Vehicle navigation method, device, apparatus, storage medium and computer program product

Abstract

The application relates to a vehicle navigation method and device, computer equipment, a storage medium and a computer program product. The vehicle navigation method can be applied to the fields of maps and automatic driving, and can be applied to various scenes such as vehicle navigation, artificial intelligence, intelligent transportation, auxiliary driving and vehicle-mounted terminals. The method comprises the following steps: displaying a vehicle navigation interface, wherein the vehicle navigation interface comprises a map; displaying a vehicle driving on a target road in the map, wherein the vehicle has a driving scene when driving, and the driving scene can comprise at least one target driving scene; when the vehicle is in a certain target driving scene at a current position, displaying the map as a target map with a target map sheet and a target view angle, and the road range displayed in the target map is adapted to the road observation range of the vehicle at the current position in the target driving scene. The method can improve the navigation experience and navigation efficiency.

Description

Technical Field

[0001] This application relates to the field of map navigation technology, and in particular to a vehicle navigation method, device, computer equipment, storage medium and computer program product. Background Technology

[0002] With the development of computer technology, map navigation tools have emerged and are widely used in route navigation, playing a significant role in people's daily travel, especially in vehicle navigation. During vehicle operation, navigation devices typically combine the vehicle's speed, direction, and position with a planned navigation route to display the navigation interface and provide navigation. However, the map display ratio in the vehicle navigation interface is usually fixed, which fails to accurately represent road conditions and results in poor navigation performance. Summary of the Invention

[0003] Therefore, it is necessary to provide a vehicle navigation method, device, computer equipment, computer-readable storage medium, and computer program product to address the aforementioned technical problems. This product can adjust the map size and perspective according to the driving scenario and the actual road conditions at the vehicle's current location, thereby improving the perceptibility of various driving scenarios, focusing on the road observation range that needs to be considered in each driving scenario, and enhancing the navigation effect.

[0004] This application provides a vehicle navigation method. The method includes:

[0005] Displays a vehicle navigation interface, which includes a map;

[0006] The map displays vehicles traveling on target roads, and the vehicles are in a driving scenario, which includes at least one target driving scenario.

[0007] When the vehicle is in a target driving scenario at its current location, the map is displayed as a target map with a target map size and a target viewpoint. The road range displayed in the target map is adapted to the road observation range at the current location when the vehicle is in the target driving scenario.

[0008] This application also provides a vehicle navigation device. The device includes:

[0009] The interface display module is used to display a vehicle navigation interface, which includes a map; and displays vehicles traveling on target roads in the map, wherein the vehicles exist in a driving scenario while traveling, and the driving scenario includes at least one target driving scenario.

[0010] The map display module is used to display the map as a target map with a target map size and a target view when the vehicle is in a target driving scenario at its current location. The road range displayed in the target map is adapted to the road observation range of the vehicle at its current location when it is in the target driving scenario.

[0011] In one embodiment, the road observation range at the current location when the vehicle is in the target driving scenario includes at least one of the road lateral observation range or the road longitudinal observation range at the current location when the vehicle is in the target driving scenario.

[0012] In one embodiment, the map display module is further configured to display the map as a target map having a target map width and a target viewpoint; wherein the target map width adapts the lateral range of the road displayed in the target map to the lateral view range of the road at the current position when the vehicle is in the target driving scenario; and the target viewpoint adapts the longitudinal range of the road displayed in the target map to the longitudinal view range of the road at the current position when the vehicle is in the target driving scenario.

[0013] In one embodiment, the map display module is further configured to, when the vehicle is in a target driving scenario at its current location, determine the target map sheet and target viewing angle required to display the target map based on the lateral observation range of the road at the current location when the vehicle is in the target driving scenario and the longitudinal observation range of the road at the current location when the vehicle is in the target driving scenario; and display the target map according to the target map sheet and the target viewing angle.

[0014] In one embodiment, the map display module is further configured to: determine the map sheet required for displaying the target map based on the lateral road observation range of the vehicle at its current position when it is in the target driving scenario; determine the pitch angle required for displaying the target map based on the required map sheet and the longitudinal road observation range of the vehicle at its current position when it is in the target driving scenario; when the pitch angle is greater than a preset threshold, increase the required map sheet, and return to the step of determining the pitch angle required for displaying the target map based on the required map sheet and the longitudinal road observation range of the vehicle at its current position when it is in the target driving scenario, until the pitch angle is less than the preset threshold, thereby obtaining the target map sheet and target viewing angle required for displaying the target map.

[0015] In one embodiment, the target road includes multiple lanes, the vehicle travels in the first lane of the multiple lanes, and the map display module is further configured to display the map as a map with a set map size and a set view when the vehicle is in a forward-flowing scenario at its current position; and to display the first lane in which the vehicle is traveling in the first lane in the forward-flowing scenario map in the center.

[0016] In one embodiment, the map display module is further configured to display the map as a target map with a target map sheet and a target pitch angle when the target driving scenario in which the vehicle is currently located is a lane-changing scenario. The target map sheet makes the lateral range of the road displayed in the target map the lateral observation range of the road at the current location when the vehicle is in the lane-changing scenario, and the target pitch angle makes the longitudinal range of the road displayed in the target map the longitudinal observation range of the road extending longitudinally from the current location to the farthest distance of the lane-changing scenario in the target road.

[0017] In one embodiment, the target road includes multiple lanes, the vehicle travels in the first lane of the multiple lanes, and the map display module is further configured to display the second lane and the estimated landing point of the vehicle in the second lane in the target map when the target driving scenario in which the vehicle is currently located is a lane change scenario from the first lane to the second lane.

[0018] In one embodiment, the vehicle navigation device further includes: a landing point determination module, configured to acquire the road topology of the target road at the current location; determine the second lane based on the lane change direction of the lane change scenario and the road topology; calculate the estimated lane change distance based on the vehicle's speed and lane change duration when the lane change is initiated; determine the vertical distance from the vehicle to the centerline of the second lane when the lane change is initiated; and determine the estimated landing point of the vehicle in the second lane based on the estimated lane change distance and the vertical distance.

[0019] In one embodiment, the map display module is further configured to: determine the lateral distance of the target road; determine the map size required to display the target map based on the lateral distance; obtain the maximum speed limit of the first lane; calculate the maximum lane change distance based on the maximum speed limit and the lane change duration; calculate the pitch angle based on the required map size and the maximum lane change distance; when the pitch angle is greater than a preset threshold, increase the required map size, and return to the step of calculating the pitch angle based on the required map size and the maximum lane change distance to continue execution until the pitch angle is less than the preset threshold, thereby obtaining the target map size and target pitch angle required to display the target map in the lane change scenario.

[0020] In one embodiment, the map display module is further configured to display the map as a target map with a target map width and a target pitch angle when the target driving scenario in which the vehicle is currently located is an avoidance scenario. The target map width makes the lateral range of the road displayed in the target map the lateral observation range of the lane where the vehicle is located and the adjacent lanes at the current location, and the target pitch angle makes the longitudinal range of the road displayed in the target map the longitudinal observation range of the lane where the vehicle is located and the adjacent lanes from the current location to the obstacle.

[0021] In one embodiment, the map display module is further configured to: determine the adjacent lanes of the lane where the vehicle is located in the target road; determine the map size required to display the target map based on the lateral distance between the lane where the vehicle is located and the adjacent lanes; determine the farthest distance between the vehicle and the obstacle; calculate the pitch angle based on the required map size and the farthest distance; when the pitch angle is greater than a preset threshold, increase the required map size and return to the step of calculating the pitch angle based on the required map size and the farthest distance to continue execution until the pitch angle is less than the preset threshold, thereby obtaining the target map size and target pitch angle required to display the target map in the obstacle avoidance scenario.

[0022] In one embodiment, the map display module is further configured to display the map as a target map with a target map sheet and a target pitch angle when the target driving scenario in which the vehicle is currently located is a takeover scenario from a takeover prompt point to an autonomous driving exit point, wherein the target map sheet and the target pitch angle are configured such that the road range displayed in the target map is the road observation range in the target road from the current location to the autonomous driving exit point.

[0023] In one embodiment, the map display module is further configured to determine the lateral distance between the target road and the road where the autonomous driving exit point is located, and determine the map size required to display the target map based on the lateral distance between the target road and the road; calculate the distance from the current position to the autonomous driving exit point; calculate the pitch angle based on the required map size and the distance; when the pitch angle is greater than a preset threshold, increase the required map size, and return to the step of calculating the pitch angle based on the required map size and the distance to continue execution until the pitch angle is less than the preset threshold, thereby obtaining the target map size and target pitch angle required to display the target map in the takeover scenario.

[0024] In one embodiment, the map display module is further configured to display the map as a target map with a target map sheet and a target viewing angle when the target driving scenario in which the vehicle is currently located is a maneuver point scenario in the maneuver operation area of ​​the target maneuver point. The target map sheet and the target pitch angle are configured such that the road range displayed in the target map is a road observation range formed by extending a preset distance along the intersection extension direction of the target maneuver point.

[0025] In one embodiment, the map in the vehicle navigation interface is a lane-level high-precision map, and the vehicle is an autonomous vehicle.

[0026] This application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0027] Displays a vehicle navigation interface, which includes a map;

[0028] The map displays vehicles traveling on target roads, and the vehicles are in a driving scenario, which includes at least one target driving scenario.

[0029] When the vehicle is in a target driving scenario at its current location, the map is displayed as a target map with a target map size and a target viewpoint. The road range displayed in the target map is adapted to the road observation range at the current location when the vehicle is in the target driving scenario.

[0030] This application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0031] Displays a vehicle navigation interface, which includes a map;

[0032] The map displays vehicles traveling on target roads, and the vehicles are in a driving scenario, which includes at least one target driving scenario.

[0033] When the vehicle is in a target driving scenario at its current location, the map is displayed as a target map with a target map size and a target viewpoint. The road range displayed in the target map is adapted to the road observation range at the current location when the vehicle is in the target driving scenario.

[0034] This application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0035] Displays a vehicle navigation interface, which includes a map;

[0036] The map displays vehicles traveling on target roads, and the vehicles are in a driving scenario, which includes at least one target driving scenario.

[0037] When the vehicle is in a target driving scenario at its current location, the map is displayed as a target map with a target map size and a target viewpoint. The road range displayed in the target map is adapted to the road observation range at the current location when the vehicle is in the target driving scenario.

[0038] The aforementioned vehicle navigation methods, devices, computer equipment, storage media, and computer program products involve vehicles traveling on target roads in a map. When a vehicle is in a target driving scenario at its current location, the map displayed on the navigation interface is a target map with a target map size and a target viewpoint. The road range displayed in this target map is adapted to the road observation range of the vehicle at its current location when it is in the target driving scenario.

[0039] In other words, the target map's target area and target viewpoint are determined by comprehensively considering the actual road conditions on the target road where the vehicle is currently located and the driving scenario. This ensures that the road range displayed on the target map is adapted to the road areas that the vehicle needs to focus on in its current driving scenario. This improves the perceptibility of map changes, significantly enhances navigation map quality, speeds up map viewing, and improves the navigation experience. Furthermore, the target map's target viewpoint can expand the visible area of ​​the map when the target map area is small, thereby improving navigation efficiency. Attached Figure Description

[0040] Figure 1 This is an application environment diagram of the vehicle navigation method in one embodiment;

[0041] Figure 2 This is a schematic diagram of map effects at different scale levels in one embodiment;

[0042] Figure 3 This is a schematic diagram of the map area viewed from different perspectives in one embodiment;

[0043] Figure 4 This is a schematic diagram of the map area viewed from different perspectives in yet another embodiment;

[0044] Figure 5 This is a schematic diagram illustrating the relationship between the scale and the pitch angle in one embodiment;

[0045] Figure 6This is a schematic diagram of a vehicle navigation system in one embodiment;

[0046] Figure 7 This is a schematic diagram of the data processing flow of an autonomous driving system in one embodiment;

[0047] Figure 8 This is a schematic diagram comparing the rendering effects of standard definition and high definition maps in one embodiment;

[0048] Figure 9 This is a schematic diagram of the transition logic of the driving state of an autonomous vehicle in one embodiment;

[0049] Figure 10 This is a flowchart illustrating a vehicle navigation method in one embodiment;

[0050] Figure 11 This is a schematic diagram illustrating the calculation of pitch angle under different map sheets in one embodiment;

[0051] Figure 12 This is a flowchart illustrating the automatic adjustment of image effects in an autonomous driving scenario in one embodiment.

