Navigation method, device, system and storage medium

Abstract

The embodiment of the present application provides a navigation method, device, system and storage medium. In the embodiment of the present application, when a turning event occurs for a first navigation point, the electronic map rendering scale can be adjusted to a set target scale to display an electronic map with higher geometric accuracy to the user; according to the real-time distance between the navigated object and the target navigation point, the camera's top-down angle is adjusted so that the target navigation point is located in a predetermined position area of ​​the screen, which can ensure that the target navigation point is located in the predetermined position area of ​​the screen on the one hand, and can also simulate the navigation effect of the dynamic driving of the navigated object on the other hand, so that the user can perceive the dynamic effect of the navigated object moving toward the target navigation point, thereby improving the intuitiveness of navigation, helping to improve the navigation effect, and further helping to reduce the probability of the user missing the turning position.

Description

Technical Field

[0001] The present application relates to the field of navigation technology, and in particular to a navigation method, device, system and storage medium. Background Art

[0002] With the popularization of smart terminals, travel-related application software (programs) with navigation functions are widely installed and used. Such application software can plan a navigation route from the starting point to the destination according to the starting point and destination input / selected by the user, and based on the navigation route, guide the user from the starting point to the destination along the navigation route through voice guidance and / or map guidance.

[0003] Travel application software uses electronic maps to achieve navigation. Existing travel application software uses fixed rendering parameters to render electronic maps and navigation paths on the screen during navigation, which makes navigation less intuitive and leads to poor navigation effects. Summary of the invention

[0004] Various aspects of the present application provide a navigation method, device, system and storage medium to improve navigation intuitiveness, thereby helping to improve navigation effects.

[0005] The present application provides a navigation method, including:

[0006] In response to a turn event for a first navigation point, adjusting the electronic map rendering scale to a set target scale; the first navigation point is a position where the navigated object is guided to turn;

[0007] Determine the real-time distance from the navigated object to the target navigation point based on the real-time position information of the navigated object and the position information of the target navigation point;

[0008] Based on the real-time distance between the navigated object and the target navigation point, adjusting the camera's overhead angle for rendering the electronic map on the screen so that the target navigation point is located in a predetermined position area of ​​the screen; wherein the camera's overhead angle increases as the real-time distance between the navigated object and the target navigation point decreases;

[0009] Rendering an electronic map and a pre-planned navigation path on the screen according to a target scale and a camera overhead angle when a target navigation point is located in a predetermined position area of ​​the screen;

[0010] Among them, the target navigation point is the first navigation point or the second navigation point; the second navigation point is located in front of the first navigation point, used to guide the navigation object to turn, and the distance between the second navigation point and the first navigation point is less than or equal to the set distance threshold.

[0011] The embodiment of the present application also provides a navigation system, including: a navigation terminal and a server device; the navigation terminal is mounted on a navigated object;

[0012] The server device is used to: determine the navigation guidance action of the navigated object at the first navigation point according to the real-time position information of the navigated object and the pre-planned navigation path; and send a turning guidance prompt for the first navigation point to the navigation terminal when the navigation guidance action of the navigated object at the first navigation point is a turning action;

[0013] The navigation terminal is used to: in response to the turning guidance prompt, adjust the electronic map rendering scale to a set target scale; determine the real-time distance from the navigated object to the target navigation point based on the real-time position information of the navigated object and the position information of the target navigation point; and adjust the camera overhead angle for rendering the electronic map on the screen based on the real-time distance from the navigated object to the target navigation point, so that the target navigation point is located in a predetermined position area of ​​the screen; wherein the camera overhead angle increases as the real-time distance from the navigated object to the target navigation point decreases; render the electronic map and the pre-planned navigation path on the screen according to the target scale and the camera overhead angle when the target navigation point is located in the predetermined position area of ​​the screen; wherein the target navigation point is a first navigation point or a second navigation point; the second navigation point is a position located in front of the first navigation point for guiding the navigated object to turn, and the distance between the second navigation point and the first navigation point is less than or equal to a set distance threshold.

[0014] The embodiment of the present application also provides an electronic device, comprising: a memory, a processor and a screen; wherein the memory is used to store a computer program;

[0015] The processor is coupled to the memory and is configured to execute the computer program to perform the steps in the above navigation method.

[0016] An embodiment of the present application also provides a computer-readable storage medium storing computer instructions. When the computer instructions are executed by one or more processors, the one or more processors are caused to execute the steps in the above-mentioned navigation method.

[0017] In the embodiment of the present application, the navigated object is equipped with a navigation terminal, and an electronic map is displayed on the screen of the navigation terminal. In the case of a turning event for the first navigation point, the rendering scale of the electronic map can be adjusted to the set target scale, and an electronic map with higher geometric accuracy can be displayed to the user; and based on the real-time distance from the navigated object to the target navigation point, the camera's overhead angle for rendering the electronic map is adjusted so that the target navigation takes you within the predetermined position area of ​​the screen, thereby resolving the contradiction between the adjustment of the rendering scale and the navigation rendering requirement that the target navigation point on the electronic map is located within the predetermined position area of ​​the screen. In addition, based on the real-time distance between the navigated object and the target navigation point, the camera's overhead angle is adjusted so that the target navigation point is located within the predetermined position area of ​​the screen. On the one hand, it can ensure that the target navigation point is located within the predetermined position area of ​​the screen, and on the other hand, it can also simulate the navigation effect of the dynamic driving of the navigated object, so that the user can perceive the dynamic effect of the navigated object moving toward the target navigation point, thereby improving the intuitiveness of navigation, helping to improve the navigation effect, and further helping to reduce the probability of the user missing the turning position. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1a and Figure 1b A schematic diagram of the structure of a navigation system provided in an embodiment of the present application;

[0020] Figure 1c A schematic diagram of the display effect of the navigation interface provided in the embodiment of the present application;

[0021] Figure 1d-1g A schematic diagram of display effects of other navigation interfaces provided in the embodiments of the present application;

[0022] Figure 2 A flowchart of a navigation method provided in an embodiment of the present application;

[0023] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0025] In view of the technical problem that the existing navigation methods are less intuitive and lead to poor navigation effects, in some embodiments of the present application, the navigated object is equipped with a navigation terminal, and an electronic map is displayed on the screen of the navigation terminal. In the case of a turn event for the first navigation point, the electronic map rendering scale can be adjusted to the set target scale to display an electronic map with higher geometric accuracy to the user; and based on the real-time distance from the navigated object to the target navigation point, the camera's overhead angle for rendering the electronic map is adjusted so that the target navigation takes you within the predetermined position area of ​​the screen, thereby resolving the contradiction between the adjustment of the rendering scale and the navigation rendering requirement that the target navigation point on the electronic map is located in the predetermined position area of ​​the screen. In addition, according to the real-time distance between the navigated object and the target navigation point, the camera's overhead angle is adjusted so that the target navigation point is located in the predetermined position area of ​​the screen. On the one hand, it can ensure that the target navigation point is located in the predetermined position area of ​​the screen, and on the other hand, it can also simulate the navigation effect of the dynamic driving of the navigated object, so that the user can perceive the dynamic effect of the navigated object moving toward the target navigation point, thereby improving the intuitiveness of navigation, helping to improve the navigation effect, and further helping to reduce the probability of the user missing the turning position.

[0026] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0027] It should be noted that the same reference numerals denote the same objects in the following drawings and embodiments, and therefore, once an object is defined in one drawing or embodiment, it does not need to be further discussed in the subsequent drawings and embodiments.

[0028] Figure 1a This is a schematic diagram of the structure of the navigation system provided in the embodiment of the present application. Figure 1a As shown, the system includes: a navigation terminal 11 and a server device 12. In this embodiment, the navigation terminal 11 can be mounted on the navigated object and move with the movement of the navigated object. The navigated object can be any movable object. For example, the navigated object can be a person or a bicycle, or a motor vehicle such as a car, a taxi, a truck, a motorcycle, an electric car, or an autonomous mobile device such as a robot, an unmanned vehicle, etc.

[0029] The server device 12 and the navigation terminal 11 may be connected wirelessly or by wire. Optionally, the server device 12 may be connected to the navigation terminal 11 through a mobile network. Accordingly, the network standard of the mobile network may be any one of 2G (GSM), 2.5G (GPRS), 3G (WCDMA, TD-SCDMA, CDMA2000, UTMS), 4G (LTE), 4G+ (LTE+), 5G, WiMax, etc. Optionally, the server device 12 may also be connected to the navigation terminal 11 through Bluetooth, WiFi, infrared, etc.

[0030] In this embodiment, the server device 12 refers to a computer device that can respond to the service request of the navigation terminal 11 and provide navigation-related services to the user, and generally has the ability to undertake and guarantee services. The server device 12 can be installed with a navigation engine. The server device 12 can be a single server device, or a cloud-based server array, or a virtual machine (VM) running in a cloud-based server array. In addition, the server device can also refer to other computing devices with corresponding service capabilities, such as terminal devices such as computers (running service programs), etc.

[0031] In this embodiment, the navigation terminal 11 refers to an electronic device that can provide navigation functions for the navigated object. For example, it can be a smart phone, a tablet computer, a personal computer, a smart wearable device, etc., or it can be a dedicated navigation device. For example, a car navigation device, etc. In this embodiment, the navigation terminal 11 can be installed with navigation-related applications (Application, APP) and other software, which can provide electronic maps to users. The navigation terminal 11 displays an electronic map on its screen.

