Navigation method, device, equipment, storage medium and program product

Abstract

The present application provides a navigation method, device, equipment, storage medium and program product. The method can be applied to electronic map navigation and autonomous driving scenarios, including: displaying a navigation interface, the navigation interface is used to navigate the target vehicle; in the navigation interface, displaying a navigation map and a virtual vehicle that moves with the target vehicle in the navigation map; between the moment when the virtual vehicle moves to the target distance to enter the curve and the moment when the virtual vehicle enters the curve, there are multiple moments when the navigation map and the front direction of the virtual vehicle deviate to the opposite direction of the curve, and the degree of deviation of the multiple deviations gradually increases in time sequence. The use of this method can reduce the cost of reading maps.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a navigation method, apparatus, computer equipment, storage medium and computer program product. Background Art

[0002] With the development of computer technology and positioning technology, electronic map navigation has emerged that can serve vehicles. The navigation perspective of the navigation screen is usually with the front of the vehicle facing upward. In the navigation screen with the navigation perspective of the front of the vehicle facing upward, the top of the navigation map always changes with the driving direction, keeping the front of the vehicle facing upward, so that the vehicle can be guided efficiently and conveniently by moving left and right.

[0003] In this type of navigation screen, the navigation map will rotate violently when the vehicle enters a curve, causing dizziness to the driver. Moreover, the displayed navigation map is quite different before and after the violent rotation, and more content needs to be rendered and displayed instantly, which increases the cost of reading the map. Summary of the invention

[0004] Based on this, it is necessary to provide a navigation method, device, computer equipment, storage medium and computer program product that reduce the cost of reading maps in response to the above technical problems.

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

[0006] Displaying a navigation interface, wherein the navigation interface is used to navigate the target vehicle;

[0007] In the navigation interface, a navigation map and a virtual vehicle that moves along with the target vehicle in the navigation map are displayed; the navigation map includes a curve;

[0008] Between the moment when the virtual vehicle moves to the target distance for entering the curve and the moment when the virtual vehicle enters the curve, there are multiple moments when the navigation map and the front direction of the virtual vehicle deviate in the opposite direction of the curve, and the degree of deviation of the multiple deviations gradually increases in time sequence.

[0009] The present application provides a navigation device, the device comprising:

[0010] A first display module, used to display a navigation interface, wherein the navigation interface is used to navigate a target vehicle;

[0011] A second display module is used to display a navigation map and a virtual vehicle moving along with the target vehicle in the navigation map in the navigation interface;

[0012] The deviation module is used to, between the moment when the virtual vehicle moves to the target distance for entering the curve and the moment when the virtual vehicle enters the curve, there are multiple moments when the navigation map and the front direction of the virtual vehicle deviate in the opposite direction of the curve, and the deviation degree of the multiple deviations gradually increases in time sequence.

[0013] In one embodiment, the deviation module is also used for, when the virtual vehicle moves to a target distance for entering the curve, the navigation map and the front direction of the virtual vehicle begin to deviate in the opposite direction of the curve; between the time when the virtual vehicle moves to the target distance for entering the curve and the time when the virtual vehicle enters the curve, the navigation map and the front direction of the virtual vehicle continue to deviate in the opposite direction of the curve for multiple times, and the degree of deviation of the multiple deviations increases evenly in time sequence.

[0014] In one embodiment, the deviation module is also used to ensure that the deviation angle changes at any adjacent moments are the same when the deviation degrees of multiple deviations increase uniformly in time sequence and when the front directions of the navigation map and the virtual vehicle deviate in the opposite direction of the curve for multiple times.

[0015] In one embodiment, the deviation module is also used to increase the deviation angle change at any adjacent moments at a uniform speed when the deviation degrees of multiple deviations increase uniformly and rapidly in time sequence, and when the navigation map and the front direction of the virtual vehicle deviate in the opposite direction of the curve for multiple times.

[0016] In one embodiment, the device further includes a third display module for displaying, in the navigation interface, the virtual vehicle moving in an upward direction of the front of the vehicle in the navigation map before the virtual vehicle enters a curve and the distance from the curve is greater than the target distance.

[0017] In one embodiment, the target distance is a first target distance; the device also includes a fourth display module, which is used to display the navigation map and the virtual vehicle in the navigation interface, after the virtual vehicle moves out of the curve, starting to evenly approach the upward direction of the vehicle head, until the virtual vehicle moves to a second target distance from the curve, and the navigation map and the virtual vehicle are in the upward direction of the vehicle head.

[0018] In one embodiment, the device further includes a fifth display module, which is used to display, in the navigation interface, the virtual vehicle moving in an upward direction in the navigation map after the virtual vehicle moves out of the curve and the distance from the curve is greater than the second target distance.

[0019] In one embodiment, the navigation route of the target vehicle includes a curve, and the device also includes a distance determination module, which is used to use the position point on the navigation route of the target vehicle when the curvature changes from zero to non-zero as the curve starting point of the curve; obtain the coordinates of the center of curvature corresponding to the curve starting point; calculate the deviation angle between the tangent at the curve starting point and the upward direction of the front of the vehicle based on the curve starting point and the curvature center coordinates, as the deviation angle when the virtual vehicle moves into the curve; calculate the target distance based on the deviation angle and the current driving speed of the target vehicle.

[0020] In one embodiment, the distance determination module is also used to estimate the trajectory offset of the virtual vehicle after it moves into the curve based on the current driving speed of the target vehicle and the curvature radius corresponding to the starting point of the curve; estimate the vehicle position of the virtual vehicle after it moves into the curve based on the trajectory offset; calculate the estimated deviation angle of the vehicle position after it moves into the curve based on the vehicle position and the coordinates of the center of curvature corresponding to the vehicle position; determine the deviation angle change of the front angle of the virtual vehicle based on the deviation angle when the virtual vehicle moves into the curve and the estimated deviation angle after moving into the curve; calculate the target distance based on the current driving speed, the deviation angle of the virtual vehicle when it moves into the curve, and the deviation angle change.

[0021] In one embodiment, when the deviation is a uniform speed deviation, the distance determination module is also used to calculate the first time required for the deviation angle from the uniform speed deviation in the upward direction of the vehicle head to the time when the virtual vehicle moves into the curve according to the deviation angle change as the uniform speed deviation change; and calculate the target distance based on the current driving speed and the first time.

[0022] In one embodiment, when the deviation is a uniformly accelerated deviation, after the virtual vehicle moves into the curve, it successively passes through a first position point and a second position point in the curve; the distance determination module is further used to determine a first deviation angle change of the front angle of the virtual vehicle according to the deviation angle of the virtual vehicle when it moves into the curve and the estimated deviation angle when it moves into the first position point; obtain a second deviation angle change of the front angle of the virtual vehicle according to the estimated deviation angle when the virtual vehicle moves to the first position point and the estimated deviation angle when the virtual vehicle moves to the second position point; obtain a deviation acceleration of the front angle of the virtual vehicle according to the first deviation angle change and the second deviation angle change; calculate a second time required for a uniformly accelerated deviation from the upward direction of the front of the vehicle to the deviation angle of the virtual vehicle when it moves into the curve according to the deviation acceleration; calculate the target distance according to the current driving speed and the second time.

[0023] In one embodiment, the device also includes a first estimation module, which is used to estimate the trajectory offset of the virtual vehicle moving to the first position point based on the current driving speed of the target vehicle and the curvature radius corresponding to the virtual vehicle when it moves into the curve; estimate the vehicle position of the virtual vehicle moving into the first position point based on the trajectory offset; and calculate the estimated deviation angle of the virtual vehicle moving to the first position point based on the vehicle position and the center coordinates of the curvature circle corresponding to the vehicle position.

[0024] In one embodiment, the device also includes a second estimation module, which is used to estimate the trajectory offset of the virtual vehicle moving to the first position point based on the current driving speed of the target vehicle and the curvature radius corresponding to the virtual vehicle when it moves into the curve; estimate the vehicle position of the virtual vehicle moving into the second position point based on the trajectory offset; and calculate the estimated deviation angle of the virtual vehicle moving to the second position point based on the vehicle position and the center coordinates of the curvature circle corresponding to the vehicle position.

[0025] In one embodiment, the device also includes a route data acquisition module for acquiring the real-time position of the target vehicle; displaying a navigation map matching the real-time position in the navigation interface; acquiring route curvature data of the navigation route in the navigation map, wherein the route curvature data includes the curvature, curvature radius and curvature center coordinates corresponding to each position point on the navigation route in the navigation map.

[0026] In one embodiment, the route data acquisition module is further used to determine a preset distance; based on the real-time position of the target vehicle, obtain route curvature data of a vehicle located on the navigation route in the navigation map at a preset distance ahead of the real-time position.

[0027] In one embodiment, the route data acquisition module is also used to acquire real-time data collected by a sensor provided on the target vehicle; the sensor includes at least one of a camera and a radar; based on the real-time data collected by the sensor, the target vehicle is positioned and calibrated to obtain the positioning position of the target vehicle.

[0028] The present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the above navigation method.

[0029] The present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to perform the above navigation method.

[0030] The present application provides a computer program product, including a computer program, which implements the above navigation method when executed by a processor.

[0031] The above-mentioned navigation method, device, computer equipment, storage medium and computer program product, in the process of navigating the target vehicle, display a corresponding navigation interface, in which a navigation map and a virtual vehicle that moves with the target vehicle in the navigation map are displayed; when the virtual vehicle moves to a target distance from entering the curve, the navigation map and the direction of the front of the virtual vehicle no longer maintain the same direction, such as keeping the front of the vehicle upward, but begin to deviate in the opposite direction of the curve; between the moment when the virtual vehicle moves to the target distance from entering the curve and the moment when the virtual vehicle enters the curve, there are multiple moments when the navigation map and the direction of the front of the virtual vehicle deviate in the opposite direction of the curve, and the degree of deviation of the multiple deviations gradually increases in time sequence, so that when the virtual vehicle moves into the curve, the navigation map and the direction of the front of the virtual vehicle will not change drastically due to the drastic increase in road curvature, and the navigation map will not rotate drastically, thereby reducing the cost of reading the map, and will not cause dizziness to the user, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A diagram of an application environment of a navigation method in an embodiment;

[0033] Figure 2 is a schematic diagram of an embodiment in which the navigation perspective is with the front of the vehicle facing upward;

[0034] Figure 3 is a flowchart of a navigation method in an embodiment;

[0035] Figure 4 is a schematic diagram of a virtual vehicle moving from a straight road to a starting point of a curve in one embodiment;

[0036] Figure 5 A schematic diagram of derivation of a deviation angle of a virtual vehicle at a starting point of a curve in one embodiment;

[0037] Figure 6 A schematic diagram of performing position estimation based on trajectory offset in one embodiment;

[0038] Figure 7 A schematic diagram of a virtual vehicle moving to an estimated position in one embodiment;

[0039] Figure 8 A timing diagram for calculating the interaction of various devices in one embodiment;

[0040] Fig. 9 is a schematic diagram of a vehicle front direction rotating in the opposite direction toward the curve before entering a curve in one embodiment;

[0041] Fig.10It is a schematic diagram of an interface for always keeping the front of the vehicle facing upward in a curve in the related art;

[0042] Fig.11 is a structural block diagram of a navigation device in one embodiment;

[0043] Fig.12 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0045] Mentioning "embodiment" in this application means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments. It should be noted that the "first", "second", etc. involved in the introduction of this application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0046] The navigation method provided in the embodiment of the present application can be applied to an intelligent traffic system (ITS), which is also called an intelligent transportation system (ITS). It effectively integrates advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) into transportation, service control and vehicle manufacturing, strengthens the connection between vehicles, roads and users, and thus forms a comprehensive transportation system that ensures safety, improves efficiency, improves the environment and saves energy.