[0052] Figure 13 This is a schematic diagram of a forward-moving scenario in one embodiment;

[0053] Figure 14 This is a schematic diagram of the lateral view range of a road in a lane-changing scenario in one embodiment.

[0054] Figure 15 This is a schematic diagram of a lane-changing scenario in one embodiment;

[0055] Figure 16 This is a schematic diagram illustrating the search for the second lane in a lane-changing scenario in one embodiment;

[0056] Figure 17 This is a schematic diagram illustrating the calculation of the estimated landing point of a vehicle in one embodiment;

[0057] Figure 18 This is a schematic diagram of an obstacle avoidance scenario in one embodiment;

[0058] Figure 19 This is a schematic diagram showing the positions of the vehicle and obstacles in one embodiment;

[0059] Figure 20 This is a schematic diagram of an autonomous driving takeover scenario in one embodiment;

[0060] Figure 21 A rendered image of an autonomous driving takeover scenario in one embodiment;

[0061] Figure 22 This is a schematic diagram of the road observation range in a takeover scenario in one embodiment;

[0062] Figure 23 This is a schematic diagram illustrating the rendering effect of a maneuvering point scene in an autonomous driving scenario in one embodiment.

[0063] Figure 24 This is a flowchart illustrating a vehicle navigation method in another embodiment;

[0064] Figure 25 This is a structural block diagram of a vehicle navigation device in one embodiment;

[0065] Figure 26 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0067] The embodiments of this application can be applied to the field of vehicle navigation technology. Intelligent Vehicle Infrastructure Cooperative Systems (IVICS), or simply vehicle-road cooperative systems, are a development direction of Intelligent Transportation Systems (ITS). IVICS utilizes advanced wireless communication and next-generation Internet technologies to implement comprehensive, real-time dynamic information interaction between vehicles and roads. Based on the collection and fusion of dynamic traffic information across all times and spaces, it conducts active vehicle safety control and cooperative road management, fully realizing effective coordination between people, vehicles, and roads, ensuring traffic safety, improving traffic efficiency, and thus forming a safe, efficient, and environmentally friendly road traffic system.

[0068] Vehicle navigation technology refers to the technology that maps the real-time positional relationship between a vehicle and the road onto a visualized vehicle navigation interface based on positioning data provided by a satellite positioning system. This provides navigation functionality to users (such as the driver or passengers) while the vehicle is in motion. Through the visualized vehicle navigation interface and the map displayed therein, users can learn about the vehicle's current location, route, speed, road conditions ahead, lane information, the status of other vehicles in the vicinity, and other road conditions.

[0069] The following explains some concepts involved in vehicle navigation technology:

[0070] Autonomous driving domain: The collection of software and hardware in a vehicle used to control autonomous driving.

[0071] Cockpit area: The collection of hardware and software in a vehicle used for user interaction within the cockpit, including the central control screen, instrument panel, and control buttons. Examples include the navigation map displayed on the central control screen and the user interface.

[0072] HD Map: HD map stands for High Definition Map.

[0073] SD Map: SD map stands for Standard Definition Map.

[0074] 2.5D View: Base map tilt mode, which can display 3D-like rendering effects such as 3D building blocks and 4K bridge effects.

[0075] ACC: Adaptive Cruise Control, is an automatic driving system that dynamically adjusts the vehicle's speed based on the user-set cruise speed and the safe distance to the vehicle in front. If the vehicle in front accelerates, the vehicle will also accelerate to the set speed. If the vehicle in front decelerates, the vehicle will decelerate to maintain a safe distance.

[0076] LCC: Lane Center Control, is a function provided by autonomous driving systems to assist the driver in controlling the steering wheel, continuously keeping the vehicle centered within the current lane.

[0077] NOA: Navigate on Autopilot, or simply NOA. This function allows the vehicle to drive automatically by setting a destination, and under the driver's monitoring, it can perform operations such as lane changing, overtaking, and automatically entering and exiting ramps. NOA's driving behaviors include cruise control, following, yielding, passing, single-rule lane changing (such as merging into the fast lane or exiting with a predetermined plan), and multi-condition lane changing (such as changing lanes while cruising).

[0078] Maneuvering points: Locations on electronic maps that guide drivers to make maneuvers such as turning, slowing down, changing lanes, and exiting. These are typically locations such as intersections, intersections where traffic dives, and intersections where traffic merges.

[0079] Landing point: The position of the vehicle when the autonomous driving system completes the automatic lane change.

[0080] The vehicle navigation method provided in this application embodiment can be applied to, for example, Figure 1The application environment shown includes a terminal 102 and a server 104, with the terminal 102 communicating with the server 104 via a network. A data storage system can store data that the server 104 needs to process, such as map data, including high-definition map data and standard-definition map data. The data storage system can be integrated onto the server 104 or placed in the cloud or on another server.

[0081] The terminal 102 can be, but is not limited to, mobile phones, computers, smart voice interaction devices, smart home appliances, and in-vehicle terminals. The terminal can also be a portable wearable device, such as a smartwatch or smart bracelet. The server 104 can be implemented using a standalone server or a server cluster composed of multiple servers. For example, the server 104 can be a server providing functional services for maps, including location services and navigation services. The server 104 can receive vehicle location data and perception data of the vehicle's environment, and generate a vehicle navigation interface based on this data, which is then displayed on the terminal 102. Alternatively, the terminal 102 can also receive vehicle location data and perception data, and generate and display a vehicle navigation interface based on this data. This application embodiment can be applied to various scenarios, including but not limited to cloud technology, artificial intelligence, smart transportation, assisted driving, and autonomous driving.

[0082] Similar to physical maps, the electronic maps (hereinafter referred to as maps) in vehicle navigation interfaces also have a display scale, also known as the map scale, which represents the ratio of distances on the displayed map to actual distances on the map. For example, 1 centimeter on the map in a vehicle navigation interface represents 1 kilometer on the actual map. There is a corresponding relationship between the map size and the display scale: the smaller the display scale, the larger the map size, meaning the larger the map area displayed, and the coarser the map details; conversely, the larger the display scale, the smaller the map size, meaning the smaller the map area displayed, and the more detailed and realistic the map details.

[0083] As shown in the table below, a correspondence is established between map scale levels and the actual size of geographical areas. The Earth's circumference is approximately 40,000 kilometers. In one embodiment, the Earth's circumference is used as the smallest map scale level, 0. As the scale level increases, the corresponding map size decreases accordingly. The specific correspondence is shown in Table 1 below. It should be understood that this correspondence between map scale levels and map sizes is only illustrative. Map scale levels can also be decimals, such as 22.5, which corresponds to a map size of 15 meters.

[0084] Table 1

[0085]

[0086]

[0087] like Figure 2 The image shown is a schematic diagram illustrating map effects at different scale levels in one embodiment. (Refer to...) Figure 2 It can be seen that, in Figure 2 In the maps shown, the map with a size of 20 meters is the largest and has the smallest area, while the map with a size of 500 meters is the smallest and has the largest area.

[0088] The viewpoint of the map in the vehicle navigation interface is the perspective from which the map is viewed; the viewpoint can be, for example, the map's tilt angle. Figure 3 This is a schematic diagram showing the map area viewed from different perspectives in one embodiment. (Refer to...) Figure 3 At the same scale, the pitch angles are 40 degrees, 50 degrees, and 65 degrees respectively. It is evident that at the same scale, a larger pitch angle results in a wider field of view, while a smaller pitch angle results in a narrower field of view. (Reference) Figure 4 The image shown is a schematic diagram of the map area viewed from different perspectives in another embodiment, namely, the vertical view, the small pitch angle view, and the large pitch angle view. The map area and building effects presented under different perspectives are different.

[0089] Figure 5 This is a schematic diagram illustrating the relationship between the scale and the pitch angle in one embodiment. (Reference) Figure 5 At the same viewing angle (e.g., vertical), a 20-meter map has the smallest visible range, while a 500-meter map has the largest. At the same map scale (e.g., 20 meters), a larger pitch angle results in a wider visible range, while a smaller pitch angle results in a smaller visible range. Therefore, at the same map size and scale, adjusting the pitch angle can adjust the visible range in different directions, expanding the visible range and even revealing beyond-line-of-sight geographical areas on the map.

[0090] To ensure smooth navigation, some navigation systems use an adaptive speed-based map display scale. However, this only considers speed and neglects the varying road ranges the vehicle needs to navigate in different driving scenarios, resulting in poor navigation performance. Furthermore, the navigation view is usually pre-set and fails to adapt to the vehicle's current location and driving environment, further reducing navigation efficiency.

[0091] Based on this, in order to provide better navigation effects and improve navigation efficiency for vehicles, this application provides a vehicle navigation method. This method not only focuses on the road conditions of the target road where the vehicle is currently located, but also on the driving scenario where the vehicle is currently located. Both are used as factors to adjust the map size and perspective, so as to achieve the effect of comprehensively adjusting the road range presented by the map. It can adjust the map size and perspective according to the actual situation of the road where the vehicle is currently located, improve the perceptibility of various driving scenarios, focus on the road observation range that needs to be paid attention to in each driving scenario, improve the navigation effect, and also help the driver or passengers in the vehicle understand the decision of the driving system, increasing the trustworthiness of the driving system.

[0092] Specifically, in one embodiment, terminal 102 can display a vehicle navigation interface, which includes a map. In the navigation interface, terminal 102 displays vehicles traveling on target roads in the map. When the vehicles are traveling, there are driving scenarios, including at least one target driving scenario. When the vehicle is in a target driving scenario at its current location, terminal 102 displays the map as a target map with a target map size and a target viewpoint. The road range displayed in the target map is adapted to the road observation range at the current location when the vehicle is in the target driving scenario.

[0093] In other words, the target map's target area and target viewpoint are determined by comprehensively considering the actual road conditions on the target road where the vehicle is currently located and the driving scenario. This ensures that the road range displayed on the target map is adapted to the key road areas that the vehicle needs to focus on in its current driving scenario. This improves the perceptibility of map changes, significantly enhances navigation map quality, speeds up map viewing, and improves the navigation experience. Furthermore, the target map's target viewpoint can expand the visible area of ​​the map, improving navigation efficiency, even when the target map area is small.

[0094] Driving scenarios include at least one target driving scenario, such as lane-changing scenarios, obstacle avoidance scenarios, takeover scenarios, and maneuvering scenarios. Lane-changing scenarios refer to the vehicle actively changing lanes during driving. In lane-changing scenarios, it's crucial to observe the lane the vehicle needs to change to and the situation of oncoming traffic in that lane. Obstacle avoidance scenarios refer to situations where the vehicle encounters obstacles during driving, such as a vehicle overtaking, a vehicle slowing down, or a vehicle changing lanes, resulting in poor road conditions. In these scenarios, it's necessary to avoid dangerous situations by slowing down or changing lanes. In obstacle avoidance scenarios, it's crucial to observe the obstacle and the lane where the obstacle is located. Takeover scenarios refer to situations where the autonomous vehicle is about to leave the area supported by the autonomous driving function and needs to switch to manual driving. In autonomous driving takeover scenarios, it's crucial to observe the location on the road where the vehicle needs to exit autonomous driving. Maneuvering scenarios refer to the locations where the vehicle performs maneuvering operations such as turning or making a U-turn during driving. In driving maneuvering scenarios, it's crucial to observe the road conditions at the maneuvering point ahead.

[0095] In addition to the driving scenarios mentioned above, target driving scenarios may also include other scenarios, which this application does not limit. It is understood that the range of roads that need to be observed may differ under different driving scenarios. Furthermore, in addition to including the various target driving scenarios mentioned above, driving scenarios may also include straight-line scenarios, which refer to scenarios where the road ahead is straight without lane changes, U-turns, turns, or other operations. In straight-line scenarios, the map size and viewing angle can be preset values ​​and do not need to change with the current position of the vehicle on the target road.

[0096] The vehicle navigation method provided in this application can be applied to vehicle navigation in autonomous driving scenarios. An autonomous driving scenario, also known as a vehicle-driving scenario, refers to a scenario where the vehicle is controlled by an onboard autonomous driving system. During vehicle navigation in an autonomous driving scenario, a visual vehicle navigation interface is presented to the driver or passengers, allowing them to clearly and intuitively understand the road environment in which the vehicle is located. This application embodiment combines the road environment of the target road where the autonomous vehicle is currently located with the driving scenario in which the autonomous vehicle is currently located to comprehensively determine the map size and viewing angle presented in the vehicle navigation interface, thereby showing changes in the map. This can improve the perceptibility of the vehicle's location in autonomous driving scenarios, enhance the trust of vehicle occupants in the autonomous driving system, and increase the sense of driving safety provided by the autonomous driving system.