[0032] In this embodiment, the navigation terminal 11 can locate the current location information of the navigated object, and the user provides its destination address. In this way, the navigation terminal 11 can plan the navigation path according to the current location information and destination address of the navigated object. Optionally, the navigation terminal 11 can also plan the navigation path for the user according to the current location information, destination address and current road condition information of the navigated object. In this way, the navigated object can reach the destination address along the navigation path. Alternatively, the navigation terminal 11 can provide the current location information of the navigated object and the destination address provided by the user to the server device 12. The server device 12 receives the current location information of the navigated object and the destination address provided by the user, and plans the navigation path according to the current location information and destination address of the navigated object, and provides the navigation path to the navigation terminal 11. Accordingly, the navigation terminal 11 receives the navigation path and renders the navigation path on the navigation guidance interface of the electronic map. Alternatively, the server device 12 can also plan the navigation path for the user according to the current location information, destination address and current road condition information of the navigated object, and provide the navigation path to the navigation terminal 11. Accordingly, the navigation terminal 11 receives the navigation path and renders the navigation path on the navigation guidance interface of the electronic map, so that the navigated object can reach the destination address along the navigation path.

[0033] When the guided object moves along the navigation path, it often needs to turn, etc. For example, the guided object is a person, also called a user, and the user needs to turn at a certain intersection while walking or riding along the navigation path. For another example, the guided object is a motor vehicle, and the user also needs to turn while driving the motor vehicle.

[0034] Based on the above analysis, in order to reduce the possibility that users miss the turning position and take more "wrong roads", in this embodiment, the server device 12 can obtain the real-time position information of the navigated object while the navigated object moves along the navigation path. In this embodiment, the specific implementation method for the server device 12 to obtain the real-time position information of the navigated object is not limited, and several optional implementation methods are exemplified below.

[0035] Implementation 1: The navigation terminal 11 locates the navigated object. Specifically, the navigation terminal 11 obtains the real-time location information of the navigated object while the navigated object moves along the navigation path, and provides the real-time location information of the navigated object to the server device 12. Correspondingly, the server device 12 receives the real-time location information of the navigated object provided by the navigation terminal 11. The real-time location information of the navigated object is the actual geographical location information, such as longitude and latitude information.

[0036] Optionally, the navigation terminal 11 may obtain the real-time position information of the navigated object according to a set positioning period during the movement of the navigated object along the navigation path. In this embodiment, the positioning period is not limited, for example, it may be 30 seconds, 1 minute, 5 minutes, etc.

[0037] In the embodiment of the present application, the specific implementation method of the navigation terminal 11 obtaining the real-time location information of the navigated object is not limited. Optionally, the navigation terminal 11 can obtain the real-time location information of the navigated object through GPS positioning technology, base station positioning technology or WiFi positioning technology. Considering that the positioning accuracy of GPS positioning technology, base station positioning technology or WiFi positioning technology is low.

[0038] In this embodiment, in order to improve the navigation positioning accuracy, the image acquisition device 13 can be used to collect the environmental image of the current environment of the navigated object while the navigated object moves along the navigation path. The image acquisition device 13 is mounted on the navigated object. In this embodiment, the number and implementation form of the image acquisition device 13 are not limited. For example, in the application scenario where the user is walking or riding, the image acquisition device 13 can be a camera deployed on the navigation terminal 11 (such as a smart phone, etc.); for another example, when the user is driving a motor vehicle, the image acquisition device 13 can be a vehicle-mounted camera or a camera on the navigation terminal 11. Among them, the number of cameras can be 1 or more. Multiple refers to 2 or more. For example, the navigated object is a motor vehicle, and the camera is 1 or more cameras mounted on the motor vehicle. For multiple cameras, they can be deployed at different positions of the motor vehicle, for example, they can be deployed at the front, rear, left and right sides of the motor vehicle, etc.

[0039] Further, the image acquisition device 13 can provide the captured environmental image to the navigation terminal 11. The communication method between the image acquisition device 13 and the navigation terminal 11 can refer to the communication method between the above-mentioned navigation terminal 11 and the server device 12, which will not be repeated here. Further, the navigation terminal 11 can determine the real-time position information of the navigated object based on the environmental image and the electronic map data. Optionally, the navigation terminal 11 obtains the feature descriptors of the pixels in the environmental image; and determines the real-time position information of the navigated object based on the feature descriptors of the pixels in the environmental image and the feature descriptors of each position point recorded in the electronic map data.

[0040] Optionally, when determining the position coordinates of the pixel points in the environment image in the environment map, the navigation terminal 11 may calculate the similarity between the feature descriptors of the pixel points in the environment image and the feature descriptors of each position point in the electronic map data, and use the position points whose similarity is greater than or equal to the set similarity threshold as the corresponding position points of the pixel points in the environment image in the electronic map data, that is, the position coordinates of the position points whose similarity is greater than or equal to the set similarity threshold in the electronic map data as the corresponding position coordinates of the pixel points in the environment image in the electronic map data. Afterwards, the navigation terminal 11 can calculate the real-time position information of the navigated object in the electronic map, that is, the real-time position information of the navigated object, based on the position coordinates of the pixel points in the environment image in the electronic map data. Further, the navigation terminal 11 provides the real-time position information of the navigated object to the server device 12. The server device 12 receives the real-time position information of the navigated object.

[0041] Implementation method 2: The server device 12 locates the navigated object. The server device 12 obtains the real-time position information of the navigated object while the navigated object moves along the navigation path. Optionally, the image acquisition device 13 can be used to capture the environmental image of the environment in which the navigated object is currently located while the navigated object moves along the navigation path. The image acquisition device 13 is mounted on the navigated object. The implementation form of the image acquisition device 13 can be found in the relevant contents of the above embodiments, which will not be repeated here.

[0042] Further, if Figure 1b As shown, the image acquisition device 13 can provide the collected environmental image to the server device 12. Among them, the communication method between the image acquisition device 13 and the server device 12 can refer to the communication method between the above-mentioned navigation terminal 11 and the server device 12, which will not be repeated here. Further, the server device 12 can determine the real-time position information of the navigated object based on the environmental image and the known electronic map data. Optionally, the server device 12 obtains the feature descriptors of the pixels in the environmental image; and determines the real-time position information of the navigated object based on the feature descriptors of the pixels in the environmental image and the feature descriptors of each position point recorded in the electronic map data. Among them, the specific implementation method of the server device 12 determining the real-time position information of the navigated object based on the feature descriptors of the pixels in the environmental image and the feature descriptors of each position point recorded in the electronic map data can refer to the relevant content of the above-mentioned navigation terminal 11 determining the real-time position information of the navigated object, which will not be repeated here.

[0043] Further, after the server device 12 obtains the real-time location information of the navigated object, the server device 12 may determine the next navigation guidance action according to the pre-planned navigation path information and the real-time location information of the navigated object. Optionally, the next navigation point of the navigated object, i.e., the first navigation point, is determined according to the real-time location information of the navigated object and the pre-planned navigation path; and the navigation guidance action to be performed by the navigated object when it reaches the first navigation point is determined as the navigation guidance action for the first navigation point. In the case where the navigation guidance action of the navigated object for the first navigation point is a turning action, a turning guidance prompt for the first navigation point is sent to the navigation terminal 11; the turning guidance information is used to prompt the navigated object to turn at the first navigation point. Among them, the first navigation point is any navigation point on the navigation path. In this application scenario, the first navigation point is the next navigation point ahead of the navigated object. That is, if the navigation guidance action of the navigated object at the first navigation point is a turning action, the first navigation point is the position for guiding the navigated object to turn.

[0044] For the navigation terminal 11, the navigation guidance prompt provided by the server device 12 can be received. The navigation guidance prompt can be a straight guidance prompt, a turn guidance prompt, or a traffic condition guidance prompt, but is not limited thereto. Based on this, the navigation terminal 11 can also monitor whether the received navigation guidance prompt for the first navigation point is a turn guidance prompt. If the navigation guidance prompt for the first navigation point is a turn guidance prompt, it is determined that a turn event for the first navigation point occurs.

[0045] Accordingly, the navigation terminal 11 can determine that a turn event for the first navigation point has occurred in response to the turn guidance prompt, and adjust the electronic map rendering scale to a set target scale in response to the turn event. The electronic map rendering scale refers to the ratio between the distance on the electronic map and the actual physical distance.

[0046] Optionally, for the navigation terminal 11, Figure 1a As shown, before responding to the turning event for the first navigation point, the electronic map and the pre-planned navigation path can be rendered on the screen according to the first scale and the first camera overhead angle for rendering the electronic map on the screen. The rendered electronic map and the pre-planned navigation path are as shown in FIG. Figure 1a In actual application, the screen of the navigation terminal 11 may also display icons of the navigated objects, for example, Figure 1a and Figure 1b As shown, the navigated object is a car, and the icon of the navigated object is Figure 1a In the embodiment of the present application, the first camera's top-down angle may be a default camera's top-down angle, and its specific value is not limited. For example, the first camera's top-down angle may be 13°, 15°, or 20°.

[0047] In the process before the navigation terminal 11 responds to the turning event for the first navigation point, the navigated object is also moving toward the target navigation point, and the real-time distance between the navigated object and the target navigation point is gradually shortened. In order to simulate the driving effect of the navigated object driving toward the target navigation point, the distance between the target navigation point and the icon of the navigated object on the screen can be adjusted based on the real-time distance from the navigated object to the target navigation point. The distance between the icon of the target navigation point and the navigated object on the screen decreases as the real-time distance between the two decreases. The real-time distance from the navigated object to the target navigation point refers to the actual physical distance between the two.

[0048] The navigation terminal 11 can keep the position of the icon of the navigated object on the screen unchanged, and adjust the position of the target navigation point on the screen based on the real-time distance from the navigated object to the target navigation point, so as to adjust the distance between the first navigation point and the icon of the navigated object on the screen. The distance between the target navigation point and the icon of the navigated object on the screen decreases as the real-time distance between the two decreases.

