiments of the present application.

[0097] In some application scenarios, lane changes between the recommended lane and non-recommended lanes of the lane-level navigation route are permitted on all sections of the yaw warning section. After a vehicle enters a yaw warning section, if the vehicle is not traveling in the recommended lane, the user can control the vehicle to change lanes to the recommended lane based on the yaw warning prompt from the electronic device 100. For example, referring to the yaw warning sections shown in Figures 4A and 4E , lane changes are permitted between the recommended lane (i.e., lane 4) and the adjacent non-recommended lane (i.e., lane 3) of the lane-level navigation route.

[0098] In some application scenarios, lane changes between the recommended lane and non-recommended lanes in the lane-level navigation route are prohibited throughout the entire section of the yaw warning route. After a vehicle enters a yaw warning route section, if it is not in the recommended lane, it cannot change to the recommended lane and must yaw. For example, referring to the yaw warning route section shown in Figures 4B and 4D , a long solid white line separates the recommended lane (i.e., lane 4) and the adjacent non-recommended lane (i.e., lane 3) in the lane-level navigation route, prohibiting lane changes.

[0099] In some application scenarios, lane changes between the recommended lane and non-recommended lanes of the lane-level navigation route are allowed on some sections of the deviation warning section (such as the front section shown in FIG4C ), while lane changes between the recommended lane and non-recommended lanes of the lane-level navigation route are not allowed on some sections (such as the end section shown in FIG4C ). For example, referring to FIG4C , after the vehicle enters the front section of the deviation warning section, if the vehicle is not traveling in the recommended lane, the vehicle can change lanes to the recommended lane and continue traveling according to the original navigation route; after the vehicle enters the end section of the deviation warning section, if the vehicle is not traveling in the recommended lane, the vehicle cannot change lanes to the recommended lane and can only yaw.

[0100] In this embodiment of the present application, the section of the yaw warning section where lane change is allowed between the recommended lane and the non-recommended lane can be referred to as the changeable section of the yaw warning section. The section of the yaw warning section where lane change is not allowed between the recommended lane and the non-recommended lane can be referred to as the non-changeable section of the yaw warning section.

[0101] 5A to 5E illustrate a user interface example for entering a lane-level navigation interface.

[0102] As shown in Figure 5A, electronic device 100 can display user interface 11. User interface 11 can include icons of one or more applications. For example, map application icon 101. The application icon can open the corresponding application. As shown in Figure 5B, in response to an operation (such as a touch operation) on map application icon 101, electronic device 100 can display user interface 12. User interface 12 can be the homepage of the map application. User interface 12 can include a search box 102 and a map display area 103. Map display area 103 can display map information to facilitate the user to view the location of various areas.

[0103] As shown in FIG5C , in response to an operation of inputting a destination address (e.g., a science park) in the search box 102, the electronic device 100 may display map information of the area where the destination address is located, as well as navigation controls 104 and route controls 105 in the map display area 103. As shown in FIG5D , in response to an operation (e.g., a touch operation) on the route control 105, the electronic device 100 may display the user interface 13. The user interface 13 may include an address box 201, a navigation bar 202, a map display area 203, route information 204, and a navigation control 205.

[0104] The address box 201 includes a starting address bar 201A, a destination address bar 201B, and a switch control 201C. The initial starting address in the starting address bar 201A is the current location of the electronic device 100; the destination address in the destination address bar 201B is the destination address entered by the user in the search box 102; the user can modify the starting address and destination address in the address box 201. The switch control 201C is used to switch the starting address and destination address in the address box 201.

[0105] The navigation bar 202 includes options for multiple travel modes, such as a driving option 202A. When a travel mode option in the navigation bar 202 is selected, the map display area 203 displays an overview guide line for the navigation route from the starting address to the destination address under the travel mode. The overview guide line indicates the driving path from the starting address to the destination address. Route information 204 displays the length and time of the navigation route, and the navigation control 205 is used to trigger the electronic device 100 to navigate based on the above navigation route. As shown in Figure 5D, when the driving option 202A is selected, the map display area 203 displays an overview guide line 206 for the driving navigation route.

[0106] As shown in Figures 5D and 5E , in response to an operation (e.g., a touch operation) on navigation control 205, electronic device 100 may display navigation interface 14. Navigation interface 14 is used to display a lane-level navigation route from a starting address to a destination address and provide lane-level navigation functionality to the user based on the navigation route. Navigation interface 14 displays a guide line 302 from the vehicle's position to the destination address in the lane-level navigation route in map display area 301.

[0107] The navigation interface 14 may also display driving guidance information 303, vehicle speed 304, overview control 305, distance information 306, more control 307, and exit control 308. Vehicle speed 304 is used to indicate the real-time speed of the vehicle (i.e., the real-time speed of the electronic device 100); the overview control 305 is used to trigger the electronic device 100 to switch the lane-level navigation route in the map display area 301 to a road-level navigation route; distance information 306 is used to display the remaining distance and time based on the lane-level navigation route; the more control 307 is used to trigger more navigation function options; and the exit control 308 is used to trigger the exit of driving navigation.

[0108] As shown in FIG. 5C and FIG. 5E , in response to an operation (eg, a touch operation) on the navigation control 104 , the electronic device 100 may directly display the navigation interface 14 .

[0109] The guide line 302 of the lane-level navigation route indicates that the vehicle should turn right at the next intersection. The following example illustrates a situation where the course deviation warning section is the first X meters of the intersection or a long white solid line. When the electronic device 100 detects that the vehicle has entered the course deviation warning section, it begins detecting whether the vehicle is at risk of course deviation.

[0110] In some embodiments, if it is detected that the vehicle's driving lane does not belong to the recommended lane of the lane-level navigation route at the vehicle's current position, and the vehicle will deviate if it continues to travel along the current lane, the electronic device 100 determines that the vehicle is at risk of deviation.

[0111] In some embodiments, if it is detected that the vehicle's driving lane does not belong to the recommended lane of the lane-level navigation route at the vehicle's current position, and in part or all of the remaining sections of the deviation warning (i.e., the section between the vehicle's current position and the end of the deviation warning section), the recommended lane and non-recommended lane of the lane-level navigation route are changeable (i.e., there are variable road sections), then the electronic device 100 predicts that the vehicle may deviate; if it is detected that the vehicle's driving lane does not belong to the recommended lane of the lane-level navigation route at the vehicle's current position, and in all sections of the remaining sections of the deviation warning, both the recommended lane and non-recommended lane of the lane-level navigation route are not changeable (i.e., there are no variable road sections), then the electronic device 100 predicts that the vehicle will deviate.

[0112] In some embodiments, the recommended lanes for the lane-level navigation route in the above-mentioned deviation warning section only include the right lane (ie, the fourth lane).

[0113] In some embodiments, as shown in FIG5E , before entering the off-course warning section, the recommended lanes for the lane-level navigation route include all lanes (i.e., the first to fourth lanes); within the off-course warning section, as the vehicle approaches the next intersection, the recommended lanes gradually decrease to the fourth lane. In one implementation, starting from one end of the off-course warning section close to the vehicle, the recommended lanes for the lane-level navigation route within the first Y meters (e.g., 10 meters) of the off-course warning section include the second lane, the third lane, and the fourth lane; the recommended lanes from the Y+1 meter to the Z meter (e.g., 11 to 20 meters) of the off-course warning section include the third lane and the fourth lane; and the recommended lanes from the Z+1 meter to the end of the off-course warning section include only the fourth lane.

