WO2016000457A1 - Navigation action generation method, navigation method and device - Google Patents

Abstract

A navigation action generation method, navigation method and device, the navigation action generation method comprising: for each entering road segment at each intersection, identifying, from corresponding exiting road segments of the intersection, exiting road segments connecting with the entering road segment (101); calculating the value of a relative angle between the entering road segment and each identified exiting road segment (102); according to the angle range in a preset relative angle interval, identifying a relative angle interval to which each calculated relative angle value belongs (103); for each identified relative angle interval, if the relative angle interval comprises at least two exiting road segments, then according to the relative angle values of the at least two exiting road segments comprised in the relative angle interval, determining a relative position relationship between the at least two exiting road segments (104); according to the relative angle interval, the relative position relationship between the at least two exiting road segments, and a preset navigation action generation policy, generating navigation actions of driving from the entering road segment into each exiting road segment comprised in the relative angle interval (105). The method effectively addresses the problem that a driver cannot determine which exiting road to follow when only one navigation action is generated for a complex crossing, and improves navigation accuracy.

Description

Method, navigation method and device for generating navigation action

The present application claims priority to Chinese Patent Application No. 201410309582.1, entitled "A Method for Navigating Navigation, Navigation Methods and Equipment", filed on June 30, 2014, the entire contents of which are hereby incorporated by reference. Combined in this application.

Technical field

The present invention relates to the field of navigation, and in particular, to a method, a navigation method, and a device for generating a navigation action.

Background technique

In the current navigation technology, for the navigation at the intersection, the driver is prompted to drive by calculating the navigation action.

The so-called navigation action refers to information that prompts the driver how to drive when the vehicle approaches the navigation point, for example, left turn, right turn, straight line, and the like. The so-called navigation point refers to a position where a turning, a fork, and the like need to be reminded to change the driving behavior of the driver in the navigation route.

Specifically, when the driver is about to drive to the navigation point, the navigation action is calculated for the driver in the following manner, and the driver is informed by voice announcement:

Calculating a relative angle value of the driving section and the exiting section, and determining a relative angle section to which the relative angle value belongs, and obtaining a relative angle to which the relative angle value belongs from a corresponding relationship between the preset relative angle section and the navigation action The navigation action corresponding to the section determines the navigation action as a navigation action of entering the exit section from the driving section.

Wherein, the driving road section refers to the road section that enters the navigation point; the driving road section refers to the road section that is driven out from the navigation point, and communicates with the corresponding driving road section through the navigation point.

As shown in Table 1, a schematic table of the correspondence between the preset relative angle interval and the navigation action:

Relative angle interval	Navigation action	Relative angle interval	Navigation action
				340°≤α≤20°	straight	180°<α≤200°	Left turn
20°<α≤55°	Driving to the right ahead	200°<α≤235°	Driving to the left
				55°<α≤125°	Turn right	235°<α≤305°	Turn left
125°<α≤160°	Driving to the right rear	305°<α<340°	Driving to the left
				160°<α≤180°	Right turn

Table 1

However, at a complicated intersection, a driving section may have a plurality of exiting sections that are in communication with the driving section, so the calculated relative angles of the driving section and the exiting section may be at the same relative angle. In the interval, this The navigation action for entering the exit section for the driving section is the same, so that after receiving the navigation action, the driver cannot determine which driving section to travel to, which reduces the navigation accuracy.

Summary of the invention

In view of this, the embodiment of the present invention provides a method, a navigation method, and a device for generating a navigation action, which are used to solve the problem that the currently generated navigation action has low accuracy.

A method for generating a navigation action, comprising:

For each driving section of each intersection of the road, an exiting section corresponding to the driving section is determined from the corresponding exit section of the intersection;

Calculating a relative angle value of the driving road segment and each of the determined exiting road segments;

Determining, according to an angular range of the preset relative angular interval, a relative angle interval to which each calculated relative angle value belongs, to obtain an exiting road segment included in the determined relative angular interval;

For each of the determined relative angular intervals, if the relative angular interval includes at least two outgoing segments, determining the at least two driving according to the relative angle values of the at least two outgoing segments included in the relative angular interval a relative positional relationship between the outgoing sections; and generating a driving route from the driving section according to the relative angular section, the relative positional relationship between the at least two outgoing sections, and a preset navigation action generating strategy The navigation action of each outgoing section included in the relative angle section.

And generating, according to the relative angle interval, a relative positional relationship between the at least two exiting road segments, and a preset navigation action generation strategy, each of the included in the relative angle interval from the driving route segment The navigation actions of the exit section include:

Determining, according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval, the intersection type of the intersection formed by the driving road segment and the driving segment included in the relative angular interval;

Obtaining a navigation action corresponding to the relative positional relationship of the exiting road segment from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action for each of the exiting road segments included in the relative angular interval, And determining the acquired navigation action as a navigation action from the approach road section into the exit section.

Determining, according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval, the intersection type of the intersection formed by the driving road segment and the driving angle segment included in the relative angular interval, include:

The angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the range of the relative angle interval corresponding to the preset intersection type, and the number of the exit route segments, and the type of the intersection that is successfully matched is determined as The intersection type of the intersection formed by the driving road section and the exiting road section.

And generating, according to the relative angle interval, a relative positional relationship between the at least two exiting road segments, and a preset navigation action generation strategy, each of the included in the relative angle interval from the driving route segment Out of the road Navigation actions, including:

Acquiring a first navigation action corresponding to the relative angle interval from a corresponding relationship between the preset relative angle interval and the first navigation action;

For each of the exit sections included in the relative angle section, a navigation action of the driving section into the exit section is generated according to the relative positional relationship between the first navigation action and the exit section.

The method further includes:

If the relative angle interval includes only one exiting road, acquiring a first navigation action corresponding to the relative angular interval from a corresponding relationship between the preset relative angular interval and the first navigation action;

The acquired first navigation action is determined as a navigation action of entering the exit section included in the relative angle section from the driving section.

The calculating the relative angle value of the driving road segment and each of the determined exiting road segments includes:

For each of the exiting sections, the angle between the exiting section and the extension of the driving section is determined as a relative angle between the outgoing section and the driving section.

The method further includes:

Storing a navigation action of the driving section into each of the exiting sections.