[0097] The vehicle navigation system provided in this application can also be applied to the vehicle navigation process of an active driving system. Active driving scenarios, also known as human-driven scenarios, refer to scenarios where the vehicle is controlled by a driver. During vehicle navigation in active driving scenarios, a visual navigation interface is presented to the driver inside the vehicle, allowing for a clear and intuitive understanding of the vehicle, its surrounding road environment, and its driving status. This application combines the navigation environment of the target road currently in the vehicle with the current driving scenario, adjusting the map size and perspective in the vehicle navigation interface to present map changes. This enhances the perceptibility of the vehicle's location, allowing the driver to make driving decisions based on the presented navigation interface, thus improving traffic safety during driving.

[0098] The vehicle navigation method provided in this application embodiment can also be applied to, for example, Figure 6 The vehicle navigation system shown includes a vehicle 601, a positioning device 602, a sensing device 603, and an in-vehicle terminal 604, which are mounted in the vehicle 601.

[0099] The positioning device 602 can be used to acquire the position data of the vehicle 601 (i.e., the vehicle itself) in the world coordinate system (i.e., the position data of the vehicle 601), where the world coordinate system refers to the system's absolute coordinate system. The positioning device 602 can send the position data of the vehicle 601 in the world coordinate system to the vehicle terminal 604. The positioning device mentioned in this application embodiment can be an RTK (Real Time Kinematic) positioning device, which can provide high-precision (e.g., centimeter-level) positioning data of the vehicle 601 in real time (i.e., the position data of the vehicle 601).

[0100] The sensing device 603 can be used to perceive the environment in which the vehicle 601 is located, obtaining environmental perception data. The perceived object can be other vehicles or obstacles on the target road. For example, the environmental perception data can include the position data of other vehicles on the target road (such as overtaking vehicles in avoidance scenarios, vehicles in front, and vehicles approaching from behind in lane change scenarios) in the vehicle coordinate system of the vehicle 601 (i.e., the coordinate data of other vehicles relative to the vehicle 601). The environmental perception data also includes data that the vehicle 601 needs to know in different scenarios, such as the predicted landing point on the lane in lane change scenarios, and the position of the autonomous driving exit point on the lane in takeover scenarios, etc. The vehicle coordinate system refers to the coordinate system established with the vehicle center of the vehicle 601 as the origin. The sensing device 603 can send the environmental perception data to the vehicle terminal 604. The sensing device 603 includes visual sensing devices and radar sensing devices. The sensing range of the sensing device 603 in sensing the environment of the vehicle 601 is determined by the sensors integrated in the sensing device. Generally, the sensing device may include, but is not limited to, at least one of the following sensors: a visual sensor (e.g., a camera), a long-range radar, and a short-range radar. The detection range supported by the long-range radar is greater than that supported by the short-range radar.

[0101] The vehicle-mounted terminal 604 integrates satellite positioning technology, odometer positioning technology, and vehicle black box technology. It is a terminal device used for vehicle safety management, operation management, service quality management, intelligent centralized dispatch management, and electronic bus stop control management. The vehicle-mounted terminal 604 may include a display screen, such as a central control screen, instrument panel screen, or AR-HUD (Augmented Reality Head-Up Display) display. After receiving the absolute position data and environmental perception data from the vehicle 601, the vehicle-mounted terminal 604 can convert the position data of the perceived object in the vehicle coordinate system into the position data of the perceived object in the world coordinate system. That is, it converts the relative position data of the perceived object into the absolute position data of the perceived object. Then, the vehicle-mounted terminal 604 can display a marker representing the perceived object on the navigation interface displayed on the screen based on the absolute position data of the perceived object.

[0102] Taking autonomous driving scenarios as an example, the vehicle navigation method provided in this application involves cross-domain communication between the autonomous driving domain and the cockpit domain. The autonomous driving domain refers to the set of hardware and software in the vehicle used to control autonomous driving, such as the aforementioned positioning device 602 and perception device 603. The cockpit domain refers to the set of hardware and software in the vehicle used to control interactions with objects associated with the vehicle within the cockpit, such as the aforementioned in-vehicle terminal 604. The cockpit domain and the autonomous driving domain are two relatively independent processing systems. Data is transmitted across domains between the two systems via in-vehicle Ethernet using data transmission protocols such as TCP (Transmission Control Protocol), UDP (User Datagram Protocol), and SOME / IP (Scalable Service-Oriented Middleware over IP). In-vehicle Ethernet can achieve relatively high data transmission rates (e.g., 1000 Mbit / s) while also meeting the automotive industry's requirements for high reliability, low electromagnetic radiation, low power consumption, and low latency.

[0103] like Figure 7 The diagram shown illustrates the data processing flow of an autonomous driving system in one embodiment. (Refer to...) Figure 7 After the autonomous driving domain collects positioning data and environmental perception data, it packages the data and transmits the packaged data to the cockpit domain via cross-domain communication. Upon receiving the packaged data, the cockpit domain performs a correction operation on the positioning data in conjunction with high-precision map information to obtain the vehicle's location. Subsequently, based on the location, it integrates other perceived objects from the perception data into the high-precision map. Finally, all the integrated information is presented in the form of a high-precision map on the cockpit domain's display screen (central control screen, instrument panel, AR-HUD, and other display devices).

[0104] The map displayed on the vehicle navigation interface can be either standard definition (SD) or high-definition (HD) maps. Map data has evolved from early SD data to current HD data, with accuracy improving from 5-10 meters to approximately 50cm. The navigation map's rendering has also evolved from road-level (or path-level) rendering to lane-level rendering. The map view has expanded from a flat perspective to a 2.5D perspective, significantly increasing the field of view at the same display scale and showcasing more beyond-line-of-sight information.

[0105] Standard definition (SD) maps are typically used to assist drivers with vehicle navigation, with a coordinate accuracy of around 10 meters. However, in the field of autonomous driving, autonomous vehicles need to know their exact location. The distance between the vehicle and curbs, and adjacent lanes, is usually only a few tens of centimeters. Therefore, high-definition maps require absolute accuracy within 1 meter, and the lateral relative accuracy (such as the relative position accuracy between lanes and between lane lines) is often even higher. Furthermore, in some cases, high-definition maps can also present accurate road shapes, including data on the slope, curvature, heading, elevation, and lateral tilt of each lane; the type and color of lane lines; the speed limit and recommended speed for each lane; the width and material of median strips; the content and location of arrows and text on the road; and the absolute geographical coordinates, physical dimensions, and characteristics of traffic participants such as traffic lights and pedestrian crossings.

[0106] like Figure 8 The image shown is a schematic diagram comparing the rendering effects of a standard-definition map and a high-definition map in one embodiment. (Refer to...) Figure 8 The image quality has changed dramatically since the upgrade from standard definition to high definition maps, including changes in scale (map area), switching from vertical to 2.5D perspective, and refinement of guidance effects (path level upgraded to lane level). These changes need to be adjusted according to the actual application scenario to maximize the value of high definition map rendering.

[0107] like Figure 9 The diagram shown illustrates the transition logic of the driving state of an autonomous vehicle in one embodiment. (Refer to...) Figure 9 The autonomous driving system includes switching between various driving states (functional states). Function upgrade refers to gradually upgrading from a fully manual driving state to a higher level of autonomous driving. Manual driving can be directly upgraded to ACC, LCC, and NOA, or it can be changed to ACC first, then LCC, and finally NOA, activating them step by step. Function downgrade is the opposite of function upgrade, representing a gradual downgrade from a higher level of autonomous driving to fully manual driving. In the embodiments of this application, the driving scenarios mentioned, within the context of autonomous driving, can specifically refer to scenarios such as automatic lane changing, automatic obstacle avoidance, intervention prompts, and automatic following performed by the autonomous driving system in NOA state.

[0108] In one embodiment, such as Figure 10 As shown, a vehicle navigation method is provided, which is applied to... Figure 1 Terminal 102 or Figure 6 Taking the vehicle-mounted terminal 604 as an example, the explanation includes the following steps 1002 to 1006:

[0109] Step 1002: Display the vehicle navigation interface, which includes a map.

[0110] While the vehicle is in motion, the terminal can display a vehicle navigation interface. This interface provides navigation for the vehicle during operation. It may include a map depicting the actual road environment at the vehicle's location, including the road, lane, and lane markers in the target lane. The map can be either standard definition (SD) or high definition (HD). For example, in autonomous driving scenarios, a HD map is used, representing a virtual road environment created through 3D modeling. In standard definition (SD) scenarios, a 2D virtual road environment is used, which may only include road data and not spatial elevation data.

[0111] Step 1004: Display vehicles traveling on the target road in the map. The vehicles are in a driving scenario, which includes at least one target driving scenario.

[0112] During vehicle operation, the vehicle navigation interface displayed on the terminal also includes vehicles shown on the target road. Both the target road and the vehicles here are virtual mappings of actual roads and vehicles. The vehicles are displayed on the target road in the navigation interface based on the current location data of the actual vehicles. The target road is the road the vehicle is traveling on. The target road can include at least one lane and can be a multi-vehicle road. The terminal can display vehicles traveling in a specific lane of the target road.

[0113] Vehicles traveling on roads exist within corresponding driving scenarios. A driving scenario is a series of driving behaviors performed by a vehicle to achieve safe driving. Driving scenarios include at least one target driving scenario, such as lane-changing scenarios, obstacle avoidance scenarios, takeover scenarios, maneuver point scenarios, etc. For specific descriptions of these target driving scenarios, please refer to the preceding related explanations. Besides the driving scenarios mentioned above, target driving scenarios may also include other scenarios, which this application does not limit. It is understood that the scope of roads requiring focused observation may differ under different driving scenarios. Furthermore, in addition to including the various target driving scenarios mentioned above, driving scenarios may also include unidirectional driving scenarios, which refer to a scenario where the road ahead is straight, without lane-changing, U-turns, or turns. In unidirectional driving scenarios, the map size and viewing angle can be preset values ​​and do not need to change with the vehicle's current location on the target road. In autonomous driving scenarios, target driving scenarios may include automatic lane-changing scenarios, automatic obstacle avoidance scenarios, takeover prompt scenarios, automatic following scenarios, etc., of the autonomous driving system in NOA (No Assistance) state.

[0114] In standard vehicle navigation scenarios, the terminal can determine the vehicle's driving scenario based on changes in the vehicle's location data. In autonomous driving scenarios, the vehicle's driving behavior is decided by the autonomous driving domain. The cockpit domain terminal can obtain the vehicle's current driving scenario from the autonomous driving domain through cross-domain communication, and obtain the data required for map display in that scenario, such as the vehicle's steering information in lane-changing scenarios, the position information of obstacles relative to the vehicle in obstacle avoidance scenarios, and the location information of the autonomous driving exit point in takeover scenarios, etc.

[0115] Step 1006: When the vehicle is in a target driving scenario at its current location, the map is displayed as a target map with a target map size and target view. The road range displayed in the target map is adapted to the road observation range of the vehicle at its current location when it is in the target driving scenario.

[0116] The current location refers to the vehicle's position displayed on the map, which is based on the vehicle's location. It can be understood that the current location changes constantly over time as the vehicle is moving; for example, the refresh frequency could be 10 times per second. The target driving scenario is the driving scenario in which the vehicle is currently located. The target driving scenario can be any of the driving scenarios mentioned above, such as lane changing, obstacle avoidance, takeover, and maneuvering point scenarios.

[0117] The map displayed when the vehicle is currently in the target driving scenario, with the target map size and target viewpoint, is called the target map. It is called the target map because the target map size and target viewpoint ensure that the road range shown on the map is adapted to the road observation range of the vehicle at its current location in the target driving scenario.