[0047] Figure 1The application environment diagram of the navigation method provided in this application. Among them, the terminal 102 communicates with the server 104 through a communication network. Among them, the terminal 102 can interact with the server 104 through the communication network. The data storage system can store data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other servers. In one embodiment, the server 104 provides navigation services for the terminal 102. In the process of navigating the target vehicle, the terminal 102 displays a navigation interface, and the navigation interface is used to navigate the target vehicle; in the navigation interface, a navigation map and a virtual vehicle that moves with the target vehicle in the navigation map are displayed; in the navigation interface, the navigation map and the front direction of the virtual vehicle are displayed. The deviation is from the virtual vehicle before it moves into the curve and the distance from the curve is the target distance until the virtual vehicle moves into the curve. The target distance makes the degree of deviation of the virtual vehicle after moving into the curve and the degree of deviation before moving into the curve connected and coherent.

[0048] In one embodiment, an electronic map client may be run on the terminal 102, and the electronic map client may support vehicle navigation. When the driver drives the target vehicle, the driver may use the terminal 102 to start the electronic map client to navigate the target vehicle. During the navigation process, the server 104 communicates with the terminal 102 through the network, obtains the positioning information of the target vehicle and the road information of the driving road, calculates the navigation map and the front direction of the virtual vehicle in the navigation interface, and when the virtual vehicle is at the target distance from the curve, the navigation map and the front direction of the virtual vehicle begin to deviate in the opposite direction of the curve, so that the terminal 102 implements the vehicle navigation method provided in the embodiment of the present application. Among them, the terminal 102 may be, but is not limited to, various desktop computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices, and the Internet of Things devices may be smart speakers, smart TVs, smart air conditioners, smart voice interaction devices, smart vehicle-mounted devices, etc. Portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. The server 104 may be implemented with an independent server or a server cluster consisting of multiple servers. The embodiment of the present application may be applied to various scenarios, including but not limited to cloud technology, artificial intelligence, smart transportation, assisted driving, etc.

[0049] Usually, the navigation perspectives of the electronic map navigation screen that can serve the vehicle usually include the vehicle head-up and due north-up. In the navigation screen with the vehicle head-up navigation perspective, the top of the navigation map always changes with the driving direction. Keep the vehicle head facing up, such as Figure 2As shown in the figure, whether driving in a straight line or passing a curve, the virtual vehicle in the navigation map is presented with the front of the vehicle facing upward. The navigation map changes with the front direction of the virtual vehicle, so that the vehicle can be efficiently and conveniently guided by left and right. In the navigation screen with the navigation perspective of due north, you need to navigate the route by direction or adjust the phone to due north. Compared with the navigation perspective with the front of the vehicle facing upward, this method has a poorer navigation effect, but it is easy to know the location of the vehicle.

[0050] In the navigation mode with the front of the vehicle facing upward, when the target vehicle enters a curve, the navigation map will rotate violently due to the dramatic increase in the curvature of the road. Before and after the violent rotation, the displayed navigation map is quite different, which not only increases the cost of reading the map, but also easily makes the driver feel dizzy.

[0051] The navigation method provided by the embodiment of the present application displays a navigation interface to navigate the target vehicle during navigation of the target vehicle, and the navigation interface includes a navigation map and a virtual vehicle that moves with the target vehicle in the navigation map; the virtual vehicle starts to deviate from before it enters a curve and when the distance from the curve is a target distance, and in the navigation interface, the navigation map and the front direction of the virtual vehicle are displayed to deviate in the opposite direction of the curve at the same time, and the target distance makes the degree of deviation of the virtual vehicle after entering the curve consistent with the degree of deviation before entering the curve; the navigation map and the front direction of the virtual vehicle no longer maintain the same direction, for example, keep the front of the vehicle upward, but start to deviate in the opposite direction of the curve until the virtual vehicle enters the curve, and the navigation map will not rotate sharply due to the sharp increase in road curvature when the target vehicle enters the curve, which not only reduces the map reading cost but also reduces the driver's dizziness.

[0052] In one embodiment, Figure 3 As shown, a navigation method is provided, which is applied to Figure 1 The terminal 102 in the example is used as an example to illustrate, and the following steps are included:

[0053] Step S302, displaying a navigation interface, where the navigation interface is used to navigate the target vehicle.

[0054] Among them, the navigation interface is an interface that displays the electronic navigation map, and the target vehicle is a vehicle traveling on the actual road in the vehicle navigation.

[0055] Specifically, when the user needs vehicle navigation, the user can start an application supporting vehicle navigation through the terminal, and display a navigation interface in the navigation application, where the navigation interface is used to navigate the target vehicle.

[0056] Step S304: displaying a navigation map and a virtual vehicle that moves along with the target vehicle in the navigation map in the navigation interface.

[0057] The electronic map related to the road in the navigation interface is called the navigation map. In the process of navigating the target vehicle, the navigation interface also includes a virtual vehicle corresponding to the target vehicle. Of course, the target vehicle can also be referred to by other marks in the navigation interface, such as arrows, circles, etc.

[0058] In actual applications, the navigation interface can have a variety of navigation perspectives, including head-on and north-up. Head-on means that the top of the navigation map changes with the driving direction of the target vehicle. For example, when the target vehicle is traveling to the west, the top of the navigation map is facing the west. When the target vehicle is traveling to the east, the top of the navigation map is facing the east. In this way, when the driver refers to the navigation map, he only needs to judge which direction to turn by looking left and right, which is convenient for the driver to control the driving direction of the vehicle. North-up means that the orientation of the navigation map always keeps the top as north, which is fixed and unchanged, and will not change with the driving of the target vehicle. The driver mainly determines which direction to turn by the direction or adjusting the navigation device to the north direction. It is suitable for users with a good sense of direction, and allows users to grasp the driving direction of the vehicle at any time. The embodiment of the present application is mainly applicable to the navigation mode with the navigation perspective of head-on.

[0059] In actual applications, the road conditions displayed in the navigation interface can be three-dimensional, and the navigation interface is the navigation interface of a three-dimensional electronic navigation map. Of course, the road environment displayed in the navigation interface can also be flat, and the navigation interface is the navigation interface of a two-dimensional electronic navigation map. The driver or user can select or switch according to actual needs.

[0060] Specifically, the user starts an application supporting vehicle navigation through a terminal, displays a navigation interface in the navigation application, and navigates the target vehicle; in the navigation interface, a virtual vehicle representing the target vehicle is displayed, and the virtual vehicle moves in the navigation map as the target vehicle travels.

[0061] Step S306, between the moment when the virtual vehicle moves to the target distance for entering the curve and the moment when the virtual vehicle enters the curve, there are multiple moments when the navigation map and the front direction of the virtual vehicle deviate in the opposite direction of the curve, and the degree of deviation of the multiple deviations gradually increases in time sequence.

[0062] Among them, a curve is a section of the road where the road curvature is not zero, and a curve may be an intersection, a fork in the road, a roundabout road, etc. where a turn or a U-turn is required. In addition, the navigation route for navigating the target vehicle may also include a straight road.

[0063] The opposite direction of the curve is related to the direction in which the target vehicle enters the curve, or the direction in which the target vehicle exits the curve. When the target vehicle enters the curve, the opposite direction of the curve is the direction opposite to the direction in which the target vehicle enters the curve. For example, if the target vehicle enters the curve in the right direction, the opposite direction of the curve is the left direction. When the target vehicle exits the curve, the opposite direction of the curve is the direction opposite to the direction in which the target vehicle exits the curve. For example, if the target vehicle exits the curve in the left direction, the opposite direction of the curve is the right direction.

[0064] The front direction of the virtual vehicle is the direction indicated by the front of the virtual vehicle. In the navigation screen with the navigation perspective of the vehicle head facing upward, the front direction of the virtual vehicle always keeps the vehicle head facing upward. In this embodiment, when the target vehicle enters the curve and is at the target distance from the curve, the navigation map and the front direction of the virtual vehicle are displayed in the navigation interface. The front direction no longer remains unchanged, but begins to deviate in the opposite direction of the curve until the virtual vehicle moves into the curve. It can be understood that in the process of navigating the target vehicle, the front direction of the target vehicle during actual driving is controlled by the driver or the automatic driving system, and has no direct connection with the front direction of the virtual vehicle.

[0065] The degree of deviation of the vehicle head direction can be determined according to the angle at which the vehicle head direction deviates from the vehicle head upward direction. The greater the angle at which the vehicle head direction deviates from the vehicle head upward direction, the greater the degree of deviation of the vehicle head direction.

[0066] For the navigation map, deviation mainly refers to the rotation of the navigation map. The deviation degree of the navigation map is used to characterize the rotation degree of the navigation map. The rotation degree of the navigation map can be consistent with the deviation degree of the front direction of the vehicle. For example, if the deviation degree of the front direction of the vehicle is 30°, then the rotation degree of the navigation map is also 30°.

[0067] When the front direction of the virtual vehicle deviates, the navigation map deviates along with the front direction of the virtual vehicle, and the amount of deviation can be consistent. For example, when the front direction of the virtual vehicle deviates at a uniform speed according to a preset speed, the navigation map deviates along with the front direction of the virtual vehicle and also deviates at a uniform speed according to the preset speed. For another example, when the front direction of the virtual vehicle deviates at a uniform acceleration according to a preset acceleration, the navigation map deviates along with the front direction of the virtual vehicle and also deviates at a uniform acceleration according to the preset acceleration.

[0068] The target distance can be a set distance. When the virtual vehicle moves to the target distance from the curve, it starts to increase the deviation in the opposite direction of the curve. The purpose is to reduce the change in the degree of deviation of the navigation map before and after entering the curve, and overcome the problem of violent rotation of the navigation map when entering the curve.

[0069] Furthermore, on the basis of overcoming the violent rotation of the navigation map, the factor of connection and consistency can be introduced to set the target distance. At this time, the target distance can make the deviation degree of the virtual vehicle after moving into the curve and the deviation degree before moving into the curve connected and consistent. The deviation degree of the virtual vehicle after moving into the curve and the deviation degree before moving into the curve are connected and consistent, which can be: in the corresponding time period from before the virtual vehicle moves into the curve to after the virtual vehicle moves into the curve, the change in the deviation of the front direction of the virtual vehicle from the upward direction of the front is a uniform deviation, such as a uniform speed deviation or a uniform acceleration deviation.

[0070] The moment when the virtual vehicle moves to the target distance for entering the curve is recorded as tn, and the moment when the virtual vehicle enters the curve is recorded as t. When the virtual vehicle moves to the target distance from the curve at tn, the navigation map and the front direction of the virtual vehicle begin to deviate in the opposite direction of the curve, and as the virtual vehicle continues to move toward the curve, from tn to t, the navigation map and the front direction of the virtual vehicle continue to deviate, and the degree of each deviation of the front direction gradually increases in time sequence. For example, at tn, the degree of deviation of the front direction is 5°, at t-n+5, the degree of deviation of the front direction is 10°, and at t-n+10, the degree of deviation of the front direction is 15°. Similarly, since the degree of deviation of the navigation map is consistent with the degree of deviation of the front direction, the degree of each deviation of the navigation map also gradually increases in time sequence.

