CN114812597A - Road guide graphic generation method and device, navigation method and readable storage medium - Google Patents

Abstract

The embodiment of the disclosure discloses a road guidance diagram generation method, a road guidance diagram generation device, a navigation method and a readable storage medium, wherein the method comprises the following steps: determining a target lane of an out-degree road section and a target lane of an in-degree road section; determining a road guide type according to the position relation between the out-degree road section target lane and the in-degree road section target lane; acquiring a road guide graphic generation parameter according to the road guide type; and generating the road guide graphic representation according to the road guide graphic representation generation parameters. This technical scheme takes the different road guide graphics generation strategies of drawing to different road guide types for the turn radian of road guide graphics is steerable and corresponding with the road guide type, avoids appearing the road guide graphics that same entrance angle degree corresponds and has the condition of great difference, thereby has promoted user's use and has experienced.

Description

Road guidance graphic generation method, device, navigation method and readable storage medium

technical field

Embodiments of the present disclosure relate to the field of rendering technologies, and in particular, to a method, device, navigation method, and readable storage medium for generating a road guidance illustration.

Background technique

With the development and progress of society, there are more and more vehicles on the road, and the road conditions are becoming more and more complicated. Therefore, many users rely on the guidance of navigation routes for their travel. During navigation guidance, arrows with a turning shape are usually used to guide the turning actions of vehicles at intersections. In the prior art, the traditional second-order Bezier curve drawing method is usually used to draw the guiding arrows, such as the turning of the guiding arrows. The second-order Bezier curve interpolation algorithm and Gaussian smoothing are used to draw, but the insertion point of the second-order Bezier curve interpolation algorithm depends on the out-degree segment of the intersection and the in-degree angle of the in-degree segment, as well as the end coordinates of the out-degree segment and For the starting coordinates of the in-degree road section, for the same in-degree angle, if the coordinate point positions are different, the inserted points will be completely different, which will lead to a large difference in the guide arrows corresponding to the same in-degree angle. It can be seen from the above that the turning shape of the guide arrow obtained by the traditional second-order Bezier curve drawing method is irregular, the controllability is poor, and it is difficult to constrain, thereby reducing the user experience.

SUMMARY OF THE INVENTION

Embodiments of the present disclosure provide a method, device, navigation method, and readable storage medium for generating a road guidance illustration.

In a first aspect, an embodiment of the present disclosure provides a method for generating a road guidance diagram.

Specifically, the method for generating a road guidance icon includes:

Determine the target lane of the outbound section and the target lane of the inbound section;

Determine the road guidance type according to the positional relationship between the target lane of the outbound road section and the target lane of the inbound road section;

According to the road guidance type, obtain a road guidance icon generation parameter;

A road guidance picture is generated according to the road guidance picture generation parameter.

In a second aspect, an embodiment of the present disclosure provides an apparatus for generating a road guidance diagram.

Specifically, the device for generating road guidance diagrams includes:

a first determining module, configured to determine the target lane of the out-degree road segment and the target lane of the in-degree road segment;

a second determining module configured to determine the road guidance type according to the positional relationship between the target lane of the out-degree road segment and the target lane of the in-degree road segment;

an obtaining module, configured to obtain a road guidance icon generation parameter according to the road guidance type;

A generation module is configured to generate a road guidance diagram according to the road guidance diagram generation parameters.

In a third aspect, an embodiment of the present disclosure provides an electronic device, including a memory and a processor, where the memory is configured to store one or more computer instructions for supporting a road guidance graphic generating apparatus to execute the above-mentioned road guidance graphic generating method, The processor is configured to execute computer instructions stored in the memory. The road guidance illustration generating apparatus may further include a communication interface for the road guidance illustration generating apparatus to communicate with other devices or a communication network.

In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium for storing computer instructions used by a road guidance icon generation device, which includes a method for generating a road guidance icon for executing the above road guidance icon generation method to generate a road guidance icon. The computer instructions involved in the device.

In a fifth aspect, an embodiment of the present disclosure provides a navigation method, wherein a navigation route based on at least a starting point, an end point, and route planning data is obtained, and navigation guidance is performed based on the navigation route, and the route planning data is based on any one of the above-mentioned route planning data. Item method is implemented.

The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

The above technical solution obtains different road guidance icon generation parameters by determining the road guidance type, and then generates corresponding drawn road guidance icons according to the road guidance icon generation parameters. The technical solution adopts different drawing road guidance icon generation strategies for different road guidance types, so that the turning arc of the road guidance icon can be controlled and corresponds to the road guidance type, avoiding the occurrence of road guidance icons corresponding to the same entry and exit angle. In the case of large differences, the user experience is improved.

It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the disclosed embodiments.

Description of drawings

Other features, objects, and advantages of embodiments of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the attached image:

FIG. 1 shows a flowchart of a method for generating a road guidance illustration according to an embodiment of the present disclosure;

2A-2F illustrate schematic diagrams of generating road guidance diagrams according to an embodiment of the present disclosure;

FIG. 3 shows a structural block diagram of an apparatus for generating a road guidance diagram according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of a computer system suitable for implementing a method for generating a road guidance illustration according to an embodiment of the present disclosure.

Detailed ways

Hereinafter, exemplary embodiments of the embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for the sake of clarity, parts unrelated to describing the exemplary embodiments are omitted from the drawings.

In embodiments of the present disclosure, it should be understood that terms such as "comprising" or "having" are intended to indicate the presence of features, numbers, steps, acts, components, parts, or combinations thereof disclosed in this specification, and are not intended to be The presence or addition of one or more other features, numbers, steps, acts, components, parts, or combinations thereof is excluded.

In addition, it should be noted that the embodiments of the present disclosure and the features of the embodiments may be combined with each other under the condition of no conflict. The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

The technical solutions provided by the embodiments of the present disclosure obtain different road guidance icon generation parameters by determining the road guidance type, and then generate corresponding drawn road guidance icons according to the road guidance icon generation parameters. The technical solution adopts different drawing road guidance icon generation strategies for different road guidance types, so that the turning arc of the road guidance icon can be controlled and corresponds to the road guidance type, avoiding the occurrence of road guidance icons corresponding to the same entry and exit angle. In the case of large differences, the user experience is improved.

1 shows a flowchart of a method for generating a road guidance icon according to an embodiment of the present disclosure. As shown in FIG. 1 , the method for generating a road guidance icon includes the following steps S101-S104:

In step S101, determine the target lane of the out-degree road segment and the target lane of the in-degree road segment;

In step S102, the road guidance type is determined according to the positional relationship between the target lane of the out-degree road segment and the target lane of the in-degree road segment;

In step S103, according to the road guidance type, obtain road guidance icon generation parameters;

In step S104, a road guidance picture is generated according to the road guidance picture generation parameter.