[0118] For specific explanations regarding map size and viewing angle, please refer to the preceding descriptions. Based on the preceding descriptions, the map extent displayed by different map sizes and viewing angles is different, and naturally, the displayed road extent is also different. For example, the smaller the map size, the smaller the pitch angle, the wider the displayed road or lane, and the less forward field of view; the larger the map size, the larger the pitch angle, the narrower the displayed road or lane, and the more forward field of view. In the embodiments of this application, the road extent displayed in the target map is related to the road attributes of the target road itself where the lane is located, the current position of the vehicle on the target road, and the target driving scenario. In other words, these factors jointly determine the target map size and target viewing angle used to display the target map, thereby determining the target map that needs to be displayed.

[0119] The road observation range at a vehicle's current location when it is in a target driving scenario is determined in advance based on the road range that the vehicle needs to focus on during its driving behavior in the target driving scenario. That is, different target driving scenarios correspond to different road observation ranges. For example, in a lane-changing scenario, it is necessary to observe the lane the vehicle is changing into and the situation of oncoming vehicles in that lane. Therefore, the road observation range in a lane-changing scenario is mainly the area near the vehicle's current location on the target road. As another example, in a collision avoidance scenario, it is necessary to observe obstacles and the lane where the obstacle is located. Therefore, the road observation range in a collision avoidance scenario is mainly the area formed by the current location and the location of the obstacle.

[0120] In this embodiment, the target map's target map size and target viewing angle are determined by comprehensively considering the actual road conditions of the target road where the vehicle is currently located and the driving scenario in which the vehicle is currently driving. This ensures that the road range displayed in the target map is adapted to the road areas that the vehicle needs to focus on in its current driving scenario, improving the perceptibility of map changes, significantly enhancing navigation map quality, speeding up map viewing, and improving the navigation experience. Furthermore, the target map's target viewing angle can expand the map's visible range and improve navigation efficiency when the target map size is small.

[0121] In one embodiment, the road observation range may include at least one of the road lateral observation range or the road longitudinal observation range at the current location when the vehicle is in the target driving scenario.

[0122] In one embodiment, step 1006 specifically includes: displaying the map as a target map with a target map size and a target viewpoint; wherein, the target map size makes the lateral range of the road displayed in the target map adapt to the lateral viewpoint of the road at the current position when the vehicle is in the target driving scenario; and the target viewpoint makes the longitudinal range of the road displayed in the target map adapt to the longitudinal viewpoint of the road at the current position when the vehicle is in the target driving scenario.

[0123] The lateral view range of the road at the vehicle's current location when it is in the target driving scenario is used to determine the target map size required for displaying the target map. The wider the lateral view range, the larger the required target map size. This lateral view range, together with the longitudinal view range of the road at the vehicle's current location when it is in the target driving scenario, is used to determine the target viewing angle required for displaying the target map. Given a fixed lateral view range, the longer the longitudinal view range, the larger the required target viewing angle. In practical applications, the lateral view range can show the traffic conditions on both sides of the vehicle, while the longitudinal view range can show the traffic conditions in front of and behind the vehicle.

[0124] The lateral observation range of the road can be quantified by the lateral distance that the vehicle needs to observe from its current position when it is in the target driving scenario. This lateral distance can be the lateral width of the entire target road, the lateral width of the lane the vehicle is in, or the lateral width of the lane the vehicle is in, its adjacent lanes, or the lanes formed by these lanes. The specific lateral distance depends on the target driving scenario. The longitudinal observation range of the road can be quantified by the longitudinal distance that the vehicle needs to observe from its current position when it is in the target driving scenario. This longitudinal distance can be the farthest distance from the vehicle to an obstacle ahead, the distance from the vehicle to the estimated landing point, or the distance from the vehicle to the autonomous driving exit point. The specific longitudinal distance also depends on the target driving scenario. Therefore, it can be understood that the lateral and longitudinal distances of the road defined for different target driving scenarios differ. That is, the road observation range of the vehicle at the same position may differ when the vehicle is in different driving scenarios, and the road observation range of the vehicle at different positions may also differ when the vehicle is in the same driving scenario.

[0125] In one embodiment, step 1006 specifically includes: when the vehicle is in a target driving scenario at its current location, determining the target map size and target viewing angle required to display the target map based on the lateral observation range of the road at the current location and the longitudinal observation range of the road at the current location when the vehicle is in the target driving scenario; and displaying the target map according to the target map size and target viewing angle.

[0126] Specifically, when the terminal determines that the vehicle is in a target driving scenario at its current location, it determines the lateral observation range of the road at the current location when the vehicle is in the target driving scenario. Then, based on the lateral observation range of the road, it determines the target map size and target viewpoint required to display the target map. Subsequently, the terminal obtains the map data at the current location and renders and displays the map data according to the target map size and target viewpoint to obtain the target map that needs to be displayed at the current location when the vehicle is in the target driving scenario.

[0127] In one embodiment, determining the target map sheet and target viewing angle required for displaying the target map based on the lateral view range of the road at the current location when the vehicle is in the target driving scenario and the longitudinal view range of the road at the current location when the vehicle is in the target driving scenario may specifically include:

[0128] Based on the lateral observation range of the road at the current location when the vehicle is in the target driving scenario, determine the map size required to display the target map; based on the required map size and the longitudinal observation range of the road at the current location when the vehicle is in the target driving scenario, determine the pitch angle required to display the target map; when the pitch angle is greater than a preset threshold, increase the required map size, and return to the step of determining the pitch angle required to display the target map based on the required map size and the longitudinal observation range of the road at the current location when the vehicle is in the target driving scenario, and continue to execute until the pitch angle is less than the preset threshold, thus obtaining the target map size and target view required to display the target map.

[0129] Specifically, the terminal can determine the lateral distance of the vehicle at its current location within the target driving scenario based on the road attributes of the target road, the vehicle's current position, and the target driving scenario. Based on this lateral distance, it queries the mapping table shown in Table 1 to determine the map sheet required for displaying the target map. Subsequently, the terminal determines the longitudinal distance of the vehicle at its current location within the target driving scenario based on the road attributes of the target road, the vehicle's current position, and the target driving scenario. It then calculates the pitch angle based on the previously determined required map sheet and the longitudinal distance. If the pitch angle is less than a preset threshold, the previously determined required map sheet and the pitch angle are used as the target map sheet and target viewpoint for displaying the target map. If the pitch angle is greater than the preset threshold, the map sheet is increased by one level according to the map sheet list shown in Table 1, and the pitch angle is recalculated based on the increased map sheet and the longitudinal distance. This process is iterated until the pitch angle is less than the preset threshold. The preset threshold for the pitch angle can be set according to actual application requirements.

[0130] In other words, the strategy for determining the target map size and target viewpoint is:

[0131] 1. Determine the map sheet required to display the target map based on the lateral observation range of the road at the current location when the vehicle is in the target driving scenario;

[0132] 2. Determine the pitch angle based on the longitudinal observation range of the road at the current position when the vehicle is in the target driving scenario;

[0133] 3. If the pitch angle is greater than the preset threshold, adjust and increase the map size by one level (shrink the map and expand the map range), and then recalculate the pitch angle according to steps 2 and 3 until the pitch angle is less than the preset threshold.

[0134] For example, in practical applications, regardless of the driving scenario, the lateral observation range of the road may require at least 5 meters of information in the left and right directions of the road surface width. Therefore, the lateral observation range of the road is approximately 10 meters. According to Table 1, the minimum map size required to display the map is approximately 10 meters, corresponding to a scale level of 22. With a map size of 10 meters, when the pitch angle exceeds 75°, the viewing angle is almost parallel to the road surface, and there are 3D buildings displayed on the map, making the map rendering effect unfavorable for user viewing. Therefore, the maximum pitch angle is 75°, so the preset threshold can be set to 75°. Of course, the preset threshold can also be 60°, 40°, or even 20°, which can be set according to the actual application situation without restriction.

[0135] Assume the lateral distance of the road is horizontalDist and the longitudinal distance is verticalDist. Table 1 shows the map scale closest to horizontalDist, i.e.:

[0136] scale=Find{Min{Scale(i)-horizontalDist}},0 <i<23;

[0137] That is, starting from the scale level i=1, calculate Scale(i)-horizontalDist sequentially, and take the i with the smallest calculation result as the initial scale level;

[0138] The elevation angle is calculated based on the initial map sheet scale corresponding to the initial scale level i. The formula for calculating the elevation angle is as follows:

[0139] skewAngle=arctan(verticalDist / scale).

[0140] like Figure 11 The diagram illustrates the calculation of the pitch angle under different map sizes. For example, if the current map size is set to 20 meters based on horizontalDist and verticalDist is 100 meters, then skewAngle = arctan(100 / 20) = 78.69°. However, the current pitch angle exceeds the preset threshold, so it is necessary to expand the map size by one level (adjusting it to a 50-meter map size) and recalculate. In this case, skewAngle = arctan(100 / 50) = 63.435°, which meets the requirements. Thus, the terminal can render and display the acquired map data of the current location at a map size of 50 meters and a pitch angle of 63.435°, presenting the target map at the current location when the vehicle is in the target driving scenario.

[0141] like Figure 12The diagram shown illustrates the process of automatically adjusting the image effect in an autonomous driving scenario. (Refer to...) Figure 12 The cockpit domain obtains the vehicle's current position and the target driving scene from the autonomous driving domain through cross-domain communication. It calculates the lateral observation range of the road in the target driving scene to determine the map sheet, and calculates the longitudinal observation range of the road in the current scene to determine the pitch angle. It dynamically adjusts the map sheet and pitch angle until the pitch angle meets the visual requirements. Finally, the adjusted map sheet and pitch angle are applied to high-precision map rendering. It should be noted that, normally, the vehicle or its lane is displayed centered in the vehicle navigation interface and remains fixed. However, in some target driving scenarios, it is necessary to display other lanes or other vehicles centered in the vehicle navigation interface. In this case, the parameters for rendering the high-precision map may also include the map offset (or center point, i.e., the location of the center point of the vehicle navigation interface on the map).

[0142] The following section uses autonomous driving scenarios and high-precision maps as examples to introduce some specific driving scenarios. Driving scenarios include forward driving scenarios and several target driving scenarios. Target driving scenarios include lane changing scenarios, avoidance scenarios, takeover scenarios, and maneuver point scenarios.

[0143] In one embodiment, the target road includes multiple lanes, and the vehicle travels in the first lane of the multiple lanes. The method further includes: when the vehicle is in a forward-moving scenario at its current position, displaying the map as a map with a set map size and a set viewpoint in the forward-moving scenario; and centering the first lane in which the vehicle is traveling in the map in the forward-moving scenario.

[0144] A "straight-ahead" scenario refers to a situation where the road ahead is straight, without lane changes, U-turns, or turns. In this scenario, the map's size and perspective are pre-set values ​​and do not need to change based on the vehicle's current location on the target road. For example... Figure 13 As shown, Figure 13 Part (a) is a schematic diagram of the forward traffic scenario. The outer frame represents the entire vehicle navigation interface, the three rectangles represent the three lanes, and the circle represents the vehicle's position. Figure 13 Part (b) shows the rendering effect of a forward-moving scenario. In one embodiment, in a forward-moving scenario, the lane is displayed in the center of the vehicle navigation interface, and the lane where the vehicle is located is also displayed in the center of the vehicle navigation interface. Optionally, the vehicle is displayed in the area below the lane range of the lane where the vehicle is located, for example, in the lower 2 / 3 of the lane range of the lane where the vehicle is located, so that more of the road ahead is presented in the entire map.

[0145] In one embodiment, when the vehicle is in a target driving scenario at its current location, the map is displayed as a target map with a target map width and a target viewpoint. The road range displayed in the target map is adapted to the road observation range of the vehicle at its current location when it is in the target driving scenario. This includes: when the target driving scenario in which the vehicle is at its current location is a lane-changing scenario, the map is displayed as a target map with a target map width and a target pitch angle. The target map width makes the lateral range of the road displayed in the target map the lateral observation range of the road at the current location when the vehicle is in the lane-changing scenario, and the target pitch angle makes the longitudinal range of the road displayed in the target map the longitudinal observation range of the road extending forward from the current location to the longest distance of the lane-changing scenario.

[0146] Lane-changing scenarios refer to autonomous vehicles actively changing lanes during operation. In lane-changing scenarios, the focus is on observing the lane to which the vehicle needs to change lanes and the oncoming traffic in that lane. The lateral observation range of the road in a lane-changing scenario can be the lateral distance of the road from the vehicle's current position. This lateral distance can be the width of the target road. If the target road has multiple lanes, this lateral distance can be the lateral width of the lane the vehicle is in, plus the lanes to its left and right, or the lateral width of the lane the vehicle is in, plus the lanes to its left and right, plus the left-left lane, plus the right-right lane, or a lateral width four times the width of the lane the vehicle is in. This application does not impose any particular limitations on this. The longitudinal observation range of the road in a lane-changing scenario can be the road range formed by extending the maximum distance of the lane change from the current position longitudinally, or the road range formed by extending the longitudinal distance from the current position longitudinally to the predicted lane-changing landing point. This application does not impose any particular limitations on this.

