Target path point determination method and device, electronic equipment and storage medium

Abstract

Embodiments of the present disclosure disclose a target path point determination method and device, electronic equipment and storage medium. The method comprises: obtaining navigation rendering data corresponding to a to-be-rendered navigation map interface, the navigation rendering data comprising path rendering data determined based on a navigation path, a travel direction of a navigated object or a camera view angle; determining a screening direction on a horizontal plane of the to-be-rendered navigation map interface, the screening direction being related to a projection direction of the travel direction of the navigated object or the camera view angle direction on the horizontal plane; and determining a target path point based on the screening direction and the path rendering data. The number of target path points screened by this technical solution is less than the number of path points in the path rendering data. Subsequent processing of the rendering data based on the target path points can reduce the computational complexity, improve the rendering efficiency, and improve the user experience.

Description

Technical Field

[0001] This disclosure relates to the field of rendering technology, specifically to a method, apparatus, electronic device, and storage medium for determining target path points. Background Technology

[0002] As high-precision map data becomes increasingly comprehensive, lane-level navigation services cover more and more geographical areas. Lane-level navigation provides users with a more refined navigation experience, allowing them to perceive road information more fully. The inventors of this disclosure have discovered that when rendering the navigation guidance interface in a lane-level navigation scenario, some height-sensitive elements (such as buildings) along the path can be processed using waypoints to reduce the occlusion of road information by these elements, thus ensuring rendering quality. However, if all waypoints on the navigation path are involved in the calculation, the computational complexity is high, leading to excessive consumption of computational resources and affecting rendering efficiency. Therefore, a new solution is needed that can reduce computational complexity without compromising rendering quality. Summary of the Invention

[0003] This disclosure provides a method, apparatus, electronic device, and storage medium for determining target path points.

[0004] In a first aspect, this disclosure provides a method for determining target path points, comprising:

[0005] Obtain the navigation rendering data corresponding to the navigation map interface to be rendered. The navigation rendering data includes path rendering data determined based on the navigation path, the direction of travel of the navigated object, or the camera view.

[0006] On the horizontal plane of the navigation map interface to be rendered, a filtering direction is determined. The filtering direction is related to the projection direction of the direction of travel of the navigated object or the camera's viewpoint on the horizontal plane.

[0007] Based on the filtering direction and the path rendering data, the target path point is determined.

[0008] Furthermore, the target path point is used for building occlusion detection, and determining the target path point based on the filtering direction and the path rendering data includes:

[0009] Establish a coordinate system with the filtering direction as the vertical axis;

[0010] Project the path points included in the path rendering data onto the horizontal axis of the coordinate system to obtain the projection points corresponding to the path points.

[0011] Based on the projection points, target projection points for building occlusion detection are determined;

[0012] The intersection of the target projection point along the filtering direction and the path corresponding to the path rendering data is taken as the target path point.

[0013] Further, based on the projection point, the target projection point for building occlusion detection is determined, including:

[0014] Identify the two projection points with the smallest and largest x-coordinates among the projection points;

[0015] Between the two projection points, a position point is selected on the horizontal coordinate axis, and the distance between adjacent position points is equal to a preset distance value;

[0016] At least the two projection points and the selected location point are used as target projection points for building occlusion detection.

[0017] Furthermore, the method further includes:

[0018] Obtain the projection point of the location of the navigated object on the horizontal axis;

[0019] At least the two projection points and the selected location point are used as target projection points for building occlusion detection, specifically including:

[0020] The two projection points, the selected location point, and the projection point of the navigated object are used as target projection points for building occlusion detection.

[0021] Furthermore, the origin of the coordinate system is the location of the navigated object, or the origin of the coordinate system is the projection point of the camera viewpoint on the horizontal plane.

[0022] Furthermore, when the navigation viewpoint is with the front of the vehicle facing upwards, the origin of the coordinate system is the location of the navigated object;

[0023] or,

[0024] When the navigation viewpoint is north-facing or the navigation map interface is in drag-and-drop mode, the origin of the coordinate system is the projection point of the camera viewpoint onto the horizontal plane.

