Vehicle off-course identification and correction method, apparatus and system

Abstract

The present application relates to the technical field of navigation. Disclosed are a vehicle off-course identification and correction method, apparatus and system, which are capable of quickly and accurately identifying and correcting vehicle off-course, thus improving the user experience. In the present application, during the process of performing navigation guidance on the basis of a navigation route, a navigation apparatus may determine, on the basis of the difference between a vehicle body inclination angle and the slope of a current navigation road segment, whether the vehicle has gone off-course, and promptly request a new navigation route upon determining that the vehicle has gone off-course. A road slope attribute is introduced into the off-course identification of means of transportation such as a vehicle, and the off-course identification and correction of the means of transportation such as the vehicle are performed on the basis of the road slope attribute, such that vehicle off-course can be quickly and accurately identified and corrected; particularly in complex scenarios such as a parallel-road fork scenario, the accuracy and timeliness of off-course identification and off-course correction can be greatly improved, and thus improving the user experience.

Description

Vehicle yaw detection and correction methods, devices and systems

[0001] This application claims priority to Chinese Patent Application No. 202510121264.0, filed on January 24, 2025, entitled “Vehicle Yaw Recognition and Correction Method, Apparatus and System”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of navigation technology, and in particular to a method, device and system for vehicle yaw identification and correction. Background Technology

[0003] Navigation is the technology or method that guides vehicles and other means of transportation from a starting point to a destination. During navigation, drivers often deviate from the original navigation route due to unfamiliarity with the actual roads, taking the wrong lane, or missing exits. In such cases, map applications can identify the vehicle's deviation status through positioning and related calculations, and then correct the deviation (such as obtaining a replanned navigation route) to help the driver reach their destination smoothly.

[0004] As an example, map applications can identify whether a vehicle is veering off course by comparing its position with the navigation route and road topology data. However, this method is less accurate and time-consuming, especially in complex road conditions, such as at parallel or near-parallel road junctions. It is difficult to accurately identify whether a vehicle is veering off course, and the correction will be delayed, causing anxiety for the user and affecting driving safety. Summary of the Invention

[0005] This application provides a method, apparatus, and system for vehicle yaw recognition and correction, which can quickly and accurately identify and correct vehicle yaw in various road scenarios, thereby improving user experience.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] In a first aspect, a method for identifying and correcting vehicle yaw is provided. This method can be applied to a navigation device. The method includes: displaying a first navigation route; when the absolute value of the difference between the vehicle's tilt angle and the slope of the current navigation segment in the first navigation route is greater than a vertical angle threshold, acquiring data for a second navigation route, wherein the destination of the second navigation route is the same as that of the first navigation route; and displaying the second navigation route, wherein the second navigation route is used to correct vehicle yaw.

[0008] The solution provided in the first aspect allows the navigation device to determine whether a vehicle is veering off course during navigation guidance based on the difference between the vehicle's tilt angle and the slope of the current navigation segment. If a deviation is confirmed, a new navigation route is requested promptly. By incorporating road slope attributes into the vehicle and other vehicle deviation identification process, and combining this with deviation identification and correction, vehicle deviation can be quickly and accurately identified and corrected. This is particularly beneficial in complex scenarios such as parallel road intersections, significantly improving the accuracy and timeliness of deviation identification and correction, thus enhancing the user experience.

[0009] For example, the vertical angle threshold, such as 0°, 2°, 5°, etc., is not limited.

[0010] As one possible implementation, the method further includes: obtaining the vehicle tilt angle when the distance to the road fork before the vehicle reaches the current navigation segment is less than a first distance threshold; or, obtaining the vehicle tilt angle when the vehicle reaches the road fork; or, obtaining the vehicle tilt angle when the distance to the road fork is greater than a second distance threshold after the vehicle has passed the road fork. This allows the navigation device to flexibly adjust the timing of vehicle tilt angle acquisition to meet different user preferences and improve the user experience.

[0011] For example, when a user wants to save power consumption of the navigation device, the navigation device can obtain the vehicle tilt angle when the vehicle arrives at a road junction, or when the vehicle passes through a road junction and the distance to the road junction is greater than a second distance threshold.

[0012] As one possible implementation, the above method further includes: obtaining information about a first road related to the first navigation route, wherein the first road intersects with the first navigation route; determining information about a first starting point based on the information about the first road; and sending the information about the first starting point to a cloud-side server, wherein the information about the first starting point is used by the cloud-side server to plan a second navigation route from the first starting point to the destination. In this way, a new starting point (such as the first starting point) can be quickly and accurately determined using the information about the first road, so that the cloud-side server can plan a new navigation route (such as the second navigation route) from the new starting point to the destination.

[0013] For example, information about the first starting point could be such as the road sign (identity, ID) of the current travel segment when the vehicle detects a deviation from its course.

[0014] As one possible implementation, the horizontal angle between the road corresponding to the first starting point and the current navigation segment is less than a horizontal angle threshold. This allows for rapid and accurate identification and correction of vehicle deviation in parallel road fork scenarios, improving the user experience.

[0015] For example, the road corresponding to the first starting point is a tunnel, and the current navigation segment is a road on the tunnel; or, the road corresponding to the first starting point is a road on the tunnel, and the current navigation segment is a tunnel. Alternatively, the road corresponding to the first starting point is a road on an overpass, and the current navigation segment is a road under the overpass; or, the road corresponding to the first starting point is a road under the overpass, and the current navigation segment is a road on the overpass.

[0016] As one possible implementation, the method further includes displaying markers at the road forks in the first navigation route. These markers serve to alert the user to be cautious at road forks to avoid taking the wrong turn. This reduces the likelihood of the user taking the wrong turn at road forks and improves the user experience.

[0017] As one possible implementation, the method further includes: acquiring data and attributes of a second road related to the second navigation route, wherein the second road intersects with the second navigation route, and the second road attributes include road slope data related to the second navigation route; determining information about a second starting point based on the second road data when the absolute value of the difference between the vehicle's tilt angle and the slope of the current navigation segment in the second navigation route is greater than a vertical angle threshold; and sending the information about the second starting point to a cloud-side server, which is used by the cloud-side server to plan a third navigation route from the second starting point to the destination. In this way, during navigation guidance based on the second navigation route, the method can accurately and promptly determine whether the vehicle is deviating from its course based on the difference between the vehicle's tilt angle and the slope of the current navigation segment, and promptly request a new navigation route when vehicle deviation is determined, thereby improving the user experience.

[0018] As one possible implementation, the method further includes: responding to the user's navigation initiation operation, sending a first navigation request to the cloud-side server, the first navigation request being used to request the cloud-side server to plan a navigation route from the initial starting point to the destination; receiving data of the first navigation route and first road attributes related to the first navigation route from the cloud-side server, the first road attributes including road gradient data related to the first navigation route, the first road attributes being used by the navigation device to identify whether the vehicle is deviating from its course during the display of the first navigation route. In this way, navigation-related processes such as navigation route planning can be efficiently completed through an edge-cloud collaborative architecture, and the cloud-side server, by issuing the first road attributes, facilitates the navigation device to identify whether the vehicle is deviating from its course during subsequent navigation based on the first road attributes.

[0019] As one possible implementation, the method also includes prompting the user to indicate whether it is uphill or downhill based on the first road attribute when the vehicle is about to reach a road fork in the road before the current navigation segment. This reduces the likelihood of the user taking the wrong turn at a road fork and improves the user experience.

