Navigation method, device and method for providing location-based services

Abstract

The present disclosure provides a navigation method, an apparatus, and a location-based service providing method, including: in response to receiving a lane change signal, generating a decision disc in a navigation map according to the position of a vehicle in the navigation map, wherein the position of the vehicle in the navigation map is determined based on the position of the vehicle in an actual road scenario, and the decision disc is used to represent the position after lane change corresponding to the position of the vehicle in the navigation map; controlling the center point of the navigation map to move from the position of the vehicle in the navigation map to the decision disc; and controlling the vehicle to move in the navigation map towards the decision disc, so as to effectively and reliably follow the lane change process of the vehicle in the navigation map, improve the effectiveness and reliability of the navigation map, and enhance the dynamic perception experience of a riding user regarding the lane change of the vehicle.

Description

Technical Field

[0001] The present disclosure relates to the technical field of electronic maps, and in particular, to a navigation method, an apparatus, and a location-based service providing method. Background Art

[0002] With the development of autonomous driving technology, vehicles have realized the transformation from manual control to automatic control. When a vehicle performs a lane change based on autonomous driving technology, in a navigation scenario, a passenger in the vehicle can feel the process of the vehicle's lane change through the map.

[0003] However, how to dynamically follow the process of a vehicle's lane change in the actual scenario in the map has become an urgent problem to be solved. Summary of the Invention

[0004] The present disclosure provides a navigation method, an apparatus, and a location-based service providing method to solve the problem of relatively low flexibility of navigation.

[0005] In a first aspect, an embodiment of the present disclosure provides a navigation method, the method comprising:

[0006] In response to receiving a lane change signal, a decision disk is generated in the navigation map according to the position of the vehicle in the navigation map, wherein the position of the vehicle in the navigation map is determined based on the position of the vehicle in the actual road scenario, and the decision disk is used to represent the position after the lane change corresponding to the position of the vehicle in the navigation map;

[0007] Control the center point of the navigation map to move from the position of the vehicle in the navigation map to the decision disk;

[0008] Control the vehicle to move in the navigation map towards the decision disk.

[0009] In an embodiment of the present disclosure, the controlling the vehicle to move in the navigation map towards the decision disk includes:

[0010] In response to the center point coinciding with the decision disk and the vehicle's lane change not being completed, calculate a first distance between the position of the vehicle in the navigation map and the decision disk;

[0011] Control the vehicle to smoothly move to the decision disk in the navigation map according to the first distance.

[0012] In an embodiment of the present disclosure, controlling the vehicle to smoothly move to the decision disk in the navigation map according to the first distance includes:

[0013] Filter the first distance according to the second distance to obtain a first filtered distance, where the second distance is the distance between the position of the vehicle in the navigation map and the decision disc before the first distance;

[0014] Control the vehicle to move to the decision disc in the navigation map according to the first filtered distance.

[0015] In one embodiment of the present disclosure, the controlling the vehicle to move towards the decision disc includes:

[0016] In response to the center point not coinciding with the decision disc and the vehicle lane change not being completed, control the vehicle to move towards the decision disc in the navigation map according to the position of the vehicle in the actual road scenario.

[0017] In one embodiment of the present disclosure, the method further includes:

[0018] In response to receiving a lane change completion signal or a lane change failure signal and the position of the vehicle in the navigation map not coinciding with the decision disc, calculate a third distance between the position of the vehicle in the navigation map and the decision disc;

[0019] Control the vehicle to smoothly move to the decision disc in the navigation map according to the third distance.

[0020] In one embodiment of the present disclosure, the controlling the vehicle to smoothly move to the decision disc according to the third distance includes:

[0021] Filter the third distance according to a fourth distance and a distance value of zero when the position of the vehicle in the navigation map coincides with the decision disc to obtain a second filtered distance, where the fourth distance is the distance between the position of the vehicle in the navigation map and the decision disc before the third distance;

[0022] Control the vehicle to move to the decision disc in the navigation map according to the second filtered distance.

[0023] In one embodiment of the present disclosure, the lane change signal includes the lane after the lane change; the generating a decision disc in the navigation map according to the position of the vehicle in the navigation map includes:

[0024] In the navigation map, obtain the center line of the lane after the lane change;

[0025] According to the position of the vehicle in the navigation map, determine the projection position of the vehicle projected onto the center line of the lane in the navigation map, and determine the projection position as the decision disc.

[0026] In a second aspect, an embodiment of the present disclosure provides a navigation device, including:

[0027] A generating unit, configured to generate a decision disc in the navigation map according to the position of the vehicle in the navigation map in response to receiving a lane change signal, where the position of the vehicle in the navigation map is determined based on the position of the vehicle in the actual road scene, and the decision disc is used to represent the position after lane change corresponding to the position of the vehicle in the navigation map;

[0028] A first control unit, configured to control the center point of the navigation map to move from the position of the vehicle in the navigation map to the decision disc;

[0029] A second control unit, configured to control the vehicle to move towards the decision disc in the navigation map.

[0030] In an embodiment of the present disclosure, the second control unit includes:

[0031] A calculating sub-unit, configured to calculate a first distance between the position of the vehicle in the navigation map and the decision disc in response to the center point coinciding with the decision disc and the vehicle lane change not being completed;

[0032] A moving sub-unit, configured to control the vehicle to smoothly move to the decision disc in the navigation map according to the first distance.

[0033] In an embodiment of the present disclosure, the moving sub-unit includes:

[0034] A filtering module, configured to perform filtering processing on the first distance according to a second distance to obtain a first filtered distance, where the second distance is the distance between the position of the vehicle in the navigation map and the decision disc before the first distance;

[0035] A moving module, configured to control the vehicle to move to the decision disc in the navigation map according to the first filtered distance.

[0036] In an embodiment of the present disclosure, the second control unit is configured to control the vehicle to move towards the decision disc in the navigation map according to the position of the vehicle in the actual road scene in response to the center point not coinciding with the decision disc and the vehicle lane change not being completed.

