Method and apparatus for displaying guide line, device, medium and program product

Abstract

This application discloses a method, apparatus, device, medium, and program product for displaying guide lines, belonging to the field of navigation maps. The method includes: acquiring a first guide line generated at time i and a second guide line generated at time i+1; if the first and second guide lines belong to different lanes, pairing the positioning points on the first and / or second guide lines to obtain k matching point pairs; generating a transition guide line by concatenating the k intermediate points of the k matching point pairs, the transition guide line being used to transition the first guide line displayed at time i+1 to the second guide line displayed at time i+2; and displaying the transition guide line between time i+1 and time i+2. This method smoothly displays the change process of the guide line from time i+1 to time i+2, improving the display detail and animation smoothness of the guide line animation.

Description

Technical Field

[0001] This application relates to the field of navigation maps, and specifically to a method, apparatus, device, medium, and program product for displaying guide lines. Background Technology

[0002] Guide lines are lane-level guide lines displayed on the navigation map interface to guide vehicles to their destination. Guide lines extend along the lane lines and have a certain length.

[0003] In related technologies, the guide lines are automatically refreshed at regular intervals (e.g., 1 second), resulting in noticeable jumps between the guide lines displayed at different times. How to smoothly transition between these transitional moments has become a pressing technical problem that needs to be solved. Summary of the Invention

[0004] This application provides a method, apparatus, device, medium, and program product for displaying guide lines, which improves the display detail and smoothness of guide line animations. The technical solution is as follows:

[0005] According to one aspect of this application, a method for displaying a guide line is provided, the method comprising:

[0006] Obtain the first guide line generated at time i and the second guide line generated at time i+1. The first guide line and the second guide line are used to guide the vehicle to the destination on the navigation map, where i is a positive integer.

[0007] By pairing the positioning points on the first guide line and / or the second guide line, k matching point pairs are obtained, where k is a positive integer;

[0008] A transition guide line is generated by connecting the k intermediate points of k matching point pairs. The transition guide line is used to transition the first guide line displayed at time i+1 to the second guide line displayed at time i+2.

[0009] A transition guide line is displayed between time i+1 and time i+2.

[0010] According to another aspect of this application, a display device for a guide line is provided, the device comprising:

[0011] The acquisition module is used to acquire the first guide line generated at time i and the second guide line generated at time i+1. The first guide line and the second guide line are used to guide the vehicle to the destination on the navigation map, where i is a positive integer.

[0012] The pairing module is used to obtain k matching point pairs by pairing the positioning points on the first guide line and / or the second guide line, where k is a positive integer;

[0013] The generation module is used to generate a transition guide line by connecting the k intermediate points of k matching point pairs. The transition guide line is used to transition the first guide line displayed at time i+1 to the second guide line displayed at time i+2.

[0014] The display module is used to display the transition guide line between time i+1 and time i+2.

[0015] According to one aspect of this application, a computer device is provided, the computer device comprising: a processor and a memory, the memory storing a computer program, the computer program being loaded and executed by the processor to implement the guide line display method as described above.

[0016] According to another aspect of this application, a computer-readable storage medium is provided, the storage medium storing a computer program that is loaded and executed by a processor to implement the guide line display method as described above.

[0017] According to another aspect of this application, a computer program product is provided, the computer program product including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and executes the computer instructions, causing the computer device to perform the guide line display method provided in the above aspect.

[0018] The beneficial effects of the technical solutions provided in this application include at least the following:

[0019] By pairing the positioning points on the first guide line generated at time i and / or the second guide line generated at time i+1, k matching point pairs are obtained. A transition guide line is generated by concatenating the k intermediate points of the k matching point pairs, and the transition guide line is displayed between time i+1 and time i+2. The above method reduces the display difference of the guide line between two adjacent frames in the guide line animation, improves the display detail and animation smoothness of the guide line animation. At the same time, due to the reduction of the difference pixels between two adjacent frames, the frame-level refresh effect of the LCD screen is improved, thus presenting a softer and more delicate display effect of the guide line guiding the vehicle to its destination. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1A schematic diagram of a guide line provided in an exemplary embodiment of this application is shown;

[0022] Figure 2 This application shows a structural block diagram of a computer system provided in an exemplary embodiment;

[0023] Figure 3 A flowchart illustrating a method for displaying guide lines provided in an exemplary embodiment of this application is shown;

[0024] Figure 4 A schematic diagram of a first guide line and a second guide line provided in an exemplary embodiment of this application is shown;

[0025] Figure 5 A schematic diagram of a first guide line and a second guide line provided in another exemplary embodiment of this application is shown;

[0026] Figure 6 A schematic diagram of a first pairing method provided by an exemplary embodiment of this application is shown;

[0027] Figure 7 A schematic diagram illustrating a second pairing method provided in an exemplary embodiment of this application is shown;

[0028] Figure 8 A schematic diagram illustrating a third pairing method provided by an exemplary embodiment of this application is shown;

[0029] Figure 9 A schematic diagram illustrating a fourth pairing method provided by an exemplary embodiment of this application is shown;

[0030] Figure 10 A schematic diagram illustrating a fifth pairing method provided in an exemplary embodiment of this application is shown;

[0031] Figure 11 A schematic diagram illustrating the generation process of a transition guide line provided in an exemplary embodiment of this application is shown;

[0032] Figure 12 This illustration shows a schematic diagram of the lane change curve generation process provided in an exemplary embodiment of this application;

[0033] Figure 13 A flowchart illustrating a method for displaying guide lines provided in another exemplary embodiment of this application is shown;

[0034] Figure 14 A schematic diagram illustrating the generation process of a guide line animation provided in an exemplary embodiment of this application is shown;

[0035] Figure 15 This invention illustrates a structural block diagram of a display device for a guide line provided in an exemplary embodiment of this application;

[0036] Figure 16 A structural block diagram of a computer device provided in an exemplary embodiment of this application is shown. Detailed Implementation

[0037] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0038] It should be understood that "several" in this article refers to one or more, and "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0039] First, a brief introduction to the terms used in the embodiments of this application:

[0040] Guide lines: Lane-level guide lines displayed on the navigation map interface to guide vehicles to their destination. In one embodiment, the guide lines are automatically refreshed on the navigation map interface at regular intervals (e.g., every second). For example, the navigation map interface displays the first guide line at time i, and the second guide line at time i+1 is displayed after the next second. In one embodiment, the length of the guide lines is based on a preset value. For example, the navigation map client sets the length of each guide line segment to 1km, and sets the endpoint of the last guide line segment to the user-input destination. (Illustrative example) Figure 1 The diagram shows a guide line provided in an exemplary embodiment of this application. In this case, the guide line 101 displayed on the navigation map interface is a part or all of a guide line.

[0041] Intelligent Traffic Systems (ITS), also known as Intelligent Transportation Systems, effectively integrate advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) into transportation, service control, and vehicle manufacturing. This strengthens the connection between vehicles, roads, and users, thereby forming a comprehensive transportation system that ensures safety, improves efficiency, improves the environment, and saves energy.

[0042] Intelligent Vehicle Infrastructure Cooperative Systems (IVICS) are a development direction of Intelligent Transportation Systems (ITS). IVICS utilizes advanced wireless communication and next-generation Internet technologies to implement comprehensive, real-time dynamic information exchange between vehicles and infrastructure. Based on the collection and fusion of dynamic traffic information across all times and spaces, it conducts active vehicle safety control and cooperative road management, fully realizing effective collaboration between people, vehicles, and roads. This ensures traffic safety, improves traffic efficiency, and ultimately forms a safe, efficient, and environmentally friendly road traffic system.

[0043] Figure 2 A structural block diagram of a computer system provided in an exemplary embodiment of this application is shown. The computer system 200 includes a terminal 220 and a server 240.

[0044] Terminal 220 has an application that supports navigation maps installed and running. This application can be any type of application with navigation map display capabilities, such as, but not limited to, dedicated navigation map applications, mini-programs integrated into host programs (such as social media applications, shopping applications, etc.) that have navigation map display capabilities, quick apps with navigation map display capabilities, etc. In this application, terminal 220 can be a terminal used by a driver, who drives the vehicle to their destination under the guidance of the guide lines displayed on the navigation map.

[0045] Terminal 220 is connected to server 240 via wireless or wired network.

[0046] Server 240 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. In this embodiment, server 240 provides background services for applications that support navigation maps.

[0047] Optionally, the aforementioned application supporting navigation maps can run on different operating system platforms (Android or iOS). Optionally, the device types of the terminals 220 running the application supporting navigation maps may be the same or different, and the device types include at least one of the following: smartphones, smartwatches, smart TVs, in-vehicle terminals, wearable devices, tablets, e-book readers, MP3 players, MP4 players, and laptops. The following embodiments use smartphones as an example.

[0048] Those skilled in the art will understand that the number of terminals described above can be more or less. For example, there may be only one terminal, or there may be dozens or hundreds of terminals, or even more. This application does not limit the number of terminals or the type of device.