[0147] In one embodiment, the steps for determining the target map size and target pitch angle in a lane-change scenario include: determining the lateral distance of the target road; determining the map size required to display the target map based on the lateral distance; obtaining the maximum speed limit of the first lane; calculating the maximum lane-change distance based on the maximum speed limit and the lane-change duration; calculating the pitch angle based on the required map size and the maximum lane-change distance; when the pitch angle is greater than a preset threshold, increasing the required map size, and returning to the step of calculating the pitch angle based on the required map size and the maximum lane-change distance to continue execution until the pitch angle is less than the preset threshold, thus obtaining the target map size and target pitch angle required to display the target map.

[0148] In an optional embodiment, the lateral distance of the road in a lane-changing scenario is composed of the lane where the vehicle is located (which can be denoted as the first lane), the left and right lanes of the first lane in the target road, as well as the left-left lane and right-right lane, ensuring that the information of each lane can be completely presented in the target map. For example... Figure 14As shown, the lateral observation range of the road in a lane change scenario is formed by the width of each lane, Range = dLL + dL + d + dR + dRR.

[0149] For locations without left-left or right-right lanes, the map area can be reduced by dLL or dRR, i.e.: Range = dL + d + dR + dRR or Range = dLL + dL + d + dR.

[0150] For locations without a left or right lane, the width of one lane can be calculated by extending it to the left or right based on the width of the first lane, i.e.:

[0151] When there is no left lane, Range = d + d + dR + dRR;

[0152] When there is no right lane, Range = dLL + dL + d + d.

[0153] Subsequently, the terminal can determine the initial scale level, i.e., the initial map sheet, by referring to Table 1.

[0154] The pitch angle determines the longitudinal viewing range of the road that the map can display at the current scale. In some optional embodiments, the longitudinal viewing range of the road is related to the maximum speed limit of the current lane. For example, if the maximum speed limit of the first lane is V kilometers per hour, or (V / 3.6) meters per second, and the lane change time is 3 seconds, then the forward display distance is 3*V / 3.6. For example, if the current road is a three-lane road with three lanes of equal width, each lane being 3.5 meters wide, then the lateral viewing range of the road in a lane change scenario is 3.5 x 4 = 14 meters. If the maximum speed limit of the first lane is 100 km / h, the longitudinal viewing range of the road extends longitudinally from the vehicle's position by 3*100 / 3.6, which is 83.4 meters. According to Table 1, the initial map size is 15 meters corresponding to a 21.5 scale. At a 21.5 scale, the calculated elevation angle is 80°. Assuming the preset threshold is 75°, the map size needs to be expanded by 20 meters, and the calculated elevation angle is 76.5°. Then, the map size needs to be expanded again to 30 meters, and the calculated elevation angle is 70.2°, which meets the requirements. Therefore, it can be determined that the target map size to be displayed at the current location is 30 meters, and the target elevation angle is 70.2°.

[0155] In this embodiment, by determining the target map size and target pitch angle required to display the target map based on the lateral and longitudinal distances of the lane that need to be considered at the current position of the vehicle in a lane-changing scenario, the occupants of the vehicle can perceive that they are currently in a lane-changing scenario. The displayed target map can focus on the lane range of the current position in the lane-changing scenario, improve the perceptibility of the scenario, and enhance the occupants' trust in the autonomous driving system.

[0156] In one embodiment, the target road includes multiple lanes, and the vehicle travels in the first lane of the multiple lanes. The method further includes: when the target driving scenario in which the vehicle is currently located is a lane change scenario from the first lane to the second lane, displaying the second lane and the estimated landing point of the vehicle in the second lane in the center of the target map.

[0157] For example, when a vehicle changes lanes from the first lane (also known as the current lane) to the second lane, the second lane on the left is displayed in the center; when a vehicle changes lanes from the first lane to the second lane, the second lane on the right is displayed in the center. Optionally, when the vehicle's driving scenario switches from a forward-moving scenario to a lane-changing scenario, the vehicle's position can change from being below the lane on the map to being above or in the middle of the lane on the map. The terminal can determine the map offset and display the map according to that offset to show the road conditions behind the second lane. Figure 15 As shown, Figure 15 Parts (a) and (b) are schematic diagrams of lane changing scenarios, namely changing lanes to the left and changing lanes to the right, respectively. The outer frame represents the entire vehicle navigation interface, the three rectangles represent the three lanes, the circle represents the vehicle's position, and the rectangles inside the lanes represent the vehicle's estimated landing point position. The second lane and the estimated landing point in the second lane can be displayed and centered in the vehicle navigation interface.

[0158] For a vehicle traveling in the first lane, the terminal can obtain information about the vehicle's current position and steering from the autonomous driving domain. Based on the vehicle steering information and the topology of the target road where the vehicle is currently located, it can determine the second lane that the vehicle should change to.

[0159] In one embodiment, the method further includes: obtaining the road topology of the target road at the current location; determining the second lane based on the lane change direction and the road topology of the lane change scenario; calculating the estimated lane change distance based on the vehicle's speed and lane change duration when the lane change is initiated; determining the vertical distance from the vehicle to the centerline of the second lane when the lane change is initiated; and determining the estimated landing point of the vehicle in the second lane based on the estimated lane change distance and the vertical distance.

[0160] Specifically, the terminal obtains the vehicle's current location and determines the first lane it is currently in. Based on the road topology of the target road where the first lane is located, it queries the forward, backward, left, and right lanes of the first lane. Combining this with the vehicle's turning information (changing lanes to the left or right), it determines the second lane the vehicle will change to. In autonomous driving scenarios, the terminal can obtain the vehicle's turning information at its current location from the autonomous driving domain through cross-domain communication.

[0161] like Figure 16 The diagram shown illustrates the search for the second lane in a lane-changing scenario, as illustrated in one embodiment. (Refer to...) Figure 16 When turning right, the terminal receives right lane change information from the autonomous driving system, obtains information about the second lane on the right from the topology of the first lane, and then searches forward and backward using the second lane on the right as a reference to determine the boundary line and center line of the entire second lane. When turning left, it is a left lane change scenario. The terminal receives left lane change information from the autonomous driving system, obtains information about the second lane on the left from the topology of the first lane, and then searches forward and backward using the second lane on the left as a reference to determine the boundary line and center line of the entire second lane.

[0162] like Figure 17 The diagram shown illustrates the calculation of the estimated landing point of the vehicle in one embodiment. (Refer to...) Figure 17 Let A represent the current position of the vehicle, and CD be the center line of the second lane. Draw a perpendicular line from point A to the line CD, with the foot of the perpendicular at point B. Point B is not the actual landing point; calculating the landing point requires considering the lane change time and the vehicle's speed. The specific calculation method is as follows:

[0163] Assuming the vehicle's speed is v meters per second when changing lanes, the lane change time is 3 seconds, and the turning angle is angle B'AB, i.e. θ, then the position of B' on the second lane is the position of point B plus the distance BB' traveled during the lane change.

[0164] BB'=AB'*sin(∠B'AB)=v*3*sin(θ).

[0165] The process involves determining the position of the perpendicular point B based on the vehicle's coordinates (current position) and the vertical distance AB. The vehicle's steering angle is obtained from the vehicle's sensor data. The estimated lane change distance AB is calculated based on the vehicle's speed v and lane change duration. This distance BB' is then calculated using the aforementioned formula. The coordinates of the estimated landing point are obtained from the position of the perpendicular point B and this distance BB'. These coordinates are then displayed on the vehicle navigation interface. The estimated landing point can be displayed in the center or slightly above the center of the navigation interface. Maintaining the estimated landing point, the system displays the vehicle gradually approaching this point as it moves.

[0166] In one embodiment, when the vehicle is in a target driving scenario at its current location, the map is displayed as a target map with a target map width and a target viewpoint. The road range displayed in the target map is adapted to the road observation range at the current location when the vehicle is in the target driving scenario. This includes: when the target driving scenario at the current location is an avoidance scenario, the map is displayed as a target map with a target map width and a target pitch angle. The target map width makes the lateral range of the road displayed in the target map the lateral observation range of the lane where the vehicle is located and the adjacent lanes at the current location, and the target pitch angle makes the longitudinal range of the road displayed in the target map the longitudinal observation range of the lane where the vehicle is located and the adjacent lanes from the current location to the obstacle.

[0167] Escape scenarios refer to situations where a vehicle encounters obstacles while driving, such as a vehicle overtaking, a vehicle slowing down, or a vehicle changing lanes, resulting in poor road conditions. In such cases, it is necessary to take actions such as slowing down or changing lanes to avoid dangerous situations. In escape scenarios, it is important to observe the obstacle and the lane in which the obstacle is located. The lane in which the obstacle is located is usually the adjacent lane to the lane in which the vehicle is located.

[0168] like Figure 18 As shown, Figure 18 Part (a) is a schematic diagram of an avoidance scenario in one embodiment. (Refer to...) Figure 18 In part (a), the outer frame represents the entire vehicle navigation interface, the three rectangles represent the three lanes, the circle represents the vehicle's position, and the rectangles represent the obstacle positions. In one embodiment, in an obstacle avoidance scenario, the vehicle can be displayed below its lane to better present obstacles ahead or to the sides. In an obstacle avoidance scenario, the terminal determines the target map size and target viewpoint based on the positions of the obstacles and the vehicle itself so that the displayed target map can focus on the details of the obstacle avoidance scenario.

[0169] In obstacle avoidance scenarios, the focus is on information about traffic participants in the vehicle's lane and its adjacent lanes. Therefore, the lateral observation range of the road can be the lateral distance of the vehicle from its current position in the obstacle avoidance scenario. This lateral distance can be the width of the target road. If the target road has multiple lanes, this lateral distance can be the lateral width of the lane formed by the vehicle's lane and its adjacent lanes, or it can be the lateral width of the smallest rectangular area containing the vehicle and the obstacle. This application does not impose any particular limitations on this. The longitudinal observation range of the road in obstacle avoidance scenarios can be the longitudinal observation range of the lane from the current position to the obstacle.

[0170] In one embodiment, the steps for determining the target map size and target pitch angle in an obstacle avoidance scenario include: determining the adjacent lanes of the lane where the vehicle is located on the target road; determining the map size required to display the target map based on the lateral distance between the lane where the vehicle is located and the adjacent lanes; determining the farthest distance between the vehicle and the obstacle; calculating the pitch angle based on the required map size and the farthest distance; when the pitch angle is greater than a preset threshold, increasing the required map size and returning to the step of calculating the pitch angle based on the required map size and the farthest distance to continue execution until the pitch angle is less than the preset threshold, thus obtaining the target map size and target pitch angle required to display the target map.

[0171] like Figure 18 Part (b) shows a schematic diagram of a collision avoidance scenario in one embodiment. This scenario focuses on information about traffic participants in the vehicle's lane and the adjacent lanes. Rectangular blocks represent obstacles cutting in from the adjacent lane, arrows indicate the direction of the obstacle's movement, and ☆ indicates the vehicle's current position. Figure 18 The current position shown in part (b) is the lane lateral distance Range = dL + d + dR in the avoidance scenario. Subsequently, the terminal can determine the initial scale level, i.e. the initial map sheet, by referring to Table 1 based on the Range.

[0172] To clearly represent the lane range between the vehicle and the obstacle, the required pitch angle can be determined as follows: The terminal can calculate the farthest distance between the vehicle and the obstacle, such as... Figure 19 The diagram shown illustrates the positions of the vehicle and obstacles in one embodiment. (Refer to...) Figure 19 Establish an O-xy coordinate system with the vehicle's center as the origin O, the rightward direction of the vehicle as the x-axis, and the forward direction of the vehicle as the y-axis. Establish a separate coordinate system with the center of the obstacle (perceived target) detected by the vehicle as the origin, the rightward direction of the vehicle as the x-axis, and the forward direction of the vehicle as the y-axis. (Refer to...) Figure 19 The O'-x'y' coordinate system and the O”-x”y” coordinate system are established based on the two perceived targets themselves. The coordinates of O' and O” in the O-xy coordinate system are (Ox', Oy') and (Ox”, Oy”), respectively.