[0049] Further, when determining that a turning event for the first navigation point A occurs, the navigation terminal 11 may adjust the electronic map rendering scale from the above-mentioned first scale to the target scale in response to the turning event for the first navigation point A. The first scale may be a default electronic map rendering scale. The first scale is smaller than the target scale. In this way, the navigation terminal adjusts the electronic map rendering scale to the target scale in response to the turning event for the first navigation point, thereby increasing the electronic map rendering scale, and can display a more detailed electronic map, which helps to improve the geometric accuracy of the electronic map display.

[0050] Optionally, the navigation terminal 11 may gradually increase the scale of the electronic map according to the set scale gradient until it reaches the target scale; or the navigation terminal 11 may directly increase the electronic map rendering scale from the above-mentioned first scale to the target scale. In this embodiment, the specific values ​​of the first scale and the target scale are not limited. Optionally, the first scale may be 1 cm:50 m; the target scale may be 1 cm:10 m, etc.

[0051] In some application scenarios, the distance between the first navigation point A and the next second navigation point B that guides the navigation object to turn is far, and when the navigation object turns at the first navigation point A, there is no need to pay attention to the situation of the second navigation point B. In this case, the first navigation point A can be used as the target navigation point. In other application scenarios, the distance between the first navigation point A and the next second navigation point B that guides the navigation object to turn is close, and when the user turns at the first navigation point A, it is necessary to pay attention to the situation of the second navigation point B; in this case, the second navigation point B can be used as the target navigation point.

[0052] Based on the above analysis, in the embodiment of the present application, the navigation terminal 11 can also determine the location information of the first navigation point A according to the real-time location information of the navigated object and the navigation path; and according to the pre-planned navigation path and the location information of the first navigation point A, determine whether there is a second navigation point B to which the navigated object needs to turn within the preset distance range of the first navigation point A; wherein the preset distance range may be within 200m, within 100m or within 80m, etc., but is not limited thereto. Further, if there is no second navigation point B to which the navigated object needs to turn within the preset distance range of the first navigation point A, the first navigation point A is used as the target navigation point; and the location information of the first navigation point A is used as the location information of the target navigation point. Correspondingly, if there is a second navigation point B to which the navigated object needs to turn within the preset distance range of the first navigation point A, the second navigation point B is used as the target navigation point; and the location information of the second navigation point B is used as the location information of the target navigation point. It should be noted that the location information of the target navigation point refers to the actual geographical location information of the target navigation point, such as longitude and latitude information.

[0053] Furthermore, due to the increase in the rendering scale of the electronic map, the target navigation point may be outside the screen of the navigation terminal 11. In this embodiment, in order to improve the navigation effect, the target navigation point can be located in a predetermined position area on the screen. Optionally, the target navigation point can be set to be located in a position area of ​​80% of the screen height on the screen. Alternatively, the height difference between the height of the target navigation point on the screen and 80% of the screen height can be set to be within a set height difference range. Accordingly, the predetermined position area can be 80% height ± height difference range.

[0054] In actual application, the screen of the navigation terminal 11 may also display an icon of the navigated object, for example, Figure 1a and Figure 1b As shown, the navigated object is a car, and the icon of the navigated object is Figure 1a In actual applications, the position of the icon of the navigated object on the screen is fixed, and in this embodiment, the navigation terminal 11 is required to set the position of the target navigation point to be in a predetermined position area on the screen, which results in that from the user's perspective, the distance between the target navigation point and the navigated object on the electronic map is fixed, while the actual physical distance between the navigated object and the target navigation point is constantly shortened, that is, the navigated object gradually moves toward the target navigation point, so that the navigation effect is inconsistent with the actual driving effect of the navigated object.

[0055] In order to solve this problem, in this embodiment, Figure 1aAs shown, the navigation terminal 11 determines the real-time distance from the navigated object to the target navigation point based on the real-time position information of the navigated object and the position information of the target navigation point, and adjusts the camera's overhead angle for rendering the electronic map on the screen based on the real-time distance from the navigated object to the target navigation point, so that the target navigation point is located in a predetermined position area of ​​the screen. The camera's overhead angle increases as the real-time distance from the navigated object to the target navigation point decreases. Further, the navigation terminal 11 renders the electronic map and the navigation path on the screen based on the target scale and the camera's overhead angle when the position of the target navigation point is located in a predetermined position area of ​​the screen of the navigation terminal 11, as shown in FIG. Figure 1a and Figure 1b As shown in the middle navigation interface C2. Figure 1a and Figure 1b Only the target navigation point is illustrated as the first navigation point A.

[0056] In this embodiment, the navigated object is equipped with a navigation terminal, and an electronic map is displayed on the screen of the navigation terminal. When a turn event occurs for the first navigation point, the rendering scale of the electronic map can be adjusted to the set target scale, and an electronic map with higher geometric accuracy can be displayed to the user; and based on the real-time distance from the navigated object to the target navigation point, the camera's overhead angle for rendering the electronic map is adjusted so that the target navigation point is located within the predetermined position area of ​​the screen, thereby resolving the contradiction between the adjustment of the rendering scale and the navigation rendering requirement that the target navigation point on the electronic map is located within the predetermined position area of ​​the screen. According to the real-time distance between the navigated object and the target navigation point, the camera's overhead angle is adjusted so that the target navigation point is located within the predetermined position area of ​​the screen. On the one hand, it can ensure that the target navigation point is located within the predetermined position area of ​​the screen, and on the other hand, it can also simulate the navigation effect of the dynamic driving of the navigated object, so that the user can perceive the dynamic effect of the navigated object moving toward the target navigation point, thereby improving the intuitiveness of navigation, helping to improve the navigation effect, and further helping to reduce the probability of the user missing the turning position.

[0057] In the embodiment of the present application, if there is no second navigation point B to which the navigated object needs to turn within the preset distance range of the first navigation point A, then the first navigation point A is the target navigation point. If there is a second navigation point B to which the navigated object needs to turn within the preset distance range of the first navigation point A, then the second navigation point B is used as the target navigation point. In the embodiment of the present application, regardless of whether the first navigation point A is the target navigation point or the second navigation point B is the target navigation point. When adjusting the camera's overhead angle for rendering the electronic map on the screen, the navigation terminal 11 may increase the camera's overhead angle as the real-time distance between the navigated object and the target navigation point decreases until the target navigation point is located in a predetermined position area on the screen. Among them, the shorter the physical distance between the navigated object and the turning position, the larger the camera's overhead angle, and the rendered navigation interface is like Figure 1c As shown. Among them, Figure 1c The camera overhead viewing angles corresponding to the navigation interfaces C2-C5 shown increase in sequence.

[0058] Optionally, the navigation terminal 11 may increase the camera's downward angle in sequence according to the set angle change gradient; after each time the camera's downward angle is increased by the angle change gradient, it is determined whether the target navigation point is located in the predetermined position area of ​​the screen; if the judgment result is yes, the adjusted camera's downward angle is used as the camera's downward angle for currently rendering the electronic map. Correspondingly, if the judgment result is no, the camera's downward angle is increased by the set angle change gradient until the target navigation point is located in the predetermined position area of ​​the screen. Optionally, when the navigated object travels to the first geographical location, the camera's downward angle may be increased in sequence according to the set angle change gradient; and after each time the camera's downward angle is increased by the angle change gradient, it is determined whether the target navigation point is located within the specified range of the screen; if the judgment result is yes, the adjusted camera's downward angle is used as the target camera's downward angle for rendering the electronic map when the navigated object is in the first geographical location. The first geographical location is any geographical location to which the navigated object travels after the navigation terminal 11 responds to the turning event for the first navigation point A. That is, the location to which the navigated object travels is the first geographical location.

[0059] Furthermore, considering that when the camera's top-down angle increases to a certain angle, the three-dimensional spatial sense of the rendered electronic map will be reduced, affecting the navigation effect. Based on this, the upper limit of the camera's top-down angle for rendering the electronic map can also be set in the navigation terminal 11. Accordingly, the navigation terminal 11 can stop increasing the camera's top-down angle when the camera's top-down angle is adjusted to the set upper limit of the top-down angle; and render the electronic map rendering and navigation path on the screen according to the above-mentioned target scale and the upper limit of the top-down angle. In this embodiment, the specific value of the upper limit of the top-down angle is not limited. For example, the upper limit of the top-down angle can be 50°, 55° or 60°, etc. Preferably, the upper limit of the top-down angle is greater than or equal to 50°, and less than or equal to 90°.

[0060] Alternatively, when the real-time distance between the navigated object and the target navigation point is less than or equal to the set distance threshold, the camera's downward angle of view is stopped from increasing; and the electronic map rendering and navigation path are rendered on the screen according to the camera's downward angle of view when the increase is stopped and the above-mentioned target scale. The specific value of the distance threshold is not limited, for example, the set distance threshold can be 50m, 80m or 100m, etc.

[0061] It is worth noting that, in some cases, the navigation terminal 11 increases the electronic map rendering scale to the target scale in response to the turn event for the first navigation point A. Therefore, the electronic map is rendered on the screen according to the increased scale (such as the target scale) and the initial first camera overhead angle, which may cause the target navigation point to be outside the screen of the navigation terminal 11. In this case, before adjusting the camera overhead angle for rendering the electronic map on the screen, the navigation terminal 11 may also determine whether the position of the target navigation point is displayed on the screen of the navigation terminal 11 when the electronic map is rendered on the screen according to the target scale and the above-mentioned first camera overhead angle; if the judgment result is no, then when the first camera overhead angle is greater than the lower limit of the overhead angle, the camera overhead angle is reduced until the target navigation point marked on the electronic map is located on the screen of the navigation terminal 11.

[0062] Furthermore, if the target navigation point is still not displayed on the screen of the navigation terminal 11 when the camera's top-down angle is reduced to the bottom limit of the top-down angle, the electronic map and the navigation path are rendered on the screen according to the target scale and the bottom limit of the top-down angle, wherein the bottom limit of the top-down angle is less than the top-down angle of the first camera.