As mentioned above, with the development and progress of society, there are more and more vehicles on the road, and the road conditions are becoming more and more complicated. Therefore, many users rely on the guidance of navigation routes for their travel. During navigation guidance, arrows with a turning shape are usually used to guide the turning actions of vehicles at intersections. In the prior art, the traditional second-order Bezier curve drawing method is usually used to draw the guiding arrows, such as the turning of the guiding arrows. The second-order Bezier curve interpolation algorithm and Gaussian smoothing are used to draw, but the insertion point of the second-order Bezier curve interpolation algorithm depends on the out-degree segment of the intersection and the in-degree angle of the in-degree segment, as well as the end coordinates of the out-degree segment and For the starting coordinates of the in-degree road section, for the same in-degree angle, if the coordinate point positions are different, the inserted points will be completely different, which will lead to a large difference in the guide arrows corresponding to the same in-degree angle. It can be seen from the above that the turning shape of the guide arrow obtained by the traditional second-order Bezier curve drawing method is irregular, the controllability is poor, and it is difficult to constrain, thereby reducing the user experience.

Considering the above problems, in this embodiment, a method for generating road guidance icons is proposed. The method obtains different road guidance icon generation parameters by determining the road guidance type, and then generates corresponding road guidance icons according to the road guidance icon generation parameters. Draw road guidance icons. The technical solution adopts different drawing road guidance icon generation strategies for different road guidance types, so that the turning arc of the road guidance icon can be controlled and corresponds to the road guidance type, avoiding the occurrence of road guidance icons corresponding to the same entry and exit angle. In the case of large differences, the user experience is improved.

In an embodiment of the present disclosure, the method for generating a road guidance illustration can be applied to a computer, computing device, electronic device, server, service cluster, etc. that can execute the generation of a road guidance illustration.

In an embodiment of the present disclosure, the road guidance icons refer to icons used for road guidance, such as turning arrows and the like. For the convenience of explanation and description, the present disclosure will be described in detail below by taking the road guidance diagram as a turning arrow as an example.

In an embodiment of the present disclosure, the target lane of the in-degree road segment refers to the lane in the road segment where the vehicle is located before entering a certain intersection, such as the lane in the road segment where the vehicle is located before turning, that is, it is about to drive out when turning The target lane of the out-degree section refers to the lane in the road section where the vehicle is located after exiting a certain intersection, such as the lane to be entered after turning, the target lane of the out-degree section and the target lane of the in-degree section It can be determined according to the current driving data of the vehicle. There may be various positional relationships between the target lane of the in-degree road section and the target lane of the out-degree road section, such as vertical, parallel, staggered, and so on.

In an embodiment of the present disclosure, the road guidance type refers to the type of road guidance, which is related to the positional relationship between the target lane of the out-degree link and the target lane of the in-degree link, wherein the road guidance type Can include one or more of the following types: quarter turns, parallel turns, sharp turns, obtuse turns, and parallel turns.

In an embodiment of the present disclosure, the road guidance icon generation parameters refer to parameters required for generating a road guidance icon, such as the target lane size of the out-degree road segment, the target lane size of the in-degree road segment, and the target of the out-degree road segment. The distance between the lane and the target lane of the in-degree segment, the location of the intersection boundary, etc. The target lane size of the out-degree road section refers to the width, length, etc. of the target lane of the out-degree road section; the target lane size of the in-degree road section refers to the width, length, etc. of the target lane of the in-degree road section. size; the distance between the target lane of the out-degree road segment and the target lane of the in-degree road segment refers to the vertical distance between the center line of the target lane of the out-degree road segment and the center line of the target lane of the in-degree road segment; the intersection The boundary position refers to the boundary formed by multiple lane stop lines that communicate with the intersection.

In the above embodiment, firstly, the vehicle's out-degree target lane and in-degree target lane are determined according to the current driving data of the vehicle, and then the road is determined according to the positional relationship between the out-degree target lane and the in-degree target lane. Then, the corresponding road guidance icon generation parameters can be obtained according to the road guidance type, and finally the corresponding road guidance icon can be generated according to the road guidance icon generation parameters.

In an embodiment of the present disclosure, the step S102, that is, the step of determining the road guidance type according to the positional relationship between the target lane of the out-degree road segment and the target lane of the in-degree road segment, may include the following steps:

When the included angle between the target lane of the out-degree road section and the target lane of the in-degree road section is within a right-angle range, the road guidance type is a right-angle turn;

When the included angle between the target lane of the out-degree road segment and the target lane of the in-degree road segment is within a flat angle range and the travel directions of the out-degree road segment target lane and the in-degree road segment target lane are opposite to each other, the road guidance type is a parallel U-turn ;

When the included angle between the target lane of the out-degree road section and the target lane of the in-degree road section is in an acute angle range, the road guidance type is an acute angle turn;

When the included angle between the target lane of the out-degree road section and the target lane of the in-degree road section is in an obtuse angle range, the road guidance type is an obtuse angle turn;

When the included angle between the target lane of the out-degree road segment and the target lane of the in-degree road segment is within a flat angle range and the travel directions of the out-degree road segment target lane and the in-degree road segment target lane are the same, the road guidance type is parallel turning.

Wherein, the right angle range refers to the angle range formed by increasing or decreasing the preset angle at the right angle. Considering that the positional relationship between the target lane of the out-degree road section and the target lane of the in-degree road section is an approximate right angle, the road guidance type can be determined to be a right-angle turn. The preset angle is a relatively small angle, for example, the preset angle may be set to 5 degrees, so that the angle within the right angle range is a right angle or an approximate right angle.

Wherein, the flat angle range refers to the angle range formed by increasing or decreasing the flat angle by a preset angle. It is considered that the positional relationship between the target lane of the out-degree road section and the target lane of the in-degree road section is approximately parallel. U-turn, so the road guidance type can be determined to be a parallel U-turn at this time. Similarly, if the target lane of the out-degree road section and the target lane of the in-degree road section are in the same direction of travel, it means that the vehicle wants to drive in a staggered manner. The above-mentioned road guidance type may be determined as a parallel turn. Wherein, similar to the above, the preset angle is a relatively small angle, for example, the preset angle may be set to 5 degrees, so that the angle within the range of the flat angle is a flat angle or an approximately flat angle.

The acute angle range refers to the angle range where the acute angle is located. If the angle between the target lane of the out-degree road section and the target lane of the in-degree road section falls into the acute angle range, the out-degree road section is considered to be the target lane. If the positional relationship between the lane and the target lane of the in-degree road section is an acute angle, the road guidance type can be determined to be an acute angle turn. It should be noted that there is no overlap between the acute angle range and the right angle range and the flat angle range. For example, the acute angle range can be set to an angle formed by 0 degrees + a preset angle to 90 degrees - a preset angle scope.

Wherein, the obtuse angle range refers to the angle range where the obtuse angle is located. If the angle between the target lane of the out-degree road section and the target lane of the in-degree road section falls into the obtuse angle range, the out-degree road section target is considered to be If the positional relationship between the lane and the target lane of the in-degree road section is an obtuse angle, the road guidance type can be determined to be an obtuse angle turn. It should be noted that there is no overlap between the obtuse angle range and the right angle range and the flat angle range. For example, the obtuse angle range can be set to an angle formed by 90 degrees + a preset angle to 180 degrees - a preset angle scope.