[0037] In an embodiment of the present disclosure, the device further includes:

[0038] A calculation unit, configured to calculate a third distance between the position of the vehicle in the navigation map and the decision disk in response to receiving a lane change completion signal or a lane change failure signal, and when the position of the vehicle in the navigation map does not coincide with the decision disk;

[0039] A third control unit, configured to control the vehicle to smoothly move to the decision disk in the navigation map according to the third distance.

[0040] In an embodiment of the present disclosure, the third control unit includes:

[0041] A filtering subunit, configured to perform filtering processing on the third distance according to a fourth distance and a distance value of zero when the position of the vehicle in the navigation map coincides with the decision disk, to obtain a second filtered distance, where the fourth distance is the distance between the position of the vehicle in the navigation map and the decision disk before the third distance;

[0042] A control subunit, configured to control the vehicle to move to the decision disk in the navigation map according to the second filtered distance.

[0043] In an embodiment of the present disclosure, the lane change signal includes the lane after the lane change; the generating unit includes:

[0044] An obtaining subunit, configured to obtain the lane center line of the lane after the lane change in the navigation map;

[0045] A determining subunit, configured to determine a projection position of the vehicle projected onto the lane center line in the navigation map according to the position of the vehicle in the navigation map, and determine the projection position as the decision disk.

[0046] In a third aspect, an embodiment of the present disclosure provides an electronic device, including:

[0047] At least one processor; and

[0048] A memory communicatively connected to the at least one processor; wherein,

[0049] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the electronic device to execute the method according to any one of the first aspects of the present disclosure.

[0050] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method according to any one of the first aspects of the present disclosure is implemented.

[0051] Fifth aspect, an embodiment of the present disclosure provides a computer program product, including a computer program which, when executed by a processor, implements the method described in any one of the first aspects of the present disclosure.

[0052] Sixth aspect, an embodiment of the present disclosure provides a method for providing location-based services. The method utilizes a navigation map obtained by the method described in the first aspect to provide location-based services for the service recipient using the navigation map. The location-based services include one or more of navigation, map rendering, and route planning.

[0053] An embodiment of the present disclosure provides a navigation method, apparatus, and a method for providing location-based services. By generating a decision disk in the navigation map and controlling the vehicle to move to the decision disk in the navigation map based on the decision disk, the technical solution can effectively and reliably follow the process of the vehicle changing lanes in the navigation map, so as to improve the effectiveness and reliability of the navigation map, and improve the perception experience of the passenger user on the dynamics of the vehicle changing lanes. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0055] Figure 1 Schematic diagram of a navigation method according to an embodiment of the present disclosure;

[0056] Figure 2 Schematic diagram of the principle of the navigation method according to an embodiment of the present disclosure;

[0057] Figure 3 Schematic diagram of a navigation method according to another embodiment of the present disclosure;

[0058] Figure 4 Schematic diagram of the framework of a vehicle according to an embodiment of the present disclosure;

[0059] Figure 5 Schematic diagram of a navigation apparatus according to an embodiment of the present disclosure;

[0060] Figure 6 Schematic diagram of a navigation apparatus according to another embodiment of the present disclosure;

[0061] Figure 7 Schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present disclosure.

[0062] Through the above-mentioned drawings, specific embodiments of the present disclosure have been shown, and will be described in more detail hereinafter. These drawings and the written description are not intended to limit the scope of the concept of the present disclosure in any way, but to illustrate the concept of the present disclosure to those skilled in the art by reference to specific embodiments. Detailed Description of the Embodiments

[0063] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0064] The terms "first", "second", "third", etc. in the description and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data may be interchanged under appropriate circumstances so that the embodiments of the present disclosure described herein can be implemented in an order different from those illustrated or described herein.

[0065] In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0066] For the convenience of understanding the present disclosure, at least some of the terms are explained as follows:

[0067] Autopilot, also known as driverless or computer driving, is an intelligent control technology that realizes driverless through a computer system. That is, autopilot can be understood as using communication, computer, network, and control technologies, etc., to achieve real-time and continuous control of the vehicle, so that the vehicle can drive more flexibly, the control is more effective, and it is more adaptable to the needs of vehicle autopilot.

[0068] A navigation map (Electronic map), also known as a digital map, refers to a map stored and accessed digitally using computer technology.

[0069] A high-precision map, also known as a high-definition map (HD map), refers to a map used for autonomous driving assistance. With a relative accuracy at the centimeter level, it has rich lane lines, road signs, traffic signs, traffic lights, lane curvature, slope, and lane-level real-time traffic dynamic information, mainly serving for the machine to judge, make decisions, and control the autonomous driving environment.

[0070] The map base map, also known as the basic base map or geographical base map, refers to the basic base map used for drawing high-precision maps, including road facilities, etc.

[0071] Lane change refers to a vehicle changing from the current lane to other lanes.

[0072] Lane-level lane change refers to the process of a vehicle changing lanes during driving relying on a high-precision map, which can be accurate to the lane change.

[0073] The lane center line refers to the long yellow or white straight line in the middle of the road. It is a traffic marking used to divide oncoming traffic flows, and is divided into center double solid lines, center single solid lines, center dotted lines, and center double solid lines.

[0074] Surrounding Reality (SR) refers to depicting the environmental reality of traffic participants and road facilities around the vehicle itself.

[0075] A traffic sign is short for a traffic signboard or traffic indicator board, which refers to a facility that uses graphic symbols and text to convey specific information for traffic management and indicating the driving direction to ensure road smoothness and driving safety. It is mainly applicable to highways, urban roads, and special highways, and vehicles and pedestrians must comply.

[0076] A traffic light refers to a signal light composed of three colors: red, yellow, and green (green is blue-green) used to direct traffic.

[0077] Filtering refers to a technology for extracting useful data from data containing interference. Among them, the filtering method can include data filtering.

[0078] Data filtering refers to a data processing technology for removing noise and restoring real data. Among them, Kalman filtering is a way of data filtering.