[0063] Correspondingly, if the lower limit value of the bird's-eye view angle is equal to the bird's-eye view angle of the first camera, if the electronic map is rendered on the screen according to the target scale and the above-mentioned first camera's bird's-eye view angle, and the position of the target navigation point is outside the screen of the navigation terminal 11, the navigation terminal 11 directly renders the electronic map and the navigation path on the screen according to the above-mentioned target scale and the lower limit value of the bird's-eye view angle.

[0064] Furthermore, the navigation terminal 11 can also adjust the distance between the target navigation point and the navigated object on the screen according to the real-time distance between the navigated object and the target navigation point until the target navigation point is located in a predetermined position area of ​​the screen, wherein the position of the icon of the navigated object on the screen remains unchanged.

[0065] Accordingly, when the electronic map is rendered according to the target scale and the first camera's overhead angle, if the above judgment result is that the target navigation point is located on the screen of the navigation terminal 11, the camera's overhead angle is adjusted according to the real-time distance from the navigated object to the target navigation point so that the target navigation point is located in the predetermined position area of ​​the screen. That is, in the process of the navigated object moving toward the target navigation point, the target navigation point is adjusted to the predetermined position area of ​​the screen by increasing the camera's overhead angle. Among them, the shorter the real-time distance from the navigated object to the target navigation point, the larger the camera's overhead angle.

[0066] Further, in the case where the target navigation point is the first navigation point A, after the navigated object passes through the first navigation point A and enters the next road section, the scale of the rendered electronic map and the camera's overhead angle can be adjusted according to the navigation guidance prompt issued by the server device 12. Optionally, if after the navigated object enters the next road section, if the server device 12 issues a turn guidance instruction for the next navigation point, the navigation terminal 11 uses the next navigation point as the new first navigation point A and re-enters the above-mentioned operation of responding to the turn event for the first navigation point A. If after the navigated object enters the next road section, if the server device 12 issues a road-level navigation prompt, the navigation terminal 11 can readjust the scale of the rendered electronic map to the listed first scale, and readjust the camera's overhead angle of the rendered electronic map to the above-mentioned first camera's overhead angle, and then render the electronic map and the navigation path on the screen according to the first scale and the first camera's overhead angle.

[0067] It is worth noting that the first navigation point A can be any turning position on the navigation path when the navigated object moves along the pre-planned navigation path. In some application scenarios, the first navigation point A is far away from the second navigation point B that guides the next turn, or there is no other navigation point that guides the turn after the first navigation point A, then the first navigation point A can be used as the target navigation point. When the first navigation point A is the target navigation point, the execution logic of the navigation terminal 11 rendering the electronic map and the navigation path can refer to the relevant content of the above embodiment, which will not be repeated here.

[0068] In other application scenarios, the distance between the first navigation point A and the second navigation point B for the next turn is relatively close. When the user turns at the first navigation point A, he needs to pay attention to the situation of the second navigation point B. Then, the second navigation point B can be used as the target navigation point, and the location information of the second navigation point B can be used as the location information of the target navigation point. Among them, regarding the situation in which the navigation terminal 11 determines whether the target navigation point is the first navigation point A or the second navigation point B, please refer to the relevant content of the above embodiment, which will not be repeated here.

[0069] If the second navigation point B is the target navigation point. Accordingly, before adjusting the camera's top-down angle for rendering the electronic map on the screen, the navigation terminal 11 may also adjust the camera's rotation angle for rendering the electronic map so that the second navigation point B is located on the screen of the navigation terminal 11, and render the electronic map and the navigation path on the screen according to the adjusted target scale and the adjusted camera's rotation angle. Figure 1d As shown in the figure below. Figure 1d The above figure is a schematic diagram showing the display effect of the navigation interface before the navigation terminal 11 responds to the turning event for the first navigation point A.

[0070] Optionally, the navigation terminal 11 may determine the relative position relationship between the navigated object and the second navigation point B when the navigated object moves to the second navigation point B according to the pre-planned navigation path and the moving direction of the navigated object; and adjust the camera rotation angle according to the relative position relationship.

[0071] Furthermore, if the navigated object moves to the second navigation point B, and the second navigation point B is located on the right side of the navigated object, the camera coordinate system is rotated clockwise by the set angle; if the navigated object moves to the second navigation point B, and the second navigation point B is located on the left side of the navigated object, the camera coordinate system is rotated counterclockwise by the set angle. The set angle can be 20°, 30°, 35° or 40°, etc. Figure 1d When the navigated object moves to the second navigation point B, the second navigation point B is located on the left side of the navigated object, and then the camera rotates counterclockwise around the z-axis of the camera coordinate system by a set angle.

[0072] Furthermore, before the navigated object passes through the first navigation point A, the navigation terminal 11 may adjust the camera's overhead angle used to render the electronic map according to the real-time distance between the navigated object and the second navigation point B, so that the position of the second navigation point B marked on the electronic map is located in a predetermined position area of ​​the screen of the navigation terminal 11. For the specific implementation of adjusting the camera's overhead angle by the navigation terminal 11, please refer to the relevant content of the above embodiment.

[0073] Further, the navigation terminal 11 can render the electronic map and the navigation path on the screen according to the enlarged target scale, the adjusted camera overhead angle and the adjusted camera rotation angle. The rendered navigation interface is as follows: Figure 1d As shown in the figure below.

[0074] Furthermore, the navigation terminal 11 may continuously adjust the camera's overhead angle for rendering the electronic map according to the real-time distance between the navigated object and the second navigation point B during the movement of the navigated object toward the first navigation point A, so that the second navigation point B is located in a predetermined position area on the screen of the navigation terminal 11. The shorter the physical distance between the navigated object and the first navigation point A, the larger the corresponding camera's overhead angle when the position of the second navigation point B marked on the electronic map is within a specified range on the screen of the navigation terminal 11. Further, the navigation terminal 11 renders the electronic map and the navigation path on the screen according to the above-mentioned target scale, the adjusted camera rotation angle, and the currently adjusted camera's overhead angle, and the rendered display effect shows that before the navigated object passes the first navigation point A, the navigation interface changes with the physical distance between the navigated object and the second navigation point A, such as Figure 1e As shown. Figure 1eIn the navigation interfaces D1-D3, the physical distance between the navigated object and the second navigation point B is shortened successively, and the camera overhead viewing angles corresponding to the navigation interfaces D1-D3 are increased successively.

[0075] Further, if Figure 1f As shown, after the navigated object passes the first navigation point A, the navigation terminal 11 can reset the camera rotation angle, that is, readjust the camera rotation angle to the angle before the set angle of counterclockwise or clockwise rotation, and the navigation interface D5 rendered is as shown in FIG. Figure 1f As shown, Figure 1f The navigation interface D4 shown in the above figure is a schematic diagram of the display effect of the navigation interface before the navigated object passes the first navigation point A.

[0076] Further, after the navigated object passes through the first navigation point A, the navigation terminal 11 may also adjust the camera's downward angle according to the real-time distance between the navigated object and the second navigation point B, so that the second navigation point B is located in the predetermined position area of ​​the screen of the navigation terminal 11. That is, in the process of the navigated object moving toward the second navigation point B, the real-time distance between the navigated object and the second navigation point B gradually shortens. In order to make the second navigation point B be located in the predetermined position area of ​​the screen of the navigation terminal 11, the camera's downward angle may be increased according to the real-time distance between the navigated object and the second navigation point B, so that the second navigation point B marked on the electronic map is located in the predetermined position area of ​​the screen of the navigation terminal 11, until the navigated object passes through the second navigation point B. Among them, regarding the specific implementation method of adjusting the camera's downward angle according to the real-time distance between the navigated object and the second navigation point B by the navigation terminal 11, please refer to the relevant content in the above embodiment, which will not be repeated here. Further, the navigation terminal 11 may render the electronic map and the navigation path on the screen according to the above-mentioned target scale, the camera rotation angle after returning to the normal position, and the currently adjusted camera downward angle.

[0077] The shorter the real-time distance between the navigated object and the second navigation point B, the larger the camera's downward angle is. The navigation interface rendered using the increased camera's downward angle is as follows: Figure 1g As shown. Figure 1g In the navigation interfaces D6-D8, the real-time distance between the navigated object and the second navigation point B is shortened successively, and the camera overhead viewing angles corresponding to the navigation interfaces D6-D8 are increased successively.

[0078] In addition to the navigation system provided in the above embodiments, the embodiments of the present application also provide a navigation method, which is applicable to a navigation terminal, or any electronic device with processing function on the navigated object. The navigation method provided in this embodiment is exemplarily described below.

[0079] Figure 2A flowchart of a navigation method provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the method mainly includes:

[0080] 201. In response to a turning event for a first navigation point, adjust the electronic map rendering scale to a set target scale; the first navigation point is a position for guiding a navigated object to turn.

[0081] 202. Determine a real-time distance from the navigated object to the target navigation point based on the real-time position information of the navigated object and the position information of the target navigation point.

[0082] 203. Based on the real-time distance from the navigated object to the target navigation point, adjust the camera's overhead viewing angle for rendering the electronic map on the screen so that the target navigation point is located in a predetermined position area of ​​the screen; wherein the camera's overhead viewing angle increases as the real-time distance from the navigated object to the target navigation point decreases.

[0083] 204. Rendering an electronic map and a pre-planned navigation path on the screen according to the target scale and the camera overhead angle when the target navigation point is located in a predetermined position area of ​​the screen.

[0084] In this embodiment, the target navigation point is the first navigation point or the second navigation point. The first navigation point is any position on the navigation path where a turning action needs to be performed, and can be used to guide the navigated object to turn. The second navigation point is located in front of the first navigation point on the pre-planned navigation path and is within the set distance range of the first navigation point. The second navigation point is the next position of the navigated object after the first navigation point where a turning action needs to be performed.