In an embodiment of the present disclosure, the step S103, that is, the step of obtaining the road guidance icon generation parameter according to the road guidance type, may include the following steps:

When the road guidance type is a right-angle turn, an acute-angle turn, an obtuse-angle turn or a parallel turn, the parameters for generating the road guidance icon include: the target lane size of the out-degree road section, the target lane size of the in-degree road section, and the corresponding intersection boundary position;

When the road guidance type is a parallel U-turn, the road guidance graphic generation parameters include: the target lane size of the out-degree road section, the target lane size of the in-degree road section, the difference between the target lane of the out-degree road section and the target lane of the in-degree road section Distance and corresponding intersection boundary location.

In this embodiment, when the road guidance type is a right-angle turn, an acute-angle turn, an obtuse-angle turn, or a parallel turn, only parameters such as the target lane size of the out-degree road section, the target lane size of the in-degree road section, and the corresponding intersection boundary position can be Generate the parameters to generate a road guidance icon; and when the road guidance type is a parallel U-turn, in addition to the above road guidance icon generation parameters, it is also necessary to obtain the distance between the target lane of the out-degree road section and the target lane of the in-degree road section A road guidance picture is generated as the road guidance picture generation parameter.

After obtaining the road guidance icon generation parameters, the road guidance icon can be generated according to the road guidance icon generation parameters. The following takes different road guidance types as examples to explain and explain the generation of road guidance icons respectively. illustrate.

When the road guidance type is a right-angle turn, the step S104, that is, the step of generating a road guidance icon according to the generation parameters of the road guidance icon, may include the following steps:

According to the target lane size of the out-degree road section and the target lane size of the in-degree road section, determine the out-degree center extension line of the target lane size of the out-degree road section and the in-degree center extension line of the target lane of the in-degree road section, and obtain two center extension lines the intersection point;

Extend the first distance from the intersection in the direction of the target lane of the out-degree section and the opposite direction of the target lane of the in-degree section, respectively, to obtain the out-degree end point and the in-degree end point, wherein the first distance is the direction from the intersection point along the out-degree section. The first preset ratio of the short distance between the target lane direction of the degree road section and the opposite direction of the target lane of the in-degree road section respectively extending to the boundary of the intersection;

Taking the out-degree endpoint and the in-degree endpoint as tangent points, generate an arc whose center line is tangent to the out-degree center extension line and the in-degree center extension line, wherein the angle of the arc is the out-degree the angle between the target lane of the road section and the target lane of the in-degree road section, and the width of the arc is a preset width;

From the end face of the arc close to the target lane of the out-degree road section, an arrow is generated along the direction of the out-degree road section target lane, wherein the width of the arrow is a preset width;

From the end face of the arc close to the target lane of the in-degree road section, a nock tail is generated along the opposite direction of the target lane of the in-degree road section, wherein the width of the nock tail is a preset width;

The arrows, arcs, and nocks are connected in sequence to generate a road guidance illustration.

In this embodiment, when the road guidance type is a right-angle turn, and a road guidance icon is generated, as shown in FIG. 2A :

Firstly, according to the target lane size of the out-degree road section and the target lane size of the in-degree road section, determine the out-degree center extension line of the target lane size of the out-degree road section and the in-degree center extension line of the target lane of the in-degree road section, and then make the two centers The extension lines intersect, and the intersection point A1 is obtained;

Then, starting from the intersection A1, extend the first distance L1 along the direction of the target lane of the out-degree road segment and the opposite direction of the target lane of the in-degree road segment, respectively, to obtain the out-degree end point B1 and the in-degree end point C1, wherein the first distance L1 is The first one of the shorter distance between the distance extending from the intersection A1 in the direction of the target lane of the out-degree section to the boundary of the intersection and the distance extending from the intersection A1 in the opposite direction of the target lane of the in-degree section to the boundary of the intersection A preset ratio, wherein the first preset ratio can be set according to the needs of practical applications, for example, it can be set to 2/3, and the specific value of the first preset ratio is not particularly limited in the present disclosure;

Then, taking the out-degree endpoint B1 and the in-degree endpoint C1 as tangent points, generate an angle with a preset width that is tangent to the out-degree center extension line and in-degree center extension line, and whose angle is the out-degree The arc of the angle between the target lane of the road segment and the target lane of the in-degree road segment, that is, the center line of the arc is tangent to the extension line of the out-degree center and the extension line of the in-degree center, and the tangent points are the Out-degree endpoint B1 and in-degree endpoint C1;

Then, an arrow with the same preset width is generated from the end face of the target lane of the out-degree road section from the arc, and an arrow with the same preset width is generated along the direction of the target lane of the out-degree road section. generating a nock with the same preset width in the opposite direction of the target lane of the in-degree road section;

Finally, connect the arrows, arcs and nock tails in sequence to generate the road guidance diagram.

When the road guidance type is an acute angle turn, the step S104, that is, the step of generating a road guidance icon according to the road guidance icon generation parameters, may include the following steps:

According to the target lane size of the out-degree road section and the target lane size of the in-degree road section, determine the out-degree center extension line of the target lane size of the out-degree road section and the in-degree center extension line of the target lane of the in-degree road section, and obtain two center extension lines the intersection point;

Extend the second distance from the intersection along the direction of the target lane of the out-degree section and the opposite direction of the target lane of the in-degree section, respectively, to obtain the out-degree end point and the in-degree end point, wherein the second distance is the direction from the intersection point along the out-degree section. The direction of the target lane of the degree road section and the opposite direction of the target lane of the in-degree road section are respectively extended to the shorter distance of the intersection boundary minus the first preset distance;

Taking the out-degree endpoint and in-degree endpoint as tangent points, generate an arc whose center line is tangent to the out-degree center extension line and the in-degree center extension line, wherein the angle of the arc is the out-degree endpoint, The supplementary angle of the included angle formed by the intersection point and the in-degree endpoint, and the width of the arc is a preset width;

From the end face of the arc close to the target lane of the out-degree road section, an arrow is generated along the direction of the out-degree road section target lane, wherein the width of the arrow is a preset width;

From the end face of the arc close to the target lane of the in-degree road section, a nock tail is generated along the opposite direction of the target lane of the in-degree road section, wherein the width of the nock tail is a preset width;

The arrows, arcs, and nocks are connected in sequence to generate a road guidance illustration.

In this embodiment, when the road guidance type is an acute angle turn, and a road guidance icon is generated, as shown in FIG. 2B :

Firstly, according to the target lane size of the out-degree road section and the target lane size of the in-degree road section, determine the out-degree center extension line of the target lane size of the out-degree road section and the in-degree center extension line of the target lane of the in-degree road section, and then make the two centers The extension lines intersect, and the intersection point A2 is obtained;

Then, starting from the intersection point A2, extend the second distance L2 along the direction of the target lane of the out-degree section and the opposite direction of the target lane of the in-degree section, respectively, to obtain the out-degree endpoint B2 and the in-degree endpoint C2, wherein the second distance L2 is Subtract the shorter distance between the distance extending from the intersection A2 in the direction of the target lane of the out-degree section to the boundary of the intersection and the distance extending from the intersection A2 in the opposite direction of the target lane of the in-degree section to the boundary of the intersection. The distance value obtained by the first preset distance, wherein the first preset distance can be set according to the needs of the actual application, for example, it can be set to 3-5 meters. The value is not particularly limited;

Then, taking the out-degree endpoint B2 and the in-degree endpoint C2 as tangent points, generate an angle with a preset width that is tangent to the out-degree center extension line and the in-degree center extension line and is the out-degree endpoint B2 , the arc of the supplementary angle of the included angle formed by the intersection point A2 and the in-degree endpoint C2;

Then, an arrow with the same preset width is generated from the end face of the target lane of the out-degree road section from the arc, and an arrow with the same preset width is generated along the direction of the target lane of the out-degree road section. generating a nock with the same preset width in the opposite direction of the target lane of the in-degree road section;

Finally, connect the arrows, arcs and nock tails in sequence to generate the road guidance diagram.