A navigation method comprising:

Plan the navigation path based on the input start and end points and perform navigation;

Determining whether the distance from the current location of the user to the nearest intersection on the navigation path is less than or equal to a preset distance threshold;

If yes, the navigation from the current road where the current location is pre-stored to the exit road in the intersection with the current road is determined to enter the navigation path from the current road. a navigation action of the next road of the current road, and constructing a navigation voice prompt according to the navigation action, and broadcasting; or,

Calculating a relative angle value between the current road and an exiting road in the intersection with the current road; determining an outlet according to an angular range of the preset relative angular interval and the calculated relative angle value Comparing the other exit sections included in the relative angle section to which the relative angle value of the current road and the next road belongs; comparing the relative angle values of the next road with other exiting roads, and determining the next road according to the comparison result a relative positional relationship between the other exiting roads; generating a slave according to a relative angular section to which the next road relative angle value belongs, and a relative positional relationship between the next road and the other outgoing roads The navigation action of the current road into the next road is described, and a navigation voice prompt is constructed according to the navigation action, and the announcement is broadcast.

And generating, according to the relative angular interval to which the next road relative angle value belongs, and the relative positional relationship between the next road and the other exiting road, driving from the current road into the next road Navigation actions, including:

Determining, according to the number of the exiting road segments included in the relative angular interval to which the next road relative angle value belongs, and the angular range of the relative angular interval, determining the exiting road segment and the driving segment included in the relative angular interval The type of intersection that makes up the intersection;

For the next road included in the relative angle interval, obtaining a navigation action corresponding to the relative positional relationship of the next road from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action And determining the acquired navigation action as a navigation action from the current road into the next road of the current road in the navigation path.

Determining, according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval, the intersection type of the intersection formed by the driving road segment and the driving angle segment included in the relative angular interval, include:

The angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the range of the relative angle interval corresponding to the preset intersection type, and the number of the exit route segments, and the type of the intersection that is successfully matched is determined as The intersection type of the intersection formed by the driving road section and the exiting road section.

And generating, according to the relative angular interval to which the next road relative angle value belongs, and the relative positional relationship between the next road and the other exiting road, driving from the current road into the next road Navigation actions, including:

Obtaining, from a corresponding relationship between the preset relative angle interval and the first navigation action, a first navigation action corresponding to a relative angle interval to which the next road relative angle value belongs;

And generating, according to the first navigation action and a relative positional relationship between the next road and the other exiting road, a navigation action of entering a next road of the current road from the current road into the navigation path.

The calculating a relative angle value between the current road and the outgoing road in the intersection with the current road, respectively, includes:

The angle between the exiting road in the intersection with the current road and the extension of the current road is determined as a relative angle between the outgoing section and the driving section.

A device for generating a navigation action, comprising:

The exiting road section determining module is configured to determine, for each driving road section of each intersection of the road, an exiting road section having a communication relationship with the driving road section from the corresponding exiting road section of the intersection;

a calculation module, configured to calculate a relative angle value of the driving road segment and each determined exit road segment;

a navigation action generating module, configured to determine, according to an angular range of the preset relative angular interval, a relative angle interval to which each calculated relative angle value belongs, to obtain an exiting road segment included in the determined relative angular interval; For each of the relative angular intervals, if the relative angular interval includes at least two outgoing segments, the at least two outgoing segments are determined according to the relative angular values of the at least two outgoing segments included in the relative angular interval a relative positional relationship between the two; and according to the relative angular interval, the relative positional relationship between the at least two outgoing sections And a preset navigation action generation strategy for generating a navigation action from the approach road segment into each of the exit road segments included in the relative angle interval.

The navigation action generating module is configured to determine, according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval, the exiting of the driving road segment and the relative angular interval The type of intersection at the intersection formed by the road section;

Obtaining a navigation action corresponding to the relative positional relationship of the exiting road segment from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action for each of the exiting road segments included in the relative angular interval, And determining the acquired navigation action as a navigation action from the approach road section into the exit section.

The navigation action generating module determines the intersection type of the intersection formed by the driving road section and the exiting road section included in the relative angle section, and is specifically configured to: include an angular range of the relative angular section and the relative angular interval The number of the outbound road sections is matched with the range of the relative angle interval corresponding to the preset intersection type, the number of the exiting road sections, and the type of the intersection that is successfully matched is determined as the intersection of the driving section and the exiting section. Intersection type.

The navigation action generating module is configured to acquire a first navigation action corresponding to the relative angle interval from a corresponding relationship between the preset relative angle interval and the first navigation action;

For each of the exit sections included in the relative angle section, a navigation action of the driving section into the exit section is generated according to the relative positional relationship between the first navigation action and the exit section.

The navigation action generating module is further configured to: if the relative angle interval includes only one exiting road, obtain a correspondence corresponding to the relative angular interval from a corresponding relationship between the preset relative angular interval and the first navigation action First navigation action;

The acquired first navigation action is determined as a navigation action of entering the exit section included in the relative angle section from the driving section.

The calculation module is specifically configured to determine, according to each of the exiting road segments, an angle between the exiting road segment and the extension line of the driving road segment as a relative angle between the driving road segment and the driving road segment value.

The device further includes: a storage module, wherein:

The storage module is configured to store a navigation action of the driving road segment to enter each of the outgoing road segments.

A navigation device comprising:

a navigation path determining module, configured to plan a navigation path according to the input start point and the end point, and perform navigation;

The navigation action generating module is configured to determine whether the distance between the current location of the user and the nearest intersection on the navigation path is less than or equal to a preset distance threshold;

If yes, the navigation from the current road where the current location is pre-stored to the exit road in the intersection with the current road is determined to enter the navigation path from the current road. The current road The navigation action of the next road of the road, and constructing a navigation voice prompt according to the navigation action, and broadcasting; or,

Calculating a relative angle value between the current road and an exiting road in the intersection with the current road; determining an outlet according to an angular range of the preset relative angular interval and the calculated relative angle value Comparing the other exit sections included in the relative angle section to which the relative angle value of the current road and the next road belongs; comparing the relative angle values of the next road with other exiting roads, and determining the next road according to the comparison result a relative positional relationship between the other exiting roads; generating a slave according to a relative angular section to which the next road relative angle value belongs, and a relative positional relationship between the next road and the other outgoing roads The navigation action of the current road into the next road is described, and a navigation voice prompt is constructed according to the navigation action, and the announcement is broadcast.

The navigation action generating module is specifically configured to determine, according to the number of the exiting road segments included in the relative angular interval to which the next road relative angle value belongs, and the angular range of the relative angular interval, determine the driving route segment and the The type of intersection of the intersection formed by the exit section included in the relative angle section;

For the next road included in the relative angle interval, obtaining a navigation action corresponding to the relative positional relationship of the next road from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action And determining the acquired navigation action as a navigation action from the current road into the next road of the current road in the navigation path.