[0173] Let's take the O'-x'y' coordinate system as an example. Assume the length and width of the obstacle are h meters and w meters, respectively. Then, in the O'-x'y' coordinate system, the coordinates of a, b, c, and d are (w / 2, h / 2), (-w / 2, h / 2), (-w / 2, -h / 2), and (w / 2, h / 2), respectively. O'-xy represents the state of O-xy translated to the obstacle coordinate system. O'-xy coincides with O-xy after being rotated clockwise by α°. Assume the farthest distance from the vehicle to the obstacle is the distance from the vehicle's position to a. The coordinates of a in O'-x'y' are (x', y'), and the coordinates of a in O'-xy are (x, y). Then: x = x'*cos(α) - y'*sin(α); y = y'*cos(α) + x'*sin(α);

[0174] Translate the coordinates of a in the O'-xy coordinate system to the O-xy coordinate system, and we get the position of a in the O-xy coordinate system as (Ox, Oy), where:

[0175] Ox=Ox'+x'*cos(α)-y'*sin(α);

[0176] Oy=Oy'+y'*cos(α)+x'*sin(α).

[0177] After obtaining the coordinates of point a through the above calculations, the distance from the vehicle to point a can be calculated.

[0178] This distance can be used as the longitudinal viewing distance of a vehicle on the road at its current position when it is in a lane-changing situation and needs to avoid an obstacle. For example, Figure 18 The three lanes are all 3.5 meters wide, so the lateral observation range of the road in the obstacle avoidance scenario is 3.5 x 4 = 14 meters. The longitudinal observation range of the road is the farthest distance from the vehicle's position to the obstacle. Assuming the calculated farthest distance is 10 meters, the preset threshold for the pitch angle is 75°. Referring to Table 1, the initial map size is 15 meters (level 21.5). At a level 21.5 scale, the calculated pitch angle is 33.8°, which meets the requirements. Therefore, the target map size for the current location to be displayed is 15 meters, and the target pitch angle is 33.8°.

[0179] In this embodiment, by determining the target map size and target pitch angle required to display the target map based on the lateral and longitudinal distances of the lane that need to be considered at the current position of the vehicle in the avoidance scenario, the occupants of the vehicle can feel that they are currently in an avoidance scenario. The displayed target map can focus on the vehicle and obstacles in the avoidance scenario, thereby improving the perceptibility of the scenario.

[0180] In one embodiment, when the vehicle is in a target driving scenario at its current location, the map is displayed as a target map with a target map size and a target viewpoint. The road range displayed in the target map is adapted to the road observation range of the vehicle at its current location when it is in the target driving scenario. This includes: when the target driving scenario in which the vehicle is at its current location is a takeover scenario from a takeover prompt point to an autonomous driving exit point, the map is displayed as a target map with a target map size and a target pitch angle, wherein the target map size and the target pitch angle make the road range displayed in the target map the road observation range from the current location to the autonomous driving exit point on the target road.

[0181] A takeover scenario is when an autonomous vehicle is about to leave the area supported by its autonomous driving function and transition to manual driving. In an autonomous driving takeover scenario, it's crucial to observe the locations on the road where the exit point for autonomous driving needs to be reached. The road observation range in a takeover scenario is the area of ​​the target road from the current location to the exit point. When the vehicle reaches a takeover warning point, it is considered to have entered a takeover scenario. The takeover warning point is a point that the vehicle will pass through before reaching the exit point, and this point is a certain distance away from the exit point, for example, 2.5 kilometers. When the distance between the vehicle's current location and the exit point is relatively large, such as 2 kilometers, the target map size needs to be much larger than the lateral width of the target road where the vehicle is located to ensure the exit point is displayed on the vehicle's navigation interface. When the distance between the vehicle's current location and the exit point is relatively short, such as 20 meters, the target map size is smaller to clearly show the road conditions between the vehicle and the exit point. It is evident that in autonomous driving takeover scenarios, during vehicle movement, the target map size required for displaying the target map is first expanded until the autonomous driving exit point can be observed, and then the map size is gradually reduced while keeping the vehicle and the exit point always visible.

[0182] Figure 20 This is a schematic diagram of an autonomous driving takeover scenario in one embodiment. As can be seen, in order to keep the autonomous driving exit point always visible, the map size displayed in the autonomous driving takeover scenario is smaller than that in the forward driving scenario. Figure 21 This is a rendering of an autonomous driving takeover scenario in one embodiment, where A represents the location of the autonomous vehicle, B represents the location of the autonomous driving exit point, and the AB interval is the area where manual takeover is prompted.

[0183] In one embodiment, the steps for determining the target map size and target pitch angle in a takeover scenario include: determining the target road and the road where the autonomous driving exit point is located, the lateral distance of the lanes formed by these two roads, and determining the map size required to display the target map based on the lateral distance of the lanes; calculating the distance from the current location to the autonomous driving exit point; calculating the pitch angle based on the required map size and distance; when the pitch angle is greater than a preset threshold, increasing the required map size, and returning to the step of calculating the pitch angle based on the required map size and distance to continue execution until the pitch angle is less than the preset threshold, thus obtaining the target map size and target pitch angle required to display the target map.

[0184] Figure 22 This is a schematic diagram of the road observation range in a takeover scenario according to one embodiment. (Refer to...) Figure 12 The lateral observation range of the road in the takeover scenario is the multi-lane area formed by the lane at point B and its two adjacent lanes, and the lane at point A and its two adjacent lanes, as shown in the "Range" section of the diagram. Of course, if there is no left or right lane at point A or B, the lane width can be supplemented according to the lane at point A to form the lateral observation range in this case. The longitudinal observation range of the road in the takeover scenario is the distance between points A and B. The terminal receives the location of the autonomous driving exit point in the current takeover scenario from the autonomous driving domain via cross-domain communication, and displays the autonomous driving exit point on the map based on this location.

[0185] For example, Figure 22 In this scenario, assuming equal lane widths, each lane is 3.5 meters wide. Therefore, the lateral observation range (multi-lane range) in this takeover scenario is 3.5 x 4 = 14 meters. Assuming the distance from the current location to the autonomous driving exit point is 1000 meters, and the preset threshold for the pitch angle is 75°, Table 1 shows that the initial map size is 15 meters (corresponding to a 21.5 scale). At a 21.5 scale, the pitch angle calculated based on 15 meters and 1000 meters is much greater than 75°, which does not meet the requirements. The map size is gradually increased until it reaches 312 meters. At this point, the calculated pitch angle is 72.6°, which meets the requirements. Therefore, it can be determined that the target map size required to display the target map at the vehicle's current location is 312 meters, and the target pitch angle is 72.6°.

[0186] In this embodiment, by determining the target map size and target pitch angle required to display the target map based on the longitudinal distance of the lane that needs to be focused on at the current position of the vehicle in the takeover scenario, the occupants of the vehicle can feel that they are currently in a takeover scenario. The displayed target map can focus on the autonomous driving exit point in the takeover scenario, thereby improving the perceptibility of the scenario.

[0187] In one embodiment, when the vehicle is in a target driving scenario at its current location, the map is displayed as a target map with a target map size and a target viewpoint. The road range displayed in the target map is adapted to the road observation range of the vehicle at its current location when it is in the target driving scenario. This includes: when the target driving scenario in which the vehicle is at its current location is a maneuver point scenario in the maneuver operation area of ​​the target maneuver point, the map is displayed as a target map with a target map size and a target viewpoint. The target map size and the target pitch angle make the road range displayed in the target map a road observation range formed by extending a preset distance along the intersection extension direction of the target maneuver point.

[0188] A maneuvering point scenario refers to the location where a vehicle performs maneuvers such as turning or U-turns while driving. When driving in a maneuvering point scenario, it's crucial to observe the road conditions at the maneuvering point ahead. In one embodiment, when the vehicle's distance to a maneuvering point scenario is less than a certain threshold, it's determined that the vehicle has entered the maneuvering area of ​​that maneuvering point, i.e., the vehicle is in a maneuvering point scenario. In a maneuvering point scenario, the terminal displays a larger map area and a smaller pitch angle to present the overall traffic conditions of the maneuvering point. In other words, when the vehicle is in a maneuvering point scenario, the road observation range at its current location is the area where the maneuvering point ahead is located. Figure 23 The image shown is a schematic diagram illustrating the rendering effect of a maneuvering point scene in an autonomous driving scenario. Figure 23 The maneuver point in the image is a crossroads. The horizontal and vertical distances corresponding to the road observation range constitute the intersection width, as shown by the dashed rectangle in the figure. To include more information, the road observation range can be extended by a certain distance along the extension direction of each intersection, thus presenting the road range along the extension direction of each intersection in the target map of this scenario.

[0189] In one embodiment, the steps for determining the target map sheet and target pitch angle in a maneuvering point scenario include: determining the lateral and longitudinal distances of the target maneuvering point; determining the map sheet required to display the target map based on the lateral distance; calculating the pitch angle based on the required map sheet and the longitudinal distance; increasing the required map sheet when the pitch angle is greater than a preset threshold; returning to the step of calculating the pitch angle based on the required map sheet and the longitudinal distance to the road and continuing until the pitch angle is less than the preset threshold, thus obtaining the target map sheet and target pitch angle required to display the target map.

[0190] For example, in Figure 23In the maneuver point scenario shown, the width of the intersection is 25 meters, and the distance from the current position to the intersection ahead is 50 meters. The road observation range can be extended by 10 meters in the direction of each intersection. Therefore, the lateral observation range of the road in this maneuver point scenario is 35 meters, and the longitudinal observation range is 60 meters. According to Table 1, the initial map size is 39 meters corresponding to level 20. Under the level 20 scale, the calculated pitch angle is 56.97°. It can be determined that the target map size to be displayed at the current position is 39 meters, and the target pitch angle is 56.97°.

[0191] In this embodiment, by determining the target map size and target pitch angle required to display the target map based on the lateral and longitudinal distances of the lanes that need to be considered at the current position of the vehicle in the maneuver point scenario, the occupants of the vehicle can perceive that they are currently in a maneuver point scenario. The displayed target map can focus on the lane range of the current position in the maneuver point scenario, improve the perceptibility of the scenario, and enhance the occupants' trust in the autonomous driving system.

[0192] In one embodiment, when the vehicle is in autonomous driving mode, the terminal can first enter autonomous driving mode. When the vehicle is in a forward driving scenario, the terminal can execute a strategy to adjust the map size and pitch angle for that scenario. When the vehicle is in an automatic lane-changing scenario, the terminal executes a strategy to adjust the map size and pitch angle for that scenario. After the lane change is completed or canceled, the terminal returns to the forward driving scenario. When the vehicle is in an automatic obstacle avoidance scenario, the terminal executes a strategy to adjust the map size and pitch angle for that scenario. After the obstacle avoidance is completed or canceled, the terminal returns to the forward driving scenario. When the vehicle is about to exit autonomous driving and enter a takeover scenario, the terminal executes a strategy to adjust the map size and pitch angle for that scenario. After takeover is completed, the terminal enters the SD navigation scenario and begins executing the map size adjustment strategy for SD navigation. In case of a state conflict, the map size remains unchanged, maintaining the map size adjustment strategy of the previous scenario. For example, if an automatic obstacle avoidance task is inserted during an automatic lane change, the adjustment strategy of the automatic lane-changing scenario is maintained. When switching between lane-changing scenarios, if there is no state conflict, the terminal can directly switch to the adjustment strategy of the takeover scenario.

[0193] This application provides a method for automatically adjusting map effects based on high-precision maps and driving status in autonomous driving scenarios. It uses data such as lane length, road width, and road topology from the high-precision map as input to the automatic adjustment strategy. Simultaneously, it combines application scenarios output by the autonomous driving system, such as following the flow of traffic, changing lanes, yielding, avoiding obstacles, and taking over, to comprehensively adjust parameters such as map size, pitch angle, and the position indicated by the map center point, achieving the goal of automatic map effect adjustment. This method will significantly improve navigation map quality, speed up map viewing, enhance the navigation experience, further help vehicle occupants understand the decision-making actions of the autonomous driving system, and increase occupants' trust in the autonomous driving system.