[0020] As one possible implementation, the first navigation request mentioned above carries information about the initial starting point and the destination. This increases the flexibility of navigation route planning to meet different user preferences; for example, a user can trigger route planning and navigation planning with a single request.

[0021] As one possible implementation, before receiving the user's navigation start operation, the method further includes: responding to the user's route planning request by sending a route planning request to a cloud-side server, the route planning request carrying information about the initial starting point and the destination; receiving the route planning result from the cloud-side server; and displaying an interface based on the route planning result, which includes the driving route from the initial starting point to the destination; wherein the navigation start operation is triggered on the interface. This improves the flexibility of navigation route planning to meet different user preferences; for example, the user can initiate a route planning request first, and then initiate a navigation route planning request.

[0022] In a second aspect, a navigation device is provided, comprising: a display screen for displaying an interface; a memory for storing computer program instructions; and a processor for executing the computer program instructions to support the navigation device in implementing the method as described in any possible implementation of the first aspect.

[0023] Thirdly, a vehicle is provided that includes means or modules for implementing the methods as described in any possible implementation of the first aspect. Exemplarily, the vehicle includes a navigation device as described in the second aspect.

[0024] Fourthly, a readable storage medium is provided that stores program instructions, which, when executed by a device, can implement the methods as described in any possible implementation of the first aspect.

[0025] Fifthly, a program product containing instructions is provided, which, when run on a device, enables the device to perform methods as described in any possible implementation of the first aspect.

[0026] Sixthly, a chip system is provided, comprising processing circuitry and a storage medium storing program instructions; when executed by the processing circuitry, the program instructions can implement the methods described in any possible implementation of the first aspect. The chip system may be composed of chips or may include chips and other discrete devices. Attached Figure Description

[0027] Figure 1 is a flowchart of a method for identifying and correcting vehicle yaw;

[0028] Figure 2 is a schematic diagram of a system architecture for vehicle yaw recognition and correction provided in an embodiment of this application;

[0029] Figure 3 is a flowchart of a vehicle yaw recognition and correction method provided in an embodiment of this application;

[0030] Figure 4 is a schematic diagram of a navigation interface provided in an embodiment of this application;

[0031] Figure 5 is a schematic diagram of the inclination angle relationship of a parallel road with a bifurcation provided in an embodiment of this application;

[0032] Figure 6 is a schematic diagram of yaw weight planning provided in an embodiment of this application;

[0033] Figure 7 is an interactive diagram of a vehicle yaw recognition and correction process provided in an embodiment of this application;

[0034] Figure 8 is an interactive diagram of another vehicle yaw recognition and correction process provided in an embodiment of this application. Detailed Implementation

[0035] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; "and / or" in this text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0036] In the following text, the terms "first," "second," etc., are used only to distinguish different descriptive objects and do not limit the position, order, priority, quantity, size, or content of the described objects. For example, if the described object is "road," the ordinal numbers before "road" in "first road" and "second road" do not limit the position or order of the "roads," nor do "first" and "second" limit whether the "roads" they modify are in the same navigation interface. Similarly, if the described object is "distance threshold," the ordinal numbers before "distance threshold" in "first distance threshold" and "second distance threshold" do not limit the size of the "distance thresholds." Furthermore, the number of described objects is not limited by ordinal numbers and can be one or more; for example, in "first road attribute," the number of "road attributes" can be one or more. In addition, objects modified by different prefixes can be the same or different. For example, if the described object is "electronic device," "first electronic device" and "second electronic device" can be the same type of device or different types of devices. Similarly, if the described object is "road attribute," "first road attribute" and "second road attribute" can be the same road attribute or different road attributes. In summary, the use of ordinal numbers and other prefixes used to distinguish the described objects in the embodiments of this application does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and the use of such prefixes should not constitute an unnecessary limitation.

[0037] Furthermore, in the embodiments of this application, "connection" can be a direct connection or an indirect connection; in addition, it can refer to an electrical connection or a communication connection; for example, the connection of two electrical components A and B can refer to A and B being directly connected, or it can refer to A and B being indirectly connected through other electrical components or connection media, or it can refer to A and B being indirectly connected through other communication devices or communication media, as long as it enables communication between A and B.

[0038] Currently, map applications typically identify whether a vehicle has deviated from its course by comparing its location with the navigation route and road topology data. As an example, please refer to Figure 1, which shows a flowchart of a method for identifying and correcting vehicle deviation. As shown in S101-S102 of Figure 1, the map application can obtain the vehicle's location information and determine whether the road segment where the vehicle is located matches (e.g., overlaps with) the navigation route. If the vehicle's location information determines that the road segment it is on matches (e.g., overlaps) with the navigation route, then the vehicle is determined not to have deviated from its course, and the map application can re-execute S101 (e.g., execute S101 at regular intervals after a certain duration). If the vehicle's location information determines that the road segment it is on does not match (e.g., does not overlap), the map application executes S103, determining whether the vehicle is within the local road network based on its location information. For example, the map application can use the vehicle's location information to identify forks in the navigation route that the vehicle missed, construct a local road network based on the forks and road topology data, and determine whether the road segment the vehicle is on is within the local road network by comparing it with the local road network. If the vehicle is determined to be within the local road network, the map application determines that the vehicle has deviated and triggers deviation correction; if the vehicle is determined not to be within the local road network, the map application does not perform any action.

[0039] As road construction becomes increasingly sophisticated and upgraded, road systems are becoming more complex. The vehicle yaw detection scheme shown in Figure 1 struggles to accurately identify yaw in complex road conditions, such as at parallel or near-parallel road junctions. Furthermore, this scheme requires comparing the vehicle's location with the local road network to determine if the vehicle is within the network, and then deciding whether to trigger yaw correction. This decision-making process is time-consuming, potentially leading to significant delays in yaw correction, causing driver anxiety, impacting driving safety, and resulting in a poor user experience.

[0040] To improve the efficiency and accuracy of vehicle yaw recognition and correction, this application provides a vehicle yaw recognition and correction method. This method incorporates road slope attributes when recognizing vehicle yaw, and combines road slope attributes to quickly and accurately identify and correct vehicle yaw. Especially in complex scenarios such as parallel road forks or near-parallel road forks, it can greatly improve the accuracy and timeliness of yaw recognition and correction, thereby enhancing the user experience.

[0041] As an example, the vehicle yaw recognition and correction method provided in this application can be applied to bifurcation scenarios. Exemplarily, bifurcation scenarios may include, but are not limited to, parallel road bifurcation scenarios, approximately parallel road bifurcation scenarios, and ordinary bifurcation scenarios. Parallel road bifurcation scenarios may include, but are not limited to, parallel road bifurcation scenarios on and off elevated bridges and parallel road bifurcation scenarios on and off tunnels; approximately parallel road bifurcation scenarios may include, but are not limited to, bifurcation scenarios where the horizontal angle between the original navigation road segment and the yaw route is small (e.g., less than a horizontal angle threshold); ordinary bifurcation scenarios refer to bifurcation scenarios where the horizontal angle between the original navigation road segment and the yaw route is greater than or equal to a horizontal angle threshold; the horizontal angle threshold is not limited to 10°, 15°, etc.

[0042] For example, in the scenario of a bifurcation of parallel roads above and below an overpass, if the bifurcation connects two longitudinally branching roads with different slope angles (e.g., one road is uphill and the other is flat or downhill), the two bifurcation roads overlap (e.g., coincide) when viewed from above. Similarly, in the scenario of a bifurcation of parallel roads above and below a tunnel, if the bifurcation connects two longitudinally branching roads with different slope angles (e.g., one road is flat and the other downhill), the two bifurcation roads overlap (e.g., coincide) when viewed from above.

