# US 11,029,172 B2 · Real scenario navigation method and apparatus, device and computer readable storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,029,172 B2 - Document ID: US11029172B2 - Status: Granted - Kind: B2 - Application number: 16/344,950 - Filed: 2017-12-27 - Published: 2019-09-05 - Granted: 2021-06-08 - Earliest claimed: 2017-06-29 - Assignees: Baidu Online Network Technology (Beijing) Co., Ltd. - Applicants: Baidu Online Network Technology (Beijing) Co., Ltd. - Inventors: Xintao Chen; Zhipeng Zhou - Web page: https://patentgrep.com/patent/US11029172B2 ## CPC - G01C 21/3647: {Guidance involving output of stored or live camera images or video streams} - G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) - G01C 21/3423: {Multimodal routing} - G01C 21/343: {Calculating itineraries (travelling salesman problem G06Q10/04; optimisation of routes G06Q10/047)} - G01C 21/3605: {Destination input or retrieval} - G01C 21/3608: {using speech input, e.g. using speech recognition} - G01C 21/3626: {Details of the output of route guidance instructions (traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968)} - G01C 21/3629: {Guidance using speech or audio output, e.g. text-to-speech (text to speech systems per se G10L13/00)} - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) ## Abstract The present disclosure provides a real scenario navigation method and apparatus, a device and a computer readable storage medium. In the embodiments of the present disclosure, it is feasible to obtain the travel manner, the query starting point, the query finishing point and the destination provided by the user, and then perform navigation map-based first travel manner path planning, according to the travel manner, the query starting point and the query finishing point so that it is feasible to perform real-scenario image-based second travel manner path planning, according to the query finishing point and the destination, if the user reaches the query finishing point and a distance between the query finishing point and the destination is smaller than or equal to a preset distance threshold. Since the navigation operations are performed not completely depending on the query end points, namely, the query starting point and the query finishing point any more, and the navigation operations are performed in conjunction with the destination additionally provided by the user, the obtained navigation information can substantially satisfy the user's travel intention, namely, the user, after reaching the query finishing point, needs to further switch to another travel manner to go to the destination, thereby improving navigation efficiency and reliability. ## Claims ### Claim 1 A real scenario navigation method, wherein the method comprises: obtaining a travel manner, a query starting point, a query finishing point and a destination provided by a user; performing navigation map-based first travel manner path planning, according to the travel manner, the query starting point and the query finishing point; if the user reaches the query finishing point and a distance between the query finishing point and the destination is smaller than or equal to a preset distance threshold, performing real-scenario image-based second travel manner path planning, according to the query finishing point and the destination, wherein the performing real-scenario image-based second travel manner path planning, according to the query finishing point and the destination comprises: using an image-collecting device to collect real-scenario images around a location where the user lies; performing navigation map-based second travel manner path planning, according to the query finishing point and the destination; and outputting a planning result of the second travel manner path planning based on the real-scenario images around the location where the user lies. ### Claim 2 (depends on 1) The method according to claim 1, wherein the first travel manner comprises cycling, public transport, subway or self drive; the second travel manner comprises walking on foot or cycling. ### Claim 3 (depends on 1) The method according to claim 1, wherein the planning result of the second travel manner path planning comprises at least one of the following information: direction indication information indicating the current travel direction; and distance indication information indicating a distance between the location where the user lies and the destination and/or time indication information indicating time between the location where the user lies and the destination. ### Claim 4 (depends on 1) The method according to claim 1, wherein the outputting a planning result of the second travel manner path planning based on the real-scenario images around the location where the user lies comprises: outputting the planning result of the second travel manner path planning in a speech manner and/or a text manner based on real-scenario images around the location where the user lies. ### Claim 5 (depends on 1) The method according to claim 1, wherein before the step of, if the user reaches the query finishing point and a distance between the query finishing point and the destination is smaller than or equal to a preset distance threshold, performing real-scenario image-based second travel manner path planning, according to the query finishing point and the destination, the method further comprises: presetting the distance threshold according to attribute information of the destination. ### Claim 6 A device, wherein the device comprises: one or more processors; a storage for storing one or more programs, said one or more programs, when executed by said one or more processors, enable said one or more processors to implement a real scenario navigation method, wherein the method comprises: obtaining a travel manner, a