[0049] To improve the display detail and smoothness of the guide line animation, Figure 3 A flowchart illustrating a method for displaying guide lines provided in an exemplary embodiment of this application is shown, in which the method is applied... Figure 2 The method, illustrated by the terminal 220 (or an application on the terminal 220 that supports navigation maps), includes:

[0050] Step 320: Obtain the first guiding line generated at time i and the second guiding line generated at time i+1;

[0051] Guide lines: Lane-level guide lines displayed on the navigation map interface to guide vehicles to their destination. In one embodiment, the guide line is a lane-level guide line that is always parallel to the lane lines, generated from the vehicle's current position to the destination. In one embodiment, the length of the guide line is based on a preset value; for example, the navigation map client sets the length of each guide line segment to 1 km. In another embodiment, the length of the guide line is dynamically determined; for example, the navigation map client sets the guide line length to be related to the vehicle's current speed—a faster speed generates a longer guide line, and a slower speed generates a shorter guide line. In one embodiment, the guide line is automatically refreshed on the navigation map interface at regular intervals (e.g., every second). (Illustrative example) Figure 1 The diagram shows a guide line provided in an exemplary embodiment of this application. In this case, the guide line 101 displayed on the navigation map interface is a part or all of a guide line.

[0052] First guide line: The first guide line is generated at time i to guide the vehicle to its destination, and it is displayed on the navigation map interface at time i+1. Optionally, the interval between two adjacent times is 1 second. In one embodiment, the terminal uses GPS (Global Positioning System) to locate the current position of the vehicle at time i, and calculates the first guide line based on lane-level road network data and the destination. Here, i is a positive integer.

[0053] In one embodiment, in response to the user inputting an initial location and destination before navigation begins, the server feeds back lane-level road network data between the initial location and the destination to the terminal. Optionally, the lane-level road network data includes the lane length, lane orientation, number of lanes, lane connectivity, lane congestion status, number of traffic lights, etc., of the lanes traversed between the initial location and the destination. In this application, the lane-level road network data is used by the terminal to generate guide lines. Illustratively, the terminal plans a guide line (first guide line) for the vehicle to travel from its location at time i to its destination based on the lane-level road network data. For example, the terminal generates a guide line of "194 meters straight, then a left lane change, then another 1000 meters straight".

[0054] Optionally, users can input their initial location via GPS positioning; alternatively, users can input their initial location manually, such as by using a virtual keyboard, by clicking on a location option provided on the navigation map, or by clicking on a building or road on the navigation map.

[0055] The second guide line: The second guide line is generated at time i+1 to guide the vehicle to its destination, and it is displayed on the navigation map interface at time i+2. Optionally, the interval between two adjacent times is 1 second. In one embodiment, the terminal obtains the current location of the vehicle through GPS positioning at time i+1, and calculates the second guide line based on lane-level road network data and the destination.

[0056] If at time i+1 when the second guide line is generated, the vehicle is not on the planned route of the first guide line, then the second guide line and the first guide line do not overlap; if at time i+1 when the second guide line is generated, the vehicle is on the planned route of the first guide line, then the second guide line and the first guide line partially overlap.

[0057] It is worth noting that if the guide line generated by the vehicle passes through the final destination, the destination is taken as the end point of the guide line, and the planning of the guide line according to the preset length is stopped. In all embodiments of this application, for ease of discussion, it is assumed that the first guide line generated at time i and the second guide line generated at time i+1 do not pass through the destination.

[0058] Step 340: By pairing the positioning points on the first guide line and / or the second guide line, k matching point pairs are obtained;

[0059] Positioning point: The endpoint or turning point on the guide line. The endpoint includes the start and end of the guide line. The turning point is the lane change point on the guide line. Vehicles change lanes at the road position indicated by the turning point.

[0060] It is worth noting that, for ease of discussion, in all embodiments of this application, it is assumed that the vehicle moves between time i and time i+1.

[0061] In one embodiment, the terminal pairs the positioning points on the first guide line and / or the second guide line to obtain k matching point pairs, including: the terminal determines m' first corresponding points on the second guide line that are mapped to the m positioning points on the first guide line; and / or, determines n' second corresponding points on the first guide line that are mapped to the n positioning points on the second guide line, resulting in a total of k matching point pairs, each matching point pair including mutually mapped positioning points and corresponding points.

[0062] In one embodiment, there are two cases where the terminal generates the first guide line at time i and the second guide line at time i+1:

[0063] The first scenario: at time i+1, the vehicle is on the route planned by the navigation map, meaning the vehicle has not deviated from its course;

[0064] Indicative Figure 4The diagram shows the first guide line 401 generated at time i and the second guide line 402 generated at time i+1 when the vehicle is not veerging. At time i, the vehicle is located at the road position indicated by positioning point A1, and at time i+1, the vehicle is located at the road position indicated by positioning point B1. At time i+1, the vehicle is not veerging and is on the route planned by the first guide line generated at time i.

[0065] Schematic illustration: the first guide line 401 includes four positioning points: start point A1, turning point A2, turning point A3, and end point A4; the second guide line 402 includes four positioning points: start point B1, turning point B2, turning point B3, and end point B4. In one embodiment, the terminal determines four first corresponding points on the second guide line 402 that map to start point A1, turning point A2, turning point A3, and end point A4; and / or, the terminal determines four second corresponding points on the first guide line 401 that map to start point B1, turning point B2, turning point B3, and end point B4, resulting in k matching point pairs. For details on the pairing method in the first case, please refer to the detailed descriptions of the first pairing method and the third to fifth pairing methods below.

[0066] The second scenario: at time i+1, the vehicle is not on the route planned by the navigation map, that is, the vehicle is deviating from its course;

[0067] Indicative Figure 5 The diagram illustrates the situation where the vehicle yaws. At time i, a first guide line 501 is generated and at time i+1, a second guide line 502 is generated. At time i, the vehicle is located at the road position indicated by positioning point A1, and at time i+1, the vehicle is located at the road position indicated by positioning point B1. At time i+1, the vehicle yaws, meaning it is not on the route planned by the first guide line generated at time i. The lane change curves A2 and A3 on the first guide line 501 are used to guide the vehicle to change to the left lane.

[0068] Schematic illustration: the first guide line 501 includes four positioning points: start point A1, turning point A2, turning point A3, and end point A4; the second guide line 502 includes two positioning points: start point B1 and end point B2. In one embodiment, the terminal determines four first corresponding points on the second guide line 502 that map to start point A1, turning point A2, turning point A3, and end point A4, and / or, the terminal determines two second corresponding points on the first guide line 501 that map to start point B1 and end point B2, resulting in a total of k matching point pairs. For details on the pairing method in the second case, please refer to the detailed descriptions of the second to fifth pairing methods below.

[0069] Step 360: Generate transition guide lines by connecting the k intermediate points of k matching point pairs;

[0070] Intermediate point: In one embodiment, a matching point pair includes a positioning point and a corresponding point. A positioning point on the first guide line and a corresponding point on the second guide line constitute a matching point pair, and a positioning point on the second guide line and a corresponding point on the first guide line constitute a matching point pair. The intermediate point is a point obtained by interpolation between the positioning point and the corresponding point.

[0071] Transition guide line: This is a guide line used to transition the first guide line displayed at time i+1 to the second guide line displayed at time i+2. In all embodiments of this application, the transition guide line is the key to solving the problem of guide line jumps between different time points. Setting a transition guide line can smoothly display the process of guide line change.

[0072] In one embodiment, the method of connecting k intermediate points of k matching point pairs in series can be by using straight-line series and / or curved-line series. Optionally, the series connection method of any two adjacent intermediate points is consistent with the connection method of adjacent positioning points on the first guide line or the second guide line. For example, if the connection method between positioning point A1 and positioning point A2 is a straight-line series, then the corresponding series connection method of the two intermediate points is a straight-line series; if the connection method between positioning point A2 and positioning point A3 is a curved-line series, then the corresponding series connection method of the two intermediate points is a curved-line series.

[0073] Step 380: Display the transition guide line between time i+1 and time i+2.

[0074] At time i+1, the terminal displays the guide line generated at time i; at time i+2, the terminal displays the guide line generated at time i+1; and between time i+1 and time i+2, a transition guide line is displayed. In one embodiment, after the terminal obtains the transition guide line, it models it using triangulation and sets the transparency of the transition guide line before finally rendering it.

[0075] In summary, by pairing the positioning points on the first guide line generated at time i and / or the second guide line generated at time i+1, k matching point pairs are obtained. A transition guide line is generated by connecting the k intermediate points of the k matching point pairs and displaying the transition guide line between time i+1 and time i+2. This reduces the user's sense of abrupt change when observing the guide line at different times and further optimizes the interface effect of the guide line guiding the vehicle to its destination.

[0076] The above method also reduces the display difference of guide lines between two adjacent frames in the guide line animation, improving the display detail and animation smoothness of the guide line animation. At the same time, due to the reduction of the difference pixels between two adjacent frames, the frame-level refresh effect of the LCD screen is improved, thus presenting a softer and more delicate display effect of guide lines guiding vehicles to their destination.

[0077] The above method also provides a way to pair positioning points on the first guide line and / or the second guide line by determining m' first corresponding points that map to m positioning points on the first guide line on the second guide line; and / or determining n' second corresponding points that map to n positioning points on the second guide line on the first guide line, thereby obtaining k matching point pairs.