[0043] As an example, the vehicle yaw recognition and correction method provided in the application embodiment can be applied to an edge-cloud combined architecture.

[0044] For example, please refer to Figure 2, which shows a schematic diagram of a system architecture for vehicle yaw recognition and correction provided in an embodiment of this application. As shown in Figure 2, the system architecture for vehicle yaw recognition and correction may include a cloud-side server 210 and a vehicle-mounted unit 220.

[0045] As an example, the cloud-side server 210 may include the first communication module 210-1, the route planning module 210-2, and the road database 210-3 shown in Figure 2.

[0046] The first communication module 210-1 is primarily responsible for communication between the cloud server 210 and other devices or apparatuses (such as the vehicle infotainment system 220 shown in Figure 2). In some embodiments of this application, the first communication module 210-1 can receive route planning requests from the vehicle infotainment system 220 and transmit them to the route planning module 210-2, and send data such as the route planning results obtained by the route planning module 210-2 to the vehicle infotainment system 220. In some embodiments of this application, the first communication module 210-1 can receive navigation requests from the vehicle infotainment system 220 and transmit them to the route planning module 210-2, and send data such as the navigation route planned by the route planning module 210-2, as well as information on related roads and road attributes, to the vehicle infotainment system 220. The related roads intersect with the navigation route. For example, the information on the related roads can be presented in the form of a fishbone diagram.

[0047] The route planning module 210-2 is mainly used to provide map, navigation and other related services for map applications. For example, the route planning module 210-2 can provide services such as map display, route planning, navigation guidance calculation and yaw weight planning for end devices such as vehicle-mounted systems 220.

[0048] As an example, the route planning module 210-2 can perform route planning based on the route planning request from the vehicle's infotainment system 220, obtaining the route planning result from the starting point to the destination. The route planning request carries information about the starting point and the destination. Furthermore, the route planning module 210-2 can perform navigation route planning based on the route planning result according to the navigation request from the vehicle's infotainment system 220, obtaining navigation route data from the starting point to the destination. Optionally, the route planning request may also carry user preferences, such as including but not limited to one or more of the following: highway priority, avoiding highways, saving time, shorter distance, fewer traffic lights, or good road conditions, etc., without limitation.

[0049] As an example, the vehicle-mounted system 220 can directly send a navigation request to the cloud-side server 210. The navigation request carries information about the starting point and the destination. The route planning module 210-2 can perform route planning based on the navigation request from the vehicle-mounted system 220, obtain the route planning result from the starting point to the destination, and perform navigation route planning based on the route planning result to obtain the navigation route data from the starting point to the destination.

[0050] In some embodiments, the path planning module 210-2 can also search for the location of the starting point in the road database 210-3 (such as the road topology data of the road database 210-3), block point of interest (POI) information that is more than a threshold away from the navigation route, map the location of the unblocked POI information to the topology map corresponding to the road topology data, establish the path between the location of the unblocked POI information and the navigation route, and form a fishbone-like structure (hereinafter referred to as "fishbone map").

[0051] The road database 210-3 is primarily used to maintain road-related data such as road topology data and road attributes. For example, road topology data represents the location information of each road, lane information, positional relationships between roads, positional relationships between roads and surrounding entities, and the location information of traffic lights on the road; road attributes may include, but are not limited to, road slope data. For instance, surrounding entities may include, but are not limited to, hospitals, supermarkets, schools, shopping malls, office buildings, hotels, restaurants, parks, museums, etc., without specific limitations.

[0052] As an example, the vehicle infotainment system 220 may include the human-machine interaction module 220-1, the second communication module 220-2, the positioning module 220-3, the cockpit system 220-4, the vehicle attitude perception module 220-5, the navigation module 220-6, the yaw calculation module 220-7, and the underlying interaction module 220-8 shown in Figure 2. The vehicle infotainment system 220 is equipped with applications that provide navigation guidance, such as, but not limited to, map applications (the following embodiments use map applications as an example).

[0053] The human-computer interaction module 220-1 is mainly used to receive user operations and display corresponding content based on the user's operations. In some embodiments of this application, the human-computer interaction module 220-1 can receive a start navigation operation triggered by the user in a map application and provide corresponding navigation guidance based on the acquired destination navigation route data. For example, the human-computer interaction module 220-1 may include a touch screen.

[0054] The second communication module 220-2 is mainly responsible for communication between the vehicle-mounted system 220 and other devices or apparatuses (such as the cloud-side server 210 as shown in Figure 2). In some embodiments of this application, the first communication module 210-1 can be used to send a route planning request to the cloud-side server 210 based on a user-triggered route planning operation, and receive the route planning results from the cloud-side server 210. In some embodiments of this application, the first communication module 210-1 can be used to send a navigation request to the cloud-side server 210 based on a user-triggered start navigation operation, and receive data on the planned navigation route and related road information (such as a fishbone diagram), road attributes, etc., from the cloud-side server 210.

[0055] The positioning module 220-3 is primarily used to acquire the vehicle's location information. As an example, the positioning module 220-3 may include, but is not limited to, the Global Positioning System (GPS), the BeiDou Navigation Satellite System, the Global Navigation Satellite System (GNSS), or other positioning systems.

[0056] The cockpit system 220-4 serves as the real-time operating system of the vehicle infotainment system 220. It is mainly used to manage the hardware devices of the vehicle infotainment system 220, provide drivers and interfaces, and complete data interaction between applications (such as map applications) and hardware.

[0057] The vehicle attitude perception module 220-5 is mainly used to perceive the attitude of the vehicle, which may include, but is not limited to, the tilt angle of the vehicle body relative to the horizontal plane (hereinafter referred to as "vehicle tilt angle"). As an example, the vehicle attitude perception module 220-5 may include, but is not limited to, one or more of the following: on-board tilt sensor, suspension sensor, or inertial sensor, etc.

[0058] The navigation module 220-6 is mainly used to complete the navigation guidance function based on the navigation route data sent by the cloud server 210. For example, the navigation module 220-6 can perform route planning and display, terminal guidance calculation, navigation guidance, and voice broadcast based on the navigation route data sent by the cloud server 210. For example, the navigation guidance method may include, but is not limited to, one or more of the following: route display, voice playback, etc.

[0059] The yaw calculation module 220-7 is mainly used to identify vehicle yaw during navigation guidance. For example, the yaw calculation module 220-7 can determine in real time whether the vehicle deviates from the navigation route based on the vehicle position information obtained by the positioning module 220-3, the vehicle attitude perceived by the vehicle attitude perception module 220-5, and the road slope data from the cloud server 210, so as to identify vehicle yaw.

[0060] The underlying interaction module 220-8 is mainly responsible for the underlying data interaction between the application (including map application) and the cockpit system. For example, the underlying interaction module 220-8 can be used by the map application to obtain the vehicle's position information obtained by the positioning module 220-3 and the vehicle's attitude (such as body tilt angle) perceived by the vehicle attitude perception module 220-5 from the cockpit system 220-4.

[0061] In some embodiments of this application, the map application can complete the navigation guidance function based on road data through the navigation module 220-6, obtain the vehicle's position information obtained by the positioning module 220-3 and the vehicle's attitude (such as body tilt angle) perceived by the vehicle attitude perception module 220-5 from the cockpit system 220-4 through the underlying interaction module 220-8, and determine whether the vehicle has deviated from the navigation route based on the vehicle's position information, vehicle attitude, and road slope data through the yaw calculation module 220-7. When the vehicle deviates from the navigation route, it requests the cloud server 210 to re-determine the navigation route for yaw correction.