When the road guidance type is an obtuse-angle turn, the step S104, that is, the step of generating a road guidance icon according to the generation parameters of the road guidance icon, may include the following steps:

According to the target lane size of the out-degree road section and the target lane size of the in-degree road section, determine the out-degree center extension line of the target lane size of the out-degree road section and the in-degree center extension line of the target lane of the in-degree road section, and obtain two center extension lines the intersection point;

Extend a third distance from the intersection in the direction of the target lane of the out-degree road segment and the opposite direction of the target lane of the in-degree road segment, respectively, to obtain the out-degree end point and the in-degree end point, wherein the third distance is the direction from the intersection point along the out-degree road segment. The second preset ratio of the short distance between the target lane direction of the degree road section and the opposite direction of the target lane of the in-degree road section respectively extending to the boundary of the intersection;

Taking the out-degree endpoint and in-degree endpoint as tangent points, generate an arc whose center line is tangent to the out-degree center extension line and the in-degree center extension line, wherein the angle of the arc is the out-degree endpoint, The supplementary angle of the included angle formed by the intersection point and the in-degree endpoint, and the width of the arc is a preset width;

From the end face of the arc close to the target lane of the out-degree road section, an arrow is generated along the direction of the out-degree road section target lane, wherein the width of the arrow is a preset width;

From the end face of the arc close to the target lane of the in-degree road section, a nock tail is generated along the opposite direction of the target lane of the in-degree road section, wherein the width of the nock tail is a preset width;

The arrows, arcs, and nocks are connected in sequence to generate a road guidance illustration.

In this embodiment, when the road guidance type is an obtuse angle turn, and a road guidance icon is generated, as shown in FIG. 2C :

Firstly, according to the target lane size of the out-degree road section and the target lane size of the in-degree road section, determine the out-degree center extension line of the target lane size of the out-degree road section and the in-degree center extension line of the target lane of the in-degree road section, and then make the two centers The extension lines intersect, and the intersection point A3 is obtained;

Then, starting from the intersection point A3, extend the third distance L3 along the direction of the target lane of the out-degree road segment and the opposite direction of the target lane of the in-degree road segment, respectively, to obtain the out-degree end point B3 and the in-degree end point C3, wherein the third distance L3 is The second is the shorter of the distance extending from the intersection A3 in the direction of the target lane of the out-degree link to the boundary of the intersection and the distance extending from the intersection A3 in the opposite direction of the target lane of the in-degree link to the boundary of the intersection. a preset ratio, wherein the second preset ratio can be set according to the needs of the actual application, for example, it can be set to 2/3, and the second preset ratio can be set to be equal to the first preset ratio, It can also be set to be unequal to the first preset ratio, and the present disclosure does not specifically limit the specific value of the second preset ratio;

Then, taking the out-degree endpoint B3 and the in-degree endpoint C3 as tangent points, generate an angle with a preset width that is tangent to the out-degree center extension line and the in-degree center extension line and is the out-degree endpoint B3 , the arc of the supplementary angle of the included angle formed by the intersection point A3 and the in-degree endpoint C3;

Then, an arrow with the same preset width is generated from the end face of the target lane of the out-degree road section from the arc, and an arrow with the same preset width is generated along the direction of the target lane of the out-degree road section. generating a nock with the same preset width in the opposite direction of the target lane of the in-degree road section;

Finally, connect the arrows, arcs and nock tails in sequence to generate the road guidance diagram.

When the road guidance type is a parallel turn, the step S104, that is, the step of generating a road guidance icon according to the generation parameters of the road guidance icon, may include the following steps:

According to the target lane size of the out-degree road section and the target lane size of the in-degree road section, determine the out-degree center extension line of the target lane size of the out-degree road section and the in-degree center extension line of the target lane of the in-degree road section, and obtain two center extension lines The intersections with the corresponding intersection boundaries, respectively;

Extend the second preset distance from the two intersection points to obtain the first out-degree endpoint and the first in-degree endpoint, and then extend the third preset distance to obtain the second out-degree endpoint and the second in-degree endpoint;

connecting the second out-degree endpoint and the second in-degree endpoint, wherein the length of the connection between the second out-degree endpoint and the second in-degree endpoint is greater than a preset multiple of a third preset distance;

A first tangent point and a second tangent point are determined on a line connecting the second out-degree endpoint and the second in-degree endpoint, wherein the distance between the first tangent point and the second out-degree endpoint and The distance between the second tangent point and the second in-degree endpoint is the third preset distance;

Taking the first in-degree endpoint and the second tangent point as tangent points, generating a connection line between the center line and the first in-degree endpoint and the second in-degree endpoint, the second in-degree endpoint and the second in-degree endpoint The first arc where the connection line between the tangent points is tangent, wherein the angle of the first arc is the supplementary angle of the angle formed by the first in-degree endpoint, the second in-degree endpoint and the second tangent point, The width of the first arc is a preset width;

Using the first out-degree endpoint and the first tangent point as tangent points, generate a connection line between the center line and the first out-degree endpoint and the second out-degree endpoint, the second in-degree endpoint and the first The second arc where the connection line between the tangent points is tangent, wherein the angle of the second arc is the supplementary angle of the angle formed by the first out-degree endpoint, the second out-degree endpoint and the first tangent point, The width of the second arc is a preset width;

From the end face of the second arc close to the target lane of the out-degree road section, an arrow is generated along the direction of the out-degree road section target lane, wherein the width of the arrow is a preset width;

From the end face of the first arc close to the target lane of the in-degree road section, a nock tail is generated along the opposite direction of the target lane of the in-degree road section, wherein the width of the nock tail is a preset width;

filling the continuation between the first arc and the second arc;

The arrow, the first arc, the continuation portion, the second arc, and the nock are sequentially connected to generate a road guidance illustration.