[0078] The first pairing method is based on the existence of positioning points belonging to the same road location on the first guide line and the second guide line. Then, m' first corresponding points are determined on the second guide line that map to the m positioning points on the first guide line, and n' second corresponding points are determined on the first guide line that map to the n positioning points on the second guide line, resulting in a total of k matching point pairs.

[0079] It should be understood that the first pairing method is applied to the case where the second guide line is generated when the vehicle has not deviated from the planned route.

[0080] In one embodiment, the terminal pairs the m1 positioning points of the first guide line and the n1 positioning points of the second guide line one by one to obtain k1 matching point pairs, where the values ​​of m1, n1, and k1 are equal, and any two paired positioning points in the k1 matching point pairs indicate the same road location. m1, n1, and k1 are all positive integers, and m1, n1, and k1 are all less than min(m, n). The terminal also pairs the positioning points other than m1 of the m positioning points with the starting point of the second guide line to obtain k2 matching point pairs; and pairs the positioning points other than n1 of the n positioning points with the ending point of the first guide line to obtain k3 matching point pairs, where k2 and k3 are both positive integers.

[0081] Indicative, for reference only Figure 6 The turning point A2 (B2') on the first guide line 401 and the turning point B2 (A2') on the second guide line 402 indicate the same road location. The turning point A3 (B3') on the first guide line 401 and the turning point B3 (A3') on the second guide line 402 indicate the same road location. The starting point B1 of the second guide line and the first corresponding point B1' on the first guide line 401 indicate the same road location. The ending point A4 of the first guide line and the second corresponding point A4' on the second guide line 402 indicate the same road location.

[0082] The terminal also pairs the last positioning point on the first guide line 401 (the starting point A1 of the first guide line 401) with the starting point B1 (A1') of the second guide line 402, and pairs the last positioning point on the second guide line 402 (the ending point B4 of the second guide line 402) with the ending point A4 (B4') of the first guide line 401.

[0083] Through the above pairing process, a total of 6 matching point pairs can be obtained between the first guide line 401 and the second guide line 402.

[0084] In summary, by pairing the positioning points indicating the same road position on the first and second guide lines, the total distance between the positioning points and corresponding points within the matching point pair is minimized, further ensuring the stability of the generated transition guide lines. The second guide line is generated when the vehicle does not deviate from the planned route.

[0085] The second pairing method: Based on the endpoint of the first lane change curve on the first guide line, determine m' first corresponding points on the second guide line that are mapped to the m positioning points on the first guide line, and obtain k matching point pairs.

[0086] It should be understood that the second pairing method applies to the case where the second guide line is generated when the vehicle deviates from the planned route. In this case, the vehicle passes through a lane change intersection between time i and time i+1 without changing lanes according to the planned route. Therefore, the first guide line generated at time i has a lane change curve, while the second guide line generated at time i+1 does not have a lane change curve.

[0087] In one embodiment, the terminal projects the two endpoints of the first lane change curve on the first guide line onto the second guide line to obtain two corresponding points, and pairs the two endpoints of the first lane change curve with the two corresponding points one by one to obtain two matching point pairs; the terminal also pairs the starting point of the first guide line with the starting point of the second guide line to obtain a matching point pair; and pairs the ending point of the first guide line with the ending point of the second guide line to obtain a matching point pair.

[0088] Indicative, for reference only Figure 7 The endpoint A2 of the first lane change curve on the first guide line 501 is projected onto the second guide line 502 to obtain the corresponding point A2', and the endpoint A3 of the first lane change curve on the first guide line 501 is projected onto the second guide line 502 to obtain the corresponding point A3'.

[0089] The terminal also pairs the starting point A1 of the first guide line 501 with the starting point B1 (A1') of the second guide line 502, and the terminal also pairs the ending point A4 of the first guide line 501 with the ending point B2 (A4') of the second guide line 502.

[0090] Through the above pairing process, a total of 4 matching point pairs can be obtained between the first guide line 501 and the second guide line 502.

[0091] In another embodiment, the terminal further divides the first lane change curve into L segments according to a preset division length. Therefore, there are a total of L+1 positioning points on the first lane change curve. The terminal projects the L+1 positioning points onto the second guide line to obtain L+1 corresponding points, resulting in a total of L+1 matching point pairs on the first lane change curve and a total of L+3 matching point pairs on the first guide line.

[0092] For example, the positioning points on the first lane change curve include the endpoints A2 and A3, and the intermediate points P1, P2, and P3 (at this time, the first lane change curve is divided into 4 segments). The terminal projects the endpoints A2 and A3, and the intermediate points P1, P2, and P3 of the first lane change curve onto the second guide line to obtain the corresponding points A2', A3', P1', P2', and P3'. The terminal also pairs the starting point A1 of the first guide line with the starting point B1 of the first guide line, and the terminal also pairs the ending point A4 of the first guide line with the ending point B2 of the first guide line. At this time, a total of 7 matching point pairs are obtained.

[0093] In summary, by projecting the endpoint of the lane change curve of the first guide line onto the second guide line to obtain the second corresponding point, and pairing the endpoint of the lane change curve with the second corresponding point, the second guide line is generated when the vehicle deviates from the planned route, thus ensuring the stability of the second guide line.

[0094] The following will introduce three more pairing methods. It is worth noting that the pairing methods introduced below do not restrict whether the vehicle deviates from the planned route at time i+1.

[0095] The third pairing method: Pair the m positioning points on the first guide line and the n positioning points on the second guide line point by point in sequence to obtain k matching point pairs, where k equals max(m, n).

[0096] In one embodiment, if j is less than m and j is less than n, the terminal pairs the j-th of the m positioning points with the j-th of the n positioning points; if m is greater than n, j is not less than n and j is not greater than m, the terminal pairs the j-th of the m positioning points with the first endpoint of the second guide line; if m is less than n, j is not less than m and j is not greater than n, the terminal pairs the j-th of the n positioning points with the second endpoint of the first guide line; finally, the terminal determines k matching point pairs, where k is m or n and j is a positive integer.

[0097] In either case, the m or n positioning points are arranged in the order of the road's forward direction, with the first endpoint being the end point and the second endpoint being the end point; or, the m or n positioning points are arranged in reverse order of the road's forward direction, with the first endpoint being the starting point and the second endpoint being the starting point.

[0098] Indicative, for reference only Figure 8 There are four positioning points on the first guide line 801, including positioning point A1, positioning point A2, positioning point A3 and positioning point A4; there are three positioning points on the second guide line 802, including positioning point B1, positioning point B2 and positioning point B3.

[0099] Regardless of whether the arrangement of the four positioning points A1, A2, A3, and A4 on the first guide line 801 and the three positioning points B1, B2, and B3 on the second guide line 802 is in the order of the road's forward direction (where A1 is the starting point and A4 is the ending point; B1 is the starting point and B3 is the ending point), or in the reverse order of the road's forward direction (where A1 is the ending point and A4 is the starting point; B1 is the ending point and B3 is the starting point), positioning points A1 and B1, A2 and B2, A3 and B3, and A4 and B3 will all be paired.

[0100] Through the above pairing process, a total of 4 matching point pairs can be obtained between the first guide line 801 and the second guide line 802.

[0101] In summary, by sequentially pairing the positioning points on the first guide line and the second guide line, both positioning points on the first and second guide lines can participate in the pairing. This pairing method is relatively simple, requiring only the positioning points on the guide lines to be determined. This pairing method can also be used to achieve an animation effect for the guide lines.

[0102] The fourth pairing method is to project the m positioning points on the first guide line onto the second guide line to obtain m' first corresponding points, and to project the n positioning points on the second guide line onto the first guide line to obtain n' second corresponding points, resulting in a total of k matching point pairs.

[0103] In one embodiment, the terminal projects m2 positioning points on the first guide line onto the second guide line to obtain m2' first corresponding points. The terminal then pairs the m2 positioning points with the m2' first corresponding points one by one to obtain k4 matching point pairs. The terminal also pairs the positioning points other than the m2 positioning points among the m positioning points with the third endpoint of the second guide line to obtain k5 matching point pairs.

[0104] The terminal also projects the n2 positioning points on the second guide line onto the first guide line, obtaining n2' second corresponding points. The terminal pairs the n2 positioning points with the n2' second corresponding points one by one, obtaining k6 matching point pairs. The terminal also pairs the positioning points other than the n2 positioning points with the fourth endpoint of the first guide line, obtaining k7 matching point pairs. Here, the third endpoint is the end point and the fourth endpoint is the start point; or the third endpoint is the start point and the fourth endpoint is the end point. Where m2, m2', n2, n2', k4, k5, k6, and k7 are all positive integers.

[0105] Indicative, for reference only Figure 9 There are four positioning points on the first guide line 901, including positioning point A1, positioning point A2, positioning point A3 and positioning point A4; there are three positioning points on the second guide line 902, including positioning point B1, positioning point B2 and positioning point B3. Figure 9 The starting point is A1, the ending point is A4, the starting point is B1, and the ending point is B3; or, the ending point is A1, the starting point is A4, the ending point is B1, and the starting point is B3.

[0106] The terminal projects positioning point A1 onto the second guide line 902 to obtain corresponding point A1', the terminal projects positioning point A2 onto the second guide line 902 to obtain corresponding point A2', the terminal projects positioning point B2 onto the first guide line 901 to obtain corresponding point B2', and the terminal projects positioning point B3 onto the first guide line 901 to obtain corresponding point B3'.