[0025] Further, based on the filtering direction and the path rendering data, the target path point is determined, including:

[0026] Along the filtering direction, the intersection point generated by the path corresponding to the path rendering data is determined as the target path point; wherein, if there is one or more intersection points in the same direction, one of the one or more intersection points is selected as the target path point.

[0027] Further, on the horizontal plane of the navigation map interface to be rendered, a filtering direction is determined. This filtering direction is related to the projection direction of the travel direction of the navigated object or the camera's viewpoint direction onto the horizontal plane, including:

[0028] The projection direction of the travel direction or the camera's viewing angle onto the horizontal plane is determined as the filtering direction.

[0029] Secondly, this disclosure provides a detection method, comprising:

[0030] Obtain the data to be rendered corresponding to the navigation map interface; the data to be rendered includes target rendering element rendering data and path rendering data;

[0031] Based on the path rendering data, target path points for building occlusion detection are determined.

[0032] Based on the target path point, occlusion detection is performed on the buildings in the target rendering elements to determine whether the buildings are occluded.

[0033] Furthermore, based on the path rendering data, determining the target path point for building occlusion detection is performed using any of the methods described in the first aspect.

[0034] Thirdly, this disclosure provides a target path point determination device, comprising:

[0035] The first acquisition module is configured to acquire navigation rendering data corresponding to the navigation map interface to be rendered. The navigation rendering data includes path rendering data determined based on the navigation path, the direction of travel of the navigated object, or the camera view.

[0036] The first determining module is configured to determine a filtering direction on the horizontal plane of the navigation map interface to be rendered. The filtering direction is related to the projection direction of the travel direction of the navigated object or the camera view direction on the horizontal plane.

[0037] The second determining module is configured to determine the target path point based on the filtering direction and the path rendering data.

[0038] The function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above function.

[0039] In one possible design, the above-described device includes a memory and a processor. The memory stores one or more computer instructions that support the device in performing the corresponding methods described above, and the processor is configured to execute the computer instructions stored in the memory. The device may also include a communication interface for communicating with other devices or communication networks.

[0040] Fourthly, embodiments of this disclosure provide an electronic device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the method described in any of the above aspects.

[0041] Fifthly, embodiments of this disclosure provide a computer-readable storage medium for storing computer instructions used by any of the above-described devices, which, when executed by a processor, are used to implement the methods described in any of the above aspects.

[0042] In a sixth aspect, embodiments of this disclosure provide a computer program product comprising computer instructions which, when executed by a processor, are used to implement the methods described in any of the preceding aspects.

[0043] The technical solutions provided in this disclosure may have the following beneficial effects:

[0044] In this embodiment, during the rendering of the navigation map interface, navigation rendering data corresponding to the current navigation map interface to be rendered can be acquired in real time. This navigation rendering data includes path rendering data determined based on the navigation path, the direction of travel of the navigable object, or the camera view. On the horizontal plane of the navigation map interface to be rendered, a filtering direction related to the direction of travel or the camera view is determined. Then, based on the filtering direction and the path rendering data, target path points are determined. In this way, the number of target path points selected is less than the number of path points in the path rendering data. Subsequent processing of the rendering data based on the target path points can reduce computational complexity and improve rendering efficiency.

[0045] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0046] Other features, objects, and advantages of this disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:

[0047] Figure 1 A flowchart illustrating a method for determining target path points according to an embodiment of this disclosure is shown.

[0048] Figure 2This diagram illustrates the effect of the target path point filtering principle according to an embodiment of the present disclosure.

[0049] Figures 3A-3B This diagram illustrates the filtering effect of target path points on a navigation map interface according to an embodiment of the present disclosure.

[0050] Figures 4A-4B This diagram illustrates the coordinate system and the filtering effect of target path points according to an embodiment of the present disclosure.