The navigation action generating module determines the intersection type of the intersection formed by the driving road section and the exiting road section included in the relative angle section, and is specifically used to include the angular range of the relative angular section and the relative angular section. The number of outbound road sections is matched with the range of relative angle intervals corresponding to the preset intersection type, and the number of exiting road sections is matched, and the type of intersection that is successfully matched is determined as the intersection of the intersection of the driving section and the exiting section. Types of.

The navigation action generating module is configured to acquire, from a corresponding relationship between the preset relative angle interval and the first navigation action, a first navigation action corresponding to a relative angle interval to which the next road relative angle value belongs;

And generating, according to the first navigation action and a relative positional relationship between the next road and the other exiting road, a navigation action of the current road entering the next road of the current road in the navigation path.

The navigation action generating module calculates a relative angle between the current road and the outgoing road in the intersection with the current road, which is specifically used to connect the intersection with the current road. The angle between the exit road and the extension line of the current road is determined as the relative angle value of the exit section and the entry section.

The beneficial effects of the present invention are as follows:

In the embodiment of the present invention, for each driving section of each intersection of the road, an exit section corresponding to the driving section is determined from the corresponding exit section of the intersection; calculating the driving section and determining the driving section The relative angle value of each exiting road segment; determining each calculated relative angle according to the angular range of the preset relative angular interval The relative angular interval to which the value belongs to obtain the exiting road segment included in the determined relative angular interval; for each of the determined relative angular intervals, if the relative angular interval includes at least two outgoing segments, according to the The relative angle value of the at least two exiting road segments included in the relative angular interval determines a relative positional relationship between the at least two outgoing road segments; and according to the relative angular interval, between the at least two outgoing road segments a relative positional relationship and a preset navigation action generation strategy, generating a navigation action from each of the driving sections into each of the exiting sections included in the relative angular section, such that a driving section for one intersection belongs to When there are multiple exit sections in the same relative angle interval, according to the relative positional relationship of multiple exit sections in the same relative angle section, the navigation action for each exit section is further obtained, which effectively avoids complicated intersections. Generate a navigation action that makes it impossible for the driver to determine which exit section to drive into, improving navigation Degree.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention, Those skilled in the art can also obtain other drawings based on these drawings without paying for inventive labor.

1 is a schematic flowchart of a method for generating a navigation action according to Embodiment 1 of the present invention;

2 is a schematic view showing an angle between an exiting road section and an extension line of the driving road section;

3 is a schematic flowchart of a navigation method according to Embodiment 2 of the present invention;

4 is a schematic structural diagram of a device for generating a navigation action according to Embodiment 3 of the present invention;

FIG. 5 is a schematic structural diagram of a navigation device according to Embodiment 4 of the present invention.

detailed description

In order to achieve the object of the present invention, an embodiment of the present invention provides a method, a navigation method, and a device for generating a navigation action, and determining, for each driving section of each intersection of a road, determining from the corresponding exiting section of the intersection An exit section having a communication relationship with the driving section; calculating a relative angle value of the driving section and each determined exit section; determining each calculated one according to an angular range of the preset relative angular section a relative angle interval to which the relative angle value belongs to obtain an exit route segment included in the determined relative angle interval; and for each of the determined relative angle intervals, if the relative angle interval includes at least two exit segments, according to The relative angle value of the at least two exiting road segments included in the relative angular interval determines a relative positional relationship between the at least two outgoing road segments; and according to the relative angular interval, the at least two outgoing road segments a relative positional relationship between the two and a preset navigation action generation strategy for generating the relative angle interval package from the driving road segment Navigation action each outgoing segments, which For a driving section of an intersection, when there are multiple exiting sections in the same relative angle section, respectively, according to the relative positional relationship of the plurality of exiting sections in the same relative angular section, further obtaining for each section The navigation action of the exit section effectively avoids the problem of generating a navigation action for the complicated intersection so that the driver cannot determine which exit section to enter, and improves the navigation accuracy.

It should be noted that, according to the technical solution provided by the embodiment of the present invention, on the basis of the currently determined navigation action, the navigation is further determined for multiple exit segments included in the same relative angle interval (ie, within the same navigation action range). The action is such that the granularity of the relative angle corresponding to the navigation action becomes smaller, further improving the navigation accuracy.

The scenario applied by the embodiment of the present invention includes, but is not limited to, the first scenario: in the process of navigating for the user, when the intersection is to be reached, the driving route that enters the intersection on the navigation path enters the intersection in real time. The navigation action of the outbound road; the second scenario: in the data compiling stage, for each intersection in the map road network, for each driving section of the intersection, it is determined that the driving section respectively enters the intersection and the intersection The navigation action of the exit section of the connected road section has a connected relationship, and stores the correspondence relationship of the navigation actions from the driving section to the exit section, so that the pre-stored navigation action is directly invoked in the subsequent navigation process.

The various embodiments of the present invention are further described in detail below with reference to the accompanying drawings. It is apparent that the described embodiments are only a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Embodiment 1:

FIG. 1 is a schematic flowchart diagram of a method for generating a navigation action according to Embodiment 1 of the present invention. The method can be as follows.

Step 101: For each driving section of each intersection of the road, an exit section having a communication relationship with the driving section is determined from the corresponding exit section of the intersection.

In step 101, whether in the process of navigation or in the process of data compilation, it is necessary to determine the research object of the embodiment of the present invention - the driving road section, which has a plurality of exiting road sections.

Specifically, according to the road topological relationship in the map database, the exiting section of a driving section of an intersection is determined as follows: the driving out relationship between the driving section and the driving section is selected from the exiting section of the intersection The road section serves as the exit section of the driving section.

The plurality of exit sections of the driving section at one intersection may be the exit sections in the same driving direction, or may be the exit sections in different driving directions.

For example, for a driving section A, at a crossroad, the exiting section in the same driving direction refers to the outgoing section in the straight direction; the outgoing section in the different driving directions refers to the outgoing section in the leftward direction. Or right turn Drive out of the road.

Step 102: Calculate a relative angle value of each of the exiting road segments and the driving inbound road segment.

In step 102, after determining a plurality of exit sections having a communication relationship with a driving section, a relative angle value of each of the exit sections and the driving section is calculated.

Specifically, for each of the exiting road sections, an angle between the outgoing road section and the extension line of the driving road section is determined as a relative angle value of the driving road section and the driving road section.