[0071] The degree of deviation of the virtual vehicle after entering the curve is connected with the degree of deviation before entering the curve, which can be reflected by the change in the deviation angle, that is, the change in the deviation angle after the virtual vehicle enters the curve and when entering the curve is connected with the change in the deviation angle before entering the curve. For example, let the time when the virtual vehicle enters the curve be t, the time t-1 before the virtual vehicle enters the curve, and the time t+1 after the virtual vehicle enters the curve, the change in the deviation angle from t-1 to t and the change in the deviation angle from t to t+1 are uniform. Among them, the deviation angle is the angle at which the head direction of the virtual vehicle at a certain moment deviates from the upward direction of the head, which can be recorded as α. The change in the deviation angle from time t-1 to time t and the change in the deviation angle from time t to time t+1 are uniform, which is specifically reflected in: the change in the deviation angle from time t-1 to time t can be the same as the change in the deviation angle from time t to time t+1, for example, both are 2°; the change in the deviation angle from time t-1 to time t and the change in the deviation angle from time t to time t+1 can increase uniformly, for example: the change in the deviation angle from time t to time t+1 is 2°, and the change in the deviation angle from time t+1 to time t+2 is 2.5°. It can be determined that after the virtual vehicle moves into the curve, the change in the deviation angle increases uniformly by 0.5°. Therefore, it can be determined that the change in the deviation angle from time t-1 to time t is 2°-0.5°=1.5°.

[0072] In the above navigation method, during the process of navigating the target vehicle, a corresponding navigation interface is displayed, in which a navigation map and a virtual vehicle that moves with the target vehicle in the navigation map are displayed; when the virtual vehicle moves to a target distance from the curve, the navigation map and the front direction of the virtual vehicle no longer maintain the same direction, for example, keeping the front of the vehicle upward, but begin to deviate in the opposite direction of the curve; between the moment when the virtual vehicle moves to the target distance from the curve and the moment when the virtual vehicle enters the curve, there are multiple moments when the navigation map and the front direction of the virtual vehicle deviate in the opposite direction of the curve, and the degree of deviation of the multiple deviations gradually increases in time sequence, so that when the virtual vehicle moves into the curve, the navigation map and the front direction of the virtual vehicle will not change drastically due to the drastic increase in road curvature, and the navigation map will not rotate drastically, thereby reducing the cost of reading the map, and will not cause dizziness to the user, thereby improving the user experience.

[0073] In one embodiment, between the moment when the virtual vehicle moves to the target distance for entering the curve and the moment when the virtual vehicle enters the curve, there are multiple moments when both the navigation map and the front direction of the virtual vehicle deviate in the opposite direction of the curve, and the degree of deviation of the multiple deviations gradually increases in time sequence, including: when the virtual vehicle moves to the target distance for entering the curve, the navigation map and the front direction of the virtual vehicle begin to deviate in the opposite direction of the curve; between the moment when the virtual vehicle moves to the target distance for entering the curve and the moment when the virtual vehicle enters the curve, the navigation map and the front direction of the virtual vehicle continue to deviate in the opposite direction of the curve multiple times, and the degree of deviation of the multiple deviations increases evenly in time sequence.

[0074] The uniform increase may be an increase at a constant speed or an increase with uniform acceleration.

[0075] Specifically, the virtual vehicle moves toward a curve, and when the virtual vehicle is at a target distance from the curve, the navigation map and the front direction of the virtual vehicle begin to deviate in the opposite direction of the curve; the virtual vehicle continues to move toward the curve and before the virtual vehicle enters the curve, the navigation map and the front direction of the virtual vehicle continue to deviate in the opposite direction of the curve for multiple times, and during the multiple deviations, the degree of deviation of the front direction and the degree of deviation of the navigation base map increase evenly in time sequence.

[0076] In the above embodiment, when the virtual vehicle is at the target distance from the curve, the navigation map and the front direction of the virtual vehicle begin to deviate, and when the virtual vehicle continues to move toward the curve, the navigation map and the front direction of the virtual vehicle continue to deviate, and the degree of deviation increases evenly, thereby improving the stability of the navigation map deviation and reducing the user's dizziness.

[0077] In one embodiment, the degree of deviation of multiple deviations increases uniformly in time sequence, including: when the degree of deviation of multiple deviations increases uniformly in time sequence, at the moments when the front direction of the navigation map and the virtual vehicle deviates in the opposite direction of the curve for multiple times, the change in deviation angle at any adjacent moments is the same.

[0078] The uniform speed deviation mainly means that after the front direction of the virtual vehicle starts to deviate from the upward direction, the deviation speed remains unchanged. Since the navigation map rotates with the deviation of the front direction, the rotation speed of the navigation map also remains unchanged.

[0079] As the front direction of the virtual vehicle begins to deviate from the upward direction, the navigation map rotates following the deviation of the front direction, wherein the speed of the deviation of the front direction is consistent with the speed of rotation of the navigation map, and in the uniform deviation scenario, the speed of the deviation of the front direction remains unchanged, so that the deviation angle change at any adjacent moments is the same, for example, the deviation angle change from time tn to time t-n+5 is the same as the deviation angle change from time t-n+5 to time t-n+10, for example, both are 5°.

[0080] In the above embodiment, when the virtual vehicle moves into a curve and is at a target distance from the curve, the navigation map and the front direction of the virtual vehicle no longer maintain the same direction, such as keeping the front of the vehicle upward, but begin to deviate at a uniform speed in the opposite direction of the curve until the virtual vehicle moves into the curve, thereby avoiding violent rotation of the navigation map and reducing the cost of reading the map.

[0081] In one embodiment, when the deviation is a uniform speed deviation, the target distance is calculated based on the current driving speed, the deviation angle when the virtual vehicle moves into the curve, and the change in the deviation angle, including: taking the change in the deviation angle as the uniform speed deviation change, calculating the first time required from the uniform speed deviation in the upward direction of the front of the vehicle to the deviation angle when the virtual vehicle moves into the curve; calculating the target distance based on the current driving speed and the first time.

[0082] The deviation angle change as the uniform deviation change is a unit change of the deviation angle of the head direction of the virtual vehicle in the curve starting from the deviation angle of the head direction when the virtual vehicle moves into the curve; for example, when the virtual vehicle moves into the curve as time t, at time t, the deviation angle of the head direction of the virtual vehicle compared to the upward direction of the head is α t , the virtual vehicle continues to move in the curve. At time t+n, the virtual vehicle is in the curve and the deviation angle of the head direction of the virtual vehicle compared to the upward direction of the head is α t+n , thus, the uniform speed deviation change is (α t+n -α t ) / n. In one embodiment, n can be 1, that is, the uniform speed deviation change is α t+1 -α t .

[0083] When the front direction of the virtual vehicle is upward, the deviation angle is 0. The deviation angle of the front direction of the virtual vehicle when it moves to the curve is recorded as α t , if the uniform speed deviates from the change α t+1 -α t According to the uniform deviation change, it can be concluded that the deviation angle changes from 0 to α t The time required is (α t -0) / (αt+1 -α t ), (α t -0) / (α t+1 -α t ) as the first time, and according to the current speed of the target vehicle and the first time, the target distance is obtained. For example, the target distance is recorded as s, and the current speed of the target vehicle is recorded as v, s = v × (α t -0) / (α t+1 -α t ).

[0084] After the target distance is obtained, when the distance between the virtual vehicle and the curve is the target distance, the direction of the head of the virtual vehicle deviates from the change amount α at a uniform speed. t+1 -α t The uniform speed deviation begins. During the uniform speed deviation of the head direction of the virtual vehicle, the navigation map rotates uniformly following the uniform speed deviation of the head direction. When the virtual vehicle moves the target distance, the virtual vehicle just enters the curve. At this time, based on the uniform speed deviation, the deviation angle of the head direction of the virtual vehicle when entering the curve compared to the upward direction of the head direction is just α t .

[0085] For example, if the current speed of the target vehicle v = 60 km / h (17 m / s), α t =30°, α t+1 =32°, then the change in uniform speed deviation is α t+1 -α t = 2°, target distance s = v × (α t -0) / (α t+1 -α t )=255 meters.

[0086] In the above embodiment, since the uniform speed deviation change of the virtual vehicle before entering the curve is the uniform speed deviation change of the virtual vehicle in the curve, the uniform speed deviation change remains unchanged before and after the virtual vehicle moves into the curve, thereby achieving the connection of the vehicle head direction before and after entering the curve, making the display effect of the navigation map more stable.

[0087] In one embodiment, the degree of deviation of multiple deviations increases uniformly in time sequence, including: when the degree of deviation of multiple deviations increases uniformly and rapidly in time sequence, at the moments when the front direction of the navigation map and the virtual vehicle deviates in the opposite direction of the curve for multiple times, the change in the deviation angle at any adjacent moments increases uniformly.

[0088] Uniform acceleration deviation mainly means that after the front direction of the virtual vehicle starts to deviate from the upward direction, the deviation speed increases at a fixed acceleration. Since the navigation map rotates with the deviation of the front direction, the rotation speed of the navigation map also increases at the fixed acceleration.

[0089] When the front direction of the virtual vehicle begins to deviate from the upward direction of the vehicle, the navigation map rotates following the deviation of the front direction, wherein the speed of the deviation of the vehicle front direction is consistent with the speed of rotation of the navigation map, and in the uniform acceleration deviation scenario, the speed of the deviation of the vehicle front direction increases according to a fixed acceleration, so that the deviation angle change at any adjacent moment increases at a uniform speed, for example, the deviation angle change from tn to t-n+5 is 1.5°, the deviation angle change from t-n+5 to t-n+10 is 2°, and the deviation angle change from t-n+10 to t-n+15 is 2.5°.

[0090] In the above embodiment, when the virtual vehicle moves into a curve and is at a target distance from the curve, the navigation map and the front direction of the virtual vehicle no longer maintain the same direction, such as keeping the front of the vehicle upward, but begin to deviate in the opposite direction of the curve with uniform acceleration until the virtual vehicle moves into the curve, thereby avoiding violent rotation of the navigation map and reducing the cost of reading the map.

[0091] In one embodiment, after the virtual vehicle moves into the curve, it successively passes through a first position point and a second position point in the curve.

[0092] When the deviation is a uniformly accelerated deviation, the target distance is calculated based on the deviation angle and the current driving speed of the target vehicle, including: determining a first deviation angle change of the front angle of the virtual vehicle based on the deviation angle of the virtual vehicle when it moves into the curve and the estimated deviation angle when it moves into the first position point; obtaining a second deviation angle change of the front angle of the virtual vehicle based on the estimated deviation angle when the virtual vehicle moves to the first position point and the estimated deviation angle when the virtual vehicle moves to the second position point; obtaining a deviation acceleration of the front angle of the virtual vehicle based on the first deviation angle change and the second deviation angle change; calculating a second time required for a uniformly accelerated deviation from the upward direction of the front of the vehicle to the deviation angle of the virtual vehicle when it moves into the curve according to the deviation acceleration; and calculating the target distance based on the current driving speed and the second time.

[0093] The first position point may be a possible position point of the virtual vehicle at a later moment when the virtual vehicle enters the curve. If the moment when the virtual vehicle enters the curve is t, then the later moment when the virtual vehicle enters the curve is t+1, and the first position point is a possible position point of the virtual vehicle at t+1.