In this embodiment, when the road guidance type is parallel turning, a road guidance icon is generated, as shown in FIG. 2D :

Firstly, according to the target lane size of the out-degree road section and the target lane size of the in-degree road section, the out-degree center extension line of the target lane size of the out-degree road section and the in-degree center extension line of the target lane of the in-degree road section are determined, and two center extension lines are obtained. The intersections G1 and H1 of the line with the corresponding intersection boundary respectively;

Then, starting from the two intersection points G1 and H1, respectively extend the second preset distance K toward each other to obtain the first out-degree endpoint E and the first in-degree endpoint F, and then from the out-degree endpoint E and the first in-degree endpoint F Start, extend the third preset distance L4 toward each other, and obtain the second out-degree endpoint A4 and the second in-degree endpoint B4;

Then connect the second out-degree endpoint A4 and the second in-degree endpoint B4, wherein the length of the connection between the second out-degree endpoint A4 and the second in-degree endpoint B4 must be greater than the third preset distance L4 The preset multiple, wherein the preset multiple can be set according to the needs of the actual application, for example, can be set to 2, the present disclosure does not specifically limit the specific value of the preset multiple, if the second out-degree The length of the connecting line between the endpoint A4 and the second in-degree endpoint B4 is less than a preset multiple of the third preset distance, then the third preset distance L4 can be reset so that the second out-degree endpoint A4 and The length of the connection line between the second in-degree endpoints B4 is greater than the preset multiple of the third preset distance L4;

Then, a first tangent point C4 and a second tangent point D4 are determined on the connecting line between the second out-degree endpoint A4 and the second in-degree endpoint B4, wherein the first tangent point C4 and the second tangent point C4 The distance between the out-degree endpoints A4 and the distance between the second tangent point D4 and the second in-degree endpoint B4 are equal to the third preset distance L4;

Then, taking the first in-degree endpoint F and the second in-degree endpoint D4 as tangent points, a line connecting the center line with the first in-degree endpoint F and the second in-degree endpoint B4 and the connection with the first in-degree endpoint F and the second in-degree endpoint B4 are generated. The connection lines between the two in-degree endpoints B4 and the second tangent point D4 are all tangent and have a preset width, and the angle is formed by the first in-degree endpoint F, the second in-degree endpoint B4 and the second tangent point D4 The first arc of the supplementary angle of the included angle;

Then, using the first out-degree end point E and the first tangent point C4 as tangent points, generate the connection line between the center line and the first out-degree end point E and the second out-degree end point A4, and the connection with the first out-degree end point E and the second out degree end point A4. The connection lines between the two out-degree endpoints A4 and the first tangent point C4 are all tangent, have a preset width, and the angle is formed by the first out-degree endpoint E, the second out-degree endpoint A4 and the first tangent point C4 The second arc of the supplementary angle of the included angle;

Then, an arrow with the same preset width is generated along the direction of the target lane of the out-degree section from the second arc close to the end face of the target lane of the out-degree section, and from the first arc close to the target lane of the in-degree section the end face of the in-degree road section, generating a nock with the same preset width along the opposite direction of the target lane of the in-degree road section;

then filling the continuation between the first arc and the second arc;

Finally, connect the arrow, the first arc, the continuation part, the second arc and the nock in sequence to generate the road guidance diagram.

When the road guidance type is a parallel U-turn and the distance between the extension line of the center of the target lane of the out-degree road segment and the extension line of the center of the target lane of the in-degree road segment is less than or equal to a fourth preset distance, wherein the fourth preset The distance can be set according to the needs of practical applications, for example, it can be set to 6*preset width, and the specific value of the fourth preset distance is not particularly limited in this disclosure. The step S104 is based on the road guidance map. The steps of generating the road guidance diagram by using the parameters for generating the road guidance diagram may include the following steps:

Starting from the intersection of the extension line of the center of the target lane of the out-degree road section and the extension line of the target lane of the in-degree road section and the boundary of the intersection, extend the fifth preset distance along the direction of the target lane of the in-degree road section to obtain the out-degree end point and the in-degree end point ;

Taking the out-degree endpoints and in-degree endpoints as the arc centerline endpoints, a semi-circular arc is generated, wherein the radius of the arc centerline is the out-degree segment target lane center extension line and the in-degree segment target lane center extension line half of the distance, the width of the arc is the preset width;

From the end face of the arc close to the target lane of the out-degree road section, an arrow is generated along the direction of the out-degree road section target lane, wherein the width of the arrow is a preset width;

From the end face of the arc close to the target lane of the in-degree road section, a nock tail is generated along the opposite direction of the target lane of the in-degree road section, wherein the width of the nock tail is a preset width;

The arrows, arcs, and nocks are connected in sequence to generate a road guidance illustration.

In this embodiment, when the road guidance type is a parallel U-turn and the distance between the extension line of the center of the target lane of the out-degree road section and the extension line of the center line of the target lane of the in-degree road section is less than or equal to a fourth preset distance, a road guidance is generated. When illustrated, as shown in Figure 2E:

Firstly, according to the target lane size of the out-degree road section and the target lane size of the in-degree road section, the out-degree center extension line of the target lane size of the out-degree road section and the in-degree center extension line of the target lane of the in-degree road section are determined, and two center extension lines are obtained. The intersections G2 and H2 of the line with the corresponding intersection boundary respectively;

Then, starting from the two intersection points G2 and H2, extend the fifth preset distance L5 along the direction of the target lane of the in-degree road section to obtain the out-degree endpoint A5 and the in-degree endpoint B5;

Then, using the out-degree endpoint A5 and the in-degree endpoint B5 as the endpoints of the arc centerline, a semi-circular arc with a preset width is generated, wherein the radius of the center line of the semi-circular arc is the target lane of the out-degree road segment Half of the distance between the center extension line and the center extension line of the target lane of the in-degree segment;

Then, an arrow with the same preset width is generated from the end face of the target lane of the out-degree road section from the arc, and an arrow with the same preset width is generated along the direction of the target lane of the out-degree road section. generating a nock with the same preset width in the opposite direction of the target lane of the in-degree road section;

Finally, connect the arrows, arcs and nock tails in sequence to generate the road guidance diagram.

When the road guidance type is a parallel U-turn and the distance between the extension line of the target lane center of the out-degree road section and the extension line of the target lane center of the in-degree road section is greater than the fourth preset distance, the step S104 is based on the road The parameters for generating the guidance diagram, and the steps of generating the road guidance diagram may include the following steps:

Starting from the intersection of the extension line of the center of the target lane of the out-degree road section and the extension line of the target lane of the in-degree road section and the boundary of the intersection, extend the sixth preset distance along the direction of the target lane of the in-degree road section to obtain the out-degree end point and the in-degree end point ;

generating the center line of the connecting lane between the target lane of the out-degree road segment and the target lane of the in-degree road segment;

Taking the out-degree end point as the end point of the circular arc centerline close to the target lane of the out-degree road section, a first circular arc is generated, wherein the angle of the first circular arc is the extension line connecting the lane center line and the out-degree road segment target lane center line The supplementary angle of the included angle, the radius of the first arc is the second preset ratio of the fourth preset distance, and the width of the first arc is the preset width;

Taking the in-degree end point as the end point of the arc centerline close to the target lane of the in-degree road section, a second circular arc is generated, wherein the angle of the second circular arc is the extension line connecting the lane center line and the in-degree road section target lane center line The supplementary angle of the included angle, the radius of the second arc is the second preset ratio of the fourth preset distance, and the width of the second arc is the preset width;

From the end face of the first arc close to the target lane of the out-degree road section, an arrow is generated along the direction of the out-degree road section target lane, wherein the width of the arrow is a preset width;

From the end face of the second arc close to the target lane of the in-degree road section, a nock tail is generated along the opposite direction of the target lane of the in-degree road section, wherein the width of the nock tail is a preset width;

filling the continuation between the first arc and the second arc along the connecting lane;

The arrow, the second arc, the continuation portion, the first arc, and the nock are connected in sequence to generate a road guidance illustration.