[0114] For the case where there is a variable road section in the remaining road section of the deviation warning and the vehicle is predicted to be likely to deviate, Figures 5E to 5H show an example of a user interface.

[0115] In some embodiments, when there is a variable road section in the remaining section of the deviation warning and it is predicted that the vehicle may deviate, the electronic device 100 plans the lane-level deviation route after the deviation based on the current position of the vehicle, the current driving lane and the destination address, and displays the guide line of the deviation route and the guide line of the original navigation route at the same time, and outputs a deviation warning prompt. Among them, the deviation warning prompt is used to prompt the user that "the vehicle may deviate, please change lanes safely"; it is also used to prompt the user with relevant information about the deviation route, such as the road conditions of the deviation route (for example, the current section may be in violation of traffic regulations), the length of the journey and the time taken to travel, the difference in the length of the deviation route and the original navigation route, the difference in the time taken to travel (for example, the deviation route is 2 minutes slower than the original navigation route), etc. The electronic device 100 can output the deviation warning prompt in one or more ways such as text, pictures, animations, and voice.

[0116] In the embodiment of the present application, the guide line of the off-course route and the guide line of the original navigation route are displayed in different display forms to facilitate user differentiation. For example, one or more display elements such as color, brightness, and fill content are different between the two.

[0117] For example, as shown in Figure 5E , the recommended lane (i.e., the fourth lane) and the non-recommended lane (i.e., the third lane) at the front of the yaw warning section are convertible; the recommended lane and the non-recommended lane at the end of the yaw warning section (i.e., the long white solid line section) are not convertible. As shown in Figure 5F , the vehicle is traveling in the third lane, and the recommended lane for the lane-level navigation route at the vehicle's current location is the right lane (i.e., the fourth lane). If there is a convertible section in the remaining yaw warning section, the electronic device 100 predicts that the vehicle may yaw, obtains the yawed route after the yaw, simultaneously displays the guide lines for the yawed route and the original navigation route, and outputs a yaw warning prompt via voice broadcast and driving guidance information 303. It can be understood that the third lane currently occupied by the vehicle in Figure 5F is the recommended lane for the yaw route.

[0118] It is understood that if the lane-level navigation route only includes the fourth lane in the recommended lanes for the deviation warning section, the electronic device 100 will predict that the vehicle may deviate when the vehicle passes through the third lane and enters the deviation warning section. If the recommended lanes do not include the third lane starting from the Z+1 meter of the deviation warning section, the electronic device 100 will predict that the vehicle may deviate when the vehicle passes through the third lane and reaches the Z+1 meter of the deviation warning section.

[0119] In some embodiments, after predicting that the vehicle may deviate and outputting the yaw route and yaw warning prompt, if it is detected that the vehicle has not changed lanes to the recommended lane of the original navigation route within a specific duration, within a specific driving distance of the vehicle, or before a specific position of the yaw warning section, and continues to travel along the recommended lane of the yaw route, the electronic device 100 stops displaying the original navigation route, continues to display the yaw route, provides lane-level navigation function based on the yaw route, and outputs a new route navigation prompt. The new route navigation prompt is used to prompt the user "You have been driving and navigating according to the new route, please drive safely." The electronic device 100 can output the new route navigation prompt in one or more ways such as text, pictures, animations, and voice.

[0120] In some embodiments, the deviation warning prompt is also used to prompt "If the user does not change lanes to the recommended lane, the new route (i.e., the deviation route) will be switched after a specific time, a specific driving distance, or at a specific location on the deviation warning section."

[0121] In one implementation, the specific duration, specific driving distance, and specific location of the deviation warning segment are fixed. For example, the specific duration is 5 seconds, the specific driving distance is 30 meters, and if an unchangeable segment exists in the remaining deviation warning segment, the specific location of the deviation warning segment is the starting point of the unchangeable segment closest to the vehicle.

[0122] For example, as shown in Figures 5F and 5G, the long white solid line segment at the end of the yaw warning segment is the above-mentioned immutable road segment; after the electronic device 100 outputs the yaw warning prompt, when the vehicle travels to the long white solid line segment, the electronic device 100 detects that the vehicle continues to travel along the third lane recommended by the yaw route and has not changed lanes to the fourth lane recommended by the original navigation route. The electronic device 100 stops displaying the original navigation route, performs lane-level navigation according to the yaw route, and outputs a new route navigation prompt through voice broadcast and driving guidance information 303.

[0123] In one implementation, the specific position of the above-mentioned deviation warning section can be the end of the deviation warning section; that is, when the vehicle has completed the deviation warning section, if it is detected that the vehicle has not changed lanes to the recommended lane of the original navigation route, the electronic device 100 stops displaying the original navigation route and continues to display the deviation route.

[0124] In one implementation, the specific duration and specific driving distance are dynamically determined based on actual conditions. Optionally, the specific duration and specific driving distance are determined based on the length of the variable road segment in the remaining deviation warning segment. For example, the specific duration is equal to 80% of the time estimated by the electronic device 100 for the vehicle to pass through the variable road segment (e.g., the time is equal to the distance divided by the vehicle speed); and the specific driving distance is equal to 80% of the length of the variable road segment.

[0125] In some embodiments, after predicting that the vehicle may deviate and outputting the yaw route and yaw warning prompt, if the vehicle is detected to change lanes to the recommended lane of the original navigation route and continue driving within a specific duration, within a specific driving distance of the vehicle, or before a specific position of the yaw warning section, the yaw route will stop being displayed, the original navigation route will continue to be displayed, the lane-level navigation function will continue to be provided based on the original navigation route, and the original route navigation prompt can be output. The original route navigation prompt is used to prompt the user to "continue driving and navigating according to the original navigation route, please drive safely." The electronic device 100 can output the original route navigation prompt in one or more ways such as text, pictures, animations, and voice.

[0126] For example, as shown in Figures 5F and 5H, when the vehicle is detected to change lanes from the third lane to the fourth lane recommended by the original navigation route, the electronic device 100 stops displaying the off-course route, performs lane-level navigation according to the original navigation route, and outputs the original route navigation prompts through voice broadcast.

[0127] For the case where there is no variable road segment in the remaining road segment for the deviation warning and the vehicle is predicted to deviate, Figures 5I to 5K show an example of a user interface.

[0128] In some embodiments, if there are no variable road sections in the remaining sections for the deviation warning and the vehicle is predicted to deviate, the electronic device 100 plans a lane-level deviation route after the deviation based on the vehicle's current position, current lane, and destination address. It also displays guidance lines for the deviated route and the original navigation route and outputs a deviation warning prompt. The deviation warning prompt is used to inform the user that "the vehicle is deviating. Changing lanes on the current section may be illegal. A new route will be switched. Please drive safely." It also provides the user with relevant information about the deviated route, which can be found in the description of the previous embodiment.

[0129] For example, referring to the lane-level navigation route shown in FIG5I , the yaw warning section before the next intersection is a long, solid white line segment, and recommended and non-recommended lanes within the yaw warning section are not changeable. As shown in FIG5J , after the vehicle reaches the yaw warning section, the third lane in which the vehicle is located is not a recommended lane (i.e., the fourth lane) in the lane-level navigation route, and no lane changes are possible within the long, solid white line segments. Electronic device 100 predicts that the vehicle will yaw. Electronic device 100 simultaneously displays the guide lines for the yaw route and the original navigation route, and outputs a yaw warning prompt via voice broadcast and driving guidance information 303.