[0094] The second position point may be the possible position point of the virtual vehicle at the next two moments when the virtual vehicle enters the curve. If the moment when the virtual vehicle enters the curve is t, then the next two moments when the virtual vehicle enters the curve are t+2. The second position point is the possible position point of the virtual vehicle at t+2.

[0095] The deviation angle of the virtual vehicle when entering the curve is estimated. The deviation angle of the virtual vehicle when entering the curve is denoted as α t , the estimated deviation angle of the virtual vehicle moving into the first position is recorded as α t+1 , the estimated deviation angle of the virtual vehicle moving into the second position is recorded as α t+2 Take this as an example:

[0096] According to the deviation angle α of the virtual vehicle when entering the curve t The estimated deviation angle α from the first position point t+1 , determine the first deviation angle change of the virtual vehicle's head angle as α t+1 -α t ; According to the estimated deviation angle α of the virtual vehicle moving to the first position point t+1 and the estimated deviation angle α of the virtual vehicle moving to the second position point t+2 , the second deviation angle change of the virtual vehicle's head angle is obtained as α t+2 -α t+1 ; Due to α t , α t+1 , α t+2 The corresponding moments are three adjacent moments, so the deviation acceleration is (α t+2 -α t+1 )-( t+1 -α t ).

[0097] When the front direction of the virtual vehicle is upward, the deviation angle is 0. The deviation angle of the front direction of the virtual vehicle when it moves to the curve is recorded as α t , if the deviation acceleration is (α t+2 -α t+1 )-( t+1 -α t ), according to the deviation acceleration, it can be concluded that the deviation angle changes from 0 uniform acceleration to α t The time required is (α t -0) / [(α t+2 -α t+1 )-( t+1 -α t )], (α t -0) / [(α t+2 -α t+1 )-( t+1 -αt )] as the second time, and obtain the target distance according to the current driving speed of the target vehicle and the second time.

[0098] After obtaining the target distance, when the distance between the virtual vehicle and the curve is the target distance, the direction of the head of the virtual vehicle is adjusted according to the deviation acceleration (α t -0) / [(α t+2 -α t+1 )-( t+1 -α t )], uniform acceleration deviation begins. During the uniform acceleration deviation of the head direction of the virtual vehicle, the navigation map rotates uniformly with uniform acceleration deviation of the head direction. When the virtual vehicle moves the target distance, the virtual vehicle just enters the curve. At this time, based on the above uniform acceleration deviation, the deviation angle of the head direction of the virtual vehicle when entering the curve compared to the upward direction of the head is just α t .

[0099] In the above embodiment, since the deviation acceleration of the virtual vehicle before entering the curve is the deviation acceleration of the virtual vehicle in the curve, the deviation acceleration remains unchanged before and after the virtual vehicle moves into the curve, thereby achieving the connection of the front direction of the vehicle before and after entering the curve, making the display effect of the navigation map more stable.

[0100] In one embodiment, the navigation route of the target vehicle includes a curve, and the terminal can use the position point on the navigation route of the target vehicle when the curvature changes from zero to non-zero as the starting point of the curve; obtain the coordinates of the center of curvature corresponding to the starting point of the curve; calculate the deviation angle between the tangent at the starting point of the curve and the upward direction of the front of the vehicle based on the starting point of the curve and the coordinates of the center of curvature, as the deviation angle when the virtual vehicle moves into the curve; calculate the target distance based on the deviation angle and the current driving speed of the target vehicle.

[0101] The navigation route is a route calculated based on the set navigation starting point and navigation end point, that is, starting from the navigation starting point and passing through a series of roads, and finally reaching the navigation end point. In the embodiment of the present application, the navigation route may include a recommended lane for each road to be passed, or may not distinguish lanes. Of course, it may also distinguish lanes on some roads and not distinguish lanes on some roads.

[0102] The terminal can obtain the coordinates of each position point on the navigation route and the curvature of each position point, so as to use the position point where the curvature changes from zero to non-zero as the starting point of the curve. Figure 4 FIG. 1 is a schematic diagram of a virtual vehicle moving from a straight road to a starting point of a curve in an embodiment, referring to FIG. Figure 4 , the virtual vehicle moves towards the curve on the straight road. Since the direction of the virtual vehicle entering the curve is to the left, the opposite direction corresponding to the curve is to the right; Figure 4 As shown in part (a) of , when the distance between the virtual vehicle and the curve is greater than the target distance, the front direction of the virtual vehicle is upward. When the virtual vehicle continues to move toward the curve, when the distance between the virtual vehicle and the curve is the target distance, as shown in Figure 4 As shown in parts (b) to (e) of FIG. 1 , the direction of the virtual vehicle head begins to deviate to the right, and the deviation is uniform until the virtual vehicle head moves to the starting point of the curve; the starting point of the curve is the position point where the curvature begins to be non-zero; the deviation angle between the direction of the vehicle head and the upward direction of the vehicle head when the virtual vehicle is at the starting point of the curve is recorded as α t It can be understood that the terminal can use the position point on the navigation route where the curvature changes from non-zero to continuously zero as the end point of the curve, that is, the position point when the virtual vehicle moves out of the curve.

[0103] In the embodiment of the present application, the navigation map is known data, and the road data of the navigation map includes route curvature data, and the route curvature data includes the coordinates of each position point on the road and the curvature, curvature radius and curvature center coordinates corresponding to each position point. During the driving process of the target vehicle, the terminal moves the virtual vehicle accordingly in the navigation map according to the real-time position of the target vehicle. It can be understood that the road curvature of the straight road is zero. When the curvature of the position where the virtual vehicle moves changes from zero to non-zero, it means that the virtual vehicle has moved into a curve. When moving into the curve, there is an initial deviation angle, and the terminal displays that the virtual vehicle moves into the curve at the initial deviation angle.

[0104] Figure 5 FIG. 1 is a schematic diagram of the derivation of the deviation angle of a virtual vehicle at the starting point of a curve in one embodiment. Figure 5 , assuming that the position point of the virtual vehicle when it moves into the curve (that is, the starting point of the curve) is O(x,y), that is, the vehicle coordinates are O(x,y), and the center coordinates of the curvature circle corresponding to O(x,y) are obtained according to the route curvature data as P(a,b), and the curvature radius of the curvature circle is R (the distance between points P and O), then (xa) 2 +(yb) 2 =R 2 , the radius of curvature is 1 / R. The normal line of the vehicle position is m, the head direction of the virtual vehicle is the direction of the tangent line of the vehicle position on the curvature circle, the tangent line is n, the slope of the tangent line n is K, and the deviation angle of the head direction of the virtual vehicle when it moves into the curve compared to the upward direction of the head is recorded as α t , α t =β, and 1 / K=(by) / (ax)=tanα t , then we can deduce α t =arctan((by) / (ax)). The deviation angle α when the virtual vehicle moves into the curve is obtained. t Then, according to the deviation angle αt And the current speed of the target vehicle to get the target distance.

[0105] Deviation angle α t , which is related to the coordinates O(x,y) of the position point to which the virtual vehicle moves and the coordinates P(a,b) of the center of the curvature circle, and the coordinates O(x,y) of the position point to which the virtual vehicle moves and the coordinates P(a,b) of the center of the curvature circle are related to the curvature of the position point O(x,y) to which the virtual vehicle moves, and the deviation angle α is related to the curvature. Based on the deviation angle related to the curvature, the target distance is determined, so that the deviation of the front direction of the virtual vehicle before entering the curve can be better connected to the deviation in the curve.

[0106] In one embodiment, a target distance is calculated based on a deviation angle and a current driving speed of the target vehicle, including: estimating a trajectory offset of the virtual vehicle after entering the curve based on the current driving speed of the target vehicle and a radius of curvature corresponding to a starting point of the curve; estimating a vehicle position of the virtual vehicle after entering the curve based on the trajectory offset; calculating an estimated deviation angle of the vehicle position after entering the curve based on the vehicle position and the coordinates of the center of curvature corresponding to the vehicle position; determining a deviation angle change of the front angle of the virtual vehicle based on the deviation angle of the virtual vehicle when entering the curve and the estimated deviation angle after entering the curve; and calculating the target distance based on the current driving speed, the deviation angle of the virtual vehicle when entering the curve, and the deviation angle change.

[0107] The deviation angle of each position point of the virtual vehicle in the curve is related to the coordinates of the vehicle position and the coordinates of the center of curvature corresponding to the vehicle position. The terminal predicts the position to which the virtual vehicle will move at the next moment based on the data at the previous moment, and then calculates the deviation angle corresponding to the position to which the virtual vehicle will move at the next moment based on the coordinates corresponding to the position to which the virtual vehicle will move at the next moment and the coordinates of the center of curvature corresponding to the position.

[0108] Figure 6 FIG. 1 is a schematic diagram of performing position estimation based on trajectory offset in one embodiment. Figure 6, the real-time calculation process of the deviation angle of the front direction of the virtual vehicle can be derived: the current speed of the target vehicle is recorded as v, the time when the target vehicle enters the curve is recorded as t, the next time when the target vehicle enters the curve is recorded as t+1, the interval time from the tth time to the t+1th time is recorded as △t, the driving arc length is recorded as L, the trajectory offset is recorded as ε, and the curvature radius corresponding to the position of the target vehicle at the tth time is recorded as R. When △t is smaller, the target vehicle's driving trajectory in the curve is closer to an arc, then L=v*△t; △t=2πR*ε / 360°; ε=180°*v*△t / πR; Assuming that the tth time and the t+1th time are separated by 1 second, that is, △t=1, then ε=180°*v / πR, that is, the trajectory offset ε is only related to the current driving speed v of the target vehicle. According to the trajectory offset ε, the position Q(x',y') to which the virtual vehicle moves at the t+1th time can be estimated.

[0109] Figure 7 FIG. 1 is a schematic diagram of a virtual vehicle moving to an estimated position in one embodiment. Figure 7 After estimating the position Q(x',y') to which the virtual vehicle moves at time t+1, the coordinates of the center of the curvature circle corresponding to Q(x',y') are obtained, and the offset angle of the virtual vehicle at time t+1 is α t+1 =arctan((b′-y′) / (a′-x′)), which is the estimated deviation angle after entering the curve.

[0110] According to the deviation angle α of the virtual vehicle when entering the curve t =arctan((by) / (ax)) and the estimated deviation angle α after entering the curve t+1 =arctan((b′-y′) / (a′-x′)), the deviation angle change of the virtual vehicle’s head angle is determined to be α t -α t+1 .

[0111] Next, in the scenario where the uniform deviation is a uniform speed deviation, according to the description of the above-mentioned related embodiments, according to the current driving speed of the target vehicle, the deviation angle α when the virtual vehicle moves into the curve t and the deviation angle change α t -α t+1 , calculate the target distance. In the scenario where the uniform deviation is a uniform acceleration deviation, according to the description of the above-mentioned related embodiments, according to the current driving speed of the target vehicle, the deviation angle α when the virtual vehicle moves into the curve t and the deviation angle change α t -α t+1 , calculate the target distance.

[0112] The deviation angle of each position point of the virtual vehicle in the curve is related to the coordinates of the vehicle position and the coordinates of the center of curvature corresponding to the vehicle position, that is, the deviation angle of the virtual vehicle in the curve changes dynamically with the road curvature. In the above embodiment, the relevant amount of uniform deviation before entering the curve is determined based on the deviation angle in the curve that changes dynamically with the road curvature, so as to achieve the connection of the vehicle head direction before and after entering the curve, so that the display effect of the navigation map is more stable.