query starting point, a query finishing point and a destination provided by a user; performing navigation map-based first travel manner path planning, according to the travel manner, the query starting point and the query finishing point; if the user reaches the query finishing point and a distance between the query finishing point and the destination is smaller than or equal to a preset distance threshold, performing real-scenario image-based second travel manner path planning, according to the query finishing point and the destination, wherein the performing real-scenario image-based second travel manner path planning, according to the query finishing point and the destination comprises: using an image-collecting device to collect real-scenario images around a location where the user lies; performing navigation map-based second travel manner path planning, according to the query finishing point and the destination; and outputting a planning result of the second travel manner path planning based on the real-scenario images around the location where the user lies. ### Claim 7 (depends on 6) The device according to claim 6, wherein the first travel manner comprises cycling, public transport, subway or self drive; the second travel manner comprises walking on foot or cycling. ### Claim 8 (depends on 6) The device according to claim 6, wherein the planning result of the second travel manner path planning comprises at least one of the following information: direction indication information indicating the current travel direction; and distance indication information indicating a distance between the location where the user lies and the destination and/or time indication information indicating time between the location where the user lies and the destination. ### Claim 9 (depends on 6) The device according to claim 6, wherein the outputting a planning result of the second travel manner path planning based on the real-scenario images around the location where the user lies comprises: outputting the planning result of the second travel manner path planning in a speech manner and/or a text manner based on real-scenario images around the location where the user lies. ### Claim 10 (depends on 6) The device according to claim 6, wherein before the step of, if the user reaches the query finishing point and a distance between the query finishing point and the destination is smaller than or equal to a preset distance threshold, performing real-scenario image-based second travel manner path planning, according to the query finishing point and the destination, the method further comprises: presetting the distance threshold according to attribute information of the destination. ### Claim 11 A non-transitory computer readable storage medium on which a computer program is stored, wherein the program, when executed by a processor, implements a real scenario navigation method, wherein the method comprises: obtaining a travel manner, a query starting point, a query finishing point and a destination provided by a user; performing navigation map-based first travel manner path planning, according to the travel manner, the query starting point and the query finishing point; if the user reaches the query finishing point and a distance between the query finishing point and the destination is smaller than or equal to a preset distance threshold, performing real-scenario image-based second travel manner path planning, according to the query finishing point and the destination, wherein the performing real-scenario image-based second travel manner path planning, according to the query finishing point and the destination comprises: using an image-collecting device to collect real-scenario images around a location where the user lies; performing navigation map-based second travel manner path planning, according to the query finishing point and the destination; and outputting a planning result of the second travel manner path planning based on the real-scenario images around the location where the user lies. ### Claim 12 (depends on 11) The non-transitory computer readable storage medium according to claim 11, wherein the first travel manner comprises cycling, public transport, subway or self drive; the second travel manner comprises walking on foot or cycling. ### Claim 13 (depends on 11) The non-transitory computer readable storage medium according to claim 11, wherein the planning result of the second travel manner path planning comprises at least one of the following information: direction indication information indicating the current travel direction; and distance indication information indicating a distance between the location where the user lies and the destination and/or time indication information indicating time between the location where the user lies and the destination. ### Claim 14 (depends on 11) The non-transitory computer readable storage medium according to claim 11, wherein the outputting a planning result of the second travel manner path planning based on the real-scenario images around the location where the user lies comprises: outputting the planning result of the second travel manner path planning in a speech manner and/or a text manner based on real-scenario images around the location where the user lies. ### Claim 15 (depends on 11) The non-transitory computer readable storage medium according to claim 11, wherein before the step of, if the user reaches the query finishing point and a distance between the query finishing point and the destination is smaller than or equal to a preset distance threshold, performing real-scenario image-based second travel manner path planning, according to the query finishing point and the destination, the method further comprises: presetting the distance threshold according to attribute information of the destination.