[0130] Exemplarily, as shown in FIG5K , after the electronic device 100 outputs the yaw warning prompt for a preset duration (e.g., 3 seconds), it stops displaying the original navigation route, continues to display the yawed route, provides lane-level navigation function based on the yawed route, and outputs a new route navigation prompt, such as "We have been driving and navigating according to the new route. Changing lanes on the current section may violate the rules. Please drive safely."

[0131] In some embodiments, there is no variable road section in the remaining sections of the deviation warning. After the deviation risk is detected, if the vehicle is not detected to change lanes to the recommended lane of the original navigation route within a specific time period, a specific driving distance of the vehicle, or before a specific position of the deviation warning section, and continues to travel along the recommended lane of the deviated route, the electronic device 100 stops displaying the original navigation route, continues to display the deviated route, and provides a lane-level navigation function based on the deviated route; if the vehicle is detected to change lanes to the above-mentioned recommended lane, the display of the deviated route stops, and continues to display the original navigation route, and continues to provide a lane-level navigation function based on the original navigation route.

[0132] In some embodiments, when there is no variable road section in the remaining section of the deviation warning and it is predicted that the vehicle will deviate, the electronic device 100 obtains the lane-level yaw route after the deviation, directly switches the original navigation route to the yaw route, provides lane-level navigation function based on the yaw route, and outputs new route navigation prompts.

[0133] The following describes in detail the method flow of the lane-level navigation method provided by the embodiment of the present application in combination with the aforementioned embodiment.

[0134] Exemplarily, FIG6 shows a method flow of a lane-level navigation method, which includes part or all of steps S101 to S112.

[0135] S101. In response to a first operation, the map application of the electronic device 100 sends a first request to the cloud navigation module of the server 200. The first request is used to request to obtain a lane-level navigation route.

[0136] For example, referring to the relevant descriptions of Figures 5C to 5E, the search box 102 of the user interface 12 of the map application displays the destination address entered by the user, and the first operation may include the user's operation on the navigation control 104 / route control 105 (such as a touch operation), and the first operation is used to obtain the lane-level navigation route from the current location of the electronic device 100 to the destination address.

[0137] For example, referring to Figures 5D and 5E, the address box 201 of the user interface 13 of the map application displays the starting address and destination address confirmed by the user. The first operation may include an operation performed by the user on the navigation control 205 (such as a touch operation). The first operation is used to obtain a lane-level navigation route from the starting address to the destination address in the address box 201.

[0138] S102 . In response to the first request, the cloud navigation module of the server 200 obtains the lane-level navigation route 1 and the deviation warning section in the lane-level navigation route 1 based on the starting address and the destination address.

[0139] In the embodiment of the present application, lane-level navigation route 1 may also be referred to as the first lane-level navigation route.

[0140] In some embodiments, the first request includes a starting address and a destination address. For example, as shown in FIG5D , the starting address may be the current location of the electronic device 100 (i.e., the current location of the vehicle). The cloud navigation module of the server 200 combines high-precision road data to plan a lane-level navigation route 1 based on the starting address and the destination address. The guide line of the lane-level navigation route 1 indicates the driving path between the starting address and the destination address, as well as the recommended lanes at any location in the driving path. Specifically, the lane-level navigation route can refer to the relevant description of the aforementioned embodiment and will not be repeated here.

[0141] In some embodiments, when the vehicle is currently on a laned road and the starting address is the vehicle's current location, the first request also includes the vehicle's current lane. The cloud-based navigation module of server 200 utilizes high-precision road data to plan a lane-level navigation route 1 based on the vehicle's current location, current lane, and destination address. It will be appreciated that the resulting lane-level navigation route may differ depending on the vehicle's lane.

[0142] Combined with high-precision road data, the cloud-based navigation module of server 200 can accurately obtain road and intersection information along lane-level navigation route 1, including information such as intersection type, stop line location, number of lanes, lane marking type, and road conditions. Based on this road and intersection information, all deviation warning sections along lane-level navigation route 1 can be calculated. These deviation warning sections are used to detect deviation in advance and provide a user with a deviation warning when a deviation risk is detected.

[0143] In the embodiment of the present application, the first deviation warning section is determined based on the non-variable lane information and / or the preset distance in the lane-level navigation route 1.

[0144] In some embodiments, the deviation warning section includes a section at a preset distance (e.g., X meters) before the intersection, and / or a non-variable road section; the non-variable lane information includes the starting position, ending position, and length of the non-variable road section.

[0145] The deviation warning sections involved in the embodiments of the present application include some or all of the following types: sections X meters before the intersection, sections where deviation may occur (such as non-variable road sections), sections X meters before the above sections where deviation may occur, etc. Optionally, the above sections where deviation may occur may include sections where the lane lines are long white solid lines, and sections where the lane lines are white guide lines. Optionally, the above sections where deviation may occur may include sections where the lane lines are long white solid lines / white guide lines at specific locations (such as intersections, tunnels, etc.). Exemplarily, referring to Figures 4A and 4C, the deviation warning section may be the section X meters before the intersection. Exemplarily, the deviation warning section may be the above sections where deviation may occur, such as the long white solid line section before the tunnel shown in Figure 4B, and the long white solid line section before the intersection shown in Figure 4D. Specifically, the deviation warning section can refer to the relevant description of the above embodiments and will not be repeated here.

[0146] In some embodiments, the deviation warning section includes the section X meters before the intersection and the long white solid line section. The cloud navigation module of the server 200 obtains the deviation warning section in the lane-level navigation route 1, specifically including steps A1 to A3.

[0147] A1. The cloud-based navigation module marks the first X meters of each intersection along lane-level navigation route 1 as a course deviation warning section. The first X meters before the intersection near the vehicle is marked as the starting point of the course deviation warning section, and the point at the entrance to the intersection is marked as the ending point of the course deviation warning section.

[0148] In some embodiments, if there is a stop line before the intersection, the location of the stop line is marked as the end point of the above-mentioned deviation warning section.

[0149] A2. The cloud-based navigation module marks each long white solid line segment that lane-level navigation route 1 passes through as a course deviation warning segment. The starting point of the long white solid line segment closest to the vehicle is marked as the starting point of the course deviation warning segment, and the starting point of the other end of the long white solid line segment is marked as the ending point of the course deviation warning segment.

[0150] A3. Among the deviation warning sections determined in step A1 and step A2, if there is an overlap between the section X meters before the intersection and the Changbai solid line section, the combined section of the overlapping section X meters before the intersection and the Changbai solid line section is marked as a deviation warning section.

[0151] In one implementation, the entrance to the intersection is marked as the end point of the course deviation warning section; it is determined whether the distance between the starting point of the long white solid line before the intersection and the entrance is greater than X meters; if so, the starting point of the long white solid line is taken as the starting point of the course deviation warning section; otherwise, the point X meters before the intersection is taken as the starting point of the course deviation warning section.

[0152] The embodiments of the present application are implemented with full consideration given to various types of yaw warning sections, so that yaw detection and yaw warning prompts can be performed in advance on the yaw warning sections, thereby effectively improving the timeliness of yaw warnings.