[0113] In one embodiment, in a scenario where the uniform deviation is a uniformly accelerated deviation, the time when the virtual vehicle moves into the curve is t, the next time when the virtual vehicle moves into the curve is t+1, and the first position point is a possible position point of the virtual vehicle at time t+1. The estimated deviation angle of the virtual vehicle moving into the first position point is recorded as αt+1.

[0114] Calculate the estimated deviation angle α of the virtual vehicle moving into the first position point t+1 The steps include: estimating a trajectory offset of the virtual vehicle moving to a first position point according to a current driving speed of the target vehicle and a curvature radius corresponding to when the virtual vehicle moves into a curve; estimating a vehicle position of the virtual vehicle moving into the first position point according to the trajectory offset; and calculating an estimated deviation angle of the virtual vehicle moving to the first position point according to the vehicle position and the coordinates of the center of curvature corresponding to the vehicle position.

[0115] According to the trajectory offset ε, the first position point that the virtual vehicle moves to at time t+1 is estimated to be Q(x',y'), and the center coordinates of the curvature circle corresponding to Q(x',y') are obtained. P'(a',b'), the estimated deviation angle α of the virtual vehicle moving into the first position point t+1 =arctan((b′-y′) / (a′-x′)).

[0116] In one embodiment, in a scenario where the uniform deviation is a uniform speed deviation, the time when the virtual vehicle moves into the curve is t, the next two times when the virtual vehicle moves into the curve are t+2, and the second position point is a possible position point of the virtual vehicle at time t+2. The estimated deviation angle of the virtual vehicle moving into the second position point is recorded as αt+2.

[0117] Calculate the estimated deviation angle α of the virtual vehicle moving into the second position point t+2 The steps include: estimating a trajectory offset of the virtual vehicle moving to a first position point according to a current driving speed of the target vehicle and a curvature radius corresponding to when the virtual vehicle moves into a curve; estimating a vehicle position of the virtual vehicle moving into a second position point according to the trajectory offset; and calculating an estimated deviation angle of the virtual vehicle moving to the second position point according to the vehicle position and the coordinates of the center of curvature corresponding to the vehicle position.

[0118] According to the current speed of the target vehicle and the curvature radius corresponding to the virtual vehicle moving into the curve, the trajectory offset ε is estimated. According to the virtual vehicle moving to the first position point Q(x',y') and the trajectory offset ε, the first position point moved to by the virtual vehicle at the t+1th time is estimated to be Q(x",y"), and the curvature center coordinates P" (a",b") corresponding to the curvature circle corresponding to Q(x",y") are obtained. The estimated deviation angle α of the virtual vehicle moving into the second position point t+2 =arctan((b”-y”) / (a”-x”)).

[0119] In one embodiment, the navigation method may further include: obtaining the real-time position of the target vehicle; displaying a navigation map matching the real-time position in the navigation interface; obtaining route curvature data of the navigation route in the navigation map, the route curvature data including the curvature, curvature radius and curvature center coordinates corresponding to each position point on the navigation route in the navigation map.

[0120] In this embodiment, the navigation map displays a navigation map that matches the real-time location of the target vehicle. The terminal can obtain the curvature data of a section of the route at the real-time location in the navigation route. The route curvature data can reflect the shape of the road and may include the coordinates of each position point on the navigation route, as well as the curvature, curvature radius, and curvature center coordinates corresponding to each position point. In this way, the real-time positioning information of the target vehicle can be mapped to each position point on the navigation route, thereby determining the position point to which the virtual vehicle moves and the route curvature data corresponding to the position point, which can be used to calculate the deviation angle of the next second.

[0121] In one embodiment, obtaining the real-time position of the target vehicle includes: obtaining real-time data collected by a sensor installed on the target vehicle; the sensor includes at least one of a camera and a radar; based on the real-time data collected by the sensor, positioning and calibrating the target vehicle to obtain the positioning position of the target vehicle.

[0122] It should be noted that the real-time data collected by the sensor installed on the target vehicle can be sent to the server through the vehicle-mounted terminal, and the server can perform positioning and calibration on the target vehicle based on the collected real-time data to obtain the real-time position of the target vehicle. The server can also send the collected real-time data to the terminal, and the terminal can perform positioning and calibration on the target vehicle to obtain the real-time position of the target vehicle.

[0123] The sensors installed on the target vehicle may include radar, lidar, camera, etc. The real-time image data collected by these sensors can be used to calibrate the real-time position of the target vehicle. The calibrated real-time position can be used to determine the display position of the virtual vehicle in the navigation map.

[0124] In one embodiment, obtaining route curvature data of a navigation route in a navigation map includes: determining a preset distance; and obtaining route curvature data of a vehicle located on the navigation route in the navigation map at a preset distance ahead of the real-time position based on the real-time position of the target vehicle.

[0125] Among them, the preset distance can be, for example, 2 kilometers. Specifically, after the server determines the real-time position of the target vehicle, it can obtain the route curvature data of the 2-kilometer range ahead of the real-time position in the navigation map, and based on the route curvature data, determine whether there is a curve within the 2-kilometer range ahead. If so, based on the curvature corresponding to each position point, determine the starting point of the curve and obtain the deviation angle corresponding to the starting point of the curve; suppose the time when the virtual vehicle moves to the starting point of the curve is t, estimate the position of the virtual vehicle at t+1, and obtain the deviation angle change based on the position of the virtual vehicle at t+1 and the respective deviation angles at the starting point of the curve, and calculate the target distance based on the deviation angle change. After obtaining the target distance, when the virtual vehicle is at the target distance from the curve, the navigation map and the front direction of the virtual vehicle begin to deviate uniformly in the opposite direction of the curve until the virtual vehicle moves into the curve.

[0126] Figure 8 FIG. 1 is a timing diagram for calculating the interaction between various devices in an embodiment. Figure 8 The on-board terminal on the target vehicle can send images sent back by sensors such as cameras, radars, and lidars to the server in real time. After the server performs positioning calibration based on the real-time data collected by the sensor, it obtains the real-time position of the target terminal. According to the real-time position, the route curvature data of the navigation route within 2 kilometers ahead of the real-time position is obtained from the map database. The server then determines the point with non-zero curvature within 2 kilometers ahead based on these route curvature data and uses it as the starting point of the curve. The deviation angle corresponding to the starting point of the curve is calculated, and the target distance is obtained. When the virtual vehicle is at the target distance from the curve, the navigation map and the front direction of the virtual vehicle begin to deviate evenly in the opposite direction of the curve until the virtual vehicle moves into the curve.

[0127] In one embodiment, the navigation method further includes: before the virtual vehicle moves into a curve and the distance from the curve is greater than a target distance, in the navigation interface, displaying the virtual vehicle moving in an upward direction in the navigation map.

[0128] That is to say, when the distance from the curve before the virtual vehicle is about to enter the curve exceeds the target distance, the virtual vehicle travels on a straight road, and the virtual vehicle keeps the front of the vehicle facing upward, and the vehicle can be guided efficiently and conveniently by turning left and right.

[0129] In one embodiment, the target distance is a first target distance; the navigation method also includes: after the virtual vehicle moves out of the curve, in the navigation interface, displaying the navigation map and the virtual vehicle starting to evenly approach the upward direction of the vehicle head, until the virtual vehicle moves to a second target distance from the curve, and the navigation map and the virtual vehicle are in the upward direction of the vehicle head.

[0130] The target distance calculated before entering the curve is called the first target distance, and the target distance calculated after exiting the curve is called the second target distance. The calculation method of the second target distance is the same as the calculation method of the first target distance, which will not be repeated here.

[0131] After the virtual vehicle moves out of the curve, the front direction of the virtual vehicle is not directly converted to the front-up direction, but is gradually and evenly deviated so that the front angle evenly begins to approach and deviate toward the original front-up direction until it is exactly in the front-up direction. The deviation is then ended, and the virtual vehicle is kept moving in the navigation route in the front-up direction. This can avoid the situation where the base map rotates violently when the virtual vehicle moves out of the curve.

[0132] In one embodiment, the navigation method further includes: after the virtual vehicle moves out of the curve and the distance from the curve is greater than a second target distance, in the navigation interface, displaying the virtual vehicle moving in an upward direction in the navigation map.

[0133] That is to say, when the distance between the virtual vehicle and the curve is greater than the second target distance before the virtual vehicle moves out of the curve, the front direction of the virtual vehicle is upward. At this time, the uniform deviation can be stopped, and the front direction of the virtual vehicle remains upward, and the vehicle can be guided efficiently and conveniently by left and right.

[0134] Fig. 9 FIG. 1 is a schematic diagram of an embodiment in which the front angle of the vehicle and the navigation map rotate evenly in the opposite direction of the curve before entering the curve until entering the curve. Fig. 9 , the direction of the curve is to the right, and the angle of the front of the car deviates slightly to the left.

[0135] Fig.10 This is a schematic diagram of an interface for keeping the front of the vehicle facing upwards at all times in a curve in the related art. It can be seen that the front of the vehicle always faces upwards.

[0136] In one embodiment, after the virtual vehicle moves into a curve, during the movement in the curve, the navigation map and the front direction of the virtual vehicle dynamically deviate with the degree of curvature of the virtual vehicle's moving position until the virtual vehicle moves out of the curve. This allows the target vehicle to travel in the curve while the navigation interface displays more road conditions ahead of the curve, and presents beyond-visual-range information that was originally not displayed in the navigation interface, thereby increasing the driver's prediction and guidance of the road ahead, and thus improving the vehicle navigation effect.

[0137] Specifically, when the virtual vehicle moves in a curve, the navigation map and the front direction of the virtual vehicle are displayed in the navigation interface, and they deviate dynamically with the degree of curvature of the position where the virtual vehicle moves until the virtual vehicle moves out of the curve.

[0138] Among them, a curve can be a section of the road where the curvature of the road is not zero, and a curve can be an intersection, a fork in the road, a roundabout road, etc. where a turn or U-turn is required. In addition, the navigation route for navigating the target vehicle can also include straight roads. In the process of moving in a curve, the position where the virtual vehicle moves is a position point in the curve, and the degree of curvature of the moved position can be represented by the curvature of the curve at the corresponding position point. The greater the curvature, the higher the degree of curvature, and the smaller the curvature, the lower the degree of curvature. The specific manifestation of dynamic deviation with the degree of curvature of the position where the virtual vehicle moves is that the deviation angle of the position where the virtual vehicle moves is related to the curvature of the position where the virtual vehicle moves.

[0139] In the navigation screen with the navigation perspective of the vehicle head facing upward, the direction of the head of the virtual vehicle always remains upward, while in this embodiment, when the target vehicle is traveling in a curve of the road, the navigation map and the direction of the head of the virtual vehicle are displayed in the navigation interface, and the direction of the head of the virtual vehicle no longer remains unchanged, but dynamically deviates from the original upward direction of the head of the virtual vehicle according to the degree of curvature of the position where the virtual vehicle moves, until the virtual vehicle moves out of the curve. It can be understood that in the process of navigating the target vehicle, the direction of the head of the target vehicle during the actual driving process is controlled by the driver or the automatic driving system, and has no direct connection with the dynamic deviation of the direction of the head of the virtual vehicle.