[0085] In this embodiment, the navigation terminal may be mounted on the navigated object and move with the movement of the navigated object. The navigation terminal may be installed with navigation-related applications (Application, APP) and other software, which may provide electronic maps to users. The navigation terminal displays the electronic map on its screen. The navigation terminal may locate the current location information of the navigated object, and the user may provide its destination address. In this way, the navigation path may be planned based on the current location information of the navigated object and the destination address. Among them, the specific implementation method for planning the navigation path may refer to the relevant content of the above-mentioned system embodiment, which will not be repeated here.

[0086] When the guided object moves along the navigation path, it often needs to turn, etc. For example, the guided object is a person, also called a user, and the user needs to turn at a certain intersection while walking or riding along the navigation path. For another example, the guided object is a motor vehicle, and the user also needs to turn while driving the motor vehicle.

[0087] Based on the above analysis, in order to reduce the possibility that users miss the turning position and take more "wrong roads", in step 201 of this embodiment, in response to the turning event for the first navigation point, the electronic map rendering scale can be adjusted to a set target scale. The electronic map rendering scale refers to the ratio between the distance on the electronic map and the actual physical distance.

[0088] In some embodiments, the navigation terminal may obtain the real-time location information of the navigated object. Among them, regarding the specific implementation method of the navigation terminal obtaining the real-time location information of the navigated object, please refer to the relevant content in the above-mentioned system embodiment implementation method 1, which will not be repeated here. Further, the navigation terminal may determine the next navigation guidance action based on the pre-planned navigation path information and the real-time location information of the navigated object. Optionally, the next navigation point of the navigated object, that is, the first navigation point, is determined based on the real-time location information of the navigated object and the pre-planned navigation path; and the navigation guidance action to be performed by the navigated object to reach the first navigation point is determined as the navigation guidance action for the first navigation point. In the case where the navigation guidance action of the navigated object for the first navigation point is a turning action, it is determined that a turning event for the first navigation point has occurred.

[0089] Alternatively, the navigation guidance action for the first navigation point may also be determined by the server-side device. Regarding the implementation method of determining the navigation guidance action for the first navigation point by the server-side device, please refer to the relevant content of the above-mentioned system embodiment, which will not be repeated here. Furthermore, after determining the navigation guidance action at the first navigation point, the server-side device may provide a navigation guidance prompt for the first navigation point to the terminal device. Accordingly, the navigation terminal may monitor whether the received navigation guidance prompt for the first navigation point is a turning guidance prompt; and in the case of monitoring that the navigation guidance prompt for the first navigation point is a turning guidance prompt, it determines that a turning event for the first navigation point has occurred.

[0090] Optionally, for the navigation terminal, before responding to the turning event for the first navigation point, the electronic map and the pre-planned navigation path can be rendered on the screen according to the first scale and the first camera overhead angle for rendering the electronic map on the screen. In practical applications, the icon of the navigated object can also be displayed on the screen of the navigation terminal. Before the navigation terminal responds to the turning event for the first navigation point, the navigated object is also moving towards the target navigation point, and the real-time distance between the navigated object and the target navigation point is gradually shortened. In order to simulate the driving effect of the navigated object driving to the target navigation point, the real-time distance from the navigated object to the target navigation point can be determined according to the real-time positioning information of the navigated object and the position information of the target navigation point. Optionally, the navigation terminal can also determine the position information of the target navigation point according to the real-time positioning information of the navigated object and the pre-planned navigation path. The specific implementation method will be described in detail in how to determine the target navigation point below, and will not be repeated here. Further, the navigation terminal can adjust the distance between the target navigation point and the icon of the navigated object on the screen based on the real-time distance between the navigated object and the target navigation point. Among them, the distance between the icon of the target navigation point and the navigated object on the screen decreases as the real-time distance between the two decreases. The real-time distance between the navigated object and the target navigation point refers to the actual physical distance between the two.

[0091] Optionally, the navigation terminal may keep the position of the icon of the navigated object unchanged on the screen, and adjust the position of the target navigation point on the screen based on the real-time distance from the navigated object to the target navigation point, so as to adjust the distance between the first navigation point and the icon of the navigated object on the screen. The distance between the target navigation point and the icon of the navigated object on the screen decreases as the real-time distance between the two decreases.

[0092] Further, in the case where it is determined that a turn event for the first navigation point occurs, the electronic map rendering scale may be adjusted from the above-mentioned first scale to the target scale in response to the turn event for the first navigation point. The first scale may be a default electronic map rendering scale. The first scale is smaller than the target scale. In this way, the navigation terminal adjusts the electronic map rendering scale to the target scale in response to the turn event for the first navigation point, thereby increasing the electronic map rendering scale, and can display a more detailed electronic map, which helps to improve the geometric accuracy of the electronic map display.

[0093] Optionally, the navigation terminal may gradually increase the scale of the electronic map according to a set scale gradient until it reaches a target scale; or the navigation terminal may directly increase the electronic map rendering scale from the first scale to the target scale.

[0094] In some application scenarios, the distance between the first navigation point and the next second navigation point that guides the navigation object to turn is far, and when the navigation object turns at the first navigation point, there is no need to pay attention to the situation of the second navigation point. In this case, the first navigation point can be used as the target navigation point. In other application scenarios, the distance between the first navigation point and the next second navigation point that guides the navigation object to turn is close, and when the user turns at the first navigation point, it is necessary to pay attention to the situation of the second navigation point; in this case, the second navigation point can be used as the target navigation point.

[0095] Based on the above analysis, in an embodiment of the present application, the navigation terminal can also determine the location information of the first navigation point based on the real-time location information of the navigated object and the navigation path; and determine whether there is a second navigation point to which the navigated object needs to turn within a preset distance range of the first navigation point based on the pre-planned navigation path and the location information of the first navigation point. Further, if there is no second navigation point to which the navigated object needs to turn within the preset distance range of the first navigation point, the first navigation point is used as the target navigation point; and the location information of the first navigation point is used as the location information of the target navigation point. Correspondingly, if there is a second navigation point to which the navigated object needs to turn within the preset distance range of the first navigation point, the second navigation point is used as the target navigation point; and the location information of the second navigation point is used as the location information of the target navigation point.

[0096] Furthermore, due to the increase in the rendering scale of the electronic map, the target navigation point may be outside the screen of the navigation terminal. In this embodiment, in order to improve the navigation effect, the target navigation point may be located in a predetermined position area on the screen.

[0097] In actual applications, the screen of the navigation terminal can also display the icon of the navigated object, and the position of the icon of the navigated object on the screen is fixed. In this embodiment, the navigation terminal is required to set the position of the target navigation point to be in a predetermined position area on the screen. This will result in that from the user's perspective, the distance between the target navigation point and the navigated object on the electronic map is fixed, while the actual physical distance between the navigated object and the target navigation point is constantly shortening, that is, the navigated object gradually moves toward the target navigation point. In this way, the navigation effect is inconsistent with the actual driving effect of the navigated object.

[0098] In order to solve this problem, in step 202, the real-time distance from the navigated object to the target navigation point can be determined based on the real-time position information of the navigated object and the position information of the target navigation point, and in step 203, based on the real-time distance of the navigated object from the target navigation point, the camera's overhead angle for rendering the electronic map on the screen is adjusted so that the target navigation point is located in a predetermined position area of ​​the screen. The camera's overhead angle increases as the real-time distance from the navigated object to the target navigation point decreases. Further, in step 204, the electronic map and the navigation path are rendered on the screen based on the target scale and the camera's overhead angle when the position of the target navigation point is located in a predetermined position area of ​​the screen of the navigation terminal.

[0099] In this embodiment, the navigated object is equipped with a navigation terminal, and an electronic map is displayed on the screen of the navigation terminal. When a turn event occurs at the first navigation point, the rendering scale of the electronic map can be adjusted to the set target scale, and an electronic map with higher geometric accuracy can be displayed to the user; and based on the real-time distance from the navigated object to the target navigation point, the camera's overhead angle for rendering the electronic map is adjusted so that the target navigation point is located within the predetermined position area of ​​the screen, thereby resolving the contradiction between the adjustment of the rendering scale and the navigation rendering requirement that the target navigation point on the electronic map is located within the predetermined position area of ​​the screen. In addition, based on the real-time distance between the navigated object and the target navigation point, the camera's overhead angle is adjusted so that the target navigation point is located within the predetermined position area of ​​the screen. On the one hand, it can ensure that the target navigation point is located within the predetermined position area of ​​the screen, and on the other hand, it can also simulate the navigation effect of the dynamic driving of the navigated object, so that the user can perceive the dynamic effect of the navigated object moving toward the target navigation point, thereby improving the intuitiveness of navigation, helping to improve the navigation effect, and further helping to reduce the probability of the user missing the turning position.

[0100] In the embodiment of the present application, whether the first navigation point is the target navigation point or the second navigation point is the target navigation point, the camera's downward angle can be increased as the real-time distance between the navigated object and the target navigation point decreases until the target navigation point is located in a predetermined position area of ​​the screen. The shorter the physical distance between the navigated object and the turning position, the larger the camera's downward angle.

[0101] Optionally, the camera's downward angle can be increased in sequence according to a set angle change gradient; after each increase in the camera's downward angle by the angle change gradient, it is determined whether the target navigation point is located in a predetermined position area of ​​the screen; if the determination result is yes, the camera's downward angle adjusted this time is used as the camera's downward angle for currently rendering the electronic map. Correspondingly, if the determination result is no, the camera's downward angle is increased by the set angle change gradient until the target navigation point is located in the predetermined position area of ​​the screen.

[0102] Furthermore, considering that when the camera's top-down angle increases to a certain angle, the three-dimensional spatial sense of the rendered electronic map will be reduced, affecting the navigation effect. Based on this, the upper limit of the camera's top-down angle for rendering the electronic map can also be set in the navigation terminal. Accordingly, when the camera's top-down angle is adjusted to the set upper limit of the top-down angle, the camera's top-down angle can be stopped from being increased; and the electronic map rendering and navigation path can be rendered on the screen according to the above target scale and the upper limit of the top-down angle.