[0153] S103 . The cloud navigation module of the server 200 sends first data to the map application of the electronic device 100 . The first data indicates the lane-level navigation route 1 and the deviation warning section in the lane-level navigation route 1 .

[0154] Based on the first request from the map application, the cloud navigation module plans a lane-level navigation route 1, marks a lane-level course deviation warning section in the lane-level navigation route 1, and then sends the marking of the course deviation warning section along with the data of the lane-level navigation route 1 to the map application of the electronic device 100. The lane-level course deviation warning section may indicate lane-level information such as the number of lanes, lane lines, and recommended lanes in the course deviation warning section.

[0155] Steps S101 to S103 are optional. In some embodiments, the electronic device 100 has a cloud navigation module and locally stores high-precision road data. The electronic device 100 does not need to send a first request to the server and can independently plan a lane-level navigation route and mark a deviation warning section.

[0156] S104 . Based on the first data, the map application of the electronic device 100 draws the lane-level navigation route 1 , displays the lane-level navigation route 1 , and navigates according to the lane-level navigation route 1 .

[0157] For example, referring to the relevant descriptions of Figures 5D and 5E, after navigation starts, the map application of the electronic device 100 navigates according to the lane-level navigation route 1, and displays the guide line of the lane-level navigation route 1 and the vehicle's driving lane; the guide line indicates that the vehicle continues to go straight and turn right at the next intersection. The recommended lanes of the lane-level navigation route 1 at the vehicle's current position are the first lane to the fourth lane, and the recommended lane near the next intersection is the fourth lane.

[0158] S105 . When the vehicle travels to the deviation warning section 1 , the electronic device 100 detects whether the vehicle has a deviation risk; if so, executes S106 and S110 .

[0159] In the embodiment of the present application, the lane-level navigation route 1 includes at least one deviation warning section, and the at least one deviation warning section includes a deviation warning section 1. The deviation warning section 1 may also be referred to as a first deviation warning section.

[0160] In some embodiments, the electronic device 100 obtains the current position of the vehicle through a high-precision positioning module; after the current position of the vehicle reaches the starting point of the deviation warning section 1, lane-level deviation detection is continuously performed to determine whether the vehicle has a deviation risk until the end point of the deviation warning section 1.

[0161] For example, referring to the relevant description of FIG. 5F , taking the deviation warning section 1 as the section X meters before the intersection as an example, after the vehicle travels to X meters before the intersection, the electronic device 100 starts lane-level deviation detection.

[0162] In some embodiments, lane-level deviation detection is performed to determine whether the vehicle has a deviation risk, specifically including: determining whether the vehicle's current driving lane belongs to the recommended lane of the lane-level navigation route 1 at the vehicle's current position; if not, the vehicle's driving position deviates from the guide line of the lane-level navigation route 1, and the map application determines that there is a deviation risk at present, and executes steps S106 to S109 (i.e., displaying the original navigation route and the deviated route at the same time), and / or step S110 (i.e., outputting a deviation warning prompt); if it does, the current vehicle's driving position does not deviate from the guide line of the lane-level navigation route 1, and the map application determines that there is no deviation risk at present, and continues to guide the user to drive normally according to the lane-level navigation route 1.

[0163] In some embodiments, the vehicle's current driving lane does not belong to the recommended lane of the lane-level navigation route 1 at the vehicle's current position, and the map application determines that there is a risk of deviation. Specifically, the following includes: the vehicle's current driving lane does not belong to the above-mentioned recommended lane, and there is a variable road section in the remaining section of the deviation warning, and the map application predicts that the vehicle may deviate; the vehicle's current driving lane does not belong to the above-mentioned recommended lane, and there is no variable road section in the remaining section of the deviation warning, and the map application predicts that the vehicle will deviate.

[0164] In an embodiment of the present application, a map application of an electronic device 100 (e.g., an in-vehicle device) can identify the lane in which the user is currently traveling, i.e., the vehicle's driving lane, by using the device's high-precision positioning module, camera, laser radar, millimeter-wave radar, and other modules. Alternatively, a map application of an electronic device 100 (e.g., a mobile phone or other terminal device) can identify the lane in which the user is currently traveling by using the high-precision positioning, camera, laser radar, millimeter-wave radar, and other modules of a connected device (e.g., an in-vehicle device).

[0165] S106. The map application of the electronic device 100 sends a second request to the cloud navigation module. The second request is used to request planning of a navigation route after continuing to drive along the current lane and causing deviation, that is, lane-level deviation route 1.

[0166] In this embodiment of the present application, the lane-level deviation route 1 may also be referred to as a second lane-level navigation route.

[0167] S107. In response to the second request, the cloud navigation module of the server 200 obtains a lane-level deviation route 1 and a deviation warning section in the deviation route based on the vehicle's current driving lane, current position, and destination address.

[0168] In some embodiments, the second request includes the vehicle's current location, the vehicle's current lane, and the destination address of lane-level navigation route 1. The starting address of lane-level deviation route 1 is the vehicle's current location, the destination address of lane-level deviation route 1 is the destination address of lane-level navigation route 1, and the recommended lane for lane-level deviation route 1 at the starting location includes the vehicle's current lane. For details, please refer to the description of step 102 and will not be repeated here.

[0169] S108 . The cloud navigation module of the server 200 sends second data to the map application of the electronic device 100 . The second data indicates the lane-level deviation route 1 and the deviation detection section in the lane-level deviation route 1 .

[0170] S109. Based on the second data, the map application of the electronic device 100 draws the lane-level deviation route 1, and displays the lane-level navigation route 1 and the lane-level deviation route 1 at the same time.

[0171] For example, referring to the relevant description of FIG. 5F and FIG. 5J , after detecting that the vehicle has a risk of deviation, the guide lines of the original navigation route and the deviated route are displayed simultaneously.

[0172] Steps S106 to S109 are optional. In some embodiments, the electronic device 100 has the function of a cloud navigation module, and the electronic device 100 can independently plan the lane-level deviation route and mark the deviation warning section without sending a second request to the server.

[0173] S110 . The map application of the electronic device 100 outputs a yaw warning prompt, which is used to remind the user that the vehicle currently has a yaw risk.

[0174] In some embodiments, the course deviation warning prompt is also used to prompt the user with information related to the lane-level deviation route 1, such as the distance, time taken to travel, road conditions, and differences from the lane-level navigation route 1. The course deviation warning prompt can also be referred to as the first prompt information.

[0175] The electronic device 100 can output a yaw warning prompt through the device itself or through another connected device. For example, the electronic device 100 is a mobile terminal device such as a mobile phone, and the other device can be an in-vehicle device such as an in-vehicle tablet, or a wearable device such as a watch or bracelet.

[0176] The prompt information involved in the embodiments of the present application (e.g., a deviation warning prompt) can be output through one or more of the following methods: voice playback, interface text display, interface image display, interface animation display, flashing of map display elements such as the navigation route or vehicle logo on the interface, screen brightness change, device vibration, flashing of the flashlight, changes in the brightness of the vehicle's interior ambient light, etc. The embodiments of the present application are not specifically limited to this.

[0177] For example, referring to the description related to FIG5F , when a vehicle deviation risk is detected and a variable road section exists within the deviation warning section, and the vehicle can change back to the recommended lane of lane-level navigation route 1, a deviation warning prompt is output through voice broadcast and driving guidance information 303, prompting the user, "May deviate, please change lanes safely." For example, referring to the description related to FIG5J , when a vehicle deviation risk is detected and a variable road section exists within the deviation warning section, and the vehicle cannot change back to the recommended lane of lane-level navigation route 1, a deviation warning prompt is output through voice broadcast and driving guidance information 303, prompting the user, "The vehicle is deviating, and changing lanes on the current section may be illegal."