[0107] The terminal also pairs positioning point A4 on the first guide line 901 with its corresponding point A4' (B3) on the second guide line 902, and pairs positioning point A3 on the first guide line 901 with its corresponding point A3' (B3) on the second guide line 902. The terminal also pairs positioning point B1 on the second guide line 902 with its corresponding point B1' (A1) on the first guide line 901.

[0108] Through the above pairing process, a total of 7 matching point pairs can be obtained between the first guide line 901 and the second guide line 902.

[0109] One point worth noting is that, Figure 9 In the case shown, all positioning points on the second guide line, except for the positioning point with projection, are connected to one end point on the first guide line. In fact, if the length of the second guide line is slightly shorter, there may be several positioning points on the second guide line other than the positioning point that allows projection connected to the starting point on the first guide line, and at the same time, several positioning points on the second guide line other than the positioning point with projection connected to the ending point on the first guide line.

[0110] Another point worth noting is that, Figure 9 In the case shown, all positioning points on the first guide line, except for the positioning point with projection, are connected to one end point on the second guide line. In fact, if the length of the first guide line is shorter, there may be several positioning points on the first guide line other than the positioning point that allows projection connected to the starting point on the second guide line, and at the same time, several positioning points on the first guide line other than the positioning point that allows projection connected to the ending point on the second guide line.

[0111] Figure 9 The pairing method shown is for illustrative purposes only. If the lengths of the first guide wire and the second guide wire do not meet the requirements... Figure 9 The pairing method shown allows those skilled in the art to still combine the two based on the lengths of the first and second guide lines. Figure 9 The projection concept shown in this application pairs the positioning points on the first and second guide lines. Figure 9 The pairing method shown does not limit the idea of ​​pairing positioning points through projection.

[0112] It should be noted that, for ease of discussion, all embodiments of this application involving the pairing method of positioning point mapping using projection are actually based on the first guide line and the second guide line being in a relatively parallel relative position. However, in reality, there may still be other situations in the relative position between the first guide line and the second guide line (for example, the angle between the extensions of the first guide line and the extensions of the second guide line is 30°). This application is only used to discuss the pairing method of positioning point mapping using projection and does not limit the relative position between the first guide line and the second guide line.

[0113] In summary, by projecting the positioning points on the first guide line onto the second guide line, and projecting the positioning points on the second guide line onto the first guide line, this pairing method achieves the pairing of positioning points between the first and second guide lines. This pairing method is also used to achieve an animation effect for transition guide lines, and the transition guide lines obtained through this pairing method will be smoother.

[0114] The fifth pairing method: Based on the positions of m positioning points on the first guide line, determine m' first corresponding points on the second guide line that map to the m positioning points on the first guide line; based on the positions of n positioning points on the second guide line, determine n' second corresponding points on the first guide line that map to the n positioning points on the second guide line; thus, k matching point pairs are obtained.

[0115] In one embodiment, for a turning point among m positioning points, the terminal pairs the turning point with a corresponding point on the second guide line to obtain k8 matching point pairs, where the second ratio of the turning point is the same as the second ratio of the corresponding point; for a turning point among n positioning points, the terminal also pairs the turning point with a corresponding point on the first guide line to obtain k9 matching point pairs, where the second ratio of the turning point is the same as the second ratio of the corresponding point; the terminal also pairs the starting point of the first guide line with the starting point of the second guide line to obtain one matching point pair; and the terminal also pairs the ending point of the first guide line with the ending point of the second guide line to obtain one matching point pair.

[0116] Among them, the second ratio of the turning point is the ratio of the distance between the turning point and the reference point of the guide line to the total length of the guide line, and the second ratio of the corresponding point is the ratio of the distance between the corresponding point and the reference point of the guide line to the total length of the guide line. The reference point is the starting point or ending point of the guide line, and k8 and k9 are both positive integers.

[0117] Indicative Figure 10 There are four positioning points on the first guide line 1001, including positioning point A1, positioning point A2, positioning point A3 and positioning point A4; there are three positioning points on the second guide line 1002, including positioning point B1, positioning point B2 and positioning point B3.

[0118] The terminal determines the corresponding point A2' of turning point A2 on the second guide line 1002. The ratio of the length between corresponding point A2' and positioning point B1 to the total length of the second guide line 1002 is the same as the ratio of the length between positioning point A2 and positioning point A1 to the total length of the first guide line 1001. Similarly, the terminal also determines the corresponding point A3' of turning point A3 on the second guide line 1002, and the terminal also determines the corresponding point B2' of turning point B2 on the first guide line 1001.

[0119] The terminal also determines the corresponding point A1' (B1) of positioning point A1 on the second guide line 1002, the corresponding point A4' (B3) of positioning point A4 on the second guide line 1002, the corresponding point B1' (A1) of positioning point B1 on the first guide line 1001, and the corresponding point B3' (A4) of positioning point B3 on the first guide line 1001. Here, A1 and B1 are the starting points, and A4 and B3 are the ending points; or, A1 and B1 are the ending points, and A4 and B3 are the starting points.

[0120] Through the above pairing process, a total of five matching point pairs can be obtained between the first guide line 1001 and the second guide line 1002.

[0121] In summary, by setting the length ratio between the turning point and the reference point on the first guide line and the second guide line to be the same, this pairing method achieves the pairing of positioning points between the first guide line and the second guide line. This pairing method is also used to achieve the animation effect of the transition guide line.

[0122] It is worth noting that the terminal determines the pairing method to be used in the third to fifth pairing methods based on at least one of the following pairing principles.

[0123] First, based on the small number of generated matching point pairs, determine the pairing method;

[0124] Reference Figure 8 , Figure 9 and Figure 10 , Figure 8 The third pairing method shown generates a total of four matching point pairs. Figure 9 The fourth pairing method shown generates a total of seven matching point pairs. Figure 10 The fifth pairing method shown generates five matching point pairs. If only the current pairing principle is considered, the third pairing method is the optimal pairing method.

[0125] Second, the pairing method is determined based on the fact that the sum of the distances of the generated k matching point pairs is small;

[0126] The distance between a matching point pair is the distance between the location point and the lane position indicated by the corresponding point. (Refer to reference...) Figure 8 , Figure 9 and Figure 10 If only the current pairing principle is considered, then select Figure 8 The sum of the distances of the four matching point pairs shown Figure 9 The sum of the distances of the seven matching point pairs shown Figure 10 The matching method corresponds to the smallest sum of distances among the five pairs of matching points shown.

[0127] In summary, the above pairing principles can comprehensively consider the terminal's computing power and the display effect of the transition guide line, and select the most suitable pairing method from the third to the fifth pairing methods.

[0128] based on Figure 3 In the alternative embodiment shown, step 360 can be replaced by step S1.

[0129] S1, a transition guide line is generated by connecting k intermediate points of k matching point pairs; wherein, any two intermediate points have the same first ratio in their respective matching point pairs, the first ratio is the ratio of the first duration to the second duration, the first duration is the difference between the intermediate time corresponding to the intermediate point and the first time, the second duration is the difference between the (i+1)th time and the first time, and the intermediate time is obtained by interpolation between the i-th time and the (i+1)th time.

[0130] Indicative, for reference only Figure 11 , Figure 11 (a) shows the terminal acquiring the first guide line 1101 and the second guide line 1102. Figure 11 (b) shows the terminal pairing the positioning points on the first guide line 1101 and the second guide line (the pairing method at this time is only for illustrative purposes). Figure 11 (c) shows that after the terminal pairs the positioning points on the first guide line 1101 and the second guide line, it determines intermediate points 1103, 1104, and 1105. Intermediate points 1103, 1104, and 1105 have the same first ratio within their respective matching point pairs. The first ratio is the ratio of a first duration to a second duration. The first duration is the difference between the intermediate time corresponding to the intermediate point and the first time. The second duration is the difference between the (i+1)th time and the first time. The intermediate time is obtained by interpolation between the i-th time and the (i+1)-th time. Optionally, the intermediate time is the midpoint between the i-th time and the (i+1)-th time; that is, if the i-th time is the 1st second and the (i+1)-th time is the 2nd second, then the intermediate time is 1.5 seconds.

[0131] In summary, a method for determining the midpoint of a matching pair is provided through linear interpolation and time-proportional calculation, which can be used to support the generation of transition guide lines.

[0132] based on Figure 3 In the optional embodiment shown, step 320, "obtaining the first guide line generated at time i", can be replaced by the following steps:

[0133] 1. Obtain the first guide line to be processed. The first guide line to be processed includes a first line segment, a second line segment, and a third line segment connected end to end. The second line segment is used to guide vehicles to change lanes.

[0134] Reference Figure 12 The first guide line 1201 to be processed has a starting point A11, two turning points A12 and A13, and an ending point A14. The first guide line 1201 to be processed includes a first line segment A11A12, a second line segment A12A13 and a third line segment A13A14 connected end to end. The second line segment A12A13 is used to guide vehicles to change lanes.

[0135] 2. Based on the first backtracking distance, backtrack the turning point connecting the second line segment and the first line segment on the first line segment to obtain the first backtracking point;

[0136] Based on the preset first back-back distance, the terminal backs back the turning point A12 connecting the second line segment A12A13 and the first line segment A11A12 on the first line segment A11A12 to obtain the first back-back point A22.