[0062] The structure illustrated in Figure 2 of this application does not constitute a specific limitation on the cloud server 210 and the vehicle-mounted system 220. In other embodiments of this application, the cloud server 210 or the vehicle-mounted system 220 may include more or fewer modules than illustrated, or combine some modules, split some modules, or have different module arrangements. The illustrated modules may be implemented in hardware, software, or a combination of software and hardware.

[0063] Furthermore, Figure 2 is merely an example of a system architecture capable of implementing a vehicle yaw recognition and correction method. In practical applications, the type, structure, and function of the end-side device are not limited. For example, the end-side device may also include, but is not limited to, smartphones, netbooks, tablets, smart drawing tablets, handwriting tablets, smartwatches, smart bracelets, phone watches, smart glasses, smart cameras, PDAs, personal computers (PCs), personal digital assistants (PDAs), portable multimedia players (PMPs), augmented reality (AR) / virtual reality (VR) devices, smart TVs, projection devices, or motion-sensing game consoles in human-computer interaction scenarios, etc., electronic devices with navigation guidance functions. This application does not limit these categories.

[0064] Taking a mobile phone as an example, the mobile phone can connect to the vehicle's infotainment system and the cloud server. It can provide navigation guidance based on the navigation route planned by the cloud server. During the navigation guidance process, the vehicle's tilt angle detected by the infotainment system is obtained and compared with the slope of the current navigation segment in the navigation route. When the vehicle's tilt angle does not match the slope of the current navigation segment in the navigation route, it is determined that the vehicle is veerging off course. The system then requests the cloud server to plan a new navigation route and provides navigation guidance based on the new route.

[0065] Furthermore, this application does not limit the implementation of vehicle yaw recognition and correction to an edge-cloud collaborative architecture or a single-device structure. For example, in some embodiments, assuming that the processing power and storage capacity of navigation devices such as in-vehicle systems and mobile phones are sufficient, the entire process of vehicle yaw recognition and correction can also be completed through the navigation device.

[0066] As an example, the means of transportation described in this application embodiment may be a vehicle. Exemplarily, a vehicle may include, but is not limited to, one or more of the following: passenger cars, buses, trams, subways, high-speed trains, motorcycles, flying cars, or trains; industrial vehicles may include, but are not limited to, one or more of the following: trucks, forklifts, trailers, or tractors; and engineering vehicles may include, but are not limited to, one or more of the following: excavators, bulldozers, concrete mixers, or cranes. This application embodiment does not limit the specific type, form, or function of the means of transportation.

[0067] As an example, a vehicle may include the vehicle infotainment system 220 shown in Figure 2.

[0068] Optionally, the vehicle may also include one or more of the following: a driving system, a sensor system, a control system, or a computer system. The driving system may include one or more of the following: an engine, a transmission, an energy source, and wheels; the sensor system may include several sensors for sensing the surrounding environment, such as an inertial measurement unit (IMU), radar, and cameras; the control system is used to control the operation of the vehicle and its components, and may include one or more of the following: a steering system, throttle, braking, a computer vision system, a route control system, or an obstacle avoidance system; the computer system may include a processor and memory. The specific structure of the vehicle is not specifically limited in the embodiments of this application.

[0069] The vehicle yaw recognition and correction method provided in the embodiments of this application will be described in detail below.

[0070] Please refer to Figure 3, which shows a flowchart of a vehicle yaw recognition and correction method provided in an embodiment of this application. As shown in Figure 3, the method may include steps S301-S303:

[0071] S301: The navigation device provides navigation guidance based on the first navigation route.

[0072] As an example, a navigation device may display a first navigation route for navigation guidance.

[0073] Among them, navigation devices have navigation guidance functions. For example, navigation devices can provide navigation guidance to users by relying on applications with navigation guidance functions (such as map applications) installed on the navigation device.

[0074] As an example, a navigation device may be an in-vehicle infotainment system located in a vehicle, which has navigation guidance capabilities; or, a navigation device may be other devices or equipment with navigation guidance capabilities.

[0075] As an example, the navigation device can be a smartphone, netbook, tablet computer, smart drawing board, handwriting tablet, smartwatch, smart bracelet, phone watch, or other electronic device with navigation guidance function. The electronic device can provide navigation guidance function to the user by relying on the installed application with navigation guidance function (such as map application). This application does not limit the structure, structure, and function of the navigation device.

[0076] In some embodiments, the first navigation route may be obtained by the navigation device from a cloud-based server.

[0077] For example, a navigation device can receive a route planning operation triggered by a user in an application (such as a map application), and send a route planning request to a cloud server to request the cloud server to plan a route from the initial starting point to the destination. The route planning request carries information about the initial starting point and the destination. After completing the route planning, the cloud server sends the route planning result to the navigation device. In response to receiving a start navigation operation triggered by a user in an application, the navigation device can send a navigation request (such as a first navigation request) to the cloud server to request the cloud server to plan a navigation route from the initial starting point to the destination. The cloud server can complete the first navigation route planning based on the route planning result and then send the data of the first navigation route to the navigation device.

[0078] Optionally, the route planning request may also include user preferences, such as one or more of the following: priority of high-speed routes, avoidance of high-speed routes, saving time, shorter distances, fewer traffic lights, or good road conditions, etc., without limitation. User preferences are used as a reference for the cloud server when performing route planning.

[0079] For example, a navigation device can receive a navigation start operation triggered by a user in an application (such as a map application), and send a navigation request (such as a first navigation request) to a cloud server to request the cloud server to plan a navigation route from the initial starting point to the destination. The first navigation request carries information about the initial starting point and the destination. After completing the planning of the first navigation route, the cloud server sends the data of the first navigation route to the navigation device.

[0080] Optionally, the first navigation request may also carry user preferences, such as including but not limited to one or more of the following: priority of highways, avoidance of highways, saving time, shorter distances, fewer traffic lights, or good road conditions, etc., without limitation. User preferences are used as a reference for the cloud server when performing route planning.

[0081] For example, the initial starting point may be the current location of the navigation device or the location entered by the user, without limitation; the destination may be the location entered by the user or the location shared by other user devices with the navigation device, without limitation. The method by which the user enters the location (such as the initial starting point and / or destination) may include, but is not limited to, input through an input box, map touch input, etc., without limitation.

[0082] In some embodiments, the first navigation route may be shared with the navigation device by other user devices.

[0083] For example, a navigation device can receive data on the first navigation route from the initial starting point to the destination shared by other user devices such as mobile phones and tablets.

[0084] The embodiments of this application do not limit the means, methods and specific processes by which the navigation device obtains the first navigation route.

[0085] In some embodiments, the data of the first navigation route also includes markings of special road junctions such as parallel road junctions and near-parallel road junctions (hereinafter collectively referred to as "parallel road junctions"), as shown in Figure 4. When the navigation device provides navigation guidance according to the first navigation route, it can display the above markings at the corresponding road junctions to remind the user to pay attention at the road junctions to prevent going the wrong way and reduce the possibility of the user going the wrong way at the road junctions.

[0086] In some embodiments, the navigation device may also acquire information such as information on at least one first road related to the first navigation route and data such as the attributes of the first road.

[0087] The first road intersects with the first navigation route.