[0194] like Figure 24 The diagram shown is a flowchart of a vehicle navigation method in one embodiment. (Refer to...) Figure 24 This includes the following steps:

[0195] Step 2402: Determine the driving scenario of the vehicle traveling on the target road at its current location;

[0196] Step 2404: When the vehicle is in the target driving scenario, determine the road observation range at the current location;

[0197] Step 2406: Based on the road observation range, determine the target map sheet and target viewing angle required to display the target map;

[0198] Step 2408: Based on the target map size and target viewpoint, display the target map that the vehicle needs to display at its current location in the vehicle navigation interface.

[0199] The specific implementation method in this embodiment can be referred to the relevant description above, and will not be repeated here.

[0200] In this embodiment, the target map size and target viewing angle required for displaying the target map are determined by combining the actual road conditions of the target road where the vehicle is currently located with the driving scenario of the vehicle's current location. This ensures that the road range displayed in the target map is adapted to the road areas that the vehicle needs to focus on in its current driving scenario, improving the perceptibility of map changes, greatly enhancing the quality of the navigation map, speeding up map viewing, and improving the navigation experience. Furthermore, the target viewing angle of the target map can expand the visible range of the map when the target map size is small, improving navigation efficiency.

[0201] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0202] Based on the same inventive concept, this application also provides a vehicle navigation device for implementing the vehicle navigation method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more vehicle navigation device embodiments provided below can be found in the limitations of the vehicle navigation method described above, and will not be repeated here.

[0203] In one embodiment, such as Figure 25 As shown, a vehicle navigation device 2500 is provided, including: an interface display module 2502 and a map display module 2504, wherein:

[0204] The interface display module 2502 is used to display a vehicle navigation interface, which includes a map; it displays vehicles traveling on target roads in the map, and the vehicles exist in a driving scenario while traveling, including at least one target driving scenario.

[0205] The map display module 2504 is used to display a target map with a target map size and target view when the vehicle is in a target driving scene at its current location. The road range displayed in the target map is adapted to the road observation range of the vehicle at its current location when it is in the target driving scene.

[0206] In one embodiment, the road observation range at the current location when the vehicle is in the target driving scenario includes at least one of the road lateral observation range or the road longitudinal observation range at the current location when the vehicle is in the target driving scenario.

[0207] In one embodiment, the map display module 2504 is further configured to display the map as a target map with a target map size and a target viewpoint; wherein the target map size adapts the lateral range of the road displayed in the target map to the lateral viewpoint of the road at the current position when the vehicle is in the target driving scenario; and the target viewpoint adapts the longitudinal range of the road displayed in the target map to the longitudinal viewpoint of the road at the current position when the vehicle is in the target driving scenario.

[0208] In one embodiment, the map display module 2504 is further configured to, when the vehicle is in a target driving scenario at its current location, determine the target map sheet and target viewing angle required to display the target map based on the lateral observation range of the road at the current location when the vehicle is in the target driving scenario and the longitudinal observation range of the road at the current location when the vehicle is in the target driving scenario; and display the target map according to the target map sheet and target viewing angle.

[0209] In one embodiment, the map display module 2504 is further configured to: determine the map sheet required for displaying the target map based on the lateral observation range of the road at the current position when the vehicle is in the target driving scenario; determine the pitch angle required for displaying the target map based on the required map sheet and the longitudinal observation range of the road at the current position when the vehicle is in the target driving scenario; when the pitch angle is greater than a preset threshold, increase the required map sheet, and return to the step of determining the pitch angle required for displaying the target map based on the required map sheet and the longitudinal observation range of the road at the current position when the vehicle is in the target driving scenario, until the pitch angle is less than the preset threshold, thereby obtaining the target map sheet and target viewpoint required for displaying the target map.

[0210] In one embodiment, the target road includes multiple lanes, and the vehicle travels in the first lane of the multiple lanes. The map display module 2504 is also used to display the map as a map with a set map size and a set view when the vehicle is in a forward-moving scenario at its current position; and to display the first lane in which the vehicle is traveling in the forward-moving scenario in the center of the map.

[0211] In one embodiment, the map display module 2504 is further configured to display the map as a target map with a target map sheet and a target pitch angle when the target driving scenario in which the vehicle is currently located is a lane-changing scenario. The target map sheet is the lateral range of the road displayed in the target map, which is the lateral observation range of the road at the current location when the vehicle is in a lane-changing scenario, and the target pitch angle is the longitudinal range of the road displayed in the target map, which is the longitudinal observation range of the road extending longitudinally from the current location to the farthest distance of the lane-changing scenario in the target road.

[0212] In one embodiment, the target road includes multiple lanes, and the vehicle travels in the first lane of the multiple lanes. The map display module 2504 is also used to display the second lane and the estimated landing point of the vehicle in the second lane in the target map when the target driving scenario in which the vehicle is currently located is a lane change scenario from the first lane to the second lane.

[0213] In one embodiment, the vehicle navigation device 2500 further includes: a landing point determination module, used to obtain the road topology of the target road at the current location; determine the second lane based on the lane change direction and road topology of the lane change scenario; calculate the estimated lane change distance based on the vehicle's speed and lane change duration when the lane change is initiated; determine the vertical distance from the vehicle to the centerline of the second lane when the lane change is initiated; and determine the estimated landing point of the vehicle in the second lane based on the estimated lane change distance and the vertical distance.

[0214] In one embodiment, the map display module 2504 is further configured to: determine the lateral distance of the target road; determine the map sheet required to display the target map based on the lateral distance; obtain the maximum speed limit of the first lane; calculate the maximum lane change distance based on the maximum speed limit and the lane change duration; calculate the pitch angle based on the required map sheet and the maximum lane change distance; when the pitch angle is greater than a preset threshold, increase the required map sheet and return to the step of calculating the pitch angle based on the required map sheet and the maximum lane change distance to continue execution until the pitch angle is less than the preset threshold, thereby obtaining the target map sheet and target pitch angle required to display the target map in the lane change scenario.

[0215] In one embodiment, the map display module 2504 is further configured to display the map as a target map with a target map width and a target pitch angle when the target driving scenario in which the vehicle is currently located is an avoidance scenario. The target map width is the lateral range of the road displayed in the target map, which is the lateral observation range of the lane where the vehicle is located and the adjacent lanes at the current location. The target pitch angle is the longitudinal range of the road displayed in the target map, which is the longitudinal observation range of the lane where the vehicle is located and the adjacent lanes from the current location to the obstacle.

[0216] In one embodiment, the map display module 2504 is further configured to: determine the adjacent lanes of the lane where the vehicle is located in the target road; determine the map size required to display the target map based on the lateral distance between the lane where the vehicle is located and the adjacent lanes; determine the farthest distance between the vehicle and the obstacle; calculate the pitch angle based on the required map size and the farthest distance; when the pitch angle is greater than a preset threshold, increase the required map size and return to the step of calculating the pitch angle based on the required map size and the farthest distance to continue execution until the pitch angle is less than the preset threshold, thereby obtaining the target map size and target pitch angle required to display the target map in the obstacle avoidance scenario.

[0217] In one embodiment, the map display module 2504 is further configured to display the map as a target map with a target map sheet and a target pitch angle when the target driving scenario in which the vehicle is currently located is a takeover scenario from the takeover prompt point to the autonomous driving exit point. The target map sheet and the target pitch angle make the road range displayed in the target map the road observation range from the current location to the autonomous driving exit point in the target road.

[0218] In one embodiment, the map display module 2504 is further configured to determine the lateral distance between the target road and the road where the autonomous driving exit point is located, and to determine the map sheet required to display the target map based on the lateral distance between the lanes; calculate the distance from the current position to the autonomous driving exit point; calculate the pitch angle based on the required map sheet and distance; when the pitch angle is greater than a preset threshold, increase the required map sheet, and return to the step of calculating the pitch angle based on the required map sheet and distance to continue execution until the pitch angle is less than the preset threshold, thereby obtaining the target map sheet and target pitch angle required to display the target map in the takeover scenario.

[0219] In one embodiment, the map display module 2504 is further configured to display the map as a target map with a target map sheet and a target viewing angle when the target driving scenario in which the vehicle is currently located is a driving point scenario in the driving operation area of ​​the target driving point. The target map sheet and the target pitch angle make the road range displayed in the target map a road observation range formed by extending a preset distance along the intersection extension direction of the target driving point.

[0220] In one embodiment, the map in the vehicle navigation interface is a lane-level high-precision map, and the vehicle is an autonomous vehicle.

[0221] The aforementioned vehicle navigation device 2500, when a vehicle is traveling on a target road on a map, presents a driving scenario. When the vehicle is currently in a target driving scenario, the map displayed on the navigation interface is a target map with a target map size and a target viewpoint. The road range displayed on this target map is adapted to the road observation range of the vehicle at its current location within that target driving scenario. In other words, the target map's target map size and target viewpoint are determined by comprehensively considering the actual road conditions on the target road at the vehicle's current location and the driving scenario it is in. This ensures that the road range displayed on the target map is adapted to the road area that the vehicle needs to focus on in its current driving scenario, improving the perceptibility of map changes, significantly enhancing navigation map quality, speeding up map viewing, and improving the navigation experience. Furthermore, the target viewpoint of the target map can expand the visible range of the map when the target map size is small, improving navigation efficiency.

[0222] Each module in the aforementioned vehicle navigation device 2500 can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0223] In one embodiment, a computer device is provided, the computer device may be... Figure 1 Terminal 102 or Figure 6 The internal structure diagram of the vehicle-mounted terminal 604 can be seen as follows: Figure 26 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a vehicle navigation method. The display unit of this computer device is used to form a visually visible image. It can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of this computer device can be a touch layer covering the display screen, or buttons, a trackball, or a touchpad set on the computer device casing, or an external keyboard, touchpad, or mouse, etc. The input interface of this computer device can receive data sent from positioning or sensing devices on the vehicle, including vehicle position data, obstacle position data, obstacle orientation data relative to the vehicle, etc.

[0224] Those skilled in the art will understand that Figure 26 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0225] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the vehicle navigation method described in any one or more of the above embodiments, such as: displaying a vehicle navigation interface, the vehicle navigation interface including a map; displaying vehicles traveling on target roads in the map, the vehicles having driving scenarios while traveling, the driving scenarios including at least one target driving scenario; when the vehicle is currently in a target driving scenario, displaying the map as a target map with a target map size and a target viewpoint, the road range displayed in the target map being adapted to the road observation range of the vehicle at its current location when it is in the target driving scenario.

[0226] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon. When executed by a processor, the computer program implements the steps of the vehicle navigation method described in any one or more of the above embodiments, such as: displaying a vehicle navigation interface, the vehicle navigation interface including a map; displaying a vehicle traveling on a target road in the map, the vehicle having a driving scenario while traveling, the driving scenario including at least one target driving scenario; when the vehicle is currently in a target driving scenario, displaying the map as a target map with a target map size and a target viewpoint, the road range displayed in the target map being adapted to the road observation range at the current location when the vehicle is in the target driving scenario.

[0227] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the vehicle navigation method described in any one or more of the above embodiments, such as: displaying a vehicle navigation interface, the vehicle navigation interface including a map; displaying vehicles traveling on target roads in the map, the vehicles having a driving scenario while traveling, the driving scenario including at least one target driving scenario; when the vehicle is currently in a target driving scenario, displaying the map as a target map with a target map size and a target viewpoint, the road range displayed in the target map being adapted to the road observation range at the current location when the vehicle is in the target driving scenario.

[0228] 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, data stored, data displayed, 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 the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0229] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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), magnetic 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0230] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0231] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle navigation method, characterized in that, The method includes: Displays a vehicle navigation interface, which includes a map; The map displays vehicles traveling on target roads, and the vehicles are in a driving scenario, which includes at least one target driving scenario. When the vehicle is in a target driving scenario at its current location, the map size required to display the target map is determined based on the lateral observation range of the road at the current location when the vehicle is in the target driving scenario. Based on the required map size and the longitudinal observation range of the road at the current location when the vehicle is in the target driving scenario, the pitch angle required to display the target map is determined. When the pitch angle is greater than a preset threshold, the required map size is increased and the pitch angle is decreased until the pitch angle is less than the preset threshold to obtain the required target map size and target pitch angle. The map is then displayed as a target map with the target map size and target pitch angle. The road range displayed in the target map is adapted to the lateral and longitudinal observation range of the road at the current location when the vehicle is in the target driving scenario.