[0079] Kalman filtering is an algorithm that uses a linear system state equation to optimally estimate the system state through system input and output observation data.

[0080] That is to say, Kalman filtering can estimate whether the current data is noise data based on the previous data, and if the current data is noise data, it can estimate the real current data through the previous data.

[0081] With the development of autonomous driving technology, vehicles have achieved a transformation from manual control to automatic control. In a navigation scenario, when a vehicle changes lanes based on autonomous driving technology, the passengers in the vehicle can feel the process of the vehicle changing lanes through a map (specifically, it can be called a navigation map).

[0082] However, the process of a vehicle changing lanes is a process in which the position of the vehicle changes in real time. How to dynamically follow the process of a vehicle changing lanes in the actual road scenario in the navigation map, especially in a lane-level lane-changing scenario, how to make the navigation map consistent with the process of a vehicle changing lanes in the actual road scenario and dynamically and smoothly display the process of a vehicle changing lanes in the navigation map has become an urgent problem to be solved.

[0083] Through creative efforts, the inventors of the present disclosure obtained the inventive concept of the present disclosure: taking the position of the vehicle after changing lanes as the center point of the map, and taking this center point as the perspective center of the passengers in the vehicle, and synchronously displaying the process of the vehicle changing lanes in the actual road scenario in the navigation map.

[0084] Next, the technical solutions of the present disclosure will be described in detail through specific embodiments. It should be noted that these specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0085] Please refer to Figure 1 , Figure 1 which is a schematic diagram of a navigation method according to an embodiment of the present disclosure. As Figure 1 shown, the method includes:

[0086] S101: In response to receiving a lane change signal, generate a decision disc in the navigation map according to the position of the vehicle in the navigation map.

[0087] Among them, the position of the vehicle in the navigation map is determined based on the position of the vehicle in the actual road scenario, and the decision disc is used to represent the position after the lane change corresponding to the position of the vehicle in the navigation map.

[0088] Exemplarily, the execution subject of the navigation method of the embodiment of the present disclosure is a navigation device, and the navigation device can be a server, a computer, a terminal device (such as an in-vehicle terminal), a processor, a chip, etc., which will not be listed one by one here.

[0089] It is worth noting that during the process of a vehicle changing lanes, the position of the vehicle in the actual road scenario changes in real time. Correspondingly, the position of the vehicle in the navigation map also changes in real time, and the position of the vehicle in the navigation map changes based on the change of the position of the vehicle in the actual road scenario.

[0090] Correspondingly, the navigation map also changes accordingly, that is, in the navigation scenario, the navigation map changes dynamically based on the change in the position of the vehicle in the actual road scenario. For example, when the vehicle is in different positions in the actual road scenario, the surrounding environment of the vehicle in the actual road scenario may change. For example, the road facilities at the position of the vehicle in the actual road scenario may be different, and the number of other vehicles may be different, etc.

[0091] Exemplarily, as Figure 2 shown, in the navigation map, the lane before the vehicle changes lanes is marked as the first lane, and the lane after the vehicle changes lanes is marked as the second lane. After receiving the lane change signal, the navigation device needs to control the vehicle to change from the first lane in the navigation map to the second lane. The position where the vehicle changes to the second lane in the navigation map can be marked as a decision disk.

[0092] S102: Control the center point of the navigation map to move from the position of the vehicle in the navigation map to the decision disk.

[0093] Exemplarily, before the navigation device receives the lane change signal, the center point coincides with the position of the vehicle in the navigation map. During the lane change process, the position of the vehicle in the actual road scenario changes in real time. By controlling the center point that coincides with the position of the vehicle in the navigation map to move to the decision disk, the decision disk can be used as the center point, that is, as the perspective center of the passenger user, to experience the lane change process of the vehicle in the navigation map, so as to improve the reliability and effectiveness of the display of the lane change process of the vehicle by the navigation map, and improve the dynamic perception experience of the passenger user for the lane change of the vehicle.

[0094] S103: Control the vehicle to move towards the decision disk in the navigation map.

[0095] Exemplarily, the decision disk is the position after the vehicle changes lanes. Therefore, the process of the vehicle changing lanes in the navigation map can be understood as the process of the vehicle moving from the position in the navigation map to the decision disk.

[0096] It should be noted that S102 and S103 are two parallel steps, that is, S102 and S103 are two steps executed synchronously. While controlling the center point to move towards the decision disk, control the vehicle to move towards the decision disk in the navigation map, so as to realize the dynamic following of the vehicle lane change process from the user's perspective during the vehicle lane change process.

[0097] Based on the above analysis, the present disclosure provides a navigation method, including: in response to receiving a lane change signal, generating a decision disk in a navigation map according to the position of the vehicle in the navigation map, where the position of the vehicle in the navigation map is determined based on the position of the vehicle in the actual road scenario, and the decision disk is used to represent the position after lane change corresponding to the position of the vehicle in the navigation map; controlling the center point of the navigation map to move from the position of the vehicle in the navigation map to the decision disk; and controlling the vehicle to move in the navigation map towards the decision disk. In this embodiment, by generating a decision disk in the navigation map when the vehicle changes lanes to move the center point to the decision disk, so as to control the vehicle to move to the decision disk in the navigation map with the decision disk as the center point, the technical feature can effectively and reliably follow the process of the vehicle changing lanes based on the navigation map, improve the effectiveness and reliability of the navigation map, and enhance the dynamic perception experience of the ride users for the vehicle lane change.

[0098] To enable readers to more deeply understand the implementation principle of the present disclosure, the embodiments of the present disclosure will be elaborated in more detail in combination with Figure 3 the following. Among them, Figure 3 is a schematic diagram of the navigation method according to another embodiment of the present disclosure. As Figure 3 shown, the method includes:

[0099] S301: Obtain the position of the vehicle in the actual road scenario.

[0100] It should be understood that, to avoid cumbersome statements, for the same technical features of this embodiment and the above embodiments, this embodiment will not be described in detail again.