[0178] By implementing the embodiments of the present application, in a lane-level deviation warning section, if the user's actual driving lane deviates from the recommended lane of the lane-level navigation route, the map application can provide a deviation warning prompt in advance and display the deviated route after the deviation, so that the user can promptly perceive the guide line, road conditions, time and other information of the deviated route, reduce the user's deviation anxiety, reduce the possibility of the user changing lanes illegally in the deviation warning section, promote user safe driving, and improve the user experience of driving deviation.

[0179] Step S110 is optional. In some embodiments, the new route navigation prompt may not be output.

[0180] S111. The map application of the electronic device 100 detects that the vehicle has not changed lanes to the recommended lane of the lane-level navigation route 1, stops displaying the lane-level navigation route 1, navigates according to the lane-level deviation route 1, and outputs a new route navigation prompt; the new route navigation prompt is used to prompt the user that the vehicle is driving according to the lane-level deviation route 1.

[0181] In some embodiments, after the electronic device simultaneously displays the lane-level navigation route 1 and the lane-level deviation route 1, if the vehicle continues to travel along the non-recommended lane of the first lane-level navigation route, the electronic device stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route.

[0182] In some embodiments, no new route navigation prompt may be output.

[0183] S112. The map application of the electronic device 100 detects that the vehicle has changed lanes to the recommended lane of the lane-level navigation route 1, stops displaying the lane-level deviation route 1, continues navigating according to the lane-level navigation route 1, and outputs the original route navigation prompt; the original route navigation prompt is used to prompt the user to continue driving according to the lane-level navigation route 1.

[0184] In some embodiments, the original route navigation prompt may not be output.

[0185] In some embodiments, for the case where there are variable road sections in the remaining sections of the deviation warning, after the map application of the electronic device 100 determines that there is a risk of deviation of the vehicle, if the vehicle's driving lane is not detected to be a recommended lane of the lane-level navigation route 1 within a specific duration, within a specific driving distance of the vehicle, or before a specific position of the deviation warning section, the guide line of the lane-level navigation route 1 will be stopped from being displayed, navigation will be performed according to the lane-level deviation route 1, and navigation prompts for the new route will be output; if the vehicle's driving lane is detected to be a recommended lane of the lane-level navigation route 1 within a specific duration, within a specific driving distance of the vehicle, or before a specific position of the deviation warning section, the guide line of the lane-level deviation route 1 will be stopped from being displayed, navigation will continue according to the lane-level navigation route 1, and navigation prompts for the original route will be output.

[0186] Specifically, the specific duration, specific driving distance, and specific location of the deviation warning section can be referred to the relevant description of the aforementioned embodiment, which will not be repeated here.

[0187] For example, referring to Figures 5F and 5G, after the yaw warning is output, it is detected that the vehicle continues to travel along the third lane recommended for the yaw route in the yaw warning section and does not change lanes to the fourth lane recommended for the original navigation route. The map application stops displaying the guide line of the original navigation route and navigates according to lane-level yaw route 1.

[0188] By implementing the embodiments of the present application, in the scenario where the user continues to drive along the yawed route, by displaying the yawed route in advance, the consistency and timeliness of the navigation route display can be ensured when the user's driving navigation deviates, the user's anxiety about the temporary lack of navigation route prompts / inconsistency with the actual driving road when the user deviates can be reduced, the possibility of the user changing lanes illegally can be reduced, and the user's driving safety can be improved.

[0189] For example, referring to Figures 5F and 5H, after the yaw warning is output, it is detected that the vehicle continues to travel along the third lane recommended for the yaw route in the yaw warning section and does not change lanes to the fourth lane recommended for the original navigation route. The map application stops displaying the guide line of the original navigation route and navigates according to lane-level yaw route 1.

[0190] By implementing the embodiments of the present application, in the scenario where the user returns to the original navigation route, based on the deviation warning prompt and the deviation route prompt, the user can return to the original navigation route in time; when the electronic device 100 continues to drive along the original navigation route, it stops displaying the deviation route, and can also ensure the continuity of the navigation route display when the user's driving navigation deviates, effectively improving the user experience of the user when the driving deviates.

[0191] In some embodiments, referring to Figures 5J and 5K , in the case where there are no variable road segments in the remaining sections of the deviation warning, after detecting that the vehicle is at risk of deviation and displaying both lane-level navigation route 1 and lane-level deviation route 1 simultaneously, after a specific duration (e.g., 3 seconds), a specific driving distance of the vehicle, or when the vehicle reaches a specific position on the deviation warning section, the display of lane-level navigation route 1 will automatically stop, and lane-level deviation route 1 will continue to be displayed. Navigation will be carried out according to lane-level deviation route 1, and a new route navigation prompt will be output. The aforementioned deviation warning prompt is also used to prompt the user that "navigation will soon be carried out according to lane-level deviation route 1."

[0192] If a vehicle is detected to be at risk of yaw, and lane changes between the non-recommended lane and the recommended lane are not permitted in the remaining section of the yaw warning, the vehicle will face penalty points and fines for changing lanes, and lane changes on this section are more likely to cause traffic accidents. Implementing the embodiments of the present application, in response to the above situation, promptly notifies the user that changing lanes in the current lane is illegal and promptly guides the user according to the yaw route, thereby reducing the risk of illegal lane changes and effectively improving the user's experience when driving yaw.

[0193] The structure of an electronic device 100 provided in an embodiment of the present application is introduced below.

[0194] FIG7 shows a schematic structural diagram of the electronic device 100 .

[0195] The electronic device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, a button 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a subscriber identification module (SIM) card interface 195, etc. The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc.

[0196] It should be understood that the structure illustrated in the embodiments of the present invention does not constitute a specific limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 may include more or fewer components than shown, or may combine or separate certain components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0197] The processor 110 may include one or more processing units. For example, the processor 110 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU). The different processing units may be independent devices or integrated into one or more processors.

[0198] The controller can generate operation control signals according to the instruction operation code and timing signal to complete the control of instruction fetching and execution.

[0199] Processor 110 may also include a memory for storing instructions and data. In some embodiments, the memory in processor 110 is a cache memory. This memory can store instructions or data that have just been used or are being recycled by processor 110. If processor 110 needs to use the same instruction or data again, it can directly access the memory. This avoids duplicate accesses, reduces processor 110 latency, and thus improves system efficiency.

[0200] In some embodiments, the processor 110 may include one or more interfaces. The interfaces may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface.

[0201] The I2C interface is a bidirectional synchronous serial bus that includes a serial data line (SDA) and a serial clock line (SCL). In some embodiments, the processor 110 may include multiple I2C bus lines. The processor 110 may be coupled to the touch sensor 180K, the charger, the flash, the camera 193, and the like via different I2C bus interfaces. For example, the processor 110 may be coupled to the touch sensor 180K via the I2C interface, enabling communication between the processor 110 and the touch sensor 180K via the I2C bus interface, thereby implementing the touch function of the electronic device 100.