[0137] 3. Based on the second backtracking distance, backtrack the turning point connecting the second line segment and the third line segment on the third line segment to obtain the second backtracking point;

[0138] Based on the preset second back-back distance, the terminal backs back the turning point A13 connecting the second line segment A12A13 and the third line segment A13A14 on the third line segment A13A14 to obtain the second back-back point A23.

[0139] 4. Based on the first and second rollback points, generate the first lane change curve;

[0140] Based on the first rollback point A22 and the second rollback point A23 obtained from the above steps, the terminal generates the first lane change curve.

[0141] Optionally, the terminal uses inflection point A12 as control point C1 and inflection point A13 as control point C2. The terminal generates a Bézier curve based on the first backtracking point A22, control point C1, control point C2 and the second backtracking point A23.

[0142] 5. Connect the first line segment after the rollback, the first lane change curve, and the third line segment after the rollback end to end to obtain the first guide line generated at time i.

[0143] The terminal connects the first line segment A21A22 after the rollback, the first lane change curve A22A23, and the third line segment A23A24 after the rollback end to end to obtain the first guide line 1202 generated at time i.

[0144] In summary, using a lane change curve to guide vehicles during lane changes provides a smoother guide curve, improving the user experience when using guide lines. Furthermore, the lane change curve is a Bézier curve, which further enhances the smoothness of the guide lines used for lane changes, making it more aligned with users' familiarity with guide lines.

[0145] based on Figure 3 In the optional embodiment shown, step 320, "obtaining the second guide line generated at time i+1", can be replaced by the following steps:

[0146] 1. Obtain the second guide line to be processed. The second guide line to be processed includes the fourth line segment, the fifth line segment, and the sixth line segment connected end to end. The fifth line segment is used to guide vehicles to change lanes.

[0147] Reference Figure 12 The second guide line 1201 to be processed has a starting point A11, two turning points A12 and A13, and an ending point A14. The second guide line 1201 to be processed includes a fourth line segment A11A12, a fifth line segment A12A13 and a sixth line segment A13A14 connected end to end. The fifth line segment A12A13 is used to guide vehicles to change lanes.

[0148] 2. Based on the third backtracking distance, backtrack the turning point connecting the fourth and fifth line segments on the fourth line segment to obtain the third backtracking point;

[0149] Based on the preset third back-off distance, the terminal backs off the turning point A12 connecting the fifth line segment A12A13 and the fourth line segment A11A12 on the fourth line segment A11A12, and obtains the third back-off point A22.

[0150] 3. Based on the fourth backtracking distance, backtrack the turning point connecting the fifth and sixth line segments on the sixth line segment to obtain the fourth backtracking point;

[0151] Based on the preset fourth back-off distance, the terminal backs off the turning point A13 connecting the fifth line segment A12A13 and the sixth line segment A13A14 on the sixth line segment A13A14, to obtain the fourth back-off point A23.

[0152] 4. Based on the third and fourth rollback points, generate the second lane change curve;

[0153] Based on the third rollback point A22 and the fourth rollback point A23 obtained from the above steps, the terminal generates the second lane change curve.

[0154] Optionally, the terminal uses inflection point A12 as control point C1 and inflection point A13 as control point C2. The terminal generates a Bézier curve based on the third backtracking point A22, control point C1, control point C2 and the fourth backtracking point A23.

[0155] 5. Connect the fourth line segment after the backtracking, the second lane change curve, and the sixth line segment after the backtracking to obtain the second guide line generated at time i+1.

[0156] The terminal connects the fourth line segment A21A22 after the backtracking, the second lane change curve A22A23, and the sixth line segment A23A24 after the backtracking to obtain the second guide line 1202 generated at time i+1.

[0157] In summary, using a lane change curve to guide vehicles during lane changes provides a smoother guide curve, improving the user experience when using guide lines. Furthermore, the lane change curve is a Bézier curve, which further enhances the smoothness of the guide lines used for lane changes, making it more aligned with users' familiarity with guide lines.

[0158] To improve the display detail and smoothness of the guide line animation, Figure 13 A flowchart illustrating a method for displaying guide lines provided in an exemplary embodiment of this application is shown, in which the method is applied... Figure 2 The method, illustrated by the terminal 220 (or an application on the terminal 220 that supports navigation maps), includes:

[0159] Step 1310: Display and obtain the first guide line generated at time i and the second guide line generated at time i+1.

[0160] First guide line: The first guide line is a guide line generated at time i to guide the vehicle to its destination, and it is displayed on the navigation map interface at time i+1. Optionally, the interval between two adjacent times is 1 second. In one embodiment, the terminal uses GPS (Global Positioning System) to locate the current position of the vehicle at time i, and calculates the first guide line based on lane-level road network data and the destination.

[0161] The second guide line: The second guide line is generated at time i+1 to guide the vehicle to its destination, and it is displayed on the navigation map interface at time i+2. Optionally, the interval between two adjacent times is 1 second. In one embodiment, the terminal obtains the current location of the vehicle through GPS positioning at time i+1, and calculates the second guide line based on lane-level road network data and the destination.

[0162] Step 1320: By pairing the positioning points on the first guide line and / or the second guide line, k matching point pairs are obtained;

[0163] In one embodiment, the terminal pairs the positioning points on the first guide line and / or the second guide line to obtain k matching point pairs, including: the terminal determines m' first corresponding points on the second guide line that are mapped to the m positioning points on the first guide line; and / or, determines n' second corresponding points on the first guide line that are mapped to the n positioning points on the second guide line, resulting in a total of k matching point pairs, each matching point pair including mutually mapped positioning points and corresponding points.

[0164] Step 1330: Generate transition guide lines by connecting the k intermediate points of k matching point pairs;

[0165] Midpoint: In one embodiment, a matching point pair includes a positioning point and a corresponding point. A positioning point on the first guide line and a corresponding point on the second guide line constitute a matching point pair, and a positioning point on the second guide line and a corresponding point on the first guide line constitute a matching point pair. The midpoint is the point located between the positioning point and the corresponding point.

[0166] Transition guide line: This is a guide line used to transition the first guide line displayed at time i+1 to the second guide line displayed at time i+2. In all embodiments of this application, the transition guide line is the key to solving the guide line jump problem; setting a transition guide line can reduce the time of guide line change.

[0167] Step 1340: Display the guide line animation between time i+1 and time i+2. The guide line animation is generated by modeling and rendering the transition guide line.

[0168] Reference Figure 14 , Figure 14 (a) shows the initial transition guide line with a starting point A1, turning point A2, turning point A3, and ending point A4. First, the terminal widens the starting point A1, turning point A2, turning point A3, and ending point A4 to the left and right, obtaining cross-sections at each point, schematically. Figure 14 (b) shows a schematic diagram of the horizontal widening of multiple points. Then, the terminal connects the profile points horizontally to obtain multiple triangles. Figure 14 (c) shows the process of connecting the diagonal points of each section three times. Finally, the terminal sets the transparency of the widened guide line. Optionally, the terminal sets the transparency of the first 20% of the guide line to vary from 0 to 1, the transparency of the middle 60% of the guide line to remain at 1, and the transparency of the last 20% of the guide line to vary from 1 to 0. (Refer to the reference.) Figure 1 As shown in the guide line 101 above, the shadow gradually deepens in the first 20% of the section, remains unchanged in the middle 60% of the section, and gradually lightens in the last 20% of the section.

[0169] The transparency of the entire guide line is represented schematically by the following formula:

[0170] Transparency=min(1,smoothstep(0.0,minlength,lengthratio)-smoothstep(1.0-

[0171] minlength,1.0,lengthratio));

[0172] Here, `minlength` represents the length of the transparency gradient, defining the ratio of the gradient at the beginning and end of the guide line. For example, 0.2 means the gradient range at the beginning is between 0 and 0.2, and the gradient range at the end is between 0.8 and 1. `lengthratio` is an input parameter. Figure 14 (d) shows the distance percentage, with values ​​between 0 and 1, used to indicate the position on the guide line. `smoothstep(0.0,minlength,lengthratio)` is the transparency of the head gradient region (0.0,minlength) calculated based on `lengthratio`. `1-smoothstep(1.0–minlength,1.0,lengthratio)` is the transparency of the tail gradient region (1.0-minlength,1.0) calculated based on `lengthratio`. In the above formulas, when calculating the transparency of the head gradient region, `smoothstep(1.0-minlength,1.0,lengthratio)` is 0; when calculating the transparency of the tail gradient region, `smoothstep(0.0,minlength,lengthratio)` is 1.

[0173] Step 1350: Display the second guide line at time i+2;

[0174] The terminal displays the second guide line generated at time i+1 at time i+2.

[0175] In summary, by triangulating the model and setting the transparency of the transition guide lines, an animation effect for the transition guide lines was achieved, reducing the abruptness when users observe the guide lines and further optimizing the interface effect of the guide lines guiding vehicles to their destinations.

[0176] The above method also reduces the display difference of guide lines between two adjacent frames in the guide line animation, improving the display detail and animation smoothness of the guide line animation. At the same time, due to the reduction of the difference pixels between two adjacent frames, the frame-level refresh effect of the LCD screen is improved, thus presenting a softer and more delicate display effect of guide lines guiding vehicles to their destination.