[0101] This embodiment does not limit the manner of obtaining the position of the vehicle in the actual road scenario. For example, sensors are provided on the vehicle, and the sensors include but are not limited to the Global Positioning System (GPS), radar, and Inertial Navigation System (INS). The navigation device can establish communication with the sensors, receive the sensor signals collected by the sensors transmitted by the sensors, and determine the position of the vehicle in the actual road scenario according to the sensor signals.

[0102] Alternatively, an autonomous driving system is provided on the vehicle. The vehicle can realize automatic driving based on the autonomous driving system. The autonomous driving system can establish communication with the sensors and the navigation device respectively to receive the sensor signals collected and transmitted by the sensors, determine the position of the vehicle in the actual road scenario according to the sensor signals, and transmit the position of the vehicle in the actual road scenario to the navigation device.

[0103] S302: Obtain a map base from a preset map base that corresponds to the position of the vehicle in the actual road scenario, and generate a navigation map based on the obtained map base.

[0104] Exemplarily, location processing can be performed in the map base according to the position of the vehicle in the actual road scenario to determine the position of the vehicle in the actual road scenario in the map base, and the map base within a preset range of the position of the vehicle in the actual road scenario can be extracted to generate a navigation map based on the extracted map base.

[0105] Since the map base is a basic base map including road facilities, etc., by determining the navigation map in combination with the map base, the navigation map can represent road facilities in the actual scenario, etc., so that the navigation map has high authenticity and reliability.

[0106] Among them, the preset range can be determined based on requirements, historical records, and tests, etc., and this embodiment does not make a limitation. Correspondingly, the road shape and road facilities (such as traffic signs and traffic lights, etc.) within the preset range can be displayed in the navigation map.

[0107] Among them, this embodiment does not limit the output device for displaying the navigation map. For example, a vehicle-mounted terminal can be set on the vehicle, and the vehicle-mounted terminal includes a display, and the display can be the output device for the navigation map. Another example is that the vehicle can be connected to a user device by wire or wirelessly, and the user device can be the output device for the navigation map, and the user device includes but is not limited to mobile phones and tablet computers.

[0108] In some embodiments, the navigation device can also obtain information depicting the environmental reality, such as information about obstacles within a preset range of the position of the vehicle in the actual road scenario, etc., and the information about obstacles can include information about other vehicles and / or pedestrians in the actual road scenario, etc., and generate a navigation map in combination with the information depicting the environmental reality.

[0109] Correspondingly, the navigation map generated by combining the map base and the information depicting the environmental reality includes both the characteristics of the geographical structure and the characteristics of the current environment of the actual scenario, so that the content of the navigation map is relatively rich, and the effectiveness and timeliness of the navigation map are improved.

[0110] S303: In response to receiving a lane change signal, which includes the lane after the lane change, obtain the center line of the lane after the lane change in the navigation map.

[0111] Exemplarily, as shown in Figure 2 the lane after the lane change is the second lane. Correspondingly, the center line of the second lane can be obtained.

[0112] S304: Determine the projection position of the vehicle projected onto the center line of the lane according to the position of the vehicle in the navigation map, and determine the projection position as the decision disc.

[0113] Wherein, the position of the vehicle in the navigation map is determined based on the position of the vehicle in the actual road scene, and the decision disc is used to represent the position after lane change corresponding to the position of the vehicle in the navigation map.

[0114] Exemplarily, as Figure 2 shown, the decision disc is the projection position of the vehicle projected onto the center line of the lane in the navigation map.

[0115] In this embodiment, by combining the center line of the lane to determine the projection position, the projection position is determined as the decision disc, and the decision disc is displayed in the navigation map to more appropriately represent the process of lane change of the vehicle in the navigation map, improving the dynamic performance of the processing of the navigation map and meeting the dynamic riding experience of the riding users.

[0116] Among them, the decision disc can be highlighted. The lane after lane change, such as Figure 2 the second lane shown in

[0117] can also be highlighted. The information depicted in the environmental reality can also be highlighted.

[0118] Moreover, the information depicted in the environmental reality can be highlighted in combination with the driving direction of the vehicle in the navigation map. For example, based on the driving direction of the vehicle in the navigation map, the information depicted in the environmental reality in front of the vehicle in the navigation map is highlighted. Another example is that based on the driving direction of the vehicle in the navigation map, the information depicted in the environmental reality in front of the vehicle in the second lane is highlighted.

[0118] Similarly, the driving direction of the vehicle in the navigation map is determined based on the driving direction of the vehicle in the actual road scene.

[0119] This embodiment does not limit the method for determining the projection position. For example, the projection position can be determined according to the center position of the vehicle in the navigation map, or the projection position can be determined according to the outline of the vehicle in the navigation map. Now, taking the determination of the projection position according to the center position of the vehicle in the navigation map as an example, the description is as follows by way of demonstration:

[0120] Determine the intersection point of the center position of the vehicle in the navigation map perpendicular to the center line of the lane, and construct a decision disc in the second lane with this intersection point as the center position of the decision disc. Correspondingly, the decision disc can be understood as the coverage area of the vehicle in the second lane in the navigation map, and the center position of this coverage area is the intersection point of the center position of the vehicle in the navigation map perpendicular to the center line of the lane.

[0121] S305: Within a preset time period, control the center point of the navigation map to move from the position of the vehicle in the navigation map to the decision disc.

[0122] Among them, the preset time period can be determined based on requirements, historical records, and tests, etc., and this embodiment does not make any limitations.

[0123] Exemplarily, in order to more quickly facilitate the ride-hailing user to experience the dynamic changes of lane change from the user's perspective, the preset time period can be set to a relatively small value. Or, in order to avoid too large a change in the user's perspective and cause visual perception jitter for the ride-hailing user, the preset time period can be set to a relatively large value.

[0124] In some embodiments, S305 may include the following steps:

[0125] The first step: Calculate the moving distance between the center point and the decision disc.