2. The method according to claim 1, characterized in that, The target map sheet adapts the lateral range of the road displayed in the target map to the lateral observation range of the road at the current position when the vehicle is in the target driving scenario. The target pitch angle is such that the longitudinal range of the road displayed in the target map is adapted to the longitudinal observation range of the road at the current position when the vehicle is in the target driving scenario.

3. The method according to claim 1, characterized in that, The step of increasing the required map size and decreasing the pitch angle when the pitch angle is greater than a preset threshold until the pitch angle is less than the preset threshold to obtain the required target map size and target pitch angle includes: When the pitch angle is greater than a preset threshold, the required map size is increased, and the step of determining the pitch angle required to display the target map based on the required map size and the longitudinal observation range of the road at the current position when the vehicle is in the target driving scenario continues to be executed until the pitch angle is less than the preset threshold, thus obtaining the target map size and target pitch angle required to display the target map.

4. The method according to claim 1, characterized in that, The target road includes multiple lanes, the vehicle travels in a first lane of the multiple lanes, and the method further includes: When the vehicle is in a forward-moving scenario at its current location, the map will be displayed as a map with a set map size and a set viewpoint in the forward-moving scenario; The first lane in which the vehicle is traveling is displayed in the center of the map in the forward traffic scenario.

5. The method according to claim 1, characterized in that, When the target driving scenario in which the vehicle is currently located is a lane-changing scenario, the target map width makes the lateral range of the road displayed in the target map the lateral observation range of the road at the current location when the vehicle is in the lane-changing scenario, and the target pitch angle makes the longitudinal range of the road displayed in the target map the longitudinal observation range of the road extending longitudinally from the current location to the farthest distance of the lane change in the target road.

6. The method according to claim 5, characterized in that, The target road includes multiple lanes, the vehicle travels in a first lane of the multiple lanes, and the method further includes: When the target driving scenario in which the vehicle is currently located is a lane change scenario from the first lane to the second lane, the second lane and the estimated landing point of the vehicle in the second lane are displayed in the center of the target map.

7. The method according to claim 6, characterized in that, The method further includes: Obtain the road topology of the target road at the current location; The second lane is determined based on the lane change direction of the lane change scenario and the road topology. Calculate the estimated lane change distance based on the vehicle's speed and lane change duration at the time of initiation of the lane change. Determine the vertical distance between the vehicle and the centerline of the second lane when initiating a lane change; Based on the estimated lane change distance and the vertical distance, the estimated landing point of the vehicle in the second lane is determined.

8. The method according to claim 6, characterized in that, The process involves determining the map size required to display the target map based on the lateral road observation range of the vehicle at its current position when it is in the target driving scenario, and determining the pitch angle required to display the target map based on the required map size and the longitudinal road observation range of the vehicle at its current position when it is in the target driving scenario. When the pitch angle is greater than a preset threshold, the required map size is increased and the pitch angle is decreased until the pitch angle is less than the preset threshold to obtain the required target map size and target pitch angle. Determine the lateral distance of the target road; Based on the lateral distance of the road, determine the map size required to display the target map; Obtain the maximum speed limit for the first lane; Calculate the maximum lane change distance based on the maximum speed limit and lane change duration; Calculate the pitch angle based on the required map sheet and the maximum distance of the lane change; When the pitch angle is greater than a preset threshold, the required map size is increased, and the step of calculating the pitch angle based on the required map size and the furthest distance of the lane change is returned to continue execution until the pitch angle is less than the preset threshold, thus obtaining the target map size and target pitch angle required to display the target map.

9. The method according to claim 1, characterized in that, When the target driving scenario in which the vehicle is currently located is an obstacle avoidance scenario, the target map width makes the lateral range of the road displayed in the target map the lateral observation range of the lane where the vehicle is located and the adjacent lane at the current location, and the target pitch angle makes the longitudinal range of the road displayed in the target map the longitudinal observation range of the lane where the vehicle is located and the adjacent lane from the current location to the obstacle.

10. The method according to claim 9, characterized in that, The process involves determining the map size required to display the target map based on the lateral road observation range of the vehicle at its current position when it is in the target driving scenario, and determining the pitch angle required to display the target map based on the required map size and the longitudinal road observation range of the vehicle at its current position when it is in the target driving scenario. When the pitch angle is greater than a preset threshold, the required map size is increased and the pitch angle is decreased until the pitch angle is less than the preset threshold to obtain the required target map size and target pitch angle. Determine the adjacent lanes of the lane where the vehicle is located in the target road; The map size required to display the target map is determined based on the lane where the vehicle is located and the lateral distance between the adjacent lanes. Determine the farthest distance between the vehicle and the obstacle; Calculate the pitch angle based on the required map size and the maximum distance; When the pitch angle is greater than a preset threshold, the required map size is increased, and the step of calculating the pitch angle based on the required map size and the farthest distance is returned to continue execution until the pitch angle is less than the preset threshold, thus obtaining the target map size and target pitch angle required to display the target map.

11. The method according to claim 1, characterized in that, When the vehicle is in a target driving scenario at its current location, which is a takeover scenario from the takeover prompt point to the autonomous driving exit point, the target map and the target pitch angle make the road range displayed in the target map the road observation range from the current location to the autonomous driving exit point in the target road.

12. The method according to claim 11, characterized in that, The process involves determining the map size required to display the target map based on the lateral road observation range of the vehicle at its current position when it is in the target driving scenario, and determining the pitch angle required to display the target map based on the required map size and the longitudinal road observation range of the vehicle at its current position when it is in the target driving scenario. When the pitch angle is greater than a preset threshold, the required map size is increased and the pitch angle is decreased until the pitch angle is less than the preset threshold to obtain the required target map size and target pitch angle. Determine the lateral distance between the target road and the road where the autonomous driving exit point is located, and determine the map sheet required to display the target map based on the lateral distance between the lanes. Calculate the distance from the current location to the autonomous driving exit point; Calculate the pitch angle based on the required map size and the distance; When the pitch angle is greater than a preset threshold, the required map size is increased, and the step of calculating the pitch angle based on the required map size and the distance is returned to continue until the pitch angle is less than the preset threshold, thus obtaining the target map size and target pitch angle required to display the target map.

13. The method according to claim 1, characterized in that, When the vehicle is in the target driving scenario at its current location, which is a maneuvering point scenario in the maneuvering operation area of ​​the target maneuvering point, the target map and the target pitch angle make the road range displayed in the target map the road observation range formed by extending a preset distance along the intersection extension direction of the target maneuvering point.

14. A vehicle navigation device, characterized in that, The device includes: The interface display module is used to display a vehicle navigation interface, which includes a map; and displays vehicles traveling on target roads in the map, wherein the vehicles exist in a driving scenario while traveling, and the driving scenario includes at least one target driving scenario. The map display module is used to determine the map size required to display the target map based on the lateral observation range of the road at the current position when the vehicle is in the target driving scenario, and to determine the pitch angle required to display the target map based on the required map size and the longitudinal observation range of the road at the current position when the vehicle is in the target driving scenario. When the pitch angle is greater than a preset threshold, the required map size is increased and the pitch angle is decreased until the pitch angle is less than the preset threshold to obtain the required target map size and target pitch angle. The map is then displayed as a target map with the target map size and target pitch angle, and the road range displayed in the target map is adapted to the lateral and longitudinal observation range of the road at the current position when the vehicle is in the target driving scenario.

15. The apparatus according to claim 14, characterized in that, The target map sheet adapts the lateral range of the road displayed in the target map to the lateral observation range of the road at the current position when the vehicle is in the target driving scenario. The target pitch angle is such that the longitudinal range of the road displayed in the target map is adapted to the longitudinal observation range of the road at the current position when the vehicle is in the target driving scenario.

16. The apparatus according to claim 14, characterized in that, The map display module is also used to increase the required map size when the pitch angle is greater than a preset threshold, and return to the step of determining the pitch angle required to display the target map based on the required map size and the longitudinal observation range of the road at the current position when the vehicle is in the target driving scenario, until the pitch angle is less than the preset threshold, and obtain the target map size and target pitch angle required to display the target map.

17. The apparatus according to claim 14, characterized in that, The target road includes multiple lanes, and the vehicle travels in the first lane of the multiple lanes. The map display module is also used to display the map as a map with a set map size and a set view when the vehicle is in a forward-moving scenario at its current position; and to display the first lane in which the vehicle is traveling in the center of the map in the forward-moving scenario.

18. The apparatus according to claim 14, characterized in that, When the target driving scenario in which the vehicle is currently located is a lane-changing scenario, the target map width makes the lateral range of the road displayed in the target map the lateral observation range of the road at the current location when the vehicle is in the lane-changing scenario, and the target pitch angle makes the longitudinal range of the road displayed in the target map the longitudinal observation range of the road extending longitudinally from the current location to the farthest distance of the lane change in the target road.

19. The apparatus according to claim 18, characterized in that, The target road includes multiple lanes, and the vehicle travels in the first lane of the multiple lanes. The map display module is also used to display the second lane and the estimated landing point of the vehicle in the second lane in the target map when the target driving scenario in which the vehicle is currently located is a lane change scenario from the first lane to the second lane.

20. The apparatus according to claim 19, characterized in that, The device further includes: The vehicle landing point determination module is used to obtain the road topology of the target road at the current location; determine the second lane based on the lane change direction of the lane change scenario and the road topology; calculate the estimated lane change distance based on the vehicle's speed and lane change duration when the lane change is initiated; determine the vertical distance from the vehicle to the centerline of the second lane when the lane change is initiated; and determine the estimated landing point of the vehicle in the second lane based on the estimated lane change distance and the vertical distance.

21. The apparatus according to claim 19, characterized in that, The map display module is further configured to determine the lateral distance of the target road; determine the map size required to display the target map based on the lateral distance; and obtain the maximum speed limit of the first lane. Calculate the maximum lane change distance based on the maximum speed limit and lane change duration; calculate the pitch angle based on the required map size and the maximum lane change distance; when the pitch angle is greater than a preset threshold, increase the required map size, and return to the step of calculating the pitch angle based on the required map size and the maximum lane change distance to continue execution until the pitch angle is less than the preset threshold, thus obtaining the target map size and target pitch angle required to display the target map.

22. The apparatus according to claim 14, characterized in that, When the target driving scenario in which the vehicle is currently located is an obstacle avoidance scenario, the target map width makes the lateral range of the road displayed in the target map the lateral observation range of the lane where the vehicle is located and the adjacent lane at the current location, and the target pitch angle makes the longitudinal range of the road displayed in the target map the longitudinal observation range of the lane where the vehicle is located and the adjacent lane from the current location to the obstacle.

23. The apparatus according to claim 22, characterized in that, The map display module is further configured to determine the adjacent lanes of the lane where the vehicle is located in the target road; and to determine the map size required to display the target map based on the lateral distance between the lane where the vehicle is located and the adjacent lanes. Determine the farthest distance between the vehicle and the obstacle; calculate the pitch angle based on the required map size and the farthest distance; when the pitch angle is greater than a preset threshold, increase the required map size, and return to the step of calculating the pitch angle based on the required map size and the farthest distance to continue execution until the pitch angle is less than the preset threshold, thus obtaining the target map size and target pitch angle required to display the target map.

24. The apparatus according to claim 14, characterized in that, When the vehicle is in a target driving scenario at its current location, which is a takeover scenario from the takeover prompt point to the autonomous driving exit point, the target map and the target pitch angle make the road range displayed in the target map the road observation range from the current location to the autonomous driving exit point in the target road.

25. The apparatus according to claim 24, characterized in that, The map display module is also used to determine the lateral distance between the target road and the road where the autonomous driving exit point is located, and to determine the map size required to display the target map based on the lateral distance between the lanes. Calculate the distance from the current location to the autonomous driving exit point; calculate the pitch angle based on the required map size and the distance; when the pitch angle is greater than a preset threshold, increase the required map size, return to the step of calculating the pitch angle based on the required map size and the distance, and continue execution until the pitch angle is less than the preset threshold, thus obtaining the target map size and target pitch angle required to display the target map.

26. The apparatus according to claim 14, characterized in that, When the vehicle is in the target driving scenario at its current location, which is a maneuvering point scenario in the maneuvering operation area of ​​the target maneuvering point, the target map and the target pitch angle make the road range displayed in the target map the road observation range formed by extending a preset distance along the intersection extension direction of the target maneuvering point.

27. 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, it implements the steps of the method according to any one of claims 1 to 13.

28. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 13.

29. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 13.

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