[0202] The I2S interface can be used for audio communication. In some embodiments, the processor 110 can include multiple I2S buses. The processor 110 can be coupled to the audio module 170 via the I2S bus to enable communication between the processor 110 and the audio module 170. In some embodiments, the audio module 170 can transmit audio signals to the wireless communication module 160 via the I2S interface, enabling the function of answering calls through a Bluetooth headset.

[0203] The PCM interface can also be used for audio communication, sampling, quantizing, and encoding analog signals. In some embodiments, the audio module 170 and the wireless communication module 160 can be coupled via a PCM bus interface. In some embodiments, the audio module 170 can also transmit audio signals to the wireless communication module 160 via the PCM interface, enabling the function of answering calls via a Bluetooth headset. Both the I2S interface and the PCM interface can be used for audio communication.

[0204] The UART interface is a universal serial data bus used for asynchronous communication. This bus can be a bidirectional communication bus. It converts the data to be transmitted between serial communication and parallel communication. In some embodiments, the UART interface is typically used to connect the processor 110 and the wireless communication module 160. For example, the processor 110 communicates with the Bluetooth module in the wireless communication module 160 via the UART interface to implement Bluetooth functionality. In some embodiments, the audio module 170 can transmit audio signals to the wireless communication module 160 via the UART interface, enabling the function of playing music through Bluetooth headphones.

[0205] The MIPI interface can be used to connect the processor 110 to peripheral devices such as the display 194 and the camera 193. MIPI interfaces include the camera serial interface (CSI) and the display serial interface (DSI). In some embodiments, the processor 110 and the camera 193 communicate via the CSI interface to implement the camera function of the electronic device 100. The processor 110 and the display 194 communicate via the DSI interface to implement the display function of the electronic device 100.

[0206] The GPIO interface can be configured via software. The GPIO interface can be configured as either a control signal or a data signal. In some embodiments, the GPIO interface can be used to connect the processor 110 to the camera 193, display 194, wireless communication module 160, audio module 170, sensor module 180, etc. The GPIO interface can also be configured as an I2C interface, an I2S interface, a UART interface, a MIPI interface, etc.

[0207] The USB interface 130 is an interface that complies with USB standards and may be a Mini USB interface, a Micro USB interface, a USB Type-C interface, or the like. The USB interface 130 can be used to connect a charger to charge the electronic device 100, or to transfer data between the electronic device 100 and peripheral devices. It can also be used to connect headphones to play audio. This interface can also be used to connect other electronic devices, such as augmented reality devices.

[0208] It is understood that the interface connection relationship between the modules illustrated in the embodiment of the present invention is merely an illustrative illustration and does not constitute a structural limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 may also adopt different interface connection methods from the above embodiments, or a combination of multiple interface connection methods.

[0209] The charging management module 140 is configured to receive charging input from a charger. The charger can be either a wireless charger or a wired charger. In some wired charging embodiments, the charging management module 140 can receive charging input from the wired charger via the USB interface 130. In some wireless charging embodiments, the charging management module 140 can receive wireless charging input via the wireless charging coil of the electronic device 100. While charging the battery 142, the charging management module 140 can also provide power to the electronic device via the power management module 141.

[0210] The power management module 141 is used to connect the battery 142, the charging management module 140, and the processor 110. The power management module 141 receives input from the battery 142 and / or the charging management module 140, and provides power to the processor 110, the internal memory 121, the display 194, the camera 193, and the wireless communication module 160. The power management module 141 can also be used to monitor parameters such as battery capacity, battery cycle count, and battery health status (leakage, impedance). In some other embodiments, the power management module 141 can also be set in the processor 110. In other embodiments, the power management module 141 and the charging management module 140 can also be set in the same device.

[0211] The wireless communication function of the electronic device 100 can be implemented through the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor and the baseband processor.

[0212] Antenna 1 and Antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in electronic device 100 can be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve antenna utilization. For example, antenna 1 can be reused as a diversity antenna for a wireless local area network. In other embodiments, the antennas can be used in conjunction with a tuning switch.

[0213] The mobile communication module 150 can provide solutions for wireless communications including 2G / 3G / 4G / 5G applied to the electronic device 100. The mobile communication module 150 may include at least one filter, a switch, a power amplifier, a low noise amplifier (LNA), etc. The mobile communication module 150 can receive electromagnetic waves from the antenna 1, and filter, amplify, and process the received electromagnetic waves, and transmit them to the modulation and demodulation processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modulation and demodulation processor, and convert it into electromagnetic waves for radiation through the antenna 1. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the processor 110. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the same device as at least some of the modules of the processor 110.

[0214] The modem processor may include a modulator and a demodulator. The modulator is used to modulate the low-frequency baseband signal to be transmitted into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After being processed by the baseband processor, the low-frequency baseband signal is passed to the application processor. The application processor outputs a sound signal through an audio device (not limited to the speaker 170A, the receiver 170B, etc.) or displays an image or video through the display screen 194. In some embodiments, the modem processor may be an independent device. In other embodiments, the modem processor may be independent of the processor 110 and be set in the same device as the mobile communication module 150 or other functional modules.

[0215] The wireless communication module 160 can provide wireless communication solutions including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), etc., which are applied to the electronic device 100. The wireless communication module 160 can be one or more devices that integrate at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, demodulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 110. The wireless communication module 160 can also receive the signal to be sent from the processor 110, frequency modulate it, amplify it, and convert it into electromagnetic waves for radiation through the antenna 2.

[0216] In some embodiments, the antenna 1 of the electronic device 100 is coupled to the mobile communication module 150, and the antenna 2 is coupled to the wireless communication module 160, so that the electronic device 100 can communicate with a network and other devices through wireless communication technologies. The wireless communication technologies may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology. The GNSS may include a global positioning system (GPS), a global navigation satellite system (GLONASS), a Beidou navigation satellite system (BDS), a quasi-zenith satellite system (QZSS) and / or a satellite based augmentation system (SBAS).

[0217] Electronic device 100 implements display functionality through a GPU, display screen 194, and an application processor. A GPU is a microprocessor for image processing that connects display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. Processor 110 may include one or more GPUs that execute program instructions to generate or modify display information.

[0218] Display screen 194 is used to display images, videos, and the like. Display screen 194 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), a MiniLED, a MicroLED, a Micro-oLed, or a quantum dot light-emitting diode (QLED). In some embodiments, electronic device 100 may include one or N display screens 194, where N is a positive integer greater than one.

[0219] The electronic device 100 can implement a shooting function through an ISP, a camera 193, a video codec, a GPU, a display screen 194, and an application processor.

[0220] The ISP processes data fed back by camera 193. For example, when taking a photo, the shutter is opened, and light is transmitted through the lens to the camera's photosensitive element. The light signal is converted into an electrical signal, which is then passed to the ISP for processing and converted into a visible image. The ISP can also perform algorithmic optimization on image noise and brightness. It can also optimize parameters such as exposure and color temperature of the captured scene. In some embodiments, the ISP can be located within camera 193.

[0221] The camera 193 is used to capture still images or videos. The object generates an optical image through the lens and projects it onto the photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the light signal into an electrical signal, and then passes the electrical signal to the ISP for conversion into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard RGB, YUV or other format. In some embodiments, the electronic device 100 may include 1 or N cameras 193, where N is a positive integer greater than 1.

[0222] The digital signal processor is used to process digital signals. In addition to processing digital image signals, it can also process other digital signals. For example, when the electronic device 100 selects a frequency point, the digital signal processor is used to perform Fourier transform on the frequency point energy.