[0103] Alternatively, when the real-time distance between the navigated object and the target navigation point is less than or equal to the set distance threshold, stop increasing the camera's bird's-eye view angle; and render the electronic map rendering and navigation path on the screen based on the camera's bird's-eye view angle when the increase stops and the above-mentioned target scale.

[0104] It is worth noting that in some cases, the navigation terminal increases the electronic map rendering scale to the target scale in response to the turning event for the first navigation point. Therefore, the electronic map is rendered on the screen according to the increased scale (such as the target scale) and the initial first camera overhead angle, which may cause the target navigation point to be outside the screen of the navigation terminal. In this case, before adjusting the camera overhead angle for rendering the electronic map on the screen, it is also possible to determine whether the position of the target navigation point is displayed on the screen of the navigation terminal when the electronic map is rendered on the screen according to the target scale and the above-mentioned first camera overhead angle; if the judgment result is no, then when the first camera overhead angle is greater than the lower limit of the overhead angle, the camera overhead angle is reduced until the target navigation point marked on the electronic map is located on the screen of the navigation terminal.

[0105] Furthermore, if the target navigation point is still not displayed on the screen of the navigation terminal when the camera's top-down angle is reduced to the bottom limit of the top-down angle, the electronic map and the navigation path are rendered on the screen according to the target scale and the bottom limit of the top-down angle, wherein the bottom limit of the top-down angle is less than the top-down angle of the first camera.

[0106] Correspondingly, if the lower limit value of the bird's-eye view angle is equal to the bird's-eye view angle of the first camera, if the electronic map is rendered on the screen according to the target scale and the above-mentioned first camera's bird's-eye view angle, and the position of the target navigation point is outside the screen of the navigation terminal, the electronic map and the navigation path are directly rendered on the screen according to the above-mentioned target scale and the lower limit value of the bird's-eye view angle.

[0107] Furthermore, the distance between the target navigation point and the navigated object on the screen can be adjusted according to the real-time distance between the navigated object and the target navigation point until the target navigation point is located in a predetermined position area of ​​the screen, wherein the position of the icon of the navigated object on the screen remains unchanged.

[0108] Accordingly, when the electronic map is rendered according to the target scale and the first camera's top-down angle, if the above judgment result is that the target navigation point is located on the screen of the navigation terminal, the camera's top-down angle is adjusted according to the real-time distance from the navigated object to the target navigation point so that the target navigation point is located in the predetermined position area of ​​the screen. That is, in the process of the navigated object moving toward the target navigation point, the target navigation point is adjusted to the predetermined position area of ​​the screen by increasing the camera's top-down angle. Among them, the shorter the real-time distance from the navigated object to the target navigation point, the larger the camera's top-down angle.

[0109] Furthermore, in the case where the target navigation point is the first navigation point, after the navigated object passes through the first navigation point and enters the next road section, the scale of the rendered electronic map and the camera's overhead angle can be adjusted according to the navigation guidance prompt issued by the server device. Optionally, if after the navigated object enters the next road section, if the server device issues a turn guidance instruction for the next navigation point, the navigation terminal uses the next navigation point as the new first navigation point and re-enters the above-mentioned operation of responding to the turn event for the first navigation point. If after the navigated object enters the next road section, the server device issues a road-level navigation prompt, the navigation terminal can readjust the scale of the rendered electronic map to the above-mentioned first scale, and readjust the camera's overhead angle of the rendered electronic map to the above-mentioned first camera's overhead angle, and then render the electronic map and the navigation path on the screen according to the first scale and the first camera's overhead angle.

[0110] In some application scenarios, when the first navigation point is the target navigation point, the execution logic of the navigation terminal rendering the electronic map and the navigation path can be found in the relevant content of the above embodiment, which will not be repeated here.

[0111] In other application scenarios, the distance between the first navigation point and the second navigation point for the next turn is relatively close. When the user turns at the first navigation point, he needs to pay attention to the situation of the second navigation point. In this case, the second navigation point can be used as the target navigation point, and the location information of the second navigation point can be used as the location information of the target navigation point. Among them, regarding the situation in which the navigation terminal determines whether the target navigation point is the first navigation point or the second navigation point, please refer to the relevant content of the above embodiment, which will not be repeated here.

[0112] If the second navigation point is the target navigation point, accordingly, before adjusting the camera's top-down angle for rendering the electronic map on the screen, the camera's rotation angle for rendering the electronic map can also be adjusted so that the second navigation point is located on the screen of the navigation terminal, and the electronic map and the navigation path are rendered on the screen according to the adjusted target scale and the adjusted camera's rotation angle.

[0113] Optionally, the relative position relationship between the navigated object and the second navigation point when the navigated object moves to the second navigation point can be determined according to a pre-planned navigation path and the moving direction of the navigated object; and the camera rotation angle can be adjusted according to the relative position relationship.

[0114] Furthermore, if the navigated object moves to the second navigation point and the second navigation point is located on the right side of the navigated object, then it is rotated clockwise around the z-axis of the camera coordinate system by the set angle; if the navigated object moves to the second navigation point and the second navigation point is located on the left side of the navigated object, then it is rotated counterclockwise around the z-axis of the camera coordinate system by the set angle.

[0115] Furthermore, before the navigated object passes the first navigation point, the camera's top-down angle used to render the electronic map can be adjusted according to the real-time distance between the navigated object and the second navigation point, so that the position of the second navigation point marked on the electronic map is located in a predetermined position area on the screen of the navigation terminal. Furthermore, the navigation terminal can render the electronic map and the navigation path on the screen according to the above-mentioned increased target scale, the adjusted camera's top-down angle, and the adjusted camera rotation angle.

[0116] Furthermore, after the navigated object passes the first navigation point, the camera rotation angle may be reset, that is, the camera rotation angle may be readjusted to an angle before the set counterclockwise or clockwise rotation angle.

[0117] Further, after the navigated object passes the first navigation point, the navigation terminal can also adjust the camera's top-down angle according to the real-time distance between the navigated object and the second navigation point, so that the second navigation point is located in the predetermined position area of ​​the screen of the navigation terminal. That is, in the process of the navigated object moving to the second navigation point, the real-time distance between the navigated object and the second navigation point gradually shortens. In order to make the second navigation point be located in the predetermined position area of ​​the screen of the navigation terminal, the camera's top-down angle can be increased according to the real-time distance between the navigated object and the second navigation point, so that the second navigation point marked on the electronic map is located in the predetermined position area of ​​the screen of the navigation terminal until the navigated object passes the second navigation point. Among them, regarding the specific implementation method of the navigation terminal adjusting the camera's top-down angle according to the real-time distance between the navigated object and the second navigation point, please refer to the relevant content in the above embodiment, which will not be repeated here. Further, the navigation terminal can render the electronic map and navigation path on the screen according to the above-mentioned target scale, the camera rotation angle after returning to the correct position, and the currently adjusted camera top-down angle.

[0118] It should be noted that the execution subject of each step of the method provided in the above embodiment can be the same device, or the method can be executed by different devices. For example, the execution subject of steps 202 and 203 can be device A; for another example, the execution subject of step 201 can be device A, and the execution subject of step 203 can be device B; and so on. For example, in the above embodiment, steps 201-203 can be executed separately by the navigation terminal or the server device; or they can be completed by the navigation terminal and the server device in cooperation, for example, steps 201 and 202 can be executed by the server device, and step 203 can be executed by the navigation terminal; and so on.

[0119] In addition, in some of the processes described in the above embodiments and the accompanying drawings, multiple operations appearing in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this document or may be executed in parallel, and the sequence numbers of the operations, such as 201, 202, etc., are only used to distinguish between different operations, and the sequence numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel.

[0120] Accordingly, an embodiment of the present application further provides a computer-readable storage medium storing computer instructions, which, when executed by one or more processors, causes the one or more processors to execute the steps in the above-mentioned navigation method.

[0121] Figure 3 The structure diagram of an electronic device provided in an embodiment of the present application is shown in FIG. The electronic device can be implemented as a navigation terminal and mounted on a mobile device. Figure 3 As shown, the terminal device includes: a memory 30a, a processor 30b and a screen 30c. The memory 30a is used to store computer programs.

[0122] The processor 30b is coupled to the memory 30c, and is used to execute a computer program for: responding to a turning event for a first navigation point, adjusting the electronic map rendering scale to a set target scale; the first navigation point is a position for guiding the navigated object to turn; determining the real-time distance from the navigated object to the target navigation point based on the real-time position information of the navigated object and the position information of the target navigation point; adjusting the camera's overhead angle for rendering the electronic map on the screen 30c based on the real-time distance from the navigated object to the target navigation point, so that the target navigation point is located in a predetermined position area of ​​the screen 30c; wherein the camera's overhead angle increases as the real-time distance from the navigated object to the target navigation point decreases; and then, rendering the electronic map and the pre-planned navigation path on the screen 30c according to the target scale and the camera's overhead angle when the target navigation point is located in the predetermined position area of ​​the screen.

[0123] Optionally, the target navigation point is the first navigation point or the second navigation point; the second navigation point is located in front of the first navigation point, used to guide the navigation object to turn, and the distance between the second navigation point and the first navigation point is less than or equal to a set distance threshold.

[0124] In some embodiments, the processor 30b is also used to: before responding to a turn event for a first navigation point, render an electronic map and a navigation path on the screen according to a first scale and a first camera overhead angle; wherein the first scale is smaller than the target scale; based on the real-time distance from the navigated object to the target navigation point, adjust the distance between the target navigation point and the icon of the navigated object on the screen 30c; wherein the distance between the target navigation point and the icon of the navigated object on the screen 30c decreases as the real-time distance decreases.