[0051] Figure 5 A flowchart of a detection method according to an embodiment of the present disclosure is shown.

[0052] Figure 6 A structural block diagram of a target path point determination device according to an embodiment of the present disclosure is shown.

[0053] Figure 7 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0054] Figure 8 This is a schematic diagram of the structure of a computer system suitable for implementing a target path point determination method and / or detection method according to an embodiment of the present disclosure. Detailed Implementation

[0055] In the following, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement them. Furthermore, for clarity, portions unrelated to the description of the exemplary embodiments have been omitted from the drawings.

[0056] In this disclosure, it should be understood that terms such as “comprising” or “having” are intended to indicate the presence of features, figures, steps, behaviors, components, parts or combinations thereof disclosed in this specification, and do not preclude the possibility of the presence or addition of one or more other features, figures, steps, behaviors, components, parts or combinations thereof.

[0057] It should also be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0058] The user information (including but not limited to user device information such as location information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation portals shall be provided for users to choose to authorize or refuse.

[0059] The details of the embodiments of this disclosure are described in detail below through specific examples.

[0060] Figure 1 A flowchart illustrating a method for determining target path points according to an embodiment of this disclosure is shown. Figure 1 As shown, the method for determining the target path point includes the following steps:

[0061] In step S101, navigation rendering data corresponding to the navigation map interface to be rendered is obtained. The navigation rendering data includes path rendering data determined based on the navigation path, the direction of travel of the navigated object, or the camera view.

[0062] It's understandable that a navigation map interface is an electronic map rendered with navigation information, typically overlaid on top of the map. Furthermore, the terminal can receive map data and navigation route data from the server. When the map application is in navigation mode, the terminal can determine the navigation rendering data corresponding to the navigation map interface to be rendered based on rendering requirements. Alternatively, the server can calculate the navigation rendering data based on the map data and navigation route data, and the terminal can directly obtain this data from the server.

[0063] In step S102, a filtering direction is determined on the horizontal plane of the navigation map interface to be rendered. The filtering direction is related to the projection direction of the travel direction of the navigated object or the camera view direction on the horizontal plane.

[0064] In step S103, the target path point is determined based on the filtering direction and the path rendering data.

[0065] In this embodiment, the target waypoint determination method is executed on a terminal. The terminal can be a mobile phone, vehicle terminal, intelligent driving device, or any device with navigation application software installed. The object being navigated can be the terminal itself or the user using the terminal.

[0066] The terminal can render the navigation map interface in real time based on the rendering data. The navigation map interface to be rendered can be the navigation map interface to be rendered at the current moment. The navigation rendering data corresponding to the current navigation map interface to be rendered can include the path rendering data of all roads to be displayed in the frame image. The path rendering data can be calculated based on the lane data of the navigation path, including the road. The path rendering data can include multiple waypoints.

[0067] It should be noted that in high-precision maps, the navigation route is typically rendered as a road surface. The multiple path points in the navigation rendering data can be understood as path points along the centerline of the navigation route. Connecting these path points forms the centerline of the navigation route. Expanding the road width by half in both directions according to the road surface's widening direction yields multiple path points along the side edges of the road. Connecting these path points then forms the side edges of the road. The area between these side edges forms the road surface of the navigation route. After rendering, this road surface is displayed on the terminal screen as a navigation guide surface, including the location of the navigated object. When rendering the navigation map interface, the navigation guide surface can be rendered based on the direction of travel of the navigated object to guide it to travel in the corresponding lane.

[0068] The current navigation map interface can display the current direction of travel and the future direction of travel of the navigated object. The current direction of travel can be understood as the direction of travel of the navigated object along the navigation path at the current moment, and the future direction of travel can be understood as the direction of travel of the navigated object on the navigation path at multiple consecutive moments in the future.

[0069] The camera view is the angle used to determine the field of view and direction of the current navigation map interface to be rendered. Different camera views will result in different display angles of map elements rendered on the current screen, and the field of view on the current screen will also be different.