The extension line of the driving section refers to an extension line extending the driving section in the traveling direction based on the traveling direction.

As shown in FIG. 2, it is a schematic diagram of the angle between the exiting section and the extension of the driving section.

It should be noted that the angle value ranges from 0° to 360°. Determine the way: Determine the angle along the clockwise direction.

For example, as shown in FIG. 2, the exit section corresponding to the driving section a has: section 1, section 2, section 3, section 4, section 5 and section 6, wherein the calculated section 1 and the driving in The angle of the extension of the section a is 19°; the calculated angle between the calculated section 2 and the extension of the section a is 21°; the angle between the calculated section 3 and the extension of the section a is calculated; The value is 40°; the calculated angle between the calculated road segment 4 and the extension line of the driving segment a is 350°; the calculated angle between the calculated road segment 5 and the extension line of the driving segment a is 305°; The angle between the link 6 and the extension of the drive section a is 290°.

Step 103: Determine, according to an angular range of the preset relative angular interval, a relative angular interval to which each calculated relative angular value belongs, to obtain an exiting road segment included in the determined relative angular interval.

In the step 103, the relative angle range configured in the prior art can be used as the relative angle interval in the embodiment of the present invention, because the corresponding relationship between the relative angle interval and the navigation action is preset in the prior art. The relative angle interval can also be set according to actual needs, which is not limited here.

Specifically, each of the relative angular intervals includes a starting angle value and a ending angle value.

For example: the relative angular interval of the configuration is: 340 ° ≤ α ≤ 20 °; 20 ° < α ≤ 55 °; 55 ° < α ≤ 125 °; 125 ° < α ≤ 160 °; 160 ° < α ≤ 180 °; ° < α ≤ 200 °; 200 ° < α ≤ 235 °; 235 ° < α ≤ 305 °; 305 ° < α < 340 °.

Determining, according to an angular range of the preset relative angular interval, a relative angular interval to which each calculated relative angular value belongs includes:

Selecting a relative angle interval from the configured relative angle intervals, and determining a starting angle value and a ending angle value of the relative angle interval;

Comparing a relative angle value with a starting angle value of the relative angular interval, and comparing the relative angle The value is compared with the end angle value of the relative angular interval;

When it is determined that the relative angle value is between the start angle value of the relative angle interval and the end angle value of the relative angle interval, determining the relative angle value corresponds to the selected relative angle value interval.

By taking the relative angle value corresponding to each of the exiting road segments calculated in step 101, it can be determined that the relative angle value corresponding to the road segment 1 is 19° and the relative angle value corresponding to the road segment 4 is 350° belongs to the same relative angular interval (340° ≤ α). ≤20°); the relative angle value corresponding to the road segment 2 is 21° and the relative angle value corresponding to the road segment 3 is 40°, which belongs to the relative angle interval corresponding to 20°<α≤55°; the relative angle value corresponding to the road segment 5 is 305° and the road segment 6 The corresponding relative angle value 290° belongs to a relative angle interval corresponding to 235° < α ≤ 305°.

Step 104: Determine, for each of the determined relative angle intervals, if the relative angle interval includes at least two exiting road segments, determining the at least the relative angle values of the at least two outgoing road segments included in the relative angular interval. The relative positional relationship between the two exiting sections.

In step 104, if a certain out-of-way section is included in the determined relative angle section, the navigation action corresponding to the relative angle section may be entered as the driving section into the relative angle section according to the prior art manner. The navigation action of the exit segment does not have the problem in the background art of the present invention. However, if the relative angle interval includes at least two exit segments, processing according to the prior art will result in an inability to determine which one to travel to. Driving out of the road section reduces the problem of navigation accuracy. Therefore, for the case where the relative angle section includes at least two exiting road sections, the relative angle value of at least two outbound road sections included in the relative angle section is determined. The relative positional relationship between at least two exiting sections is described.

It should be noted that, if the relative angle interval includes only one exiting road, acquiring a first navigation action corresponding to the relative angular interval from a corresponding relationship between the preset relative angular interval and the first navigation action; The acquired first navigation action is determined as a navigation action of entering the exit section included in the relative angle section from the driving section.

Taking the content in step 102 as an example, it is assumed that the exit section corresponding to the driving section a has: section 1 and section 4, then the research object is: 340° ≤ α ≤ 20° section 16 included in the relative angle section and Section 4.

Specifically, according to the magnitude of the relative angle value, the relative positional relationship between the selected exit section and the other out of the at least two exit sections is obtained based on the direction of entering the exit section.

For example, the selected road segment 1 is the outgoing road segment. Because the relative angle value corresponding to the road segment 1 is 19° and the relative angle value corresponding to the road segment 4 is 350°, then in the specific map database, the road segment 1 is located on the right side of the road segment 4, Then, based on the direction of entering the exit section, the relative positional relationship between the section 1 and the section 4 is obtained, so that the section 1 is on the right side of the section 4;

Taking the selected road segment 4 as the exiting road segment, since the relative angle value corresponding to the road segment 1 is 19° and the relative angle value corresponding to the road segment 4 is 350°, then in the specific map database, the road segment 4 is located on the left side of the road segment 1, then The direction of entering the exit section is taken as the reference, and the relative positional relationship between the section 4 and the section 1 is obtained such that the section 4 is on the left side of the section 1.

Step 105: Generate, according to the relative angle interval, the relative positional relationship between the at least two exiting road segments, and a preset navigation action generation strategy, each of the relative angle intervals included in the driving path segment is generated. A navigation action that drives out of the road.

In step 105, a manner of generating a navigation action from each of the driving sections into each of the exiting sections included in the relative angular section includes, but is not limited to, the following:

The first way:

First, the intersection type of the intersection formed by the driving section and the exit section included in the relative angle section is determined according to the number of the exiting sections included in the relative angular section and the angular range of the relative angular section.

Specifically, in step 102, the relative angular interval to which each of the exiting road segments belongs is calculated, and it is obviously easy to obtain the number of the outgoing road segments included in the relative angular interval, and the angular range of the number and the relative angular interval is utilized. The intersection type of the intersection formed by the driving section and the exit section included in the relative angle section can be determined.