[0125] Optionally, when adjusting the distance between the target navigation point and the icon of the navigated object on the screen, the processor 30c is specifically used to: keep the position of the icon of the navigated object on the screen unchanged, and adjust the position of the target navigation point on the screen 30c based on the real-time distance from the navigated object to the target navigation point, so as to adjust the distance between the first navigation point and the icon of the navigated object on the screen 30c.

[0126] In other embodiments, when the processor 30b adjusts the camera's overhead angle for rendering the electronic map on the screen 30c, it is specifically used to: increase the camera's overhead angle in sequence according to a set angle change gradient as the real-time distance between the navigated object and the target navigation point decreases; after each time the camera's overhead angle is increased by the angle change gradient, determine whether the target navigation point is located in a predetermined position area on the screen 30c; if the determination result is yes, use the camera's overhead angle after this adjustment as the camera's overhead angle for currently rendering the electronic map.

[0127] In some other embodiments, the processor 30b is also used to: stop increasing the camera's bird's-eye view angle when the camera's bird's-eye view angle is adjusted to a set upper limit of the bird's-eye view angle; and render an electronic map and navigation path on the screen 30c according to the target scale and the upper limit of the bird's-eye view angle.

[0128] Optionally, the processor 30b is also used to: stop increasing the camera's bird's-eye view angle when the real-time distance between the navigated object and the target navigation point is less than or equal to a set distance threshold; and render an electronic map and navigation path on the screen 30c based on the camera's bird's-eye view angle and the target scale when the increase stops.

[0129] In some other embodiments, the processor 30b is further used to: before adjusting the camera's overhead angle for rendering the electronic map on the screen 30c based on the real-time distance from the navigated object to the first navigation point, determine whether the target navigation point is located on the screen when the electronic map is rendered on the screen 30c according to the target scale and the first camera's overhead angle; if the determination result is no, then when the first camera's overhead angle is greater than the lower limit of the overhead angle, reduce the camera's overhead angle until the target navigation point is located on the screen 30c. If the determination result is no, then when the first camera's overhead angle is equal to the lower limit of the overhead angle, adjust the distance between the target navigation point and the icon of the navigated object on the screen 30c according to the real-time distance from the navigated object to the target navigation point until the target navigation point is located in the predetermined position area of ​​the screen 30c.

[0130] Optionally, the processor 30b is also used for: if the target navigation point still does not appear on the screen 30c when the camera's bird's-eye view angle is reduced to the lower limit of the bird's-eye view angle, then rendering the electronic map and navigation path on the screen 30c according to the target scale and the lower limit of the bird's-eye view angle; and adjusting the distance between the target navigation point and the icon of the navigated object on the screen 30c according to the real-time distance from the navigated object to the target navigation point, until the target navigation point is located in a predetermined position area on the screen 30c.

[0131] In some embodiments, the electronic device further includes: a communication component 30d. The processor 30b is also used to: receive the navigation guidance prompt sent by the server device through the communication component 30d. Accordingly, the processor 30b is also used to: monitor whether the navigation guidance prompt for the first navigation point received by the communication component 30d is a turning guidance prompt; and when it is monitored that the navigation guidance prompt for the first navigation point is a turning guidance prompt, determine that a guidance turning event for the first navigation point occurs; the navigation guidance prompt is issued by the server device when the navigation guidance action of the navigated object at the first navigation point is determined based on the real-time position information of the navigated object and the pre-planned navigation path.

[0132] In other embodiments, the processor 30b is further used to: determine the navigation guidance action of the navigated object at the first navigation point based on the real-time position information of the navigated object and the pre-planned navigation path; and determine the occurrence of a guidance turning event for the first navigation point when the navigation guidance action of the navigated object at the first navigation point is a turning action.

[0133] Optionally, the processor 30b is further used to: obtain the real-time position information of the navigated object; and determine the position information of the target navigation point according to the real-time position information of the navigated object and the navigation path.

[0134] Optionally, when determining the location information of the target navigation point, the processor 30b is specifically used to: determine the location information of the first navigation point according to the real-time location information of the navigated object and the navigation path; determine whether there is a second navigation point to which the navigated object needs to turn within a preset distance range of the first navigation point according to the location information and the navigation path of the first navigation point; if the determination result is no, the first navigation point is used as the target navigation point, and the location information of the first navigation point is used as the location information of the target navigation point. Correspondingly, if the determination result is yes, the second navigation point is used as the target navigation point; and the location information of the second navigation point is used as the location information of the target navigation point.

[0135] In an embodiment of the present application, if the target navigation point is the first navigation point, the processor 30b is also used to: after the navigated object passes the first navigation point, if a road-level navigation prompt is received, adjust the scale of the rendered electronic map to the first scale; and adjust the camera's bird's-eye view to the first camera's bird's-eye view; and render the electronic map and navigation path on the screen according to the first scale and the first camera's bird's-eye view.

[0136] If the target navigation point is the second navigation point, the processor 30b is also used to: adjust the rotation angle of the camera rendering the electronic map on the screen before adjusting the camera's overhead viewing angle for rendering the electronic map on the screen based on the real-time distance from the navigated object to the target navigation point, so that the second navigation point is located on the screen.

[0137] Furthermore, when adjusting the rotation angle of the camera used to render the electronic map, the processor 30b is specifically used to: determine the relative position relationship between the navigated object and the second navigation point when the navigated object moves to the second navigation point based on the navigation path and the moving direction of the navigated object; and adjust the camera rotation angle based on the relative position relationship.

[0138] Optionally, when the processor 30b adjusts the camera rotation angle according to the relative position relationship, it is specifically used to: if the navigated object moves to the second navigation point, and the second navigation point is located on the right side of the navigated object, then rotate clockwise around the z-axis of the camera coordinate system by a set angle; if the navigated object moves to the second navigation point, and the second navigation point is located on the left side of the navigated object, then rotate counterclockwise around the z-axis of the camera coordinate system by a set angle.

[0139] Accordingly, when the processor 30b renders the electronic map and the pre-planned navigation path on the screen 30c, it is specifically used to: render the electronic map and the pre-planned navigation path on the screen 30c according to the target scale, the camera's overhead viewing angle when the target navigation point is located in the predetermined position area of ​​the screen, and the adjusted camera rotation angle.

[0140] Furthermore, when the processor 30b renders the electronic map and the pre-planned navigation path on the screen, it is also used to: correct the camera rotation angle after the navigated object passes the first navigation point; render the electronic map and the navigation path on the screen 30c according to the target scale, the camera rotation angle after correction, and the camera's overhead viewing angle when the second navigation point is located in the predetermined position area of ​​the screen 30c.

[0141] In some optional embodiments, such as Figure 3 As shown, the electronic device may further include: a power supply component 30e and an audio component 30f and other components. Figure 3 Some components are shown schematically, and it does not mean that electronic devices must include Figure 3 The components shown do not necessarily mean that the electronic device can only include Figure 3 Components shown.

[0142] In an embodiment of the present application, the memory is used to store a computer program and can be configured to store various other data to support operations on the device where the memory is located. Among them, the processor can execute the computer program stored in the memory to implement the corresponding control logic. The memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0143] In the embodiment of the present application, the processor can be any hardware processing device that can execute the logic of the above method. Optionally, the processor can be a central processing unit (CPU), a graphics processing unit (GPU) or a microcontroller unit (MCU); it can also be a field programmable gate array (FPGA), a programmable array logic device (PAL), a general array logic device (GAL), a complex programmable logic device (CPLD) and other programmable devices; or an advanced reduced instruction set (RISC) processor (Advanced RISC Machines, ARM) or a system on chip (System on Chip, SOC), etc., but not limited to this.

[0144] In an embodiment of the present application, the communication component is configured to facilitate wired or wireless communication between the device in which it is located and other devices. The device in which the communication component is located can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, 4G, 5G or a combination thereof. In an exemplary embodiment, the communication component receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component can also be implemented based on near field communication (NFC) technology, radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology or other technologies.

[0145] In an embodiment of the present application, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

[0146] In an embodiment of the present application, a power supply component is configured to provide power to various components of the device in which it is located. The power supply component may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device in which the power supply component is located.

[0147] In an embodiment of the present application, the audio component may be configured to output and / or input audio signals. For example, the audio component includes a microphone (MIC), and when the device where the audio component is located is in an operating mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal may be further stored in a memory or sent via a communication component. In some embodiments, the audio component also includes a speaker for outputting an audio signal. For example, for an electronic device with a language interaction function, voice interaction with a user can be achieved through an audio component.

[0148] The electronic device provided in this embodiment is mounted on the navigated object, and an electronic map is displayed on its screen. When a turning event occurs at the first navigation point, the rendering scale of the electronic map can be adjusted to the set target scale, and an electronic map with higher geometric accuracy can be displayed to the user; and based on the real-time distance from the navigated object to the target navigation point, the camera's overhead angle for rendering the electronic map is adjusted so that the target navigation takes you within the predetermined position area of ​​the screen, thereby resolving the contradiction between the adjustment of the rendering scale and the navigation rendering requirement that the target navigation point on the electronic map is located within the predetermined position area of ​​the screen. In addition, based on the real-time distance between the navigated object and the target navigation point, the camera's overhead angle is adjusted so that the target navigation point is located within the predetermined position area of ​​the screen. On the one hand, it can ensure that the target navigation point is located within the predetermined position area of ​​the screen, and on the other hand, it can also simulate the navigation effect of the dynamic driving of the navigated object, so that the user can perceive the dynamic effect of the navigated object moving toward the target navigation point, thereby improving the intuitiveness of navigation, helping to improve the navigation effect, and further helping to reduce the probability of the user missing the turning position.

[0149] It should be noted that the descriptions such as “first” and “second” in this article are used to distinguish different messages, devices, modules, etc., and do not represent the order of precedence, nor do they limit “first” and “second” to different types.