[0070] In some embodiments, in lane-level navigation scenarios, the electronic map in the navigation map interface can be a three-dimensional electronic map, which includes a horizontal plane and a vertical plane corresponding to the height. In this embodiment, the filtering direction can be determined on the horizontal plane of the current navigation map interface to be rendered, and this filtering direction can be related to the direction of travel of the navigated object and the direction corresponding to the camera's viewpoint.

[0071] The above solution will be further explained in conjunction with application scenarios below.

[0072] The primary purpose of a navigation map interface is to enable users (the objects being navigated) to better perceive road information in advance while driving. However, in some navigation scenarios, such as when the road has curves, if there are tall elements to be rendered around the road, such as buildings, these elements can easily obscure road information. This prevents users from perceiving the road information behind the buildings from the current frame of the navigation map, thus affecting the navigation effect. If the elements that obscure road information, such as buildings, are pre-calculated before rendering the navigation map interface, these elements in the navigation rendering data can be pre-processed before rendering. For example, these elements can be hidden, or made semi-transparent or transparent. This avoids the obscuring of road information by these elements, thereby improving the navigation effect and the user experience.

[0073] However, as described in the background art, if all or most of the path points in the path rendering data participate in the above calculations, it will result in high computational complexity, which may cause excessive consumption of computational resources when the navigation object is rendered, thus affecting the rendering effect.

[0074] Therefore, the present disclosure proposes the above-mentioned solution, which can determine the target path point from the path rendering data based on the determined filtering direction, thereby using the target path point to participate in the calculation, which can reduce the computational complexity and improve the rendering effect.

[0075] In an optional implementation of this embodiment, the target waypoint is used for building occlusion detection. Therefore, the filtering direction of this disclosure is related to the travel direction of the navigated object or the camera view. This is because whether the element to be rendered occludes road surface information is related to the user's field of view, and the user's field of view on the current navigation map interface to be rendered is related to the travel direction of the navigated object and the camera view. Therefore, the filtering direction can be selected based on the travel direction of the navigated object or the camera view.

[0076] Furthermore, step S103, namely the step of determining the target path point based on the filtering direction and the path rendering data, further includes the following steps:

[0077] Establish a coordinate system with the filtering direction as the vertical axis;

[0078] Project the path points included in the path rendering data onto the horizontal axis of the coordinate system to obtain the projection points corresponding to the path points.

[0079] Based on the projection points, target projection points for building occlusion detection are determined;

[0080] The intersection of the target projection point along the filtering direction and the path corresponding to the path rendering data is taken as the target path point.

[0081] In this optional implementation, the target waypoint can be used for building occlusion detection. That is, by connecting the target waypoint with the camera viewpoint, if the line intersects with any one or more buildings on the navigation map interface to be rendered, it can be considered that the building will obstruct the user's view during navigation.

[0082] In order to determine the target path point in the path rendering data based on the filtering direction, a coordinate system can be established based on the filtering direction, and the filtering direction can be used as the vertical axis of the coordinate system.

[0083] By projecting all or part of the known path points included in the path rendering data onto the horizontal axis of the coordinate system, multiple projection points corresponding to the path points can be obtained.

[0084] Based on this projection point, a target projection point for building occlusion detection can be determined. Then, the intersection of this target projection point along the filtering direction and the corresponding path of the path rendering data is taken as the target path point. It should be noted that in some embodiments, the intersection of each target projection point along the filtering direction and the corresponding path of the path rendering data is used as the target path point. In other embodiments, if multiple intersections exist for each target projection point along the filtering direction and the corresponding path of the path rendering data, only one is retained as the target path point.

[0085] In some embodiments, a back-projection point can be obtained by back-projecting the target projection point back onto the navigation path corresponding to the path rendering data. This back-projection point can be determined as the target projection point. It is understood that the back-projection point can be a point that coincides with a path point in the path rendering data, or it can be a new path point obtained by projection from the navigation path determined based on the path points in the path rendering data.