[0177] Figure 15 This application shows a structural block diagram of a display device for guide lines provided in an exemplary embodiment of the present application. The device includes:

[0178] The acquisition module 1501 is used to acquire the first guide line generated at time i and the second guide line generated at time i+1. The first guide line and the second guide line are used to guide the vehicle to the destination on the navigation map.

[0179] The pairing module 1502 is used to obtain k matching point pairs by pairing the positioning points on the first guide line and / or the second guide line;

[0180] The generation module 1503 is used to generate a transition guide line by connecting the k intermediate points of k matching point pairs. The transition guide line is used to transition the first guide line displayed at time i+1 to the second guide line displayed at time i+2.

[0181] Display module 1504 is used to display the transition guide line between time i+1 and time i+2.

[0182] In an optional embodiment, the pairing module 1502 is further configured to determine m' first corresponding points on the second guide line that are mapped to the m positioning points on the first guide line; and / or, determine n' second corresponding points on the first guide line that are mapped to the n positioning points on the second guide line, resulting in a total of k matching point pairs, each matching point pair including mutually mapped positioning points and corresponding points.

[0183] In an optional embodiment, the second guide line is a guide line generated when the vehicle does not deviate from the planned route. The pairing module 1502 is further configured to determine m' first corresponding points on the second guide line that are mapped to m positioning points on the first guide line, based on the existence of positioning points belonging to the same road location on the first guide line and the second guide line, and to determine n' second corresponding points on the first guide line that are mapped to n positioning points on the second guide line, for a total of k matching point pairs.

[0184] In an optional embodiment, the pairing module 1502 is further configured to pair the m1 positioning points of the first guide line and the n1 positioning points of the second guide line one by one to obtain k1 matching point pairs, wherein the values ​​of m1, n1 and k1 are equal, any two paired positioning points in the k1 matching point pairs indicate the same road position, and m1, n1 and k1 are less than min(m, n).

[0185] In an optional embodiment, the pairing module 1502 is further configured to pair the positioning points other than m1 positioning points among the m positioning points with the starting point of the second guide line to obtain k2 matching point pairs; and pair the positioning points other than n1 positioning points among the n positioning points with the ending point of the first guide line to obtain k3 matching point pairs.

[0186] In an optional embodiment, the second guide line is a guide line generated when the vehicle deviates from the planned route. There is a first lane change curve on the first guide line. The pairing module 1502 is also used to determine m' first corresponding points on the second guide line that are mapped to m positioning points on the first guide line based on the endpoints of the first lane change curve on the first guide line, so as to obtain k matching point pairs.

[0187] In an optional embodiment, the pairing module 1502 is further configured to project the two endpoints of the first lane change curve on the first guide line onto the second guide line to obtain two corresponding points, and pair the two endpoints of the first lane change curve with the two corresponding points one by one to obtain two matching point pairs.

[0188] In an optional embodiment, the pairing module 1502 is further configured to pair the starting point of the first guide line with the starting point of the second guide line to obtain a matching point pair; and pair the ending point of the first guide line with the ending point of the second guide line to obtain a matching point pair.

[0189] In an optional embodiment, the pairing module 1502 is further configured to sequentially pair the m positioning points on the first guide line and the n positioning points on the second guide line to obtain k matching point pairs, where k equals max(m, n).

[0190] In an optional embodiment, the pairing module 1502 is further configured to pair the j-th of the m positioning points with the j-th of the n positioning points when j is less than m and j is less than n.

[0191] In an optional embodiment, the pairing module 1502 is further configured to pair the j-th of the m positioning points with the first endpoint of the second guide line when m is greater than n, j is not less than n and j is not greater than m.

[0192] In an optional embodiment, the pairing module 1502 is further configured to pair the j-th of the n positioning points with the second endpoint of the first guide line when m is less than n, j is not less than m and j is not greater than n.

[0193] In an optional embodiment, the pairing module 1502 is further configured to determine k matching point pairs, where the value of k is m or n, wherein the m and n positioning points are arranged in the order of the road's forward direction, with the first endpoint being the end point and the second endpoint being the end point; or, the m and n positioning points are arranged in reverse order of the road's forward direction, with the first endpoint being the starting point and the second endpoint being the starting point.

[0194] In an optional embodiment, the pairing module 1502 is further configured to project m positioning points on the first guide line onto the second guide line to obtain m' first corresponding points, and to project n positioning points on the second guide line onto the first guide line to obtain n' second corresponding points, for a total of k matching point pairs.

[0195] In an optional embodiment, the pairing module 1502 is further configured to project m2 positioning points on the first guide line onto the second guide line to obtain m2' first corresponding points, pair the m2 positioning points and m2' first corresponding points one by one to obtain k4 matching point pairs; and pair the positioning points other than the m2 positioning points among the m positioning points with the third endpoint of the second guide line to obtain k5 matching point pairs.

[0196] In an optional embodiment, the pairing module 1502 is further configured to project n2 positioning points on the second guide line onto the first guide line to obtain n2' second corresponding points, pair the n2 positioning points and n2' second corresponding points one by one to obtain k6 matching point pairs; pair the positioning points other than the n2 positioning points among the n positioning points with the fourth endpoint of the first guide line to obtain k7 matching point pairs; wherein the third endpoint is the end point and the fourth endpoint is the start point; or the third endpoint is the start point and the fourth endpoint is the end point.

[0197] In an optional embodiment, the pairing module 1502 is further configured to determine m' first corresponding points on the second guide line that are mapped to the m positioning points on the first guide line based on the positions of the m positioning points on the first guide line.

[0198] In an optional embodiment, the pairing module 1502 is further configured to determine n' second corresponding points on the first guide line that are mapped to the n positioning points on the second guide line based on the positions of the n positioning points on the second guide line, thereby determining k matching point pairs.

[0199] In an optional embodiment, the positioning point includes the endpoints and inflection points of the guide line, the inflection points of the guide line indicating the road position where the vehicle is changing lanes.

[0200] In an optional embodiment, the pairing module 1502 is further configured to pair a turning point among the m positioning points with a corresponding point on the second guide line to obtain k8 matching point pairs, wherein the second ratio of the turning point is the same as the second ratio of the corresponding point.

[0201] In an optional embodiment, the pairing module 1502 is further configured to pair a turning point among the n positioning points with a corresponding point on the first guide line to obtain k9 matching point pairs, wherein the second ratio of the turning point is the same as the second ratio of the corresponding point.

[0202] In an optional embodiment, the pairing module 1502 is further configured to pair the starting point of the first guide line with the starting point of the second guide line to obtain a matching point pair; and pair the ending point of the first guide line with the ending point of the second guide line to obtain a matching point pair.

[0203] The second ratio for the inflection point is the ratio of the distance between the inflection point and the reference point of the guide line to the total length of the guide line. The second ratio for the corresponding point is the ratio of the distance between the corresponding point and the reference point of the guide line to the total length of the guide line. The reference point is the starting or ending point of the guide line.

[0204] In an optional embodiment, a first lane change curve exists on the first guide line. The first lane change curve is used to guide vehicles to change lanes. The acquisition module 1501 is also used to acquire the first guide line to be processed. The first guide line to be processed includes a first line segment, a second line segment, and a third line segment connected end to end. The second line segment is used to guide vehicles to change lanes.

[0205] In an optional embodiment, the acquisition module 1501 is further configured to backtrack the turning point connecting the second line segment and the first line segment on the first line segment based on the first backtrack distance, thereby obtaining the first backtrack point.

[0206] In an optional embodiment, the acquisition module 1501 is further configured to backtrack the turning point connecting the second line segment and the third line segment on the third line segment based on the second backtrack distance, thereby obtaining the second backtrack point.

[0207] In an optional embodiment, the acquisition module 1501 is further configured to generate a first lane change curve based on the first rollback point and the second rollback point.

[0208] In an optional embodiment, the acquisition module 1501 is further configured to connect the first line segment after backtracking, the first lane change curve, and the third line segment after backtracking end to end to obtain the first guide line generated at time i.

[0209] In an optional embodiment, a second lane change curve is provided on the second guide line, the second lane change curve being used to guide vehicles to change lanes.

[0210] In an optional embodiment, the acquisition module 1501 is further configured to acquire a second guide line to be processed, the second guide line to be processed including a fourth line segment, a fifth line segment and a sixth line segment connected end to end, the fifth line segment being used to guide vehicles to change lanes.

[0211] In an optional embodiment, the acquisition module 1501 is further configured to backtrack the turning point connecting the fourth line segment and the fifth line segment on the fourth line segment based on the third backtrack distance, thereby obtaining the third backtrack point.

[0212] In an optional embodiment, the acquisition module 1501 is further configured to backtrack the turning point connecting the fifth line segment and the sixth line segment on the sixth line segment based on the fourth backtrack distance, thereby obtaining the fourth backtrack point.

[0213] In an optional embodiment, the acquisition module 1501 is further configured to generate a second lane change curve based on the third back-back point and the fourth back-back point.

[0214] In an optional embodiment, the acquisition module 1501 is further configured to connect the fourth line segment after backtracking, the second lane change curve, and the sixth line segment after backtracking end to end to obtain the second guide line generated at time i+1.