[0140] In the above embodiment, during navigation for the target vehicle, a navigation interface for navigating the target vehicle is displayed, and the navigation interface includes a virtual vehicle representing the target vehicle, which moves as the target vehicle travels on the road. When the virtual vehicle moves to a curve on the navigation route as the target vehicle travels, the navigation map and the front direction of the virtual vehicle no longer always maintain the same direction, such as keeping the front of the vehicle upward, but dynamically deviate with the degree of curvature of the virtual vehicle's moving position until the virtual vehicle moves out of the curve. This allows the navigation interface to display more road environment about the curve ahead when the target vehicle is traveling in the curve, thereby increasing the driver's prediction and guidance of the road ahead, thereby improving the vehicle navigation effect.

[0141] In one embodiment, the navigation method further includes: displaying beyond-visual-range content about the curve ahead in the navigation interface during a process in which the navigation map and the front direction of the virtual vehicle dynamically deviate according to the degree of curvature of the moving position of the virtual vehicle.

[0142] Among them, the beyond-visual-range information ahead of the curve is information ahead of the curve that cannot be displayed in the navigation interface and is beyond the driver's line of sight. Such beyond-visual-range information is displayed in the navigation interface in advance due to the deviation of the front angle of the vehicle, assisting the driver in predicting the road. The beyond-visual-range information ahead of the curve can include the direction, shape, number of lanes, etc. of the curve itself, and can also include other road environments near the curve, such as green plants, buildings, and signs.

[0143] In one embodiment, the navigation perspective of the navigation interface is with the front of the vehicle facing upward; when the virtual vehicle moves in a curve, the navigation map and the front direction of the virtual vehicle are displayed in the navigation interface, and they dynamically deviate with the degree of curvature of the position to which the virtual vehicle moves, including: when the virtual vehicle moves in a curve, the navigation map and the front direction of the virtual vehicle are displayed in the navigation interface, and they dynamically deviate from the upward direction of the front of the vehicle with the degree of curvature of the position to which the virtual vehicle moves.

[0144] The embodiment of the present application is mainly used in a navigation interface with a navigation perspective of the vehicle head upward, and the vehicle head upward direction is the direction directly above the navigation interface. The purpose of dynamically deviating from the vehicle head upward direction is to display more beyond-visual-range content in the navigation interface. It can be understood that the direction deviated from by the dynamic deviation from the vehicle head upward direction is the opposite direction of the curvature of the curve. In order to display more beyond-visual-range content about the curve, when the curvature of the position where the virtual vehicle moves indicates that the curve is curved to the right, the terminal displays the direction of the virtual vehicle's head and the navigation map, dynamically bending to the left, thereby deviating from the vehicle head upward direction; when the curvature of the position where the virtual vehicle moves indicates that the curve is curved to the left, the terminal displays the direction of the virtual vehicle's head and the navigation map, dynamically bending to the right, thereby deviating from the vehicle head upward direction.

[0145] In one embodiment, the navigation perspective of the navigation interface is with the front of the vehicle facing upward; the navigation method also includes: during the movement of the virtual vehicle in the navigation map, in response to the curvature of the moving position of the virtual vehicle changing from zero to non-zero, the virtual vehicle is displayed in the navigation interface moving into the curve at an initial angle deviating from the upward direction of the front of the vehicle.

[0146] In the embodiment of the present application, the navigation map is known data, and the road data of the navigation map includes route curvature data, and the route curvature data includes the coordinates of each position point on the road and the curvature, curvature radius and curvature center coordinates corresponding to each position point. During the driving process of the target vehicle, the terminal moves the virtual vehicle accordingly in the navigation map according to the real-time position of the target vehicle. It can be understood that the road curvature of a straight road is zero. When the curvature of the position where the virtual vehicle moves changes from zero to non-zero, it means that the virtual vehicle begins to move into the curve and is at the starting point of the curve. The corresponding deviation angle α of the virtual vehicle at the starting point of the curve tFor the calculation method of , refer to the introduction of other embodiments.

[0147] Furthermore, when the virtual vehicle moves in a curve, the navigation map and the head direction of the virtual vehicle are displayed in the navigation interface, and dynamically deviate according to the degree of curvature of the position where the virtual vehicle moves, including: when the virtual vehicle deviates from the upward direction of the head by a deviation angle α t After entering the curve, the navigation map and the direction of the virtual vehicle's head are displayed while the virtual vehicle is moving in the curve, from the deviation angle α t Initially, the virtual vehicle dynamically deviates from the upward direction of the front of the vehicle according to the curvature of the position to which it moves.

[0148] According to the above derivation, after the virtual vehicle moves into the curve as the target vehicle moves, the deviation angle α can be t Initially, the virtual vehicle deviates according to the deviation angle of each position point according to the degree of curvature of the position to which it moves, so as to achieve dynamic deviation in the upward direction of the front of the vehicle to pass through the curve.

[0149] In one embodiment, the navigation method also includes: starting from the virtual vehicle moving into the curve, based on the curvature radius and driving speed of the curve position point where the vehicle is currently located, estimating the trajectory offset of the virtual vehicle at the next moment compared to the current moment; based on the curve position point where the virtual vehicle is currently located and the trajectory offset, estimating the curve position point where the virtual vehicle will be located at the next moment; obtaining the curvature center coordinates corresponding to the estimated curve position point where the virtual vehicle will be located at the next moment; determining the deviation angle of the curve position point at the next moment based on the curve position point at the next moment and the curvature center coordinates corresponding to the curve position point at the next moment.

[0150] The deviation angle corresponding to each position point in the curve can be determined based on the position point and the coordinates of the center of curvature corresponding to the position point. The coordinates of the center of curvature corresponding to each position point in the curve are different. The coordinates of the center of curvature are a point on the normal line of the curve at the position point O(x,y). The distance from this point to the position point O(x,y) is equal to the radius of curvature R at the point. The radius of curvature R is the inverse of the curvature k. The curvature k can be determined based on the first-order derivative and the second-order derivative of the curve at the position point O(x,y). It can be seen that the deviation angle corresponding to each position point in the curve is related to the curvature.

[0151] Assume that the current speed of the target vehicle is v1, the current time of the target vehicle is the above-mentioned time t+1, and accordingly, the next time is t+2. The interval time from time t+1 to time t+2 is △t, the arc length is L1, the trajectory offset is ε1, and the radius of curvature corresponding to the position of the target vehicle at time t+1 is R1. When △t is smaller, the target vehicle's driving trajectory in the curve is closer to the arc, then L1=v1*△t;△t=2πR*ε1 / 360°;ε1=180°*v1*△t / πR1; because the time t+1 is 1 second apart from the time t+2, that is, △t=1, then ε1=180°*v1 / πR1, that is, the trajectory offset ε1 is only related to the current speed v1 of the target vehicle, and the position to which the virtual vehicle moves at time t+2 can be estimated based on the trajectory offset ε1. After estimating the position to which the virtual vehicle moves at time t+2, the offset angle of the virtual vehicle at time t+2 can be determined based on the coordinates of the center of the curvature circle corresponding to the curvature circle corresponding to the position.

[0152] In a specific embodiment, the embodiment of the present application provides a navigation method, which can be executed by a terminal. The uniform deviation of this embodiment is a uniform speed deviation. The method includes the following steps:

[0153] Acquire real-time data collected by a sensor installed on the target vehicle; the sensor includes at least one of a camera and a radar;

[0154] Based on the real-time data collected by the sensor, the target vehicle is positioned and calibrated to obtain the positioning position of the target vehicle;

[0155] In a navigation interface for navigating the target vehicle, a navigation map matching the real-time position and a virtual vehicle moving along with the target vehicle are displayed;

[0156] Based on the real-time position of the target vehicle, route curvature data of a preset distance ahead of the real-time position on the navigation route in the navigation map is obtained, the route curvature data including the curvature, curvature radius and curvature center coordinates corresponding to each position point on the navigation route in the navigation map.

[0157] When it is determined according to the route curvature data that there is a curve at a preset distance ahead, the point at which the curvature changes from zero to non-zero is used as the curve starting point of the curve;

[0158] According to the coordinates of the center of curvature of the curve starting point and the curve starting point, the deviation angle between the tangent line at the curve starting point and the upward direction of the vehicle head is calculated as the deviation angle when the virtual vehicle moves into the curve;

[0159] According to the current speed of the target vehicle and the radius of curvature corresponding to the starting point of the curve, the trajectory deviation of the virtual vehicle after entering the curve is estimated;

[0160] Estimate the position of the virtual vehicle after it moves into the curve based on the trajectory offset;

[0161] Calculate the estimated deviation angle of the vehicle after it moves into the curve based on the position of the virtual vehicle after it moves into the curve and the coordinates of the center of curvature corresponding to the position of the vehicle;

[0162] Determining a deviation angle change of a front angle of the virtual vehicle according to a deviation angle of the virtual vehicle when the virtual vehicle moves into the curve and an estimated deviation angle after the virtual vehicle moves into the curve;

[0163] The deviation angle change is taken as the uniform deviation change, and the first time required from the uniform deviation of the vehicle head in the upward direction to the deviation angle when the virtual vehicle moves into the curve is calculated;

[0164] Calculate a first target distance according to the current driving speed and the first time;

[0165] Before the virtual vehicle moves into the curve and the distance from the curve is greater than the first target distance, the navigation interface displays the virtual vehicle moving in an upward direction of the vehicle head in the navigation map;

[0166] Before the virtual vehicle moves into the curve and is at the first target distance from the curve, in the navigation interface, the navigation map and the front direction of the virtual vehicle begin to deviate from the upward direction of the front of the vehicle and deviate at a constant speed in the opposite direction of the curve until the virtual vehicle moves into the curve;

[0167] After the virtual vehicle moves out of the curve, the navigation map and the virtual vehicle begin to evenly approach the vehicle head upward direction until the virtual vehicle moves to a second target distance from the curve, and the navigation map and the virtual vehicle are in the vehicle head upward direction;

[0168] After the virtual vehicle moves out of the curve and the distance from the curve is greater than the second target distance, in the navigation interface, the virtual vehicle is displayed moving in an upward direction with the front of the vehicle in the navigation map.

[0169] In this embodiment, before entering a curve, starting from a first target distance in front of the curve, the direction of the front of the vehicle deviates uniformly in the opposite direction of the curve until the virtual vehicle moves into the curve, and the deviation angle when entering the curve is connected coherently, so that the navigation map rotates evenly and gradually, which can avoid the problem of the navigation map rotating violently due to the sharp increase in the curvature of the curve when entering the curve, causing dizziness to the driver and increased map reading costs; and, when exiting the curve, the direction of the front of the vehicle starts to deviate uniformly in the opposite direction of the curve until the virtual vehicle moves in the upward direction of the front of the vehicle in the navigation map, which can avoid the problem of the base map rotating violently when the virtual vehicle moves out of the curve, causing dizziness to the driver and increased map reading costs.

[0170] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0171] Based on the same inventive concept, the embodiment of the present application also provides a navigation device for implementing the navigation method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations and technical effects of one or more navigation device embodiments provided below can refer to the limitations and technical effects of the navigation method above, and will not be repeated here.

[0172] Fig.11 FIG. 1 is a structural block diagram of a navigation device in an embodiment. Fig.11 , the device comprises:

[0173] A first display module 1102 is used to display a navigation interface, where the navigation interface is used to navigate the target vehicle;

[0174] The second display module 1104 is used to display a navigation map and a virtual vehicle moving along with the target vehicle in the navigation map in the navigation interface; the navigation map includes a curve;

[0175] The deviation module 1106 is used to, between the moment when the virtual vehicle moves to the target distance for entering the curve and the moment when the virtual vehicle enters the curve, there are multiple moments when the navigation map and the front direction of the virtual vehicle deviate in the opposite direction of the curve, and the degree of deviation of the multiple deviations gradually increases in time sequence.