[0086] When projecting each target projection point back onto the navigation path, there may be situations where one target projection point corresponds to one back projection point or multiple back projection points. For example, if the navigation path corresponding to the path rendering data has parallel vertical paths in the same projection direction, then when projecting back onto the navigation path from this projection direction, two relatively opposite back projection points will be obtained from these parallel vertical paths. In this embodiment of the disclosure, for multiple back projection points corresponding to one target projection point, only one back projection point can be retained and used as the target path point. In some embodiments, the back projection point farthest from the target projection point can be retained as the target path point.

[0087] In an optional implementation of this embodiment, determining a target projection point for building occlusion detection based on the projection point further includes the following steps:

[0088] Identify the two projection points with the smallest and largest x-coordinates among the projection points;

[0089] Between the two projection points, a position point is selected on the horizontal coordinate axis, and the distance between adjacent position points is equal to a preset distance value;

[0090] At least the two projection points and the selected location point are used as target projection points for building occlusion detection.

[0091] In this optional implementation, after determining the projection points, a thinning operation can be performed on all the obtained projection points, which can further reduce the number of target path points obtained in the end. This embodiment of the disclosure can determine the two projection points with the smallest and largest x-coordinates from multiple projection points, and select a position point on the x-coordinate between the two projection points, with the distance between adjacent position points equal to a preset distance value. The two projection points and the selected position point are then determined as the target projection points.

[0092] Understandably, multiple path points on the vertical axis of the filtering direction do not have a significant impact on preprocessing such as occlusion calculation, so one of them can be selected as the target path point. However, multiple path points on the horizontal axis of the filtering direction have a significant impact on preprocessing such as occlusion calculation, so all of them can be retained or some path points can be selected and retained by using a preset distance value. This reduces the number of target path points involved in the preprocessing calculation without significantly affecting the preprocessing results, thereby reducing the computational complexity without affecting the rendering effect.

[0093] In an optional implementation of this embodiment, the method further includes the following steps:

[0094] Obtain the projection point of the location of the navigated object on the horizontal axis;

[0095] The step of using at least the two projection points and the selected location point as target projection points for building occlusion detection further includes the following steps:

[0096] The two projection points, the selected location point, and the projection point of the navigated object are used as target projection points for building occlusion detection.

[0097] In this optional implementation, the projection point corresponding to the location of the navigated object on the horizontal axis can also be selected as the target projection point for building occlusion detection. The location of the navigated object can be understood as its parking space location within the navigation map interface to be rendered. When selecting a location point based on a preset distance value, the navigated object's location might not be selected. Therefore, the projection point of the navigated object's location on the horizontal axis can also be determined as the target projection point, allowing for the selection of the corresponding target path point in the path rendering data based on the navigated object's location. It can be understood that if the navigated object's location is determined as the origin of the coordinate system, this origin is also used as the target projection point for building occlusion detection.

[0098] In one optional implementation of this embodiment, the origin of the coordinate system is the location of the navigated object, or the origin of the coordinate system is the projection point of the camera viewpoint on the horizontal plane.

[0099] In this optional implementation, when establishing a coordinate system with the filtering direction as the vertical axis, the origin of the coordinate system can be set at the location of the navigated object, which is also the parking space location of the navigated object in the navigation map interface to be rendered. The coordinates of the origin can be the horizontal coordinates of the navigated object's location. In other embodiments, the origin can also be set at any point extending from the horizontal coordinates of the navigated object's location in the opposite direction of the filtering direction. That is, the origin of the coordinate system can be set at the horizontal coordinates of the navigated object's location, or at any point extending from the horizontal coordinates of the navigated object's location in the opposite direction of the filtering direction. In short, in the established coordinate system, the vertical coordinate of the navigated object's location can be greater than or equal to 0.