In this embodiment, when the road guidance type is a parallel U-turn and the distance between the extension line of the center of the target lane of the out-degree road section and the extension line of the center of the target lane of the in-degree road section is greater than a fourth preset distance, a road guidance diagram is generated. , as shown in Figure 2F:

Firstly, according to the target lane size of the out-degree road section and the target lane size of the in-degree road section, the out-degree center extension line of the target lane size of the out-degree road section and the in-degree center extension line of the target lane of the in-degree road section are determined, and two center extension lines are obtained. The intersections G3 and H3 of the line with the corresponding intersection boundary respectively;

Then, starting from the two intersection points G3 and H3, extend the sixth preset distance L6 along the direction of the target lane of the in-degree road section to obtain the out-degree endpoint A6 and the in-degree endpoint B6;

Then generate the center line N of the connecting lane between the target lane of the out-degree road segment and the target lane of the in-degree road segment;

Then, taking the out-degree endpoint A6 as the centerline endpoint of the arc close to the target lane of the out-degree road section, generate a supplementary angle with a preset width whose angle is the included angle between the center line of the lane and the extension line of the target lane center of the out-degree road segment a first circular arc whose radius is a second preset ratio of the fourth preset distance, wherein the second preset ratio can be determined according to the needs of the actual application, for example, it can be set to 1/3, this It is disclosed that the specific value of the second preset ratio is not particularly limited;

Then, taking the in-degree end point B6 as the center line end point of the arc close to the target lane of the in-degree road section, generate a supplementary angle with a preset width whose angle is the included angle connecting the center line of the lane and the extension line of the target lane center of the in-degree road section , the radius is still the second arc of the second preset ratio of the fourth preset distance;

Then, an arrow with the same preset width is generated along the direction of the target lane of the out-degree road section from the end face of the first arc close to the target lane of the out-degree road section, and the second arc is close to the target lane of the in-degree road section from the second arc the end face of the in-degree road section, generating a nock with the same preset width along the opposite direction of the target lane of the in-degree road section;

then filling the continuation between the first arc and the second arc along the connecting lane;

Finally, connect the arrow, the second arc, the continuation part, the first arc and the nock in sequence to generate the road guidance diagram.

In an embodiment of the present disclosure, the method further includes the following steps:

The road guidance icon is filled with a preset color and displayed on the navigation guidance interface.

In order to make the road guidance icon more vivid, attract the user's attention, and provide the user with clear and correct driving guidance, in this embodiment, the road guidance icon is also filled with a preset color, and all the color-filled The above road guidance icons are displayed on the navigation guidance interface. Wherein, the preset color may be a relatively bright color, such as yellow, orange, red and other colors.

The following are the apparatus embodiments of the present disclosure, which can be used to execute the method embodiments of the present disclosure.

FIG. 3 shows a block diagram of a structure of an apparatus for generating a road guidance illustration according to an embodiment of the present disclosure. The apparatus may be implemented as part or all of an electronic device through software, hardware, or a combination of the two. As shown in FIG. 3 , the device for generating road guidance diagrams includes:

The first determining module 301 is configured to determine the target lane of the out-degree road segment and the target lane of the in-degree road segment;

The second determination module 302 is configured to determine the road guidance type according to the positional relationship between the target lane of the out-degree road segment and the target lane of the in-degree road segment;

an obtaining module 303, configured to obtain a road guidance icon generation parameter according to the road guidance type;

The generation module 304 is configured to generate a road guidance diagram according to the road guidance diagram generation parameters.

As mentioned above, with the development and progress of society, there are more and more vehicles on the road, and the road conditions are becoming more and more complicated. Therefore, many users rely on the guidance of navigation routes for their travel. During navigation guidance, arrows with a turning shape are usually used to guide the turning actions of vehicles at intersections. In the prior art, the traditional second-order Bezier curve drawing method is usually used to draw the guiding arrows, such as the turning of the guiding arrows. The second-order Bezier curve interpolation algorithm and Gaussian smoothing are used to draw, but the insertion point of the second-order Bezier curve interpolation algorithm depends on the out-degree segment of the intersection and the in-degree angle of the in-degree segment, as well as the end coordinates of the out-degree segment and For the starting coordinates of the in-degree road section, for the same in-degree angle, if the coordinate point positions are different, the inserted points will be completely different, which will lead to a large difference in the guide arrows corresponding to the same in-degree angle. It can be seen from the above that the turning shape of the guide arrow obtained by the traditional second-order Bezier curve drawing method is irregular, the controllability is poor, and it is difficult to constrain, thereby reducing the user experience.

Considering the above problems, in this embodiment, a road guidance icon generation device is proposed. The device obtains different road guidance icon generation parameters by determining the road guidance type, and then generates corresponding road guidance icon generation parameters according to the road guidance icon generation parameters. Draw road guidance icons. The technical solution adopts different drawing road guidance icon generation strategies for different road guidance types, so that the turning arc of the road guidance icon can be controlled and corresponds to the road guidance type, avoiding the occurrence of road guidance icons corresponding to the same entry and exit angle. In the case of large differences, the user experience is improved.

In an embodiment of the present disclosure, the apparatus for generating a road guidance illustration may be implemented as a terminal computer, a computing device, an electronic device, a server, a service cluster, etc., which can execute the generation of a road guidance illustration.

The technical features involved in the above device embodiments and their corresponding explanations and descriptions are the same, corresponding or similar to the technical features involved in the method embodiments described above and their corresponding explanations and descriptions. Reference may be made to the technical features involved in the above method embodiments and their corresponding explanations and descriptions, which will not be repeated in the present disclosure.

An embodiment of the present disclosure further discloses a navigation service, wherein, based on the above-mentioned method for generating a road guidance icon, a road guidance icon of a navigated object is generated, and based on the road guidance icon, a corresponding road guidance icon is provided for the navigated object. The navigation guidance service for the scene. Wherein, the corresponding scene is a combination of one or more of AR navigation, overhead navigation, or main and auxiliary road navigation.

The embodiment of the present disclosure further discloses a navigation method, wherein a navigation route based on at least a starting point, an end point and route planning data is obtained, and navigation guidance is performed based on the navigation route, and the route planning data includes the route planning data generated by any of the above methods. Road guidance icon.

The embodiment of the present disclosure also discloses an electronic device, the electronic device includes a memory and a processor; wherein,

The memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement any of the above method steps.

FIG. 4 is a schematic structural diagram of a computer system suitable for implementing a method for generating a road guidance illustration according to an embodiment of the present disclosure.

As shown in FIG. 4, a computer system 400 includes a processing unit 401 that can perform the above-described implementation according to a program stored in a read only memory (ROM) 402 or a program loaded from a storage section 408 into a random access memory (RAM) 403 various processing methods. In the RAM 403, various programs and data necessary for the operation of the computer system 400 are also stored. The processing unit 401 , the ROM 402 and the RAM 403 are connected to each other through a bus 404 . An input/output (I/O) interface 405 is also connected to bus 404 .