[0176] In one embodiment, the deviation module 1106 is also used for, when the virtual vehicle moves to a target distance for entering the curve, the navigation map and the front direction of the virtual vehicle begin to deviate in the opposite direction of the curve; between the time when the virtual vehicle moves to the target distance for entering the curve and the time when the virtual vehicle enters the curve, the navigation map and the front direction of the virtual vehicle continue to deviate in the opposite direction of the curve for multiple times, and the degree of deviation of the multiple deviations increases evenly in time sequence.

[0177] In one embodiment, the deviation module 1106 is also used to ensure that the deviation angle changes at any adjacent moments are the same when the deviation degrees of multiple deviations increase uniformly in time sequence and when the front directions of the navigation map and the virtual vehicle deviate in the opposite direction of the curve for multiple times.

[0178] In one embodiment, the deviation module 1106 is also used for increasing the deviation angle change at any adjacent moments at a uniform speed when the deviation degrees of multiple deviations increase uniformly and rapidly in time sequence, and when the navigation map and the front direction of the virtual vehicle deviate in the opposite direction of the curve for multiple times.

[0179] In one embodiment, the device further includes a third display module for displaying, in the navigation interface, the virtual vehicle moving in an upward direction of the front of the vehicle in the navigation map before the virtual vehicle enters a curve and the distance from the curve is greater than the target distance.

[0180] In one embodiment, the target distance is a first target distance; the device also includes a fourth display module, which is used to display the navigation map and the virtual vehicle in the navigation interface, after the virtual vehicle moves out of the curve, starting to evenly approach the upward direction of the vehicle head, until the virtual vehicle moves to a second target distance from the curve, and the navigation map and the virtual vehicle are in the upward direction of the vehicle head.

[0181] In one embodiment, the device further includes a fifth display module, which is used to display, in the navigation interface, the virtual vehicle moving in an upward direction in the navigation map after the virtual vehicle moves out of the curve and the distance from the curve is greater than the second target distance.

[0182] In one embodiment, the navigation route of the target vehicle includes a curve, and the device also includes a distance determination module, which is used to use the position point on the navigation route of the target vehicle when the curvature changes from zero to non-zero as the curve starting point of the curve; obtain the coordinates of the center of curvature corresponding to the curve starting point; calculate the deviation angle between the tangent at the curve starting point and the upward direction of the front of the vehicle based on the curve starting point and the curvature center coordinates, as the deviation angle when the virtual vehicle moves into the curve; calculate the target distance based on the deviation angle and the current driving speed of the target vehicle.

[0183] In one embodiment, the distance determination module is also used to estimate the trajectory offset of the virtual vehicle after it moves into the curve based on the current driving speed of the target vehicle and the curvature radius corresponding to the starting point of the curve; estimate the vehicle position of the virtual vehicle after it moves into the curve based on the trajectory offset; calculate the estimated deviation angle of the vehicle position after it moves into the curve based on the vehicle position and the coordinates of the center of curvature corresponding to the vehicle position; determine the deviation angle change of the front angle of the virtual vehicle based on the deviation angle when the virtual vehicle moves into the curve and the estimated deviation angle after moving into the curve; calculate the target distance based on the current driving speed, the deviation angle of the virtual vehicle when it moves into the curve, and the deviation angle change.

[0184] In one embodiment, when the deviation is a uniform speed deviation, the distance determination module is also used to calculate the first time required for the deviation angle from the uniform speed deviation in the upward direction of the vehicle head to the time when the virtual vehicle moves into the curve according to the deviation angle change as the uniform speed deviation change; and calculate the target distance based on the current driving speed and the first time.

[0185] In one embodiment, when the deviation is a uniformly accelerated deviation, after the virtual vehicle moves into the curve, it successively passes through a first position point and a second position point in the curve; the distance determination module is further used to determine a first deviation angle change of the front angle of the virtual vehicle according to the deviation angle of the virtual vehicle when it moves into the curve and the estimated deviation angle when it moves into the first position point; obtain a second deviation angle change of the front angle of the virtual vehicle according to the estimated deviation angle when the virtual vehicle moves to the first position point and the estimated deviation angle when the virtual vehicle moves to the second position point; obtain a deviation acceleration of the front angle of the virtual vehicle according to the first deviation angle change and the second deviation angle change; calculate a second time required for a uniformly accelerated deviation from the upward direction of the front of the vehicle to the deviation angle of the virtual vehicle when it moves into the curve according to the deviation acceleration; calculate the target distance according to the current driving speed and the second time.

[0186] In one embodiment, the device also includes a first estimation module, which is used to estimate the trajectory offset of the virtual vehicle moving to the first position point based on the current driving speed of the target vehicle and the curvature radius corresponding to the virtual vehicle when it moves into the curve; estimate the vehicle position of the virtual vehicle moving into the first position point based on the trajectory offset; and calculate the estimated deviation angle of the virtual vehicle moving to the first position point based on the vehicle position and the center coordinates of the curvature circle corresponding to the vehicle position.

[0187] In one embodiment, the device also includes a second estimation module, which is used to estimate the trajectory offset of the virtual vehicle moving to the first position point based on the current driving speed of the target vehicle and the curvature radius corresponding to the virtual vehicle when it moves into the curve; estimate the vehicle position of the virtual vehicle moving into the second position point based on the trajectory offset; and calculate the estimated deviation angle of the virtual vehicle moving to the second position point based on the vehicle position and the center coordinates of the curvature circle corresponding to the vehicle position.

[0188] In one embodiment, the device also includes a route data acquisition module for acquiring the real-time position of the target vehicle; displaying a navigation map matching the real-time position in the navigation interface; acquiring route curvature data of the navigation route in the navigation map, wherein the route curvature data includes the curvature, curvature radius and curvature center coordinates corresponding to each position point on the navigation route in the navigation map.

[0189] In one embodiment, the route data acquisition module is further used to determine a preset distance; based on the real-time position of the target vehicle, obtain route curvature data of a vehicle located on the navigation route in the navigation map at a preset distance ahead of the real-time position.

[0190] In one embodiment, the route data acquisition module is also used to acquire real-time data collected by a sensor provided on the target vehicle; the sensor includes at least one of a camera and a radar; based on the real-time data collected by the sensor, the target vehicle is positioned and calibrated to obtain the positioning position of the target vehicle.

[0191] In the above-mentioned navigation device, during the process of navigating the target vehicle, a corresponding navigation interface is displayed, in which a navigation map and a virtual vehicle that moves with the target vehicle in the navigation map are displayed; when the virtual vehicle moves to a target distance for entering the curve, the navigation map and the front direction of the virtual vehicle no longer maintain the same direction, for example, keeping the front of the vehicle upward, but begin to deviate in the opposite direction of the curve; between the moment when the virtual vehicle moves to the target distance for entering the curve and the moment when the virtual vehicle enters the curve, there are multiple moments when the navigation map and the front direction of the virtual vehicle both deviate in the opposite direction of the curve, and the degree of deviation of the multiple deviations gradually increases in time sequence, so that when the virtual vehicle moves into the curve, the navigation map and the front direction of the virtual vehicle will not change drastically due to the drastic increase in road curvature, and the navigation map will not rotate drastically, thereby reducing the cost of reading the map, and will not cause dizziness to the user, thereby improving the user experience.

[0192] Each module in the above navigation device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0193] In one embodiment, a computer device is provided. The computer device may be a terminal or a server. The internal structure diagram thereof may be as follows: Fig.12 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O interface) and a communication interface connected through a system bus. Among them, the processor, the memory and the input / output interface are connected through the system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store navigation data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a navigation method is implemented.

[0194] Those skilled in the art will understand that Fig.12 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0195] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps in the above-mentioned various method embodiments when executing the computer program.

[0196] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0197] In one embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned various method embodiments are implemented.

[0198] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0199] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0200] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0201] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A navigation method, characterized in that: The method comprises: Displaying a navigation interface, wherein the navigation interface is used to navigate the target vehicle, and the navigation perspective of the navigation interface is with the front of the vehicle facing upward; In the navigation interface, a navigation map and a virtual vehicle that moves along with the target vehicle in the navigation map are displayed; Between the moment when the virtual vehicle moves to the target distance for entering the curve and the moment when the virtual vehicle enters the curve, there are multiple moments when the navigation map and the front direction of the virtual vehicle deviate in the opposite direction of the curve, and the degree of deviation of the multiple deviations gradually increases in time sequence, wherein the change in the deviation angle of the virtual vehicle after entering the curve and when entering the curve is the same as the change in the deviation angle between when entering the curve and before entering the curve.

2. The method according to claim 1, characterized in that The method includes: between the moment when the virtual vehicle moves to the target distance for entering the curve and the moment when the virtual vehicle enters the curve, there are multiple moments when the navigation map and the front direction of the virtual vehicle deviate in the opposite direction of the curve, and the degree of deviation of the multiple deviations gradually increases in time sequence, including: When the virtual vehicle moves to a target distance from the curve, the navigation map and the front direction of the virtual vehicle begin to deviate in the opposite direction of the curve; Between the moment when the virtual vehicle moves to the target distance for entering the curve and the moment when the virtual vehicle enters the curve, the navigation map and the front direction of the virtual vehicle continue to deviate in the opposite direction of the curve for multiple times, and the degree of deviation of the multiple deviations increases evenly in time sequence.

3. The method according to claim 2, characterized in that The deviation degrees of the multiple deviations increase uniformly in time sequence, including: In the case where the deviation degrees of multiple deviations increase uniformly in time sequence, at multiple moments when the navigation map and the front direction of the virtual vehicle deviate in the opposite direction of the curve, the deviation angle changes at any adjacent moments are the same.

4. The method according to claim 2, characterized in that: The deviation degrees of the multiple deviations increase uniformly in time sequence, including: In the case where the degree of deviation of multiple deviations increases uniformly and rapidly in time sequence, at multiple moments when the navigation map and the front direction of the virtual vehicle deviate in the opposite direction of the curve, the deviation angle change at any adjacent moments increases uniformly.

5. The method according to claim 1, characterized in that The method further comprises: Before the virtual vehicle moves into a curve and the distance from the curve is greater than the target distance, the navigation interface displays the virtual vehicle moving in an upward direction in the navigation map.

6. The method according to claim 1, characterized in that The target distance is a first target distance; the method further includes: After the virtual vehicle moves out of the curve, the navigation interface displays the navigation map and the virtual vehicle starting to approach the vehicle head upward direction until the virtual vehicle moves to a second target distance from the curve, and the navigation map and the virtual vehicle are in the vehicle head upward direction.

7. The method according to claim 6, characterized in that The method further comprises: After the virtual vehicle moves out of the curve and the distance from the curve is greater than the second target distance, the navigation interface displays the virtual vehicle moving in an upward direction in the navigation map.

8. The method according to claim 1, characterized in that The navigation route of the target vehicle includes a curve, and the step of determining the target distance includes: The position point on the navigation route of the target vehicle where the curvature changes from zero to non-zero is used as the curve starting point of the curve; Obtaining the coordinates of the center of curvature corresponding to the starting point of the curve; According to the coordinates of the starting point of the curve and the center of curvature, calculating the deviation angle between the tangent line at the starting point of the curve and the upward direction of the vehicle head as the deviation angle when the virtual vehicle moves into the curve; The target distance is calculated based on the deviation angle and the current driving speed of the target vehicle.