[0126] It should be noted that the decision disc is determined based on the position of the vehicle in the navigation map, and the position of the vehicle in the navigation map is based on the position of the vehicle in the actual road scene. During the process of the vehicle changing lanes, the position of the vehicle in the actual road scene is changing in real time. Therefore, the position of the vehicle in the navigation map is changing in real time, the decision disc is changing in real time, and the moving distance is also changing in real time.

[0127] In some embodiments, the center point can be represented by the coordinate system of the navigation map, and the decision disc can also be represented by the coordinate system of the navigation map. Correspondingly, the coordinate distance between the coordinates of the center point and the coordinates of the decision disc can be calculated by means of coordinate calculation, and this coordinate distance is the moving distance.

[0128] The second step: Calculate the moving speed based on the moving distance and the preset time period.

[0129] Similarly, the moving distance is changing in real time. During the process of the vehicle changing lanes, the available time in the preset time period is gradually decreasing. Therefore, the moving speed may change with the change of the moving distance, that is, the moving speed may be uniform or non-uniform.

[0130] The third step: Control the center point of the navigation map to move from the position of the vehicle in the navigation map towards the decision disc according to the moving speed.

[0131] S306: Control the vehicle to move towards the decision disc in the navigation map.

[0132] In some embodiments, S306 may include the following steps:

[0133] First step: In response to the center point coinciding with the decision disc and the vehicle lane change not being completed, calculate the first distance between the position of the vehicle in the navigation map and the decision disc.

[0134] Combined with the above analysis, it can be seen that during the vehicle lane change process, the navigation device can control the center point coinciding with the position of the vehicle in the navigation map to move towards the decision disc. As the center point moves, the center point may coincide with the decision disc, and when the center point coincides with the decision disc, the vehicle lane change has not ended, that is, the vehicle lane change is still ongoing. Then calculate the first distance between the position of the vehicle in the navigation map and the decision disc in this scenario.

[0135] It should be noted that since the vehicle lane change has not ended, the position of the vehicle in the actual road scenario is changing in real time, and the position of the vehicle in the navigation map is determined based on the position in the actual road scenario. Therefore, the position of the vehicle in the navigation map is also changing in real time. Correspondingly, the decision disc is also changing in real time, and the first distance is also changing in real time.

[0136] Second step: Control the vehicle to smoothly move to the decision disc in the navigation map according to the first distance.

[0137] This embodiment does not limit the smooth manner of controlling the vehicle to move to the decision disc in the navigation map. For example, it can be implemented by filtering, such as the above data filtering method, and specifically can be implemented by the above Kalman filtering method.

[0138] In this embodiment, by controlling the vehicle to smoothly move to the decision disc in the navigation map, the smooth movement of the vehicle in the navigation map can be achieved, and abnormal jumping of the vehicle in the navigation map can be avoided.

[0139] In some embodiments, the second step may include the following sub-steps:

[0140] First sub-step: Filter the first distance according to the second distance to obtain the first filtered distance.

[0141] Wherein, the second distance is the distance between the position of the vehicle in the navigation map and the decision disc before the first distance.

[0142] Exemplarily, the first distance is the distance between the position of the vehicle in the navigation map and the decision disc in the scenario where the center point coincides with the decision disc, and the second distance may include the distance between the position of the vehicle in the navigation map and the decision disc before the center point coincides with the decision disc.

[0143] As can be seen from the above analysis, the vehicle can be smoothly moved to the decision disc in the navigation map by means of Kalman filtering. Correspondingly, the first filtered distance can be obtained in combination with Kalman filtering. For example, Kalman filtering is used to filter and calculate the second distance and the first distance to obtain the first filtered distance.

[0144] Exemplarily, Kalman filtering can estimate the first filtered distance based on the first distance and the second distance. Combining the above term explanation of Kalman filtering, the second distance is the distance obtained before the first distance. Therefore, the first distance can be understood as the current data, and the second distance can be understood as the previous data. Correspondingly, Kalman filtering can estimate whether the current data (i.e., the first distance) is noise data (i.e., incorrect distance) based on the previous data (i.e., the second distance). And if the current data (i.e., the first distance) is noise data (i.e., incorrect distance), the true current data (i.e., the first filtered distance) can be estimated through the previous data (i.e., the second distance).

[0145] Exemplarily, in Kalman filtering, the distribution depends on the Gaussian function. The Gaussian function can be constructed through the second distance to obtain a model that satisfies the normal distribution of the Gaussian function. And based on this model of the normal distribution and the first distance, the first filtered distance is estimated to avoid the first distance being an abnormally jumping distance, so that the vehicle can be smoothly moved to the decision disc in the navigation map by controlling with the first filtered distance.

[0146] For example, the first distance is 9 meters (m), and the second distances include 8 meters and 7 meters. Since during the vehicle lane-changing process, the distance between the vehicle and the decision disc in the navigation map is a continuously shrinking process, and the distances before the first distance are 8 meters and 7 meters, the first distance of 9 meters is an abnormal signal. When the first distance of 9 meters is input into the model of the normal distribution, the model of the normal distribution will filter the first distance (9 meters), that is, estimate a distance that satisfies the normal distribution. For example, a distance of 7.5 meters (i.e., the first filtered distance) may be obtained.

[0147] The second sub-step: Control the vehicle to move to the decision disc in the navigation map according to the first filtered distance.

[0148] In this embodiment, the first filtered distance is determined by means of filtering processing to filter abnormal data and avoid abnormal jumping of the distance, so that the first filtered distance has high accuracy and reliability, thereby improving the effectiveness and reliability of controlling the vehicle to move in the navigation map.

[0149] As can be seen from the above analysis, there may be a scenario where the vehicle lane change has not ended when the center point coincides with the decision-making disc. Since the center point moves to coincide with the decision-making disc within a preset time period, in some other embodiments, there may also be a scenario where the center point does not coincide with the decision-making disc and the vehicle lane change has not ended.