The following components are connected to the I/O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 408 including a hard disk, etc. ; and a communication section 409 including a network interface card such as a LAN card, a modem, and the like. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I/O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is mounted on the drive 410 as needed so that a computer program read therefrom is installed into the storage section 408 as needed. The processing unit 401 may be implemented as a processing unit such as a CPU, a GPU, a TPU, an FPGA, and an NPU.

In particular, according to embodiments of the present disclosure, the methods described above may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a readable medium thereof, the computer program containing program code for performing the data inspection method. In such an embodiment, the computer program may be downloaded and installed from the network via the communication portion 409 and/or installed from the removable medium 411 .

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the diagram or block diagram may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function. executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or operations , or can be implemented in a combination of dedicated hardware and computer instructions.

The units or modules involved in the embodiments of the present disclosure can be implemented in software or hardware. The described units or modules may also be provided in the processor, and the names of these units or modules do not constitute a limitation on the units or modules themselves in certain circumstances.

As another aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, and the computer-readable storage medium may be a computer-readable storage medium included in the apparatus described in the foregoing embodiments; it may also exist independently , a computer-readable storage medium that does not fit into a device. The computer-readable storage medium stores one or more programs used by one or more processors to perform the methods described in the embodiments of the present disclosure.

The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solution formed by the specific combination of the above-mentioned technical features, and should also cover the above-mentioned technical solutions without departing from the inventive concept. Other technical solutions formed by any combination of technical features or their equivalent features. For example, a technical solution is formed by replacing the above features with the technical features disclosed in the embodiments of the present disclosure (but not limited to) having similar functions.

Claims (13)