[0088] In some embodiments, the first road intersects with a second road in the first navigation route, and the first road and the second road are parallel or approximately parallel. The first road and the second road are parallel if they overlap (e.g., coincide) when viewed from above; they are approximately parallel if the horizontal angle between them is small (e.g., less than a horizontal angle threshold) when viewed from above. Horizontal angle thresholds, such as 10° or 15°, are not limited.

[0089] For example, the first road may be a road on an elevated bridge, and the second road may be a road under the elevated bridge; or, the first road may be a road under the elevated bridge, and the second road may be a road on the elevated bridge. Alternatively, for example, the first road may be a tunnel, and the second road may be a road on the tunnel; or, the first road may be a road on the tunnel, and the second road may be a tunnel. This application does not limit the actual road scenarios for the first and second roads.

[0090] In some embodiments, the first road intersects with the fourth road in the first navigation route, and the horizontal angle between the first road and the fourth road is greater than or equal to a horizontal angle threshold.

[0091] As an example, the first road attribute includes road gradient data corresponding to the first navigation route; alternatively, the first road attribute includes road gradient data corresponding to the first road.

[0092] As one possible implementation, the navigation device can simultaneously acquire data of the first navigation route, as well as data related to the first road (such as a first fishbone diagram) and first road attributes. For example, a cloud-side server might send the data of the first road and its attributes to the navigation device along with the first navigation route data. Similarly, other user devices might send the data of the first road and its attributes to the navigation device along with the first navigation route data.

[0093] In some embodiments, when a vehicle is about to reach a special intersection such as a parallel road fork or a near-parallel road fork, the map application can prompt the user to go uphill or downhill based on the first road attribute, reducing the possibility of the user taking the wrong turn at the road fork.

[0094] S302: When the vehicle tilt angle is detected to be mismatched with the slope of the current navigation segment in the first navigation route, the navigation device determines that the vehicle is veerging.

[0095] In some embodiments, the navigation device can continuously acquire the vehicle tilt angle and match it with the slope of the current navigation segment in the first navigation route. When the vehicle tilt angle does not match the slope of the current navigation segment in the first navigation route, the vehicle is determined to be yawing.

[0096] In some embodiments, in order to reduce the power consumption and data load caused by acquiring the vehicle tilt angle, and to reduce the processing load caused by continuously matching the vehicle tilt angle with the slope, the navigation device may acquire the vehicle tilt angle periodically (e.g., every 1 second) according to a specified period.

[0097] In some embodiments, to further reduce the power consumption and data load associated with acquiring the vehicle tilt angle, and to reduce the processing load caused by frequently matching the vehicle tilt angle with the slope, the navigation device can acquire the vehicle tilt angle at a road fork before reaching the current navigation segment, such as when the distance to the road fork is less than a first distance threshold. The first distance threshold is not limited to, for example, 50 meters, 100 meters, 200 meters, etc.

[0098] In some embodiments, to further reduce the power consumption and data load associated with acquiring the vehicle tilt angle, and to reduce the processing load caused by frequently matching the vehicle tilt angle with the slope, the navigation device may acquire the vehicle tilt angle at a road fork before reaching the current navigation segment, or after passing the road fork and when the distance to the road fork is greater than a second distance threshold. The second distance threshold may be, for example, 3 meters, 4 meters, 5 meters, 10 meters, 20 meters, etc., and is not limited to any particular value.

[0099] As an example, a mismatch between the vehicle body tilt angle and the slope of the current navigation segment in the first navigation route includes: in the same coordinate system, the absolute value of the difference between the vehicle body tilt angle and the slope of the current navigation segment in the first navigation route is greater than a vertical angle threshold. For example, the vertical angle threshold may be 0°, 2°, 5°, etc., and is not limited.

[0100] For example, please refer to Figure 5, which illustrates the inclination relationship of parallel roads with a fork. As shown in Figure 5, assuming the absolute value of the difference between the slope of the current navigation segment and the slope of the vehicle's driving segment (17°) is greater than the vertical angle threshold (e.g., 5°), the absolute value of the difference between the detected vehicle tilt angle and the slope of the current navigation segment will be greater than the vertical angle threshold. Based on this, the navigation device can determine vehicle yaw. The slope of the current navigation segment may be 3° as shown in Figure 5, and the slope of the vehicle's driving segment may be 20° as shown in Figure 5; or, the slope of the current navigation segment may be 20° as shown in Figure 5, and the slope of the vehicle's driving segment may be 3° as shown in Figure 5, without limitation.

[0101] As one possible implementation, the vehicle tilt angle may be obtained by an onboard device through a vehicle attitude sensing module. For example, the vehicle attitude sensing module may include, but is not limited to, one or more of the following: an onboard tilt sensor, a suspension sensor, an inertial sensor, etc.

[0102] As one possible implementation, the gradient of the current navigation segment in the first navigation route may be determined by the on-board device based on the first navigation route, the vehicle's location information (denoted as "first location"), and the first road attribute. For example, the on-board device can determine the current navigation segment, which is a part of the first navigation route, based on the first navigation route and the vehicle's location information, and then obtain the gradient of the current navigation segment from the first road attribute. The vehicle's location information may be obtained by the on-board device through a positioning module. Exemplarily, the positioning module may include, but is not limited to, GPS, BeiDou, GNSS, or other positioning systems.

[0103] S303: The navigation device acquires a new navigation route (referred to as "second navigation route") and provides navigation guidance based on the second navigation route.

[0104] The second navigation route has the same destination as the first navigation route, and it is used to correct vehicle deviation.

[0105] As one possible implementation, the navigation device can request the planning of a new navigation route from the cloud server and provide navigation guidance based on the new navigation route (i.e., the second navigation route).

[0106] For example, the navigation device can send a second navigation request to the cloud server. The second navigation request carries information about a first starting point, which is a new starting point, such as the current driving segment when the vehicle detects a deviation. As one possible implementation, the navigation device can determine the current driving segment based on the vehicle's position information (denoted as "second position") obtained when the vehicle deviation is detected and the data of a first road related to the first navigation route (such as a first fishbone diagram).

[0107] As one possible implementation, after the navigation device sends a second navigation request to the cloud-side server, the cloud-side server can plan a navigation route from the first starting point to the destination based on the information of the first starting point carried in the second navigation request, and send the data of the second navigation route to the navigation device for navigation guidance. For example, the navigation device can display the second navigation route for navigation guidance.

[0108] For example, taking a scenario where the original navigation route and the vehicle's driving route are parallel roads with forks or near-parallel roads, please refer to Figure 6. Figure 6 shows a schematic diagram of a yaw replanning scheme provided by an embodiment of this application. As shown in Figure 6, when it is detected that the vehicle has veered off course from the original navigation route (i.e., the first navigation route) to the vehicle's actual position as shown in Figure 6, the vehicle can send a second navigation request to the cloud-side server to request the planning of a new navigation route (i.e., the second navigation route). The second navigation request carries information about a first starting point, which is the road segment to which the vehicle's actual position belongs (i.e., the vehicle's current driving route). For example, the second navigation route from the current driving route to the destination replanned by the cloud-side server is the yaw replanning route shown in Figure 6.