In the embodiment of the present invention, the intersection type may be pre-established for different relative angle intervals and the number of exit segments included in the relative angle interval. For example, the established intersection model includes: intersection type 1: for 340 ° ≤ α ≤ 20 ° relative angle interval, including an exit section; intersection type 2: for 340 ° ≤ α ≤ 20 ° relative angle interval, including Two exit sections; intersection type 3: for 340 ° ≤ α ≤ 20 ° relative angle interval, including three exit sections; ...; intersection type M: for 340 ° ≤ α ≤ 20 ° relative angle interval, including N out of the road section; ...; intersection type P: for 20 ° < α ≤ 55 ° relative angle interval, including Q out of the road section; ...; etc., where M, N, P, Q are Natural number, which is greater than 1.

Specifically, the angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the relative angle interval range corresponding to the preset intersection type, and the number of the exit route segments are matched, and the matching intersection is successfully matched. The type is determined as the intersection type of the intersection formed by the driving section and the exiting section.

Taking the content in step 102 as an example, it is assumed that the exit section corresponding to the driving section a has: section 1 and section 4, then the research object is: 340° ≤ α ≤ 20° section 16 included in the relative angle section and Section 4.

It can be seen that, compared with the exit section corresponding to the driving section a: the section 1 and the section 4, the corresponding intersection type is 2, that is, the relative angle interval is: 340° ≤ α ≤ 20°, including two exit sections. .

Secondly, for each of the exiting road segments included in the relative angular interval, the phase corresponding to the preset intersection type In the corresponding relationship between the positional relationship and the navigation action, acquiring a navigation action corresponding to the relative positional relationship of the exiting road segment, and determining the acquired navigation action as a navigation action of entering the exiting road segment from the driving route segment .

Specifically, in the solution, the corresponding relationship between the relative positional relationship corresponding to the intersection type and the navigation action is established in advance for different intersection types. For example: relative to the exit section corresponding to the driving section a: section 1 and section 4, the corresponding intersection type is 2, that is, the relative angle interval is: 340 ° ≤ α ≤ 20 °, including two exit sections, The relative positional relationship between the road segment 1 and the road segment 4 is: based on the direction of entering the exiting road segment, the relative positional relationship between the road segment 1 and the road segment 4 is obtained as the road segment 1 is on the right side of the road segment 4; the road segment 4 and the road segment 1 are The relative positional relationship is that the road section 4 is on the left side of the road section 1.

Corresponding navigation actions are: the navigation action corresponding to the road on the left side is: straight ahead to the left lane; the navigation action corresponding to the road on the right side is: straight into the right lane.

Then, the navigation action for generating the road segment 1 from the road segment a is: straight ahead into the right lane driving; and the navigation action for driving the road segment 4 from the road segment a is: straight ahead into the left lane driving.

The second way:

First, a first navigation action corresponding to the relative angle section is acquired from a correspondence between the preset relative angle section and the first navigation motion.

Then, according to the first navigation action and the relative positional relationship, a navigation action of the driving route into each of the exiting sections included in the relative angular section is generated.

Taking the content in step 102 as an example, it is assumed that the exit section corresponding to the driving section a has: section 1 and section 4, then the research object is: 340° ≤ α ≤ 20° section 16 included in the relative angle section and Section 4.

For example, according to the correspondence between the configured relative angular interval and the first navigation action, the manner of obtaining the first navigation action corresponding to the relative angle interval of 340°≤α≤20° is straight.

When the first navigation action is obtained, using the obtained first navigation action and the determined relative positional relationship, a navigation action of the driving route into each of the exiting sections included in the relative angular section is generated.

The manner of obtaining the first navigation action corresponding to the relative angle interval of 340° ≤ α ≤ 20° is straight, and the relative positional relationship between the road segment 1 and the road segment 4 is that the road segment 1 is on the right side of the road segment 4, then the driving from the road segment a is generated. The second navigation action of the road section 1 is to go straight into the right lane driving;

The manner of obtaining the first navigation action corresponding to the 340° ≤ α ≤ 20° relative angle interval is straight, and the relative positional relationship between the road segment 4 and the road segment 1 is that the road segment 4 is on the left side of the road segment 1, then the generation proceeds from the road segment a. The second navigation action of the road section 4 is to go straight into the left lane driving.

According to the solution of the first embodiment of the present invention, each of the intersections of each intersection of the road is taken from the intersection. Determining an exiting road section having a communication relationship with the driving road section; calculating a relative angle value of the driving road section and each of the determined driving road sections; and an angle according to the preset relative angle section a range, determining a relative angle interval to which each of the calculated relative angle values belongs to obtain an exiting road segment included in the determined relative angular interval; and for each of the determined relative angular intervals, if the relative angular interval includes at least Determining a relative positional relationship between the at least two outbound road segments according to a relative angle value of the at least two exiting road segments included in the relative angular interval; and according to the relative angular interval, a relative positional relationship between at least two exiting road segments and a preset navigation action generating strategy, generating a navigation action from each of the driving road segments into each of the outgoing road segments included in the relative angular interval, such that A driving section of an intersection, when there are multiple exiting sections in the same relative angle section, respectively according to the same relative angle The relative positional relationship of the plurality of exiting sections in the section further obtains the navigation action for each of the exiting sections, thereby effectively avoiding the problem that a navigational action is generated for the complicated intersection so that the driver cannot determine which exiting section to enter. Improved navigation accuracy.

Embodiment 2:

As shown in FIG. 3, it is a schematic flowchart of a navigation method according to Embodiment 2 of the present invention. In the second embodiment of the present invention, a navigation action of an exiting road segment in a navigation line is determined by using the first embodiment of the present invention in a navigation process. Give an example for explanation.

Step 301: Plan a navigation path according to the input start point and end point, and perform navigation.

Step 302: Determine whether the distance from the current location of the user to the nearest intersection on the navigation path is less than or equal to the preset distance threshold. If yes, go to step 303 or step 304 to step 307; otherwise, go to step 308.

It should be noted that the preset distance threshold may be determined according to actual needs, or may be determined according to experimental results, and is not limited herein.

Step 303: In the navigation action of the outbound road that is connected to the current road in the intersection, the current road where the current location is pre-stored is determined to enter the navigation path from the current road. The navigation action of the next road of the current road, and constructing a navigation voice prompt according to the navigation action, and broadcasting.

Step 304: Calculate a relative angle value between the current road and an exit road in the intersection with the current road.

Specifically, an angle between the exiting road in the intersection with the current road and an extension of the current road is determined as a relative angle between the outgoing section and the driving section.

Step 305: Determine, according to the preset angular range of the relative angular interval and the calculated relative angular value, the other outgoing segments included in the relative angular interval to which the relative angle value of the current road and the next road belongs.