[0150] Correspondingly, in response to the center point not coinciding with the decision-making disc and the vehicle lane change not ending, S306 may include: controlling the vehicle to move towards the decision-making disc on the navigation map according to the position of the vehicle in the actual road scenario.

[0151] Exemplarily, the position of the vehicle in the actual road scenario changes in real time. In the scenario where the center point does not coincide with the decision-making disc and the vehicle lane change has not ended, the navigation device may adjust the position of the vehicle on the navigation map based on the position of the vehicle in the actual road scenario, so that the position of the vehicle on the navigation map is synchronized with the position of the vehicle in the actual road scenario, realizing a high degree of fit of the vehicle lane change between the navigation map and the actual road scenario.

[0152] In some other embodiments, as time goes by, the navigation device may receive a lane change completion signal. For example, after the vehicle has been changing lanes for a period of time, the vehicle has completed the lane change in the actual road scenario, and the position of the vehicle on the navigation map does not coincide with the decision-making disc, that is, the vehicle has not completed the lane change on the navigation map.

[0153] Or, the navigation device may also receive a lane change failure signal. For example, due to traffic congestion in the actual road scenario or other reasons, the vehicle cannot complete the lane change, and the position of the vehicle on the navigation map does not coincide with the decision-making disc, that is, the vehicle has not completed the lane change in the navigation map scenario.

[0154] Correspondingly, in response to receiving a lane change completion signal or a lane change failure signal, and the position of the vehicle on the navigation map does not coincide with the decision-making disc, S306 may include the following steps:

[0155] The first step: Calculate the third distance between the position of the vehicle on the navigation map and the decision-making disc.

[0156] The second step: Control the vehicle to smoothly move to the decision-making disc on the navigation map according to the third distance.

[0157] Similarly, in this embodiment, by combining the third distance to control the vehicle to smoothly move to the decision-making disc on the navigation map, the smooth movement of the vehicle on the navigation map can be realized, and abnormal jitter of the vehicle on the navigation map can be avoided.

[0158] In some embodiments, the second step may also include the following sub-steps:

[0159] The first sub-step: Filter the third distance according to the fourth distance and the distance value of zero when the position of the vehicle in the navigation map coincides with the decision disc, to obtain the second filtered distance.

[0160] Wherein, the fourth distance is the distance between the position of the vehicle in the navigation map and the decision disc before the third distance.

[0161] Exemplarily, the third distance is the distance between the position of the vehicle in the navigation map and the decision disc in a scenario where the center point does not coincide with the decision disc and a lane change completion signal or a lane change failure signal is received, and the fourth distance may include the distance between the position of the vehicle in the navigation map and the decision disc in a scenario where the center point does not coincide with the decision disc and neither a lane change completion signal nor a lane change failure signal is received.

[0162] Combined with the above analysis, it can be known that filtering can be performed by means of Kalman filtering, and specifically, it can be implemented in combination with a normal distribution model. Correspondingly, in this embodiment, a normal distribution model can also be constructed based on the fourth distance, input the distance value of zero into the normal distribution model, and output the second filtered distance.

[0163] The second sub-step: Control the vehicle to move to the decision disc in the navigation map according to the second filtered distance.

[0164] Similarly, in this embodiment, the second filtered distance is determined by means of filtering to filter abnormal data, avoid abnormal jumps in the distance, so that the second filtered distance has high accuracy and reliability, thereby improving the effectiveness and reliability of controlling the vehicle to move in the navigation map.

[0165] In some embodiments, as Figure 4 shown, an autonomous driving system, a signal processing system, and a perspective following system are deployed in the vehicle. The signal processing system establishes communications with the autonomous driving system and the perspective following system respectively. The signal processing system and the perspective following system may be components of a processing device, that is, through the signal processing system and the perspective following system, the navigation method described in the above embodiment can be implemented.

[0166] Exemplarily, as Figure 4 shown, the autonomous driving system generates a vehicle decision signal according to the driving scenario of the vehicle and transmits the vehicle strategy signal to the signal processing system.

[0167] Wherein, the vehicle decision signal is used to indicate the type of the driving strategy of the vehicle, such as maintaining the current lane driving, or starting a lane change, etc.

[0168] Correspondingly, the signal processing system receives the vehicle decision signal transmitted by the autonomous driving system, and the signal processing system can perform type recognition on the vehicle decision signal to determine the type of driving strategy indicated by the vehicle decision signal.

[0169] Exemplarily, the vehicle decision signal may carry an identifier, and there is a corresponding relationship between the identifier and the driving strategy. The number of identifiers carried in the vehicle decision signal may be one or multiple, that is, the vehicle decision signal can be used to indicate the type of one driving strategy or the types of multiple driving strategies. Therefore, the signal processing system can determine the type of driving strategy of the vehicle according to the identifier. And for different types of driving strategies, the processing methods of the signal processing system can be different.

[0170] For example, if the type of driving strategy is to maintain the current lane or wait for a lane change, the signal processing system may not process the vehicle decision signal.

[0171] For another example, if the type of driving strategy is to recommend a lane change or start a lane change, the signal processing system can transmit the vehicle decision signal to the perspective following system.

[0172] Correspondingly, the perspective following system receives the vehicle decision signal transmitted by the signal processing system and executes the embodiments described above according to the vehicle decision signal.

[0173] Exemplarily, the vehicle decision signal may include the lane before the lane change, the lane after the lane change, the position of the vehicle in the actual road scene, and the information depicted by the environment display, etc. The perspective following system can execute the embodiments described in S301 to S306 above according to the vehicle decision signal.

[0174] For yet another example, the type of driving strategy includes a failed lane change, and the signal processing system can transmit the vehicle decision signal to the perspective following system.

[0175] Correspondingly, the perspective following system receives the vehicle decision signal transmitted by the signal processing system and moves the center point from the decision disk to the position of the vehicle in the navigation map.