[0109] In some embodiments, when planning a second navigation route from a driving segment to a destination, the cloud-side server can also acquire data such as second road data (e.g., a second fishbone diagram) and second road attributes related to the second navigation route, and send this data to the navigation device. The second road intersects with the second navigation route, and the second road attributes include road slope data related to the second navigation route. When the absolute value of the difference between the vehicle's tilt angle and the slope of the current navigation segment in the second navigation route is greater than a vertical angle threshold, the second road attributes can be used by the navigation device for yaw identification during navigation guidance based on the second navigation route. The second road data can also be used by the navigation device to obtain a new navigation route when vehicle yaw is determined. For example, the navigation device can determine vehicle yaw when the absolute value of the difference between the vehicle's tilt angle and the slope of the current navigation segment in the second navigation route is greater than a vertical angle threshold, determine the information of a second starting point based on the second road data, and send the second starting point information to the cloud-side server for the cloud-side server to plan a third navigation route from the second starting point to the destination. The process by which the navigation device performs subsequent yaw identification and navigation route replanning based on the data of the second road and the attributes of the second navigation route can be referred to in the relevant processes of S301 and S302 shown in Figure 3, and will not be repeated here.

[0110] Based on the vehicle yaw recognition and correction method shown in Figure 3, the navigation device can determine whether the vehicle is veerging from its course during navigation guidance based on the navigation route planned by the cloud server, according to the difference between the vehicle's tilt angle and the slope of the current navigation segment. If yaw is confirmed, a new navigation route can be requested promptly. By incorporating road slope attributes into the yaw recognition of vehicles and other vehicles, and combining this with yaw recognition and correction, vehicle yaw can be identified and corrected quickly and accurately. This is particularly beneficial in complex scenarios such as parallel road intersections, significantly improving the accuracy and timeliness of yaw recognition and correction, thus enhancing the user experience.

[0111] In some embodiments, the navigation device can obtain the vehicle tilt angle when it is about to reach a road fork and the distance to the road fork is less than a first distance threshold. The first distance threshold is not limited to 50 meters, 100 meters, 200 meters, etc.

[0112] As an example, please refer to Figure 7, which takes a vehicle-mounted navigation device as an example. The vehicle-mounted navigation device includes a vehicle attitude perception module (such as an onboard tilt sensor) and a cockpit system. The vehicle-mounted navigation device is equipped with an application with navigation guidance function (Figure 7 takes a map application as an example). The figure shows an interactive diagram of a vehicle yaw recognition and correction process provided by an embodiment of this application.

[0113] As shown in Figure 7, yaw identification and correction in navigation can be implemented based on S701-S717:

[0114] S701: The map application in the vehicle's infotainment system responds to the user's route planning operation by requesting route planning from the initial starting point to the destination from the cloud server.

[0115] As an example, a user's route planning action might be an action triggered by the user in an application (such as a map application).

[0116] As one possible implementation, in response to the user's route planning operation, the map application in the vehicle's infotainment system can send a route planning request to the cloud server to request the cloud server to perform route planning from the initial starting point to the destination.

[0117] The path planning request contains information about the initial starting point and the destination, which the cloud server uses to perform path planning.

[0118] Optionally, the route planning request may also include user preferences for the cloud server to refer to when planning the route. For example, user preferences may include, but are not limited to, one or more of the following: priority of high-speed routes, avoidance of high-speed routes, saving time, shorter distances, fewer traffic lights, or good road conditions, etc., without limitation.

[0119] For example, the initial starting point may be the vehicle's current location or a location entered by the user in the map application, without limitation; the destination may be a location entered by the user in the map application or a location shared by other user devices to the vehicle's system, without limitation. The method by which the user enters the location (such as the initial starting point and / or destination) may include, but is not limited to, input through an input box, map touch input, etc., without limitation.

[0120] S702: The cloud-side server performs path planning from the initial starting point to the destination.

[0121] As one possible implementation, the cloud-based server can perform path planning based on information from the initial starting point and destination from the map application, and obtain the path planning result.

[0122] As one possible implementation, the cloud-based server can perform route planning based on the initial starting point and destination information from the map application, combined with the user preferences from the map application, to obtain route planning results that satisfy one or more user preferences such as prioritizing highways, avoiding highways, saving time, shorter distances, fewer traffic lights, or good road conditions.

[0123] S703: The cloud-side server sends the route planning results to the map application.

[0124] As an example, the route planning results include the driving path from the initial starting point to the destination.

[0125] In some embodiments, the map application can display the driving route from the initial starting point to the destination based on the route planning results.

[0126] In some embodiments, the route planning results also include markings of special road junctions such as parallel road junctions and near-parallel road junctions. When displaying the driving route from the initial starting point to the destination, the map application can display the above markings at the corresponding locations to remind the user to pay attention at the road junction to prevent going the wrong way and reduce the possibility of the user going the wrong way at the road junction.

[0127] S704: In response to the user's navigation start operation, the map application requests navigation route data from the cloud server.

[0128] As an example, a user's action to start navigation might be triggered within an application (such as a map application), such as clicking the start navigation button.

[0129] As one possible implementation, in response to a user's navigation initiation, the map application can send a navigation request (such as a first navigation request) to the cloud server to request the cloud server to plan the navigation route from the initial starting point to the destination.

[0130] S705: The cloud-side server performs navigation route planning to obtain the data of the first navigation route, and determines the data and attributes of the first road related to the first navigation route.

[0131] The data for the first road is a fishbone diagram related to the first navigation route. This fishbone diagram includes one or more roads that intersect with the first navigation route. For a detailed explanation of fishbone diagrams, please refer to the description above.

[0132] The first road attribute includes the road slope data corresponding to the first navigation route; optionally, the first road attribute may also include the road slope data corresponding to the first fishbone diagram. For a detailed introduction to road attributes, please refer to the above description.

[0133] S706: The cloud-side server sends the data of the first navigation route, the data of the first road, and the attributes of the first road to the map application.

[0134] S707: The map application provides navigation guidance based on data from the first navigation route.

[0135] For example, the map application may provide navigation guidance based on the data of the first navigation route in ways including but not limited to one or more of the following: route display, voice playback, etc.

[0136] S708: When the map application is about to reach a road fork, it requests the vehicle's tilt angle from the cockpit system in the vehicle's infotainment system.

[0137] As one possible implementation, the map application can request the vehicle tilt angle from the cockpit system in the vehicle when it detects that the vehicle is about to approach a road junction and the distance to the road junction is less than a first distance threshold.

[0138] For example, a map application can determine whether the distance between the vehicle and the next road junction in the first navigation route is less than a first distance threshold by calculating the distance between the vehicle's current location and the next road junction in the first navigation route. The first distance threshold is not limited to 50 meters, 100 meters, 200 meters, etc.

[0139] As one possible implementation, the vehicle infotainment system also includes a low-level interaction module, through which map applications can request the vehicle's tilt angle from the cockpit system.

[0140] S709: The cockpit system instructs the vehicle attitude perception module in the vehicle's infotainment system to detect the vehicle's tilt angle.

[0141] S710: Vehicle attitude perception module detects vehicle tilt angle.

[0142] For example, the vehicle attitude perception module may include, but is not limited to, one or more of the following: on-board tilt sensor, suspension sensor, inertial sensor, etc.

[0143] As one possible implementation, the vehicle attitude perception module can continuously detect the vehicle body tilt angle until the vehicle has traveled a certain distance after passing a road fork, such as greater than a third distance threshold, which is not limited to 1 meter, 3 meters, 4 meters, 5 meters, etc.

[0144] As one possible implementation, the vehicle attitude perception module can periodically (e.g., every 1 second) detect the vehicle body tilt angle according to a specified period until the vehicle has traveled a certain distance after passing a road fork, in order to reduce the power consumption and data load caused by acquiring the vehicle body tilt angle, and reduce the processing load caused by continuously matching the vehicle body tilt angle with the slope.

[0145] S711: The vehicle attitude perception module sends the vehicle tilt angle to the map application in the vehicle through the cockpit system.