Step 306: Compare the relative angle values of the next road with other exiting roads, and determine a relative positional relationship between the next road and the other outgoing roads according to the comparison result.

Step 307: Generate a driving from the current road to the next road according to a relative angular interval to which the next road relative angle value belongs, a relative positional relationship between the next road and the other outgoing roads. The navigation action, and construct a navigation voice prompt according to the navigation action, and broadcast the message.

Specifically, the manner of generating a navigation action from the current road into the next road includes, but is not limited to:

First, determining, according to the number of the exiting road segments included in the relative angular interval to which the next road relative angle value belongs and the angular range of the relative angular interval, determining the exiting of the driving road segment and the relative angular interval The type of intersection at the intersection formed by the road section.

Specifically, the angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the relative angle interval range corresponding to the preset intersection type, and the number of the exit route segments are matched, and the matching intersection is successfully matched. The type is determined as the intersection type of the intersection formed by the driving section and the exiting section.

Next, for the next road included in the relative angle interval, obtaining a relative position relationship of the next road from a corresponding relationship between a relative position relationship corresponding to the preset intersection type and a navigation action The action is navigated and the acquired navigation action is determined as a navigation action from the current road into the next road of the current road in the navigation path.

The second way:

Obtaining, from a corresponding relationship between the preset relative angle interval and the first navigation action, a first navigation action corresponding to a relative angle interval to which the next road relative angle value belongs; according to the first navigation action and the next road And a relative positional relationship with the other exiting roads, generating a navigation action of the current road into the next road of the current road in the navigation path.

It should be noted that the specific implementation manners of the steps 304 to 307 in the second embodiment of the present invention are the same as the implementation manner of the step 104 in the first embodiment of the present invention.

Step 308: Determine whether the current driving position of the user reaches the destination, and if so, end the navigation, if not, go to step 302.

Embodiment 3:

As shown in FIG. 4, it is a schematic structural diagram of a device for generating a navigation action according to Embodiment 3 of the present invention. The device includes: an exiting road segment determining module 41, a calculating module 42 and a navigation action generating module 43, wherein:

The exiting road section determining module 41 is configured to determine, for each driving road section of each intersection of the road, an exiting road section having a communication relationship with the driving road section from the corresponding exiting road section of the intersection;

The calculating module 42 is configured to calculate a relative angle value of the driving road segment and each determined exiting road segment;

The navigation action generating module 43 is configured to determine, according to an angular range of the preset relative angular interval, a relative angle interval to which each calculated relative angle value belongs, to obtain an exiting road segment included in the determined relative angular interval; For each of the determined relative angular intervals, if the relative angular interval includes at least two outgoing segments, determining the at least two driving according to the relative angle values of the at least two outgoing segments included in the relative angular interval a relative positional relationship between the outgoing sections; and generating a driving route from the driving section according to the relative angular section, the relative positional relationship between the at least two outgoing sections, and a preset navigation action generating strategy The navigation action of each outgoing section included in the relative angle section.

Specifically, the navigation action generating module 43 is specifically configured to determine the driving road segment and the relative angle interval according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval. The type of intersection at the intersection formed by the included exit section;

Obtaining a navigation action corresponding to the relative positional relationship of the exiting road segment from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action for each of the exiting road segments included in the relative angular interval, And determining the acquired navigation action as a navigation action from the approach road section into the exit section.

Specifically, the navigation action generating module 43 determines the intersection type of the intersection formed by the driving road section and the exiting road section included in the relative angle section, specifically for: setting the angular range of the relative angle section with The number of the exiting road segments included in the relative angular interval is matched with the range of the relative angular interval corresponding to the preset intersection type and the number of the outgoing road segments, and the type of the successfully matched intersection is determined as the driving segment and the driving out The type of intersection at the intersection formed by the road section.

Specifically, the navigation action generating module 43 is configured to acquire a first navigation action corresponding to the relative angle interval from a corresponding relationship between the preset relative angle interval and the first navigation action;

For each of the exit sections included in the relative angle section, a navigation action of the driving section into the exit section is generated according to the relative positional relationship between the first navigation action and the exit section.

Specifically, the navigation action generating module 43 is further configured to: if the relative angle interval includes only one exiting road, obtain a relative relationship from the preset relative angular interval and the first navigation action a first navigation action corresponding to the angle interval;

The acquired first navigation action is determined as a navigation action of entering the exit section included in the relative angle section from the driving section.

Specifically, the calculating module 42 is specifically configured to determine, for each of the exiting road segments, an angle between the outgoing road segment and an extension line of the driving road segment as the driving road segment and the driving in The relative angle value of the link.

Optionally, the device further includes: a storage module 44, where:

The storage module 44 is configured to store a navigation action of the driving path into each of the outgoing sections.

It should be noted that the device described in the third embodiment of the present invention may be implemented by using hardware or by software, which is not limited herein.

Embodiment 4:

FIG. 5 is a schematic structural diagram of a navigation device according to Embodiment 4 of the present invention. The device includes: a navigation path determining module 51 and a navigation action generating module 52, wherein:

a navigation path determining module 51, configured to plan a navigation path according to the input start point and the end point, and perform navigation;

The navigation action generating module 52 is configured to determine whether the distance from the current location of the user to the nearest intersection on the navigation path is less than or equal to a preset distance threshold;

If yes, the navigation from the current road where the current location is pre-stored to the exit road in the intersection with the current road is determined to enter the navigation path from the current road. a navigation action of the next road of the current road, and constructing a navigation voice prompt according to the navigation action, and broadcasting; or,

Calculating a relative angle value between the current road and an exiting road in the intersection with the current road; determining an outlet according to an angular range of the preset relative angular interval and the calculated relative angle value Comparing the other exit sections included in the relative angle section to which the relative angle value of the current road and the next road belongs; comparing the relative angle values of the next road with other exiting roads, and determining the next road according to the comparison result a relative positional relationship between the other exiting roads; generating a slave according to a relative angular section to which the next road relative angle value belongs, and a relative positional relationship between the next road and the other outgoing roads The navigation action of the current road into the next road is described, and a navigation voice prompt is constructed according to the navigation action, and the announcement is broadcast.

Specifically, the navigation action generating module 52 is specifically configured to determine the driving manner according to the number of the exiting road segments included in the relative angular interval to which the next road relative angle value belongs and the angular range of the relative angular interval. The intersection type of the intersection formed by the exit section and the exit section included in the relative angle section;

For the next road included in the relative angle interval, obtaining a navigation action corresponding to the relative positional relationship of the next road from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action And determining the acquired navigation action as a navigation action from the current road into the next road of the current road in the navigation path.