[0176] Exemplarily, if when the perspective following system controls the vehicle to move towards the decision disk in the navigation map and receives the vehicle decision signal representing a failed lane change signal of the vehicle, the perspective following system can adjust the center point so that the center point coincides with the position of the vehicle in the navigation map when the vehicle completes the lane change, that is, determines the position of the vehicle in the navigation map as the center point.

[0177] In this embodiment, if the lane change fails, the vehicle does not need to continue to execute the lane change. By adjusting the center point, the flexibility of navigation map processing can be achieved, and through the flexible processing of the navigation map, the navigation map can be highly fitted with the actual scene to improve the riding experience of the passengers.

[0178] In some embodiments, moving the center point to coincide with the position of the vehicle in the navigation map may include: performing a smooth migration process on the center point according to the position of the vehicle in the navigation map and the position of the center point until the center point coincides with the position of the vehicle in the navigation map.

[0179] This embodiment does not limit the method of smooth migration processing. For example, a segmented migration method can be adopted.

[0180] Implementing the smooth migration process by using the segmented migration method can be understood as determining the segmented distance according to the position of the vehicle in the navigation map and the position of the center point. For example, the segmented distance can be determined based on the distance between the position of the vehicle in the navigation map and the center point, and a preset smoothness degree. The migration speed is determined according to the segmented distance smoothness degree, and the migration direction is determined according to the position of the vehicle in the navigation map, so as to implement the smooth migration process according to the migration direction and the migration speed.

[0181] Similarly, the smoothness degree can be determined based on requirements, historical records, and tests, etc. This embodiment does not make a limitation.

[0182] In this embodiment, by smoothly migrating the center point to coincide with the position of the vehicle in the navigation map, abnormal fluctuations of the navigation map can be avoided, and the smoothness and reliability of the navigation map can be improved. And when the lane change fails, by migrating the center point back to coincide with the position of the vehicle in the navigation map, the dynamics and flexibility of the perspective change of the navigation map can be satisfied, and the riding experience of the passengers can be improved.

[0183] According to another aspect of the embodiments of the present disclosure, the present disclosure also provides a navigation device. Please refer to Figure 5 , Figure 5 is a schematic diagram of a navigation device according to an embodiment of the present disclosure. As Figure 5 shown, the navigation device 500 includes:

[0184] A generating unit 501, configured to generate a decision disc in the navigation map according to the position of the vehicle in the navigation map in response to receiving a lane change signal, wherein the position of the vehicle in the navigation map is determined based on the position of the vehicle in the actual road scene, and the decision disc is used to represent the position after the lane change corresponding to the position of the vehicle in the navigation map.

[0185] The first control unit 502 is configured to control the center point of the navigation map to move from the position of the vehicle in the navigation map towards the decision disc.

[0186] The second control unit 503 is configured to control the vehicle to move towards the decision disc in the navigation map.

[0187] Please refer to Figure 6 , Figure 6 which is a schematic diagram of a navigation device according to another embodiment of the present disclosure. As Figure 6 shown, the navigation device 600 includes:

[0188] A generating unit 601, configured to generate a decision disc in the navigation map according to the position of the vehicle in the navigation map in response to receiving a lane change signal, wherein the position of the vehicle in the navigation map is determined based on the position of the vehicle in the actual road scenario, and the decision disc is used to represent the position after lane change corresponding to the position of the vehicle in the navigation map.

[0189] In some embodiments, the lane change signal includes the lane after lane change; the generating unit 601 includes:

[0190] An obtaining subunit 6011, configured to obtain the center line of the lane after lane change in the navigation map.

[0191] A determining subunit 6012, configured to determine the projection position of the vehicle projected onto the center line of the lane in the navigation map according to the position of the vehicle in the navigation map, and determine the projection position as the decision disc.

[0192] The first control unit 602 is configured to control the center point of the navigation map to move from the position of the vehicle in the navigation map towards the decision disc.

[0193] The second control unit 603 is configured to control the vehicle to move towards the decision disc in the navigation map.

[0194] Combined with Figure 6 it can be seen that in some embodiments, the second control unit 603 includes:

[0195] A calculating subunit 6031, configured to calculate a first distance between the position of the vehicle in the navigation map and the decision disc in response to the center point coinciding with the decision disc and the vehicle lane change not being completed.

[0196] A moving subunit 6032, configured to control the vehicle to smoothly move to the decision disc in the navigation map according to the first distance.

[0197] In some embodiments, the mobile subunit 6032 includes:

[0198] A filtering module, configured to filter the first distance according to the second distance to obtain a first filtered distance, where the second distance is the distance between the position of the vehicle in the navigation map and the decision disc before the first distance.

[0199] A moving module, configured to control the vehicle to move to the decision disc in the navigation map according to the first filtered distance.

[0200] In some embodiments, the second control unit 603 is configured to, in response to the center point not coinciding with the decision disc and the vehicle lane change not being completed, control the vehicle to move towards the decision disc in the navigation map according to the position of the vehicle in the actual road scene.

[0201] A calculation unit 604, configured to, in response to receiving a lane change completion signal or a lane change failure signal and the position of the vehicle in the navigation map not coinciding with the decision disc, calculate a third distance between the position of the vehicle in the navigation map and the decision disc.

[0202] A third control unit 605, configured to control the vehicle to smoothly move to the decision disc in the navigation map according to the third distance.

[0203] Combined Figure 6 It can be seen that in some embodiments, the third control unit 605 includes:

[0204] A filtering subunit 6051, configured to filter the third distance according to the fourth distance and the distance value of zero when the position of the vehicle in the navigation map coincides with the decision disc, to obtain a second filtered distance, where the fourth distance is the distance between the position of the vehicle in the navigation map and the decision disc before the third distance;

[0205] A control subunit 6052, configured to control the vehicle to move to the decision disc in the navigation map according to the second filtered distance.

[0206] According to another aspect of the embodiments of the present disclosure, the embodiments of the present disclosure further provide a location-based service providing method, which uses the navigation map obtained by the navigation method described in any of the above embodiments to provide location-based services for the service object by using the navigation map, and the location-based services include one or more of navigation, map rendering, and route planning.