[0100] When establishing a coordinate system with the filtering direction as the ordinate axis, the origin of this coordinate system can also be set at the projection point of the camera viewpoint on the horizontal plane of the current navigation map interface to be rendered. In other embodiments, the origin can also be set at any point extending from the projection point of the camera viewpoint in the opposite direction of the filtering direction. That is, the origin of the coordinate system can be set at the projection point of the camera viewpoint, or at any point extending from the projection point of the camera viewpoint in the opposite direction of the filtering direction. In short, in the established coordinate system, the ordinate of the projection point of the camera viewpoint can be greater than or equal to 0.

[0101] In an optional implementation of this embodiment, when the navigation view is with the front of the vehicle facing upwards, the origin of the coordinate system is the location of the navigated object.

[0102] or,

[0103] When the navigation viewpoint is north-facing or the navigation map interface is in drag-and-drop mode, the origin of the coordinate system is the projection point of the camera viewpoint onto the horizontal plane.

[0104] In this optional implementation, the navigation map interface settings allow users to choose between a car-facing or north-facing viewpoint. When the viewpoint is set to car-facing, the front of the car is oriented towards the top of the screen, and the navigation path is displayed in the direction the car is traveling. Conversely, if the viewpoint is set to north-facing, north is always positioned at the top of the screen, and the navigation path is displayed with north at the top.

[0105] When the navigation map interface settings indicate that the vehicle's direction is upward, the origin of the coordinate system can be set at the location of the navigated object, that is, at the parking space location of the navigated object on the navigation map interface. When the navigation map interface settings indicate that the direction is north, the origin of the coordinate system can be set at the projection point of the camera's viewpoint onto the horizontal plane of the navigation map interface to be rendered.

[0106] In addition, if it is detected that the user drags the currently displayed navigation map interface manually, so that the actual navigation view is no longer north-facing, the origin of the coordinate system will also be set at the projection point of the camera viewpoint on the horizontal plane of the navigation map interface to be rendered.

[0107] In an optional implementation of this embodiment, step S103, namely the step of determining the target path point based on the filtering direction and the path rendering data, further includes the following steps:

[0108] Along the filtering direction, the intersection point generated by the path corresponding to the path rendering data is determined as the target path point; wherein, if there is one or more intersection points in the same direction, one of the one or more intersection points is selected as the target path point.

[0109] In this optional implementation, after determining the filtering direction, intersecting path points can be found along the path corresponding to the path rendering data along that filtering direction. If multiple points intersect with the road to be rendered along any direction of the same filtering direction, one of these multiple intersection points can be determined as the target path point. "Along the filtering direction" can be understood as along the selected filtering direction passing through a certain point and other directions parallel to that filtering direction. When determining the intersection point with the path corresponding to the path rendering data, if multiple intersection points exist in the same direction, one of these intersection points is determined as the target path point.

[0110] Figure 2 This diagram illustrates the effect of target path point filtering according to an embodiment of the present disclosure. Figure 2 As shown, the path rendering data indicates two path points on the corresponding path. From the camera's perspective, these two path points are in the same direction. Furthermore, connecting these two path points to the camera's viewpoint results in two lines that intersect the same building, indicating that the building will obscure road surface information from this camera's perspective. If subsequent preprocessing calculations involve connecting each path point to the camera's viewpoint separately and then determining whether the lines intersect with the building, then both path points would be involved in the calculation, which would be redundant. Selecting only one path point for calculation would yield the same final result.

[0111] from Figure 2 As the examples provided show, the final result is not significantly different between having multiple path points in certain directions participate in subsequent preprocessing calculations and having only one path point participate in subsequent preprocessing calculations. Therefore, based on this principle, this embodiment of the present disclosure determines a filtering direction related to the target object's direction of travel or the camera's viewpoint, and in the filtering direction and other directions parallel to that filtering direction, only one path point on the road to be rendered is used as the target shape to participate in subsequent preprocessing calculations.

[0112] Figures 3A-3B This diagram illustrates the filtering effect of target path points on a navigation map interface according to an embodiment of the present disclosure. Figure 3A As shown, the vehicle's direction of travel on the