Specifically, the navigation action generating module 52 determines the intersection type of the intersection formed by the driving road section and the exiting road section included in the relative angle section, specifically for using the angle range of the relative angle section and the The number of the exiting road segments included in the relative angle interval is matched with the range of the relative angular interval corresponding to the preset intersection type, and the number of the exiting road segments, and the type of the successfully matched intersection is determined as the driving segment and the driving segment. The type of intersection that makes up the intersection.

Specifically, the navigation action generating module 52 is configured to acquire, from a corresponding relationship between the preset relative angle interval and the first navigation action, a first navigation action corresponding to a relative angle interval to which the next road relative angle value belongs. ;

According to the first navigation action and the relative positional relationship between the next road and the other exiting roads, The navigation action of the current road into the next road of the current road in the navigation path.

Specifically, the navigation action generating module 52 calculates a relative angle value between the current road and the outgoing road in the intersection with the current road, specifically for the intersection and the intersection The angle between the exiting road having the connected relationship of the current road and the extension line of the current road is determined as a relative angle value between the outgoing section and the driving section.

It should be noted that the device in the fourth embodiment of the present invention may be implemented by using hardware or by software, which is not limited herein.

Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, apparatus (device), or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

While the preferred embodiment of the invention has been described, it will be understood that Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and the modifications and

It is apparent that those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the appended claims The invention is also intended to cover such modifications and variations.

Claims (24)

1. A method for generating a navigation action, comprising:

   For each driving section of each intersection of the road, an exiting section corresponding to the driving section is determined from the corresponding exit section of the intersection;

   Calculating a relative angle value of the driving road segment and each of the determined exiting road segments;

   Determining, according to an angular range of the preset relative angular interval, a relative angle interval to which each calculated relative angle value belongs, to obtain an exiting road segment included in the determined relative angular interval;

   For each of the determined relative angular intervals, if the relative angular interval includes at least two outgoing segments, determining the at least two driving according to the relative angle values of the at least two outgoing segments included in the relative angular interval a relative positional relationship between the outgoing sections; and generating a driving route from the driving section according to the relative angular section, the relative positional relationship between the at least two outgoing sections, and a preset navigation action generating strategy The navigation action of each outgoing section included in the relative angle section.
2. The method according to claim 1, wherein said generating a strategy from said relative angle interval, a relative positional relationship between said at least two exiting road segments, and a preset navigation action generation strategy The navigation action of the inbound section into each of the exiting sections included in the relative angular section includes:

   Determining, according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval, the intersection type of the intersection formed by the driving road segment and the driving segment included in the relative angular interval;

   Obtaining a navigation action corresponding to the relative positional relationship of the exiting road segment from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action for each of the exiting road segments included in the relative angular interval, And determining the acquired navigation action as a navigation action from the approach road section into the exit section.
3. The method according to claim 2, wherein the determining the driving path segment and the relative angle according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval The types of intersections at the intersections formed by the exit road sections included in the section include:

   The angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the range of the relative angle interval corresponding to the preset intersection type, and the number of the exit route segments, and the type of the intersection that is successfully matched is determined as The intersection type of the intersection formed by the driving road section and the exiting road section.
4. The method according to claim 1, wherein said generating a strategy from said relative angle interval, a relative positional relationship between said at least two exiting road segments, and a preset navigation action generation strategy The navigation action of the inbound section into each of the exiting sections included in the relative angular section includes:

   Acquiring a first navigation action corresponding to the relative angle interval from a corresponding relationship between the preset relative angle interval and the first navigation action;

   For each of the exit sections included in the relative angle section, a navigation action of the driving section into the exit section is generated according to the relative positional relationship between the first navigation action and the exit section.
5. The method of any of claims 1 to 4, further comprising:

   If the relative angle interval includes only one exiting road, acquiring a first navigation action corresponding to the relative angular interval from a corresponding relationship between the preset relative angular interval and the first navigation action;

   The acquired first navigation action is determined as a navigation action of entering the exit section included in the relative angle section from the driving section.
6. The method according to any one of claims 1 to 4, wherein the calculating the relative angle value of the driving route segment and each of the determined exiting road segments comprises:

   For each of the exiting sections, the angle between the exiting section and the extension of the driving section is determined as a relative angle between the outgoing section and the driving section.
7. The method of any of claims 1 to 4, further comprising:

   Storing a navigation action of the driving section into each of the exiting sections.
8. A navigation method, comprising:

   Plan the navigation path based on the input start and end points and perform navigation;

   Determining whether the distance from the current location of the user to the nearest intersection on the navigation path is less than or equal to a preset distance threshold;

   If yes, the navigation from the current road where the current location is pre-stored to the exit road in the intersection with the current road is determined to enter the navigation path from the current road. a navigation action of the next road of the current road, and constructing a navigation voice prompt according to the navigation action, and broadcasting; or,

   Calculating a relative angle value between the current road and an exiting road in the intersection with the current road; determining an outlet according to an angular range of the preset relative angular interval and the calculated relative angle value Comparing the other exit sections included in the relative angle section to which the relative angle value of the current road and the next road belongs; comparing the relative angle values of the next road with other exiting roads, and determining the next road according to the comparison result a relative positional relationship between the other exiting roads; generating a slave according to a relative angular section to which the next road relative angle value belongs, and a relative positional relationship between the next road and the other outgoing roads The navigation action of the current road into the next road is described, and a navigation voice prompt is constructed according to the navigation action, and the announcement is broadcast.
9. The method according to claim 8, wherein said generating is based on a relative angular interval to which said next road relative angle value belongs, and a relative positional relationship between said next road and said other exiting road Navigation actions from the current road into the next road, including:

   The number of exiting road segments and the phase according to the relative angular interval to which the next road relative angle value belongs Determining, at an angular range of the angular interval, a type of intersection of the intersection formed by the driving section and the exiting section included in the relative angular section;

   For the next road included in the relative angle interval, obtaining a navigation action corresponding to the relative positional relationship of the next road from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action And determining the acquired navigation action as a navigation action from the current road into the next road of the current road in the navigation path.
10. The method according to claim 9, wherein said determining the driving path segment and said relative angle according to the number of the exiting road segments included in said relative angular interval and the angular range of said relative angular interval The types of intersections at the intersections formed by the exit road sections included in the section include:

    The angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the range of the relative angle interval corresponding to the preset intersection type, and the number of the exit route segments, and the type of the intersection that is successfully matched is determined as The intersection type of the intersection formed by the driving road section and the exiting road section.
11. The method according to claim 8, wherein said generating is based on a relative angular interval to which said next road relative angle value belongs, and a relative positional relationship between said next road and said other exiting road Navigation actions from the current road into the next road, including:

    Obtaining, from a corresponding relationship between the preset relative angle interval and the first navigation action, a first navigation action corresponding to a relative angle interval to which the next road relative angle value belongs;

    And generating, according to the first navigation action and a relative positional relationship between the next road and the other exiting road, a navigation action of entering a next road of the current road from the current road into the navigation path.
12. The method according to any one of claims 8 to 11, wherein the calculating a relative angle value between the current road and the exiting road in the intersection with the current road, respectively:

    The angle between the exiting road in the intersection with the current road and the extension of the current road is determined as a relative angle between the outgoing section and the driving section.
13. A device for generating a navigation action, comprising:

    The exiting road section determining module is configured to determine, for each driving road section of each intersection of the road, an exiting road section having a communication relationship with the driving road section from the corresponding exiting road section of the intersection;

    a calculation module, configured to calculate a relative angle value of the driving road segment and each determined exit road segment;

    a navigation action generating module, configured to determine, according to an angular range of the preset relative angular interval, a relative angle interval to which each calculated relative angle value belongs, to obtain an exiting road segment included in the determined relative angular interval; For each of the relative angular intervals, if the relative angular interval includes at least two outgoing segments, the at least two outgoing segments are determined according to the relative angular values of the at least two outgoing segments included in the relative angular interval between Relative positional relationship; and according to the relative angular interval, the relative positional relationship between the at least two outgoing sections, and a preset navigation action generation strategy, generating the relative angle interval from the driving section into the range The navigation action of each exit section.
14. The device according to claim 13, wherein the navigation action generating module is specifically configured to:

    Determining, according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval, the intersection type of the intersection formed by the driving road segment and the driving segment included in the relative angular interval;

    Obtaining a navigation action corresponding to the relative positional relationship of the exiting road segment from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action for each of the exiting road segments included in the relative angular interval, And determining the acquired navigation action as a navigation action from the approach road section into the exit section.
15. The device according to claim 14, wherein the navigation action generating module determines the intersection type of the intersection formed by the driving road section and the exiting road section included in the relative angle section, specifically for:

    The angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the range of the relative angle interval corresponding to the preset intersection type, and the number of the exit route segments, and the type of the intersection that is successfully matched is determined as The intersection type of the intersection formed by the driving road section and the exiting road section.
16. The device according to claim 13, wherein the navigation action generating module is specifically configured to:

    Acquiring a first navigation action corresponding to the relative angle interval from a corresponding relationship between the preset relative angle interval and the first navigation action;

    For each of the exit sections included in the relative angle section, a navigation action of the driving section into the exit section is generated according to the relative positional relationship between the first navigation action and the exit section.
17. The device according to any one of claims 13 to 16, wherein the navigation action generating module is further configured to:

    If the relative angle interval includes only one exiting road, acquiring a first navigation action corresponding to the relative angular interval from a corresponding relationship between the preset relative angular interval and the first navigation action;

    The acquired first navigation action is determined as a navigation action of entering the exit section included in the relative angle section from the driving section.
18. The device according to any one of claims 13 to 16, wherein the calculation module is specifically configured to:

    For each of the exiting sections, the angle between the exiting section and the extension of the driving section is determined as a relative angle between the outgoing section and the driving section.
19. The device according to any one of claims 13 to 16, wherein the device further comprises: a storage module, wherein:

    The storage module is configured to store a navigation action of the driving road segment to enter each of the outgoing road segments.
20. A navigation device, comprising:

    a navigation path determining module, configured to plan a navigation path according to the input start point and the end point, and perform navigation;

    The navigation action generating module is configured to determine whether the distance between the current location of the user and the nearest intersection on the navigation path is less than or equal to a preset distance threshold;

    If yes, the navigation from the current road where the current location is pre-stored to the exit road in the intersection with the current road is determined to enter the navigation path from the current road. a navigation action of the next road of the current road, and constructing a navigation voice prompt according to the navigation action, and broadcasting; or,

    Calculating a relative angle value between the current road and an exiting road in the intersection with the current road; determining an outlet according to an angular range of the preset relative angular interval and the calculated relative angle value Comparing the other exit sections included in the relative angle section to which the relative angle value of the current road and the next road belongs; comparing the relative angle values of the next road with other exiting roads, and determining the next road according to the comparison result a relative positional relationship between the other exiting roads; generating a slave according to a relative angular section to which the next road relative angle value belongs, and a relative positional relationship between the next road and the other outgoing roads The navigation action of the current road into the next road is described, and a navigation voice prompt is constructed according to the navigation action, and the announcement is broadcast.
21. The device according to claim 20, wherein the navigation action generating module is specifically configured to:

    Determining, according to the number of the exiting road segments included in the relative angular interval to which the next road relative angle value belongs, and the angular range of the relative angular interval, determining the exiting road segment and the driving segment included in the relative angular interval The type of intersection that makes up the intersection;

    For the next road included in the relative angle interval, obtaining a navigation action corresponding to the relative positional relationship of the next road from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action And determining the acquired navigation action as a navigation action from the current road into the next road of the current road in the navigation path.
22. The device according to claim 21, wherein the navigation action generating module determines the intersection type of the intersection formed by the driving road section and the exiting road section included in the relative angle section, specifically for:

    The angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the range of the relative angle interval corresponding to the preset intersection type, and the number of the exit route segments, and the type of the intersection that is successfully matched is determined as The intersection type of the intersection formed by the driving road section and the exiting road section.
23. The device according to claim 20, wherein the navigation action generating module is specifically configured to:

    Obtaining, from a corresponding relationship between the preset relative angle interval and the first navigation action, a first navigation action corresponding to a relative angle interval to which the next road relative angle value belongs;

    According to the first navigation action and the relative positional relationship between the next road and the other exiting roads, A navigation action that enters the next road of the current road from the current road into the navigation path.
24. The device according to any one of claims 20 to 23, wherein the navigation action generating module calculates a relative angle between the current road and an exit road in the intersection with the current road. Value, specifically for:

    The angle between the exiting road in the intersection with the current road and the extension of the current road is determined as a relative angle between the outgoing section and the driving section.

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