[0215] In an optional embodiment, the generation module 1503 is further configured to generate a transition guide line by concatenating k intermediate points of k matching point pairs; wherein any two intermediate points have the same first ratio within their respective matching point pairs, the first ratio being the ratio of a first duration to a second duration, the first duration being the difference between the intermediate time corresponding to the intermediate point and the first time, the second duration being the difference between the (i+1)th time and the first time, and the intermediate time being obtained by interpolation between the ith time and the (i+1)th time.

[0216] In summary, by pairing the positioning points on the first guide line generated at time i and / or the second guide line generated at time i+1, k matching point pairs are obtained. A transition guide line is generated by connecting the k intermediate points of the k matching point pairs and displaying the transition guide line between time i+1 and time i+2. This reduces the abruptness when users observe the guide line and further optimizes the interface effect of the guide line guiding the vehicle to its destination.

[0217] The aforementioned device also reduces the display difference of guide lines between two adjacent frames in the guide line animation, improving the display detail and animation smoothness of the guide line animation. At the same time, due to the reduction of the difference pixels between two adjacent frames, the frame-level refresh effect of the LCD screen is improved, thus presenting a softer and more delicate display effect of guide lines guiding vehicles to their destination.

[0218] Figure 16 A structural block diagram of a computer device 1600 provided in an exemplary embodiment of this application is shown. The computer device 1600 may be a portable mobile terminal, such as a smartphone, tablet computer, MP3 player (Moving Picture Experts Group Audio Layer III), MP4 player (Moving Picture Experts Group Audio Layer IV), laptop computer, or desktop computer. The computer device 1600 may also be referred to as a user device, portable terminal, laptop terminal, desktop terminal, or other names.

[0219] Typically, computer device 1600 includes a processor 1601 and a memory 1602.

[0220] Processor 1601 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 1601 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 1601 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 1601 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the screen. In some embodiments, processor 1601 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0221] The memory 1602 may include one or more computer-readable storage media, which may be non-transitory. The memory 1602 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 1602 is used to store at least one instruction, which is executed by the processor 1601 to implement the guide line display method provided in the method embodiments of this application.

[0222] In some embodiments, the computer device 1600 may also optionally include a peripheral device interface 1603 and at least one peripheral device. The processor 1601, memory 1602, and peripheral device interface 1603 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 1603 via a bus, signal line, or circuit board. For example, the peripheral device may include at least one of the following: a radio frequency circuit 1604, a display screen 1605, a camera assembly 1606, an audio circuit 1607, and a power supply 1608.

[0223] Peripheral interface 1603 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 1601 and memory 1602. In some embodiments, processor 1601, memory 1602 and peripheral interface 1603 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 1601, memory 1602 and peripheral interface 1603 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0224] The radio frequency (RF) circuit 1604 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 1604 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 1604 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 1604 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 1604 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 16G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 1604 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0225] Display screen 1605 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 1605 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 1601 for processing. In this case, display screen 1605 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one display screen 1605, disposed on the front panel of computer device 1600; in other embodiments, there may be at least two display screens, disposed on different surfaces of computer device 1600 or in a folded design; in still other embodiments, display screen 1605 may be a flexible display screen, disposed on a curved or folded surface of computer device 1600. Furthermore, display screen 1605 may be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. The display screen 1605 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0226] The camera assembly 1606 is used to acquire images or videos. Optionally, the camera assembly 1606 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the terminal, and the rear-facing camera is located on the back of the terminal. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 1606 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm-light flash and a cool-light flash, which can be used for light compensation at different color temperatures.

[0227] The audio circuit 1607 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting them into electrical signals that are input to the processor 1601 for processing, or to the radio frequency circuit 1604 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each located at a different part of the computer device 1600. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor 1601 or the radio frequency circuit 1604 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 1607 may also include a headphone jack.

[0228] Power supply 1608 is used to supply power to the various components in computer device 1600. Power supply 1608 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 1608 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired line, and a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0229] In some embodiments, the computer device 1600 further includes one or more sensors 1609. The one or more sensors 1609 include, but are not limited to, an accelerometer 1610, a gyroscope 1611, a pressure sensor 1612, an optical sensor 1613, and a proximity sensor 1614.

[0230] Accelerometer 1610 can detect the magnitude of acceleration along the three coordinate axes of a coordinate system established by computer device 1600. For example, accelerometer 1610 can be used to detect the components of gravitational acceleration along the three coordinate axes. Processor 1601 can control display screen 1605 to display the user interface in either a landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 1610. Accelerometer 1610 can also be used for games or for acquiring user motion data.

[0231] The gyroscope sensor 1611 can detect the orientation and rotation angle of the computer device 1600. The gyroscope sensor 1611 can work in conjunction with the accelerometer sensor 1610 to acquire 3D motion data from the user on the computer device 1600. Based on the data acquired by the gyroscope sensor 1611, the processor 1601 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0232] Pressure sensor 1612 is disposed on the side bezel of computer device 1600 and / or on the lower layer of display screen 1605. When pressure sensor 1612 is disposed on the side bezel of computer device 1600, it can detect the user's grip signal on computer device 1600, and processor 1601 performs left / right hand recognition or quick operation based on the grip signal collected by pressure sensor 1612. When pressure sensor 1612 is disposed on the lower layer of display screen 1605, processor 1601 controls operable controls on the UI interface based on the user's pressure operation on display screen 1605. Operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0233] Optical sensor 1613 is used to collect ambient light intensity. In one embodiment, processor 1601 can control the display brightness of display screen 1605 based on the ambient light intensity collected by optical sensor 1613. For example, when the ambient light intensity is high, the display brightness of display screen 1605 is increased; when the ambient light intensity is low, the display brightness of display screen 1605 is decreased. In another embodiment, processor 1601 can also dynamically adjust the shooting parameters of camera assembly 1606 based on the ambient light intensity collected by optical sensor 1613.

[0234] The proximity sensor 1614, also known as a distance sensor, is typically located on the front panel of the computer device 1600. The proximity sensor 1614 is used to detect the distance between the user and the front of the computer device 1600. In one embodiment, when the proximity sensor 1614 detects that the distance between the user and the front of the computer device 1600 is gradually decreasing, the processor 1601 controls the display screen 1605 to switch from a screen-on state to a screen-off state; when the proximity sensor 1614 detects that the distance between the user and the front of the computer device 1600 is gradually increasing, the processor 1601 controls the display screen 1605 to switch from a screen-off state to a screen-on state.

[0235] Those skilled in the art will understand that Figure 16 The structure shown does not constitute a limitation on the computer device 1600, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0236] This application also provides a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the guide line display method provided in the above method embodiments.

[0237] This application provides a computer program product or computer program that includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the guide line display method provided in the above-described method embodiments.

[0238] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0239] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0240] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for displaying guide lines, characterized in that, The method includes: Obtain the first guide line generated at time i and the second guide line generated at time i+1. The first guide line and the second guide line are used to guide the vehicle to the destination on the navigation map, where i is a positive integer. By pairing the positioning points on the first guide line and / or the second guide line, k matching point pairs are obtained, where k is a positive integer; A transition guide line is generated by concatenating the k intermediate points of the k matching point pairs. The transition guide line is used to transition the first guide line displayed at time i+1 to the second guide line displayed at time i+2. The transition guide line is displayed between the (i+1)th time and the (i+2)th time.

2. The method according to claim 1, characterized in that, The process of pairing positioning points on the first guide line and / or the second guide line to obtain k matching point pairs includes: On the second guide line, determine m' first corresponding points that map to the m positioning points on the first guide line; and / or, on the first guide line, determine n' second corresponding points that map to the n positioning points on the second guide line, resulting in a total of k matching point pairs. Each matching point pair includes the mutually mapped positioning points and the corresponding points, where m, m', n, and n' are all positive integers.

3. The method according to claim 2, characterized in that, The second guide line is generated assuming the vehicle does not deviate from the planned route; The process of determining m' first corresponding points on the second guide line that map to m positioning points on the first guide line, and determining n' second corresponding points on the first guide line that map to n positioning points on the second guide line, yields a total of k matching point pairs, including: Based on the existence of positioning points belonging to the same road location on the first guide line and the second guide line, m' first corresponding points that map to the m positioning points on the first guide line are determined on the second guide line, and n' second corresponding points that map to the n positioning points on the second guide line are determined on the first guide line, resulting in a total of k matching point pairs.

4. The method according to claim 3, characterized in that, Based on the existence of positioning points belonging to the same road location on the first guide line and the second guide line, m' first corresponding points that map to m positioning points on the first guide line are determined on the second guide line, and n' second corresponding points that map to n positioning points on the second guide line are determined on the first guide line, resulting in a total of k matching point pairs, including: Pair the m1 positioning points of the first guide line with the n1 positioning points of the second guide line one by one to obtain k1 matching point pairs. The values ​​of m1, n1 and k1 are equal. Any two paired positioning points in the k1 matching point pairs indicate the same road position. m1, n1 and k1 are all positive integers. m1, n1 and k1 are less than min(m, n). Pair the m positioning points (excluding the m1 positioning points) with the starting point of the second guide line to obtain k2 matching point pairs; pair the n positioning points (excluding the n1 positioning points) with the ending point of the first guide line to obtain k3 matching point pairs, where k2 and k3 are both positive integers.