1. A method for generating road guidance diagrams, comprising: Determine the target lane of the outbound section and the target lane of the inbound section; Determine the road guidance type according to the positional relationship between the target lane of the outbound road section and the target lane of the inbound road section; According to the road guidance type, obtain a road guidance icon generation parameter; A road guidance picture is generated according to the road guidance picture generation parameter. 2. The method according to claim 1, wherein determining the road guidance type according to the positional relationship between the target lane of the out-degree road section and the target lane of the in-degree road section, comprising: When the included angle between the target lane of the out-degree road section and the target lane of the in-degree road section is within a right-angle range, the road guidance type is a right-angle turn; When the included angle between the target lane of the out-degree road segment and the target lane of the in-degree road segment is within a flat angle range and the travel directions of the out-degree road segment target lane and the in-degree road segment target lane are opposite to each other, the road guidance type is a parallel U-turn ; When the included angle between the target lane of the out-degree road section and the target lane of the in-degree road section is in an acute angle range, the road guidance type is an acute angle turn; When the included angle between the target lane of the out-degree road section and the target lane of the in-degree road section is in an obtuse angle range, the road guidance type is an obtuse angle turn; When the included angle between the target lane of the out-degree road segment and the target lane of the in-degree road segment is within a flat angle range and the travel directions of the out-degree road segment target lane and the in-degree road segment target lane are the same, the road guidance type is parallel turning. 3. The method according to claim 1 or 2, wherein obtaining a road guidance graphic generation parameter according to the road guidance type, comprising: When the road guidance type is a right-angle turn, an acute-angle turn, an obtuse-angle turn or a parallel turn, the parameters for generating the road guidance icon include: the target lane size of the out-degree road section, the target lane size of the in-degree road section, and the corresponding intersection boundary position; When the road guidance type is a parallel U-turn, the road guidance graphic generation parameters include: the target lane size of the out-degree road section, the target lane size of the in-degree road section, the difference between the target lane of the out-degree road section and the target lane of the in-degree road section Distance and corresponding intersection boundary location. 4. The method according to claim 3, wherein when the road guidance type is a right-angle turn, the generating parameters according to the road guidance graphic to generate a road guidance graphic, comprising: According to the target lane size of the out-degree road section and the target lane size of the in-degree road section, determine the out-degree center extension line of the target lane size of the out-degree road section and the in-degree center extension line of the target lane of the in-degree road section, and obtain two center extension lines the intersection; Extend the first distance from the intersection in the direction of the target lane of the out-degree section and the opposite direction of the target lane of the in-degree section, respectively, to obtain the out-degree end point and the in-degree end point, wherein the first distance is the direction from the intersection point along the out-degree section. The first preset ratio of the short distance between the target lane direction of the degree road section and the opposite direction of the target lane of the in-degree road section respectively extending to the boundary of the intersection; Taking the out-degree endpoint and the in-degree endpoint as tangent points, generate an arc whose center line is tangent to the out-degree center extension line and the in-degree center extension line, wherein the angle of the arc is the out-degree the angle between the target lane of the road section and the target lane of the in-degree road section, and the width of the arc is a preset width; From the end face of the arc close to the target lane of the out-degree road section, an arrow is generated along the direction of the out-degree road section target lane, wherein the width of the arrow is a preset width; From the end face of the arc close to the target lane of the in-degree road section, a nock tail is generated along the opposite direction of the target lane of the in-degree road section, wherein the width of the nock tail is a preset width; The arrows, arcs, and nocks are connected in sequence to generate a road guidance illustration. 5. The method according to claim 3, wherein when the road guidance type is an acute-angle turn, the generating a road guidance icon according to the parameters of the road guidance icon, comprising: According to the target lane size of the out-degree road section and the target lane size of the in-degree road section, determine the out-degree center extension line of the target lane size of the out-degree road section and the in-degree center extension line of the target lane of the in-degree road section, and obtain two center extension lines the intersection; Extend the second distance from the intersection along the direction of the target lane of the out-degree section and the opposite direction of the target lane of the in-degree section, respectively, to obtain the out-degree end point and the in-degree end point, wherein the second distance is the direction from the intersection point along the out-degree section. The direction of the target lane of the degree road section and the opposite direction of the target lane of the in-degree road section are respectively extended to the shorter distance of the intersection boundary minus the first preset distance; Taking the out-degree endpoint and in-degree endpoint as tangent points, generate an arc whose center line is tangent to the out-degree center extension line and the in-degree center extension line, wherein the angle of the arc is the out-degree endpoint, The supplementary angle of the included angle formed by the intersection point and the in-degree endpoint, and the width of the arc is a preset width; From the end face of the arc close to the target lane of the out-degree road section, an arrow is generated along the direction of the out-degree road section target lane, wherein the width of the arrow is a preset width; From the end face of the arc close to the target lane of the in-degree road section, a nock tail is generated along the opposite direction of the target lane of the in-degree road section, wherein the width of the nock tail is a preset width; The arrows, arcs, and nocks are connected in sequence to generate a road guidance illustration. 6. The method according to claim 3, wherein when the road guidance type is an obtuse-angle turn, the generating a road guidance icon according to the parameters of the road guidance icon, comprising: According to the target lane size of the out-degree road section and the target lane size of the in-degree road section, determine the out-degree center extension line of the target lane size of the out-degree road section and the in-degree center extension line of the target lane of the in-degree road section, and obtain two center extension lines the intersection; Extend a third distance from the intersection in the direction of the target lane of the out-degree road segment and the opposite direction of the target lane of the in-degree road segment, respectively, to obtain the out-degree end point and the in-degree end point, wherein the third distance is the direction from the intersection point along the out-degree road segment. The second preset ratio of the short distance between the target lane direction of the degree road section and the opposite direction of the target lane of the in-degree road section respectively extending to the boundary of the intersection; Taking the out-degree endpoint and in-degree endpoint as tangent points, generate an arc whose center line is tangent to the out-degree center extension line and the in-degree center extension line, wherein the angle of the arc is the out-degree endpoint, The supplementary angle of the included angle formed by the intersection point and the in-degree endpoint, and the width of the arc is a preset width; From the end face of the arc close to the target lane of the out-degree road section, an arrow is generated along the direction of the out-degree road section target lane, wherein the width of the arrow is a preset width; From the end face of the arc close to the target lane of the in-degree road section, a nock tail is generated along the opposite direction of the target lane of the in-degree road section, wherein the width of the nock tail is a preset width; The arrows, arcs, and nocks are connected in sequence to generate a road guidance illustration. 7. The method according to claim 3, wherein when the road guidance type is a parallel turn, the generating parameters according to the road guidance graphic to generate a road guidance graphic, comprising: According to the target lane size of the out-degree road section and the target lane size of the in-degree road section, determine the out-degree center extension line of the target lane size of the out-degree road section and the in-degree center extension line of the target lane of the in-degree road section, and obtain two center extension lines The intersections with the corresponding intersection boundaries, respectively; Extend the second preset distance from the two intersection points to obtain the first out-degree endpoint and the first in-degree endpoint, and then extend the third preset distance to obtain the second out-degree endpoint and the second in-degree endpoint; connecting the second out-degree endpoint and the second in-degree endpoint, wherein the length of the connection between the second out-degree endpoint and the second in-degree endpoint is greater than a preset multiple of a third preset distance; A first tangent point and a second tangent point are determined on a line connecting the second out-degree endpoint and the second in-degree endpoint, wherein the distance between the first tangent point and the second out-degree endpoint and The distance between the second tangent point and the second in-degree endpoint is the third preset distance; Taking the first in-degree endpoint and the second tangent point as tangent points, generating a connection line between the center line and the first in-degree endpoint and the second in-degree endpoint, the second in-degree endpoint and the second in-degree endpoint The first arc where the connection line between the tangent points is tangent, wherein the angle of the first arc is the supplementary angle of the angle formed by the first in-degree endpoint, the second in-degree endpoint and the second tangent point, The width of the first arc is a preset width; Using the first out-degree endpoint and the first tangent point as tangent points, generate a connection line between the center line and the first out-degree endpoint and the second out-degree endpoint, the second in-degree endpoint and the first The second arc where the connection line between the tangent points is tangent, wherein the angle of the second arc is the supplementary angle of the angle formed by the first out-degree endpoint, the second out-degree endpoint and the first tangent point, The width of the second arc is a preset width; From the end face of the second arc close to the target lane of the out-degree road section, an arrow is generated along the direction of the out-degree road section target lane, wherein the width of the arrow is a preset width; From the end face of the first arc close to the target lane of the in-degree road section, a nock tail is generated along the opposite direction of the target lane of the in-degree road section, wherein the width of the nock tail is a preset width; filling the continuation between the first arc and the second arc; The arrow, the first arc, the continuation portion, the second arc, and the nock are sequentially connected to generate a road guidance illustration. 8. The method according to claim 3, when the road guidance type is a parallel U-turn and the distance between the extension line of the center of the target lane of the out-degree road section and the extension line of the center of the target lane of the in-degree road section is less than or equal to the fourth preset When the distance is determined, the generating parameters according to the road guidance graphic to generate a road guidance graphic, including: Starting from the intersection of the extension line of the center of the target lane of the out-degree road section and the extension line of the target lane of the in-degree road section and the boundary of the intersection, extend the fifth preset distance along the direction of the target lane of the in-degree road section to obtain the out-degree end point and the in-degree end point ; Taking the out-degree endpoint and the in-degree endpoint as the arc centerline endpoint, a semi-circular arc is generated, wherein the radius of the arc centerline is the out-degree segment target lane center extension line and the in-degree segment target lane center extension line Half of the distance, the width of the arc is the preset width; From the end face of the arc close to the target lane of the out-degree road section, an arrow is generated along the direction of the out-degree road section target lane, wherein the width of the arrow is a preset width; From the end face of the arc close to the target lane of the in-degree road section, a nock tail is generated along the opposite direction of the target lane of the in-degree road section, wherein the width of the nock tail is a preset width; The arrows, arcs, and nocks are connected in sequence to generate a road guidance illustration. 9. The method according to claim 3, when the road guidance type is a parallel U-turn and the distance between the extension line of the center of the target lane of the out-degree road section and the extension line of the center of the target lane of the in-degree road section is greater than a fourth preset distance , and generating a road guidance diagram according to the parameters for generating the road guidance diagram, including: Starting from the intersection of the extension line of the center of the target lane of the out-degree road section and the extension line of the target lane of the in-degree road section and the boundary of the intersection, extend the sixth preset distance along the direction of the target lane of the in-degree road section to obtain the out-degree end point and the in-degree end point ; generating the center line of the connecting lane between the target lane of the out-degree road segment and the target lane of the in-degree road segment; Taking the out-degree end point as the end point of the circular arc centerline close to the target lane of the out-degree road section, a first circular arc is generated, wherein the angle of the first circular arc is the extension line connecting the lane center line and the out-degree road segment target lane center line The supplementary angle of the included angle, the radius of the first arc is the second preset ratio of the fourth preset distance, and the width of the first arc is the preset width; Taking the in-degree end point as the end point of the arc centerline close to the target lane of the in-degree road section, a second circular arc is generated, wherein the angle of the second circular arc is the extension line connecting the lane center line and the in-degree road section target lane center line The supplementary angle of the included angle, the radius of the second arc is the second preset ratio of the fourth preset distance, and the width of the second arc is the preset width; From the end face of the first arc close to the target lane of the out-degree road section, an arrow is generated along the direction of the out-degree road section target lane, wherein the width of the arrow is a preset width; From the end face of the second arc close to the target lane of the in-degree road section, a nock tail is generated along the opposite direction of the target lane of the in-degree road section, wherein the width of the nock tail is a preset width; filling the continuation between the first arc and the second arc along the connecting lane; The arrow, the second arc, the continuation portion, the first arc, and the nock are connected in sequence to generate a road guidance illustration. 10. The method of any one of claims 1, 2, 4-9, further comprising: The road guidance icon is filled with a preset color and displayed on the navigation guidance interface. 11. A device for generating road guidance diagrams, comprising: a first determining module, configured to determine the target lane of the out-degree road segment and the target lane of the in-degree road segment; a second determining module configured to determine the road guidance type according to the positional relationship between the target lane of the out-degree road segment and the target lane of the in-degree road segment; an obtaining module, configured to obtain a road guidance icon generation parameter according to the road guidance type; A generation module is configured to generate a road guidance diagram according to the road guidance diagram generation parameters. 12. A computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions, when executed by a processor, implement the method steps of any one of claims 1-10. 13. A navigation method, wherein a navigation route based on at least a starting point, an end point and route planning data is acquired, and navigation guidance is performed based on the navigation route, the route planning data comprising the method according to any one of claims 1-10 Generated road guidance icon.

Images