9. The method according to claim 8, characterized in that The step of calculating the target distance according to the deviation angle and the current speed of the target vehicle includes: According to the current driving speed of the target vehicle and the curvature radius corresponding to the starting point of the curve, estimating the trajectory deviation of the virtual vehicle after moving into the curve; estimating the position of the virtual vehicle after it moves into the curve according to the trajectory offset; Calculating an estimated deviation angle of the vehicle after the vehicle moves into the curve according to the vehicle position and the coordinates of the center of curvature corresponding to the vehicle position; Determining a deviation angle change of a front angle of the virtual vehicle according to a deviation angle when the virtual vehicle moves into the curve and an estimated deviation angle after the virtual vehicle moves into the curve; The target distance is calculated according to the current driving speed, the deviation angle of the virtual vehicle when it moves into the curve, and the deviation angle change.

10. The method according to claim 9, characterized in that When the deviation is a uniform speed deviation, the target distance is calculated according to the current driving speed, the deviation angle when the virtual vehicle moves into the curve, and the deviation angle change, including: Taking the deviation angle change as a uniform deviation change, calculating a first time required from the uniform deviation of the vehicle head in an upward direction to the deviation angle when the virtual vehicle moves into the curve; The target distance is calculated according to the current driving speed and the first time.

11. The method according to claim 8, characterized in that When the deviation is a uniform acceleration deviation, after the virtual vehicle moves into the curve, it successively passes through a first position point and a second position point in the curve; The step of calculating the target distance according to the deviation angle and the current speed of the target vehicle includes: Determining a first deviation angle change of a front angle of the virtual vehicle according to a deviation angle of the virtual vehicle when the virtual vehicle moves into the curve and an estimated deviation angle of the virtual vehicle when the virtual vehicle moves into the first position point; Obtaining a second deviation angle change of the front angle of the virtual vehicle according to an estimated deviation angle when the virtual vehicle moves to the first position point and an estimated deviation angle when the virtual vehicle moves to the second position point; Obtaining a deviation acceleration of a front angle of the virtual vehicle according to the first deviation angle variation and the second deviation angle variation; According to the deviation acceleration, calculating a second time required from the uniform acceleration deviation of the vehicle head in an upward direction to the deviation angle when the virtual vehicle moves into the curve; The target distance is calculated according to the current driving speed and the second time.

12. The method according to claim 11, characterized in that The method further comprises: According to the current driving speed of the target vehicle and the curvature radius corresponding to the virtual vehicle moving into the curve, estimating the trajectory offset of the virtual vehicle moving to the first position point; estimating the vehicle position of the virtual vehicle moving into the first position point according to the trajectory offset; An estimated deviation angle of the virtual vehicle moving to the first position point is calculated according to the vehicle position and the coordinates of the center of curvature corresponding to the vehicle position.

13. The method according to claim 12, characterized in that The method further comprises: According to the current driving speed of the target vehicle and the curvature radius corresponding to the virtual vehicle moving into the curve, estimating the trajectory offset of the virtual vehicle moving to the first position point; estimating the vehicle position of the virtual vehicle moving into the second position point according to the trajectory offset; An estimated deviation angle of the virtual vehicle moving to the second position point is calculated according to the vehicle position and the coordinates of the center of curvature corresponding to the vehicle position.

14. The method according to claim 1, characterized in that The method further comprises: Obtaining the real-time position of the target vehicle; In the navigation interface, displaying a navigation map matching the real-time location; The route curvature data of the navigation route in the navigation map is obtained, wherein the route curvature data includes the curvature, the curvature radius and the curvature center coordinates corresponding to each position point on the navigation route in the navigation map.

15. The method according to claim 14, characterized in that The obtaining of route curvature data of the navigation route in the navigation map includes: Determine the preset distance; Based on the real-time position of the target vehicle, route curvature data of a navigation route in the navigation map at a preset distance ahead of the real-time position is obtained.

16. The method according to claim 14, characterized in that The obtaining of the real-time position of the target vehicle comprises: Acquiring real-time data collected by a sensor disposed on the target vehicle; the sensor includes at least one of a camera and a radar; Based on the real-time data collected by the sensor, the target vehicle is positioned and calibrated to obtain the positioning position of the target vehicle.

17. A navigation device, characterized in that: The device comprises: A first display module is used to display a navigation interface, wherein the navigation interface is used to navigate the target vehicle, and the navigation perspective of the navigation interface is that the vehicle head is facing upward; A second display module is used to display a navigation map and a virtual vehicle that moves with the target vehicle in the navigation map in the navigation interface; the navigation map includes a curve; A deviation module is used for, between the moment when the virtual vehicle moves to the target distance for entering the curve and the moment when the virtual vehicle enters the curve, there are multiple moments when the navigation map and the front direction of the virtual vehicle deviate to the opposite direction of the curve, and the deviation degrees of the multiple deviations gradually increase in time sequence, wherein the deviation angle change amount between the virtual vehicle after entering the curve and when entering the curve is the same as the deviation angle change amount between the virtual vehicle when entering the curve and before entering the curve.

18. The device according to claim 17, characterized in that The deviation module is also used for, when the virtual vehicle moves to a target distance for entering the curve, the navigation map and the front direction of the virtual vehicle begin to deviate in the opposite direction of the curve; between the time when the virtual vehicle moves to the target distance for entering the curve and the time when the virtual vehicle enters the curve, the navigation map and the front direction of the virtual vehicle continue to deviate in the opposite direction of the curve for multiple times, and the degree of deviation of the multiple deviations increases evenly in time sequence.

19. The device according to claim 18, characterized in that The deviation module is also used to ensure that the deviation angle changes at any adjacent moments are the same when the deviation degrees of multiple deviations increase uniformly in time sequence and when the front directions of the navigation map and the virtual vehicle deviate in the opposite direction of the curve for multiple times.

20. The device according to claim 18, characterized in that The deviation module is also used for increasing the deviation angle change at any adjacent moments at a uniform speed when the deviation degrees of multiple deviations increase uniformly and rapidly in time sequence and when the front direction of the navigation map and the virtual vehicle deviate in the opposite direction of the curve for multiple times.

21. The device according to claim 17, characterized in that The device also includes a third display module, which is used to display in the navigation interface that the virtual vehicle is moving in an upward direction in the navigation map before the virtual vehicle moves into the curve and the distance from the curve is greater than the target distance.

22. The device according to claim 17, characterized in that The target distance is a first target distance; the device also includes a fourth display module, which is used to display in the navigation interface, after the virtual vehicle moves out of the curve, that the navigation map and the virtual vehicle begin to evenly approach the upward direction of the vehicle head, until the virtual vehicle moves to a second target distance from the curve, and the navigation map and the virtual vehicle are in the upward direction of the vehicle head.

23. The device according to claim 22, characterized in that The device also includes a fifth display module, which is used to display, in the navigation interface, that the virtual vehicle moves in an upward direction in the navigation map after the virtual vehicle moves out of the curve and the distance from the curve is greater than the second target distance.

24. The device according to claim 17, characterized in that The navigation route of the target vehicle includes a curve, and the device also includes a distance determination module, which is used to use the position point on the navigation route of the target vehicle when the curvature changes from zero to non-zero as the curve starting point of the curve; obtain the coordinates of the center of curvature corresponding to the curve starting point; and calculate the deviation angle between the tangent line at the curve starting point and the upward direction of the vehicle head according to the curve starting point and the coordinates of the center of curvature as the deviation angle when the virtual vehicle moves into the curve; The target distance is calculated based on the deviation angle and the current driving speed of the target vehicle.

25. The device according to claim 24, characterized in that The distance determination module is further used to estimate the trajectory offset of the virtual vehicle after it moves into the curve based on the current driving speed of the target vehicle and the curvature radius corresponding to the starting point of the curve; estimate the vehicle position of the virtual vehicle after it moves into the curve based on the trajectory offset; calculate the estimated deviation angle of the vehicle position after it moves into the curve based on the vehicle position and the coordinates of the center of curvature corresponding to the vehicle position; determine the deviation angle change of the front angle of the virtual vehicle based on the deviation angle when the virtual vehicle moves into the curve and the estimated deviation angle after moving into the curve; calculate the target distance based on the current driving speed, the deviation angle of the virtual vehicle when it moves into the curve, and the deviation angle change.

26. The device according to claim 25, characterized in that When the deviation is a uniform speed deviation, the distance determination module is further used to calculate the first time required for the deviation angle from the uniform speed deviation in the upward direction of the vehicle head to the time when the virtual vehicle moves into the curve according to the deviation angle change as the uniform speed deviation change; The target distance is calculated according to the current driving speed and the first time.

27. The device according to claim 24, characterized in that When the deviation is a uniformly accelerated deviation, after the virtual vehicle moves into the curve, it successively passes through a first position point and a second position point in the curve; the distance determination module is further used to determine a first deviation angle change of the front angle of the virtual vehicle according to the deviation angle of the virtual vehicle when it moves into the curve and the estimated deviation angle when it moves into the first position point; obtain a second deviation angle change of the front angle of the virtual vehicle according to the estimated deviation angle when the virtual vehicle moves to the first position point and the estimated deviation angle when the virtual vehicle moves to the second position point; obtain a deviation acceleration of the front angle of the virtual vehicle according to the first deviation angle change and the second deviation angle change; calculate a second time required from the uniformly accelerated deviation of the front of the vehicle in an upward direction to the deviation angle of the virtual vehicle when it moves into the curve according to the deviation acceleration; The target distance is calculated according to the current driving speed and the second time.

28. The device according to claim 27, characterized in that The device also includes a first estimation module, which is used to estimate the trajectory offset of the virtual vehicle moving to the first position point based on the current driving speed of the target vehicle and the curvature radius corresponding to the virtual vehicle when it moves into the curve; estimate the vehicle position of the virtual vehicle moving into the first position point based on the trajectory offset; and calculate the estimated deviation angle of the virtual vehicle moving to the first position point based on the vehicle position and the center coordinates of the curvature circle corresponding to the vehicle position.

29. The device according to claim 28, characterized in that The device also includes a second estimation module, which is used to estimate the trajectory offset of the virtual vehicle moving to the first position point based on the current driving speed of the target vehicle and the curvature radius corresponding to the virtual vehicle when it moves into the curve; estimate the vehicle position of the virtual vehicle moving into the second position point based on the trajectory offset; and calculate the estimated deviation angle of the virtual vehicle moving to the second position point based on the vehicle position and the coordinates of the center of curvature corresponding to the vehicle position.

30. The device according to claim 17, characterized in that The device also includes a route data acquisition module for acquiring the real-time position of the target vehicle; in the navigation interface, a navigation map matching the real-time position is displayed; The route curvature data of the navigation route in the navigation map is obtained, wherein the route curvature data includes the curvature, the curvature radius and the curvature center coordinates corresponding to each position point on the navigation route in the navigation map.

31. The device according to claim 30, characterized in that The route data acquisition module is also used to determine a preset distance; based on the real-time position of the target vehicle, obtain route curvature data of a vehicle located on the navigation route in the navigation map and located a preset distance ahead of the real-time position.

32. The device according to claim 30, characterized in that The route data acquisition module is also used to acquire real-time data collected by a sensor installed on the target vehicle; the sensor includes at least one of a camera and a radar; based on the real-time data collected by the sensor, the target vehicle is positioned and calibrated to obtain the positioning position of the target vehicle.

33. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 16 is implemented.

34. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 16 is implemented.

35. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 16 is implemented.

Images