5. The method according to claim 2, characterized in that, The second guide line is generated when the vehicle deviates from the planned route, and the first guide line contains a first lane change curve; The step of determining m' first corresponding points on the second guide line that map to the m positioning points on the first guide line includes: Based on the endpoint of the first lane change curve on the first guide line, determine m' first corresponding points on the second guide line that map to the m positioning points on the first guide line, and obtain the k matching point pairs.

6. The method according to claim 5, characterized in that, Based on the endpoint of the first lane change curve on the first guide line, m' first corresponding points are determined on the second guide line that map to the m positioning points on the first guide line, thus obtaining the k matching point pairs, including: Project the two endpoints of the first lane change curve on the first guide line onto the second guide line to obtain two corresponding points. Pair the two endpoints of the first lane change curve with the two corresponding points one by one to obtain two matching point pairs. Pair the starting point of the first guide line with the starting point of the second guide line to obtain a matching point pair; pair the ending point of the first guide line with the ending point of the second guide line to obtain a matching point pair.

7. The method according to claim 2, characterized in that, The process of determining m' first corresponding points on the second guide line that map to m positioning points on the first guide line, and determining n' second corresponding points on the first guide line that map to n positioning points on the second guide line, yields a total of k matching point pairs, including: The m positioning points on the first guide line and the n positioning points on the second guide line are sequentially paired point by point to obtain the k matching point pairs, where k equals max(m, n).

8. The method according to claim 7, characterized in that, The step of sequentially pairing the m positioning points on the first guide line with the n positioning points on the second guide line to obtain k matching point pairs includes: When j is less than m and j is less than n, the j-th of the m positioning points is paired with the j-th of the n positioning points, where j is a positive integer; When m is greater than n, j is not less than n and j is not greater than m, the j-th of the m positioning points is paired with the first endpoint of the second guide line; When m is less than n, j is not less than m and j is not greater than n, the j-th of the n positioning points is paired with the second endpoint of the first guide line; The k matching point pairs are determined, wherein the m and n positioning points are arranged in the order of the road's forward direction, and the first endpoint is the end point and the second endpoint is the end point; or, the m and n positioning points are arranged in reverse order of the road's forward direction, and the first endpoint is the starting point and the second endpoint is the starting point.

9. The method according to claim 2, characterized in that, The process of determining m' first corresponding points on the second guide line that map to m positioning points on the first guide line, and determining n' second corresponding points on the first guide line that map to n positioning points on the second guide line, yields a total of k matching point pairs, including: The m positioning points on the first guide line are projected onto the second guide line to obtain the m' first corresponding points, and the n positioning points on the second guide line are projected onto the first guide line to obtain the n' second corresponding points, resulting in a total of k matching point pairs.

10. The method according to claim 9, characterized in that, The process of projecting m positioning points on the first guide line onto the second guide line to obtain m' first corresponding points, and projecting n positioning points on the second guide line onto the first guide line to obtain n' second corresponding points, resulting in a total of k matching point pairs, includes: Project the m2 positioning points on the first guide line onto the second guide line to obtain m2' first corresponding points. Pair the m2 positioning points and the m2' first corresponding points one by one to obtain k4 matching point pairs. Pair the positioning points other than the m2 positioning points among the m positioning points with the third endpoint of the second guide line to obtain k5 matching point pairs. Project the n2 positioning points on the second guide line onto the first guide line to obtain n2' second corresponding points. Pair the n2 positioning points and the n2' second corresponding points one by one to obtain k6 matching point pairs. Pair the positioning points other than the n2 positioning points among the n positioning points with the fourth endpoint of the first guide line to obtain k7 matching point pairs. Where the third endpoint is the end point and the fourth endpoint is the start point; or the third endpoint is the start point and the fourth endpoint is the end point, and m2, m2', n2, n2', k4, k5, k6 and k7 are all positive integers.

11. The method according to claim 2, characterized in that, The step of determining m' first corresponding points on the second guide line that map to m positioning points on the first guide line, and / or determining n' second corresponding points on the first guide line that map to n positioning points on the second guide line, results in k matching point pairs, including: Based on the positions of the m positioning points on the first guide line, determine m' first corresponding points on the second guide line that map to the m positioning points on the first guide line; Based on the positions of the n positioning points on the second guide line, n' second corresponding points are determined on the first guide line that map to the n positioning points on the second guide line. The k matching point pairs are determined.

12. The method according to claim 11, characterized in that, The positioning point includes the endpoint and turning point of the guide line, and the turning point of the guide line indicates the road position where the vehicle changes lanes. The step of determining m' first corresponding points on the second guide line based on the positions of the m positioning points on the first guide line and mapping them to the m positioning points on the first guide line; and determining n' second corresponding points on the first guide line based on the positions of the n positioning points on the second guide line and mapping them to the n positioning points on the second guide line, includes: For one of the m positioning points, the turning point is paired with a corresponding point on the second guide line to obtain k8 matching point pairs. The second ratio of the turning point is the same as the second ratio of the corresponding point. For one of the n positioning points, the turning point is paired with a corresponding point on the first guide line to obtain k9 matching point pairs. The second ratio of the turning point is the same as the second ratio of the corresponding point. Pair the starting point of the first guide line with the starting point of the second guide line to obtain a matching point pair; pair the ending point of the first guide line with the ending point of the second guide line to obtain a matching point pair. Wherein, the second ratio of the turning point is the ratio of the distance between the turning point and the reference point of the guide line to the total length of the guide line, the second ratio of the corresponding point is the ratio of the distance between the corresponding point and the reference point of the guide line to the total length of the guide line, the reference point is the starting point or ending point of the guide line, and k8 and k9 are both positive integers.

13. The method according to any one of claims 1 to 12, characterized in that, A first lane change curve exists on the first guide line, and the first lane change curve is used to guide the vehicle to change lanes. The step of obtaining the first guide line generated at time i includes: Obtain a first guide line to be processed, the first guide line to be processed includes a first line segment, a second line segment and a third line segment connected end to end, the second line segment is used to guide the vehicle to change lanes; Based on the first back-back distance, the turning point connecting the second line segment and the first line segment is back-back on the first line segment to obtain the first back-back point; Based on the second back-off distance, the turning point connecting the second line segment and the third line segment is back-off on the third line segment to obtain the second back-off point; The first lane change curve is generated based on the first rollback point and the second rollback point; Connect the first line segment after the rollback, the first lane change curve, and the third line segment after the rollback end to end to obtain the first guide line generated at the i-th time.

14. The method according to any one of claims 1 to 12, characterized in that, A second lane-change curve exists on the second guide line, and the second lane-change curve is used to guide the vehicle to change lanes. Obtaining the second guide line generated at time i+1 includes: Obtain a second guide line to be processed, the second guide line to be processed includes a fourth line segment, a fifth line segment and a sixth line segment connected end to end, the fifth line segment is used to guide the vehicle to change lanes; Based on the third back-off distance, the turning point connecting the fourth line segment and the fifth line segment is back-off on the fourth line segment to obtain the third back-off point; Based on the fourth back-off distance, the turning point connecting the fifth line segment and the sixth line segment is back-off on the sixth line segment to obtain the fourth back-off point; The second lane change curve is generated based on the third and fourth rollback points; Connect the fourth line segment after the rollback, the second lane change curve, and the sixth line segment after the rollback end to end to obtain the second guide line generated at the (i+1)th time.

15. The method according to any one of claims 1 to 12, characterized in that, The step of generating a transition guide line by concatenating the k intermediate points of the k matching point pairs includes: Transition guide lines are generated by connecting the k intermediate points of the k matching point pairs in series; Wherein, any two intermediate points have the same first ratio in their respective matching point pairs, the first ratio is the ratio of the first duration to the second duration, the first duration is the difference between the intermediate time corresponding to the intermediate point and the first time, the second duration is the difference between the (i+1)th time and the first time, and the intermediate time is obtained by interpolation between the i-th time and the (i+1)th time.

16. A display device with guide lines, characterized in that, The device includes: The acquisition module is used to acquire the first guide line generated at time i and the second guide line generated at time i+1. The first guide line and the second guide line are used to guide the vehicle to the destination on the navigation map, where i is a positive integer. The pairing module is used to obtain k matching point pairs by pairing the positioning points on the first guide line and / or the second guide line, where k is a positive integer; A generation module is used to generate a transition guide line by concatenating the k intermediate points of the k matching point pairs. The transition guide line is used to transition the first guide line displayed at time i+1 to the second guide line displayed at time i+2. A display module is used to display the transition guide line between the (i+1)th time and the (i+2)th time.

17. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing a computer program that is loaded and executed by the processor to implement the guide line display method as described in any one of claims 1 to 15.

18. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that is loaded and executed by a processor to implement the method for displaying guide lines as described in any one of claims 1 to 15.

19. A computer program product, characterized in that, The computer program product includes computer instructions stored in a computer-readable storage medium, a processor of a computer device reading the computer instructions from the computer-readable storage medium, and the processor executing the computer instructions to cause the computer device to perform the method for displaying guide lines as described in any one of claims 1 to 15.

Images