[0146] S712: The map application identifies yaw based on vehicle tilt angle and primary road attributes.

[0147] As one possible implementation, the vehicle infotainment system also includes a yaw calculation module, which can be used by map applications to identify yaw based on the vehicle's tilt angle and the first road attribute.

[0148] As an example, yaw detection can be performed by determining whether the vehicle's tilt angle matches the gradient of the current navigation segment in the first navigation route. For instance, if the vehicle's tilt angle does not match the gradient of the current navigation segment in the first navigation route, the map application determines that the vehicle is yawed; if the vehicle's tilt angle matches the gradient of the current navigation segment in the first navigation route, the map application determines that the vehicle is not yawed, and the map application continues to provide navigation guidance according to the first navigation route.

[0149] As an example, a mismatch between the vehicle body tilt angle and the slope of the current navigation segment in the first navigation route includes: in the same coordinate system, the absolute value of the difference between the vehicle body tilt angle and the slope of the current navigation segment in the first navigation route is greater than a vertical angle threshold; a match between the vehicle body tilt angle and the slope of the current navigation segment in the first navigation route includes: in the same coordinate system, the absolute value of the difference between the vehicle body tilt angle and the slope of the current navigation segment in the first navigation route is less than or equal to a vertical angle threshold. Exemplarily, the vertical angle threshold may be 0°, 2°, 5°, etc., and is not limited to any particular value.

[0150] As one possible implementation, the gradient of the current navigation segment in the first navigation route may be determined by the map application based on the first navigation route, the vehicle's current location (e.g., the first location), and road attributes. For example, the map application can determine the current navigation segment based on the first navigation route and the first location, where the current navigation segment is a part of the navigation route, and then obtain the gradient of the current navigation segment from the road attributes.

[0151] S713: When the map application detects that the vehicle tilt angle does not match the slope of the current navigation segment in the first navigation route, it determines that the vehicle is veerging off course.

[0152] S714: The map application requests the cloud server to plan a new navigation route.

[0153] As one possible implementation, the map application can send a second navigation request to the cloud server. This second navigation request carries information about the first starting point, which is the current road segment on which the vehicle detected its deviation. For example, the information of the first starting point could be the road identifier (identity, ID) of the current road segment on which the vehicle detected its deviation.

[0154] As one possible implementation, a map application can determine the current road segment of the vehicle based on the vehicle's location information (such as a second location) obtained when the vehicle deviates from its course and data of a first road related to the first navigation route.

[0155] S715: The cloud-side server plans a new navigation route to obtain data for the second navigation route, and determines the data and attributes of the second road related to the second navigation route.

[0156] The second navigation route has the same destination as the first navigation route, and it is used to correct vehicle deviation.

[0157] As one possible implementation, the cloud-side server can plan a navigation route from the first starting point to the destination based on the information of the first starting point carried in the second navigation request, and obtain data for a new navigation route (such as the second navigation route).

[0158] As an example, the data for the second road is a fishbone diagram related to the second navigation route. This fishbone diagram includes one or more roads that intersect with the second navigation route. For a detailed explanation of fishbone diagrams, please refer to the section above.

[0159] The second road attribute includes the road gradient data corresponding to the second navigation route; optionally, the second road attribute may also include the road gradient data corresponding to the second road data. For a detailed introduction to road attributes, please refer to the above description.

[0160] S716: The cloud-side server sends data on the second navigation route, the second road, and the second road attributes to the map application.

[0161] S717: The map application will provide navigation guidance based on data from the second navigation route.

[0162] For example, the way a map application provides navigation guidance based on data from a second navigation route may include, but is not limited to, one or more of the following: route display, voice playback, etc.

[0163] Furthermore, during the navigation guidance process based on the data from the second navigation route, the map application can identify yaw based on the vehicle's tilt angle and the second road attributes. For example, when the vehicle is about to reach a road fork, the map application can obtain the vehicle's tilt angle, identify yaw based on the tilt angle and the first road attributes, and determine vehicle yaw when it detects a mismatch between the vehicle's tilt angle and the slope of the real-time navigation segment in the second navigation route, requesting the cloud server to plan a new navigation route.

[0164] Based on the vehicle yaw recognition and correction process shown in Figure 7, the vehicle's infotainment system can, during navigation guidance according to the navigation route planned by the cloud server, begin vehicle tilt angle detection when approaching a road fork. If the distance to the fork is less than a first distance threshold, the system determines whether the vehicle is yawed based on the difference between the vehicle tilt angle and the slope of the current navigation segment. If yaw is confirmed, a new navigation route is requested promptly. By incorporating road slope attributes into vehicle yaw recognition, and combining this with yaw recognition and correction, vehicle yaw can be quickly and accurately identified and corrected. This is particularly beneficial in complex scenarios such as parallel road forks, significantly improving the accuracy and timeliness of yaw recognition and correction, thus enhancing the user experience. Furthermore, the scheme shown in Figure 7 begins vehicle tilt angle detection just before approaching a road fork, eliminating the need for continuous tilt angle sensing. This effectively saves system resources and reduces power consumption of the cockpit system and vehicle attitude perception modules.

[0165] In some embodiments, to further reduce the processing load caused by vehicle tilt angle detection and matching of vehicle tilt angle with slope, the navigation device can acquire the vehicle tilt angle when it reaches a road fork or when it passes a road fork and the distance to the road fork is greater than a second distance threshold. The second distance threshold is not limited to 3 meters, 4 meters, 5 meters, 10 meters, 20 meters, etc.

[0166] As an example, please refer to Figure 8, which takes a vehicle-mounted navigation device as an example. The vehicle-mounted navigation device includes a vehicle attitude perception module (such as an onboard tilt sensor) and a cockpit system. The vehicle-mounted navigation device is equipped with an application with navigation guidance function (Figure 8 takes a map application as an example). This shows another interactive diagram of the vehicle yaw recognition and correction process provided in the embodiment of this application.

[0167] As shown in Figure 8, yaw identification and correction in navigation can be implemented based on S801-S817:

[0168] S801: The map application in the vehicle's infotainment system responds to the user's route planning operation by requesting route planning from the initial starting point to the destination from the cloud server.

[0169] S802: The cloud-side server performs path planning from the initial starting point to the destination.

[0170] S803: The cloud server sends the route planning results to the map application.

[0171] S804: In response to the user's navigation start operation, the map application requests navigation route data from the cloud server.

[0172] S805: The cloud-side server performs navigation route planning to obtain the data of the first navigation route, and determines the data and attributes of the first road related to the first navigation route.

[0173] S806: The cloud server sends the data of the first navigation route, the data of the first road, and the attributes of the first road to the map application.

[0174] S807: The map application will provide navigation guidance based on the data from the first navigation route.

[0175] For a detailed introduction to S801-S807, please refer to the introduction of S701-S707 above, which will not be repeated here.

[0176] S808: The map application requests the vehicle's tilt angle from the cockpit system in the vehicle's infotainment system when the vehicle approaches or passes through a road junction.

[0177] As one possible implementation, the map application can request a vehicle tilt angle from the cockpit system in the vehicle's infotainment system when it detects that a vehicle is approaching a road junction, or when it has passed a road junction and the distance to the junction is greater than a second distance threshold. The second distance threshold, such as 3 meters, 4 meters, 5 meters, 10 meters, 20 meters, etc., is not limited.

[0178] For example, a map application can determine whether the distance between a vehicle and a road junction is greater than a second distance threshold by calculating the distance between the vehicle's current location and the most recently passed road junction.