[0223] Video codecs are used to compress or decompress digital video. Electronic device 100 may support one or more video codecs. This allows electronic device 100 to play or record videos in various encoding formats, such as Moving Picture Experts Group (MPEG) 1, MPEG2, MPEG3, and MPEG4.

[0224] The NPU is a neural network (NN) computing processor. Drawing on the structure of biological neural networks, such as the transmission patterns between neurons in the human brain, it rapidly processes input information and can continuously self-learn. The NPU can enable intelligent cognitive applications in electronic device 100, such as image recognition, face recognition, speech recognition, and text comprehension.

[0225] The internal memory 121 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM).

[0226] Random access memory may include 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, for example, the fifth generation DDR SDRAM is generally referred to as DDR5 SDRAM), etc.; non-volatile memory may include disk storage devices and flash memory.

[0227] Flash memory can be divided into NOR FLASH, NAND FLASH, 3D NAND FLASH, etc. according to the operating principle; single-level cell (SLC), multi-level cell (MLC), triple-level cell (TLC), quad-level cell (QLC), etc. according to the storage cell potential level; universal flash storage (UFS) and embedded multi media card (eMMC) can be divided into UFS and eMMC according to the storage specification.

[0228] The random access memory can be directly read and written by the processor 110, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, and can also be used to store user and application data.

[0229] The non-volatile memory may also store executable programs and user and application data, etc., and may be loaded into the random access memory in advance for direct reading and writing by the processor 110 .

[0230] The external memory interface 120 can be used to connect to an external non-volatile memory to expand the storage capacity of the electronic device 100. The external non-volatile memory communicates with the processor 110 via the external memory interface 120 to implement data storage. For example, files such as music and videos can be stored in the external non-volatile memory.

[0231] The electronic device 100 can implement audio functions such as music playback and recording through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the headphone jack 170D, and the application processor.

[0232] The audio module 170 is used to convert digital audio information into analog audio signal output, and is also used to convert analog audio input into digital audio signals. The audio module 170 can also be used to encode and decode audio signals. In some embodiments, the audio module 170 can be provided in the processor 110, or some functional modules of the audio module 170 can be provided in the processor 110.

[0233] The speaker 170A, also called a "speaker", is used to convert audio electrical signals into sound signals. The electronic device 100 can listen to music or listen to hands-free calls through the speaker 170A.

[0234] The receiver 170B, also called a "handset", is used to convert audio electrical signals into sound signals. When the electronic device 100 receives a call or a voice message, the user can place the receiver 170B close to the ear to hear the voice.

[0235] Microphone 170C, also known as a "microphone" or "speaker," is used to convert sound signals into electrical signals. When making a call or sending a voice message, a user can speak by approaching microphone 170C with their mouth to input the sound signal into microphone 170C.

[0236] The headphone jack 170D is used to connect a wired headphone and can be the USB interface 130 or a 3.5mm open mobile terminal platform (OMTP) standard interface or a cellular telecommunications industry association of the USA (CTIA) standard interface.

[0237] The pressure sensor 180A is used to sense pressure signals and convert them into electrical signals. There are many types of pressure sensors 180A, such as resistive pressure sensors, inductive pressure sensors, and capacitive pressure sensors.

[0238] The gyro sensor 180B may be used to determine the motion posture of the electronic device 100. In some embodiments, the angular velocity of the electronic device 100 around three axes (ie, x, y, and z axes) may be determined by the gyro sensor 180B.

[0239] The air pressure sensor 180C is used to measure air pressure. In some embodiments, the electronic device 100 calculates the altitude using the air pressure value measured by the air pressure sensor 180C to assist in positioning and navigation.

[0240] The magnetic sensor 180D includes a Hall sensor, and the electronic device 100 can use the magnetic sensor 180D to detect the opening and closing of the flip leather case.

[0241] The acceleration sensor 180E can detect the magnitude of the acceleration of the electronic device 100 in various directions (generally three axes).

[0242] The distance sensor 180F is used to measure distance. The electronic device 100 can measure distance by infrared or laser.

[0243] The proximity light sensor 180G may include, for example, a light emitting diode (LED) and a light detector, such as a photodiode. The light emitting diode may be an infrared light emitting diode.

[0244] The ambient light sensor 180L is used to sense the brightness of the ambient light. The electronic device 100 can adaptively adjust the brightness of the display screen 194 according to the sensed brightness of the ambient light.

[0245] The fingerprint sensor 180H is used to collect fingerprints. The electronic device 100 can use the collected fingerprint characteristics to implement fingerprint unlocking, access application locks, fingerprint photography, fingerprint call answering, etc.

[0246] The temperature sensor 180J is used to detect temperature. In some embodiments, the electronic device 100 uses the temperature detected by the temperature sensor 180J to execute a temperature processing strategy.

[0247] The touch sensor 180K is also called a "touch-sensitive device." The touch sensor 180K can be disposed on the display screen 194. The touch sensor 180K and the display screen 194 form a touch screen, also called a "touch screen." The touch sensor 180K is used to detect touch operations applied thereto or in the vicinity thereof. The touch sensor can transmit the detected touch operations to the application processor to determine the type of touch event. Visual output related to the touch operations can be provided via the display screen 194. In other embodiments, the touch sensor 180K can also be disposed on the surface of the electronic device 100, at a location different from that of the display screen 194.

[0248] The bone conduction sensor 180M can obtain a vibration signal. In some embodiments, the bone conduction sensor 180M can obtain a vibration signal of a vibrating bone mass in a human vocal part.

[0249] The buttons 190 include a power button, a volume button, and the like. The buttons 190 may be mechanical buttons or touch buttons. The electronic device 100 may receive key inputs and generate key signal inputs related to user settings and function control of the electronic device 100.

[0250] Motor 191 can generate vibration prompts. Motor 191 can be used for incoming call vibration prompts and can also be used for touch vibration feedback.

[0251] The indicator 192 may be an indicator light, which may be used to indicate charging status, power level changes, messages, missed calls, notifications, etc.

[0252] The SIM card interface 195 is used to connect a SIM card.

[0253] The following describes the structure of a server 200 provided in an embodiment of the present application.

[0254] FIG8 exemplarily shows the structure of a server 200 provided in an embodiment of the present application.

[0255] As shown in Figure 8, the server 200 may include: one or more processors 1001, a memory 1002, a communication interface 1003, a transmitter 1005, a receiver 1006, a coupler 1007, and an antenna 1008. These components may be connected via a bus 1004 or other means, with Figure 8 using a bus connection as an example.

[0256] The communication interface 1003 can be used for the server 200 to communicate with other communication devices, such as the electronic device 100. Specifically, the communication interface 1003 can be a 3G communication interface, a 4G communication interface, a 5G communication interface, or a communication interface of a future new air interface. Not limited to a wireless communication interface, the server 200 can also be configured with a wired communication interface 1003, such as a local access network (LAN) interface. The transmitter 1005 can be used to transmit and process the signal output by the processor 1001. The receiver 1006 can be used to receive and process the mobile communication signal received by the antenna 1008.

[0257] In some embodiments of the present application, transmitter 1005 and receiver 1006 can be considered a wireless modem. In server 200, the number of transmitters 1005 and receivers 1006 can be one or more. Antenna 1008 can be used to convert electromagnetic energy in a transmission line into electromagnetic waves in free space, or vice versa. Coupler 1007 is used to split the mobile communication signal received by antenna 1008 into multiple paths and distribute them to multiple receivers 1006.