[0150] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0151] The present invention is described with reference to the flowchart and / or block diagram of the method, device (system), and computer program product according to the embodiment of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the process and / or box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0152] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0153] These computer program instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0154] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0155] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0156] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0157] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0158] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A navigation method, wherein: include: In response to a turn event for the first navigation point, adjusting the electronic map rendering scale to a set target scale; The first navigation point is a position for guiding the navigated object to turn; Determine the real-time distance from the navigated object to the target navigation point based on the real-time position information of the navigated object and the position information of the target navigation point; Adjusting the rotation angle of a camera for rendering an electronic map on a screen so that the target navigation point is located on the screen; Based on the real-time distance between the navigated object and the target navigation point, adjusting the camera's overhead angle for rendering the electronic map on the screen so that the target navigation point is located in a predetermined position area of ​​the screen; wherein the camera's overhead angle increases as the real-time distance between the navigated object and the target navigation point decreases; Rendering an electronic map and a pre-planned navigation path on the screen according to a target scale and a camera overhead angle when a target navigation point is located in a predetermined position area of ​​the screen; Among them, the target navigation point is the second navigation point; the second navigation point is located in front of the first navigation point, and is used to guide the navigation object to turn, and the distance between the second navigation point and the first navigation point is less than or equal to the set distance threshold.

2. The method according to claim 1, wherein: Before responding to the turning event for the first navigation point, the method further includes: Rendering the electronic map and the navigation route on the screen according to a first scale and a first camera overhead angle; wherein the first scale is smaller than the target scale; Based on the real-time distance between the navigated object and the target navigation point, adjusting the distance between the target navigation point and the icon of the navigated object on the screen; Wherein, the distance between the target navigation point and the icon of the navigated object on the screen decreases as the real-time distance decreases.

3. The method according to claim 2, wherein: The adjusting the distance between the target navigation point and the icon of the navigated object on the screen based on the real-time distance between the navigated object and the target navigation point includes: The position of the icon of the navigated object on the screen is kept unchanged, and based on the real-time distance from the navigated object to the target navigation point, the position of the target navigation point on the screen is adjusted to adjust the distance between the first navigation point and the icon of the navigated object on the screen.

4. The method according to claim 1, wherein: The adjusting the camera overhead viewing angle for rendering the electronic map on the screen based on the real-time distance from the navigated object to the target navigation point includes: In the process of reducing the real-time distance between the navigated object and the target navigation point, sequentially increasing the camera's downward viewing angle according to a set angle change gradient; After increasing the camera's overhead viewing angle by the angle change gradient each time, determining whether the target navigation point is located in a predetermined position area of ​​the screen; If the judgment result is yes, the adjusted camera's bird's-eye view angle is used as the camera's bird's-eye view angle for currently rendering the electronic map.

5. The method according to claim 1, wherein: Also includes: When the camera's downward angle of view is adjusted to a set upper limit of the downward angle of view, stopping increasing the camera's downward angle of view; The electronic map and the navigation path are rendered on the screen according to the target scale and the upper limit of the bird's-eye view angle.

6. The method according to claim 1, wherein: Also includes: When the real-time distance between the navigated object and the target navigation point is less than or equal to a set distance threshold, stop increasing the camera's bird's-eye view angle; The electronic map and the navigation path are rendered on the screen according to the camera's overhead angle and the target scale when the enlargement stops.

7. The method according to claim 2, wherein: Before adjusting the camera's overhead angle for rendering the electronic map on the screen based on the real-time distance from the navigated object to the target waypoint, the method further includes: Determining whether the target navigation point is located on the screen when the electronic map is rendered on the screen according to the target scale and the first camera's overhead viewing angle; If the judgment result is no, then when the first camera's overhead viewing angle is greater than a lower limit of the overhead viewing angle, the camera's overhead viewing angle is reduced until the target navigation point is located on the screen.

8. The method according to claim 7, wherein: Also includes: If the target navigation point still does not appear on the screen when the camera's top-down angle is reduced to the bottom limit of the top-down angle, rendering the electronic map and the navigation path on the screen according to the target scale and the bottom limit of the top-down angle; According to the real-time distance from the navigated object to the target navigation point, the distance between the target navigation point and the icon of the navigated object on the screen is adjusted until the target navigation point is located in a predetermined position area of ​​the screen.

9. The method according to claim 7, wherein: Also includes: If the judgment result is no, then when the bird's-eye view angle of the first camera is equal to the lower limit value of the bird's-eye view angle, the distance between the target navigation point and the icon of the navigated object on the screen is adjusted according to the real-time distance from the navigated object to the target navigation point until the target navigation point is located in the predetermined position area of ​​the screen.

10. The method according to any one of claims 1 to 9, wherein: Also includes: monitoring whether the received navigation guidance prompt for the first navigation point is a turn guidance prompt; and determining that a guidance turning event for the first navigation point occurs when it is monitored that the navigation guidance prompt for the first navigation point is a turning guidance prompt; The navigation guidance prompt is issued by the server device when the navigation guidance action of the navigated object at the first navigation point is determined according to the real-time position information of the navigated object and the pre-planned navigation path; Alternatively, determining a navigation guidance action of the navigated object at the first navigation point according to the real-time position information of the navigated object and a pre-planned navigation path; In a case where the navigation guidance action of the guided object at the first navigation point is a turning action, it is determined that a guidance turning event for the first navigation point occurs.

11. The method according to claim 10, wherein: Also includes: Get the real-time location information of the navigated object; The position information of the target navigation point is determined according to the real-time position information of the navigated object and the navigation path.

12. The method according to claim 11, wherein: The determining the position information of the target navigation point according to the real-time position information of the navigated object and the navigation path includes: Determining the position information of the first navigation point according to the real-time position information of the navigated object and the navigation path; Determine, according to the location information of the first navigation point and the navigation path, whether there is a second navigation point to which the navigated object needs to turn within a preset distance range of the first navigation point; If the judgment result is yes, the second navigation point is used as the target navigation point; and the position information of the second navigation point is used as the position information of the target navigation point.

13. The method according to claim 2, wherein: If the target navigation point is the first navigation point, the method further includes: After the navigated object passes the first navigation point, if a road-level navigation prompt is received, the scale of the rendered electronic map is adjusted to the first scale; and the camera's bird's-eye view is adjusted to the first camera's bird's-eye view; The electronic map and the navigation path are rendered on the screen according to the first scale and the first camera overhead viewing angle.

14. The method according to claim 1, wherein adjusting the rotation angle of the camera used to render the electronic map comprises: determining, according to the navigation path and the moving direction of the navigated object, a relative position relationship between the navigated object and the second navigation point when the navigated object moves to the second navigation point; According to the relative position relationship, the camera rotation angle is adjusted.

15. The method according to claim 14, wherein: The adjusting the rotation angle of the camera according to the relative position relationship includes: If the navigated object moves to the second navigation point, and the second navigation point is located on the right side of the navigated object, then the camera coordinate system is rotated clockwise by a set angle; If the navigated object moves to the second navigation point, and the second navigation point is located on the left side of the navigated object, the second navigation point is rotated counterclockwise around the z-axis of the camera coordinate system by a set angle.

16. The method according to claim 1, wherein: The rendering of the electronic map and the pre-planned navigation path on the screen according to the target scale and the camera overhead angle when the target navigation point is located in the predetermined position area of ​​the screen includes: The electronic map and the pre-planned navigation path are rendered on the screen according to the target scale, the camera's overhead viewing angle when the target navigation point is located in a predetermined position area of ​​the screen, and the adjusted camera rotation angle.

17. The method according to claim 1, wherein: The rendering of the electronic map and the pre-planned navigation path on the screen according to the target scale and the camera overhead angle when the target navigation point is located in the predetermined position area of ​​the screen includes: After the navigated object passes through the first navigation point, returning the camera rotation angle to normal; The electronic map and the navigation path are rendered on the screen according to the target scale, the rotation angle of the camera after returning to the center, and the camera's overhead viewing angle when the second navigation point is located in a predetermined position area of ​​the screen.

18. A navigation system, wherein: include: Navigation terminal and server equipment; The navigation terminal is mounted on the navigated object; The server device is used to: determine the navigation guidance action of the navigated object at the first navigation point according to the real-time position information of the navigated object and the pre-planned navigation path; and, when the navigation guidance action of the navigated object at the first navigation point is a turning action, sending a turning guidance prompt for the first navigation point to the navigation terminal; The navigation terminal is used to: in response to the turning guidance prompt, adjust the electronic map rendering scale to a set target scale; Determine the real-time distance from the navigated object to the target navigation point based on the real-time position information of the navigated object and the position information of the target navigation point; Adjusting the rotation angle of a camera for rendering an electronic map on a screen so that the target navigation point is located on the screen; Based on the real-time distance between the navigated object and the target navigation point, adjusting the camera's overhead angle for rendering the electronic map on the screen so that the target navigation point is located in a predetermined position area of ​​the screen; wherein the camera's overhead angle increases as the real-time distance from the navigated object to the target navigation point decreases; an electronic map and a pre-planned navigation path are rendered on the screen based on the target scale and the camera's overhead angle when the target navigation point is located in a predetermined position area of ​​the screen; wherein the target navigation point is a second navigation point; the second navigation point is a position located in front of the first navigation point for guiding the navigated object to turn, and the distance between the second navigation point and the first navigation point is less than or equal to a set distance threshold.

19. An electronic device, wherein: include: Memory, processor and screen; The memory is used to store computer programs; The processor is coupled to the memory and configured to execute the computer program to perform the steps of the method according to any one of claims 1 to 17.

20. A computer-readable storage medium storing computer instructions, wherein: When the computer instructions are executed by one or more processors, the one or more processors are caused to execute the steps in the method according to any one of claims 1 to 17.

Images