[0179] As one possible implementation, the vehicle infotainment system also includes a low-level interaction module, through which map applications can request the vehicle's tilt angle from the cockpit system.

[0180] S809: The cockpit system instructs the vehicle attitude perception module in the vehicle's infotainment system to detect the vehicle body tilt angle.

[0181] S810: Vehicle tilt angle detected by the vehicle attitude perception module.

[0182] S811: The vehicle attitude perception module sends the vehicle tilt angle to the map application in the vehicle through the cockpit system.

[0183] S812: The map application identifies yaw based on the vehicle's tilt angle and the first road attribute.

[0184] S813: When the map application detects that the vehicle tilt angle does not match the slope of the current navigation segment in the first navigation route, it determines that the vehicle is veerging off course.

[0185] S814: The map application requests the cloud server to plan a new navigation route.

[0186] S815: The cloud-side server plans a new navigation route to obtain data for the second navigation route, and determines the data and attributes of the second road related to the second navigation route.

[0187] S816: The cloud-side server sends data on the second navigation route, the second road, and the second road attributes to the map application.

[0188] S817: The map application will provide navigation guidance based on data from the second navigation route.

[0189] For a detailed introduction to S808-S817, please refer to the introduction of S708-S717 above, which will not be repeated here.

[0190] Based on the vehicle yaw recognition and correction process shown in Figure 8, the vehicle's infotainment system can, during navigation guidance according to the navigation route planned by the cloud server, begin vehicle tilt angle detection when approaching a road fork and the distance to the fork is less than a first distance threshold. Based on the difference between the vehicle tilt angle and the slope of the current navigation segment, it determines whether the vehicle is yawed and promptly requests a new navigation route if yaw is confirmed. By introducing the road slope attribute into the yaw recognition process for vehicles and other vehicles, and combining this attribute with yaw recognition and correction, vehicle yaw can be quickly and accurately identified and corrected. Especially in complex scenarios such as parallel road forks, this significantly improves the accuracy and timeliness of yaw recognition and correction, enhancing the user experience. Furthermore, the scheme shown in Figure 8 begins vehicle tilt angle detection when the vehicle reaches or passes a road fork, eliminating the need for continuous tilt angle sensing. This effectively saves system resources and reduces power consumption of modules such as the cockpit system and vehicle attitude perception module. For example, compared to the vehicle yaw recognition and correction process shown in Figure 7, the vehicle yaw recognition and correction process shown in Figure 8 can further reduce the processing load caused by vehicle tilt detection and vehicle tilt angle matching because the detection time is later and the detection time is shorter.

[0191] It should be understood that the various solutions in the embodiments of this application can be used in a reasonable combination, and the explanations or descriptions of the various terms appearing in the embodiments can be referenced or explained to each other in the various embodiments, without limitation.

[0192] It should also be understood that, in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0193] It is understood that, in order to achieve the functions of any of the above embodiments, the navigation device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0194] This application embodiment can divide the navigation device into functional modules. For example, each function can be divided into its own functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0195] It should also be understood that the various modules in the navigation device or cloud-side server can be implemented in software and / or hardware, without specific limitations. In other words, the navigation device is presented in the form of functional modules. Here, "module" can refer to application-specific integrated circuits (ASICs), circuits, processors and memory that execute one or more software or firmware programs, integrated logic circuits, and / or other devices that can provide the above functions.

[0196] In an alternative approach, when data transmission is implemented using software, it can be implemented entirely or partially 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 in the embodiments of this application are implemented. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital video disk (DVD)), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0197] The steps of the methods or algorithms described in the embodiments of this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, portable hard disk, CD-ROM, or any other form of storage medium known in the art. One exemplary embodiment couples a storage medium to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Alternatively, the ASIC can reside in a navigation device. Of course, the processor and storage medium can also exist as discrete components.

[0198] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

Claims

1. A vehicle yaw identification and correction method, characterized by, Applied to a navigation device, the method includes: Display the first navigation route; When the absolute value of the difference between the vehicle's body tilt angle and the slope of the current navigation segment in the first navigation route is greater than the vertical angle threshold, data for the second navigation route is obtained, and the destination of the second navigation route is the same as that of the first navigation route. The second navigation route is displayed and is used to correct vehicle deviation.

2. The method of claim 1, wherein, The method further includes: When the distance between the vehicle and the road fork before it reaches the current navigation segment is less than a first distance threshold, the vehicle body tilt angle is obtained. or, The vehicle body tilt angle is obtained when the vehicle reaches the road fork. or, When the vehicle passes the road fork and the distance between the vehicle and the road fork is greater than a second distance threshold, the vehicle body tilt angle is obtained.

3. The method according to claim 1 or 2, characterized in that, The method further includes: Obtain information about a first road related to the first navigation route, wherein the first road intersects with the first navigation route; The information of the first starting point is determined based on the information of the first road; The information of the first starting point is sent to the cloud-side server. The information of the first starting point is used by the cloud-side server to plan a second navigation route from the first starting point to the destination.

4. The method of claim 3, wherein, The horizontal angle between the road corresponding to the first starting point and the current navigation segment is less than the horizontal angle threshold.

5. The method of claim 4, wherein, The method further includes: Markers are displayed at the road forks in the first navigation route to alert the user to be careful at the road forks and avoid taking the wrong turn.

6. The method according to any one of claims 3-5, characterized in that, The method further includes: Obtain data and attributes of the second road related to the second navigation route. The second road intersects with the second navigation route. The attributes of the second road include road slope data related to the second navigation route. When the absolute value of the difference between the vehicle's body tilt angle and the slope of the current navigation segment in the second navigation route is greater than the vertical angle threshold, the information of the second starting point is determined based on the data of the second road. The information of the second starting point is sent to the cloud-side server. The information of the second starting point is used by the cloud-side server to plan a third navigation route from the second starting point to the destination.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: In response to the user's navigation start operation, a first navigation request is sent to the cloud-side server. The first navigation request is used to request the cloud-side server to plan a navigation route from the initial starting point to the destination. The navigation device receives data of the first navigation route and a first road attribute related to the first navigation route from the cloud-side server. The first road attribute includes road gradient data related to the first navigation route. The first road attribute is used by the navigation device to identify whether the vehicle is deviating from its course when displaying the first navigation route.

8. The method of claim 7, wherein, The method further includes: When the vehicle is about to reach a road fork before the current navigation segment, the user is prompted to go uphill or downhill based on the first road attribute.

9. The method according to claim 7 or 8, characterized in that, The first navigation request carries information about the initial starting point and the destination.

10. The method according to claim 8 or 9, characterized in that, The method further comprises: in response to a path planning request of a user, sending a path planning request to the cloud-side server, the path planning request carrying information of the initial starting point and information of the destination; receiving a path planning result from the cloud-side server; displaying an interface according to the path planning result, the interface including a driving path from the initial starting point to the destination; wherein the start navigation operation is an operation triggered on the interface.

11. A navigation device characterized by The navigation device comprises: a display screen for interface display; a memory for storing computer program instructions; a processor for executing the computer program instructions to support the navigation device to implement the method according to any one of claims 1-10.

12. A vehicle characterized by comprising: The vehicle comprises a device or module for implementing the method according to any one of claims 1-10.

13. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer program instructions, and the computer program instructions are executed by the processing circuit to implement the method according to any one of claims 1-10.

14. A computer program product comprising instructions, characterized in that, When the computer program product runs on the computer, the computer is caused to execute the method according to any one of claims 1-10.

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