[0258] Memory 1002 is coupled to processor 1001 and is used to store various software programs and / or multiple sets of instructions. Specifically, memory 1002 may include high-speed random access memory and may also include non-volatile memory, such as one or more disk storage devices, flash memory devices, or other non-volatile solid-state storage devices. Memory 1002 may store a network communication program that can be used to communicate with one or more additional devices, one or more terminal devices, or one or more network devices.

[0259] In some embodiments of the present application, the memory 1002 may be used to store an implementation program of the application distribution method provided by one or more embodiments of the present application on the server 200 side. For implementation of the application distribution method provided by one or more embodiments of the present application, please refer to the above embodiments.

[0260] The processor 1001 may be configured to read and execute computer-readable instructions. Specifically, the processor 1001 may be configured to call a program stored in the memory 1002, such as a program for implementing the application distribution method provided in one or more embodiments of the present application on the server 200 side, and execute the instructions contained in the program.

[0261] It should be noted that the server 200 shown in FIG8 is only one implementation of the embodiment of the present application. In actual applications, the server 200 may also include more or fewer components, which is not limited here.

[0262] For more details about the functions and working principles of the server 200, please refer to the relevant content in the above embodiments, which will not be repeated here.

[0263] The various implementation modes of this application can be combined arbitrarily to achieve different technical effects.

[0264] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described herein are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in 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 a wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0265] Those skilled in the art will appreciate that all or part of the process steps in the above-described method embodiments can be implemented by a computer program instructing the relevant hardware. The program can be stored in a computer-readable storage medium, and when executed, the program can include the process steps in the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

[0266] In short, the above description is only an embodiment of the technical solution of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made based on the disclosure of the present invention should be included in the scope of protection of the present invention.

Claims

1. A lane-level navigation method, characterized in that: The method comprises: The electronic device displays a first lane-level navigation route and performs navigation according to the first lane-level navigation route; the first lane-level navigation route includes at least one deviation warning section, and the first lane-level navigation route indicates a driving path between a current position of the vehicle and a destination address and a recommended lane at any position in the driving path; When the vehicle is traveling on the first deviation warning section, detecting whether the vehicle has a deviation risk; the at least one deviation warning section includes the first deviation warning section; the first deviation warning section is determined based on non-variable lane information and / or a preset distance; If there is a risk of deviation, the electronic device displays a second lane-level navigation route; the second lane-level navigation route is determined based on the current position of the vehicle, the current lane of the vehicle and the destination address of the first lane-level navigation route; Among them, the detecting whether the vehicle has a deviation risk includes: detecting whether the current driving lane of the vehicle belongs to the recommended lane of the first lane-level navigation route at the current position of the vehicle; if not, there is a deviation risk; otherwise, there is no deviation risk.

2. The method according to claim 1, characterized in that The first deviation warning road section is a non-variable road section; the non-variable lane information includes a starting position, an ending position and a length of the non-variable road section.

3. The method according to claim 1, characterized in that The first deviation warning section is determined based on a section with a preset distance before the intersection and a non-variable road section; the non-variable lane information includes a starting position, an ending position and a length of the non-variable road section.

4. The method according to any one of claims 1 to 3, characterized in that: The method further includes: if there is a risk of deviation, the electronic device simultaneously displays the first lane-level navigation route and the second lane-level navigation route; When the vehicle continues to travel along the non-recommended lane of the first lane-level navigation route, the electronic device stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route.

5. The method according to claim 4, characterized in that When the vehicle continues to travel along the first lane, the electronic device stops displaying the first lane-level navigation route and performs navigation according to the second lane-level navigation route, including: After detecting that the vehicle has a risk of deviation, if it is not detected that the vehicle's driving lane belongs to the recommended lane of the first lane-level navigation route within a specific time period, within a specific driving distance of the vehicle, or before the vehicle reaches a specific position of the deviation warning section, the electronic device stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route.

6. The method according to claim 4, characterized in that The deviation warning section does not include a variable road section, and the variable road section is a section in the first deviation warning section where lanes can be changed between a recommended lane and a non-recommended lane of the first lane-level navigation route; When the vehicle continues to travel along the first lane, the electronic device stops displaying the first lane-level navigation route and performs navigation according to the second lane-level navigation route, including: After detecting that the vehicle is at risk of deviation, the electronic device automatically stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route after a specific period of time, a specific driving distance of the vehicle, or when the vehicle reaches a specific position of the deviation warning section.

7. The method according to claim 2, characterized in that The method further comprises: If there is a risk of deviation, when the vehicle travels on the first deviation warning section, the electronic device automatically stops displaying the first lane-level navigation route and navigates according to the second lane-level navigation route.

8. The method according to any one of claims 1 to 7, further comprising: If there is a risk of deviation, output the first prompt information; The first prompt information is used to prompt one or more of the following: the vehicle is at risk of deviation, and information of the second lane-level navigation route; The information of the second lane-level navigation route includes one or more of the following: the length of the second lane-level navigation route, the travel time of the second lane-level navigation route, the road condition of the second lane-level navigation route, the difference in length between the second lane-level navigation route and the first lane-level navigation route, and the difference in travel time between the second lane-level navigation route and the first lane-level navigation route.

9. The method according to claim 8, characterized in that If there is a risk of deviation, and the first deviation warning section includes a variable road section, the first prompt information is used to prompt the user that the vehicle can Ability to deviate and change lanes to the recommended lane; If there is a risk of deviation, and the first deviation warning section does not include a changeable road section, the first prompt information is used to prompt the vehicle that the vehicle is deviating and that the current lane change may be illegal; The variable road section is a section in the first deviation warning section where lanes can be changed between a recommended lane and a non-recommended lane of the first lane-level navigation route.

10. The method according to any one of claims 4 to 7, characterized in that: After the electronic device simultaneously displays the first lane-level navigation route and the second lane-level navigation route, the electronic device further includes: When it is detected that the vehicle's driving lane belongs to the recommended lane of the first lane-level navigation route at the vehicle's current position, the electronic device stops displaying the second lane-level navigation route and continues to navigate according to the first lane-level navigation route.

11. The method according to any one of claims 1 to 10, characterized in that: The method further comprises: In response to the first operation, the electronic device sends a first request to the server; the first request is used to request planning of a lane-level navigation route; The electronic device receives first data; the first data indicates the first lane-level navigation route and a deviation warning section in the first lane-level navigation route.

12. The method according to any one of claims 1 to 11, characterized in that: After detecting that the vehicle has a risk of deviation, the method further includes: The electronic device sends a second request to the server; the second request is used to request planning of a lane-level navigation route, and the second request includes the current position of the vehicle, the current lane of the vehicle, and the destination address of the first lane-level navigation route; The electronic device receives second data; the first data indicates the second lane-level navigation route and a deviation warning section in the second lane-level navigation route.

13. An electronic device, characterized in that: include: A processor and a memory, wherein the memory is coupled to the processor, the memory is used to store computer program code, the computer program code includes computer instructions, and when the processor reads the computer instructions from the memory, the electronic device executes the method as claimed in claims 1 to 12.

14. A computer-readable storage medium, characterized in that: The method comprises computer instructions, which, when executed on a server, cause the server to execute the method according to claims 1 to 12.

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