[0207] According to another aspect of the embodiments of the present disclosure, the embodiments of the present disclosure further provide a vehicle, which includes the processing device of the navigation map as described in the foregoing embodiments, and further includes a display device for displaying the navigation map processed by the processing device.

[0208] Figure 7 It is a schematic hardware structure diagram of the electronic device provided by the embodiments of the present disclosure. As Figure 7 shown, the electronic device 700 of the embodiments of the present disclosure may include: at least one processor 701 ( Figure 7 only one processor is shown herein); and a memory 702 communicatively connected to the at least one processor. Among them, the memory 702 stores instructions executable by the at least one processor 701, and the instructions are executed by the at least one processor 701 so that the electronic device 700 can execute the technical solutions in any of the foregoing method embodiments.

[0209] Optionally, the memory 702 can be either independent or integrated with the processor 701.

[0210] When the memory 702 is a device independent of the processor 701, the electronic device 700 further includes: a bus 703 for connecting the memory 702 and the processor 701.

[0211] The electronic device provided by the embodiments of the present disclosure can execute the technical solutions in any of the foregoing method embodiments, and its implementation principles and technical effects are similar, which will not be elaborated herein.

[0212] The embodiments of the present disclosure further provide a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, it is used to implement the technical solutions in any of the foregoing method embodiments.

[0213] The embodiments of the present disclosure provide a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the technical solutions in any of the foregoing method embodiments.

[0214] The embodiments of the present disclosure further provide a chip, including: a processing module and a communication interface, and the processing module can execute the technical solutions in the foregoing method embodiments.

[0215] Further, the chip further includes a storage module (such as a memory), the storage module is used to store instructions, the processing module is used to execute the instructions stored by the storage module, and the execution of the instructions stored by the storage module enables the processing module to execute the technical solutions in the foregoing method embodiments.

[0216] It should be understood that the above-mentioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.

[0217] The memory may include high-speed RAM memory, and may also include non-volatile storage NVM, such as at least one disk memory, and can also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disc, etc.

[0218] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience in representation, the buses in the accompanying drawings of the present disclosure are not limited to only one bus or one type of bus.

[0219] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic memory, flash memory, magnetic disk or optical disc. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0220] An exemplary storage medium is coupled to the processor, enabling the processor to read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an Application Specific Integrated Circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device.

[0221] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A navigation method, the method comprising: In response to receiving a lane change signal, generating a decision disc in the navigation map according to the position of the vehicle in the navigation map, wherein the position of the vehicle in the navigation map is determined based on the position of the vehicle in the actual road scene, and the decision disc is used to represent the position after lane change corresponding to the position of the vehicle in the navigation map; Controlling the center point of the navigation map to move from the position of the vehicle in the navigation map to the decision disc; Controlling the position of the vehicle in the navigation map to move to the decision disc.

2. The method according to claim 1, wherein The controlling the vehicle to move in the navigation map to the decision disc includes: In response to the center point coinciding with the decision disc and the lane change of the vehicle not being completed, calculating a first distance between the position of the vehicle in the navigation map and the decision disc; Controlling the vehicle to smoothly move to the decision disc in the navigation map according to the first distance.

3. The method according to claim 2, wherein Controlling the vehicle to smoothly move to the decision disc in the navigation map according to the first distance includes: Filtering the first distance according to a second distance to obtain a first filtered distance, wherein the second distance is the distance between the position of the vehicle in the navigation map and the decision disc before the first distance; Controlling the vehicle to move to the decision disc in the navigation map according to the first filtered distance.

4. The method according to any one of claims 1 to 3, wherein The controlling the vehicle to move to the decision disc includes: In response to the center point not coinciding with the decision disc and the lane change of the vehicle not being completed, controlling the vehicle to move to the decision disc in the navigation map according to the position of the vehicle in the actual road scene.

5. The method according to any one of claims 1 to 3, wherein, The method further includes: In response to receiving a lane change completion signal or a lane change failure signal and the position of the vehicle in the navigation map not coinciding with the decision disc, calculating a third distance between the position of the vehicle in the navigation map and the decision disc; Controlling the vehicle to smoothly move to the decision disc in the navigation map according to the third distance.

6. The method according to claim 5, wherein The controlling the vehicle to smoothly move to the decision disc according to the third distance includes: Filtering the third distance according to a fourth distance and the distance value of zero when the position of the vehicle in the navigation map coincides with the decision disc to obtain a second filtered distance, wherein the fourth distance is the distance between the position of the vehicle in the navigation map and the decision disc before the third distance; Controlling the vehicle to move to the decision disc in the navigation map according to the second filtered distance.

7. The method according to any one of claims 1-3, wherein, The lane change signal includes the lane after lane change; The generating a decision disc in the navigation map according to the position of the vehicle in the navigation map includes: In the navigation map, obtaining the lane center line of the lane after lane change; According to the position of the vehicle in the navigation map, determining the projection position of the vehicle projected onto the lane center line in the navigation map, and determining the projection position as the decision disc.

8. A navigation device, characterized in that, including: A generating unit, configured to generate a decision disc in the navigation map according to the position of the vehicle in the navigation map in response to receiving a lane change signal, wherein the position of the vehicle in the navigation map is determined based on the position of the vehicle in the actual road scene, and the decision disc is used to represent the position after lane change corresponding to the position of the vehicle in the navigation map; A first control unit, configured to control the center point of the navigation map to move from the position of the vehicle in the navigation map to the decision disc; A second control unit, configured to control the position of the vehicle in the navigation map to move to the decision disc.

9. An electronic device, characterized in that, Comprising: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the electronic device to execute the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, A computer program is stored thereon, and when the computer program is executed by a processor, the method according to any one of claims 1-7 is implemented.

11. A method for providing location-based services, which uses the navigation map obtained by the method according to any one of claims 1-7 to provide location-based services for the service recipient, and the location-based services include: One or more of navigation, map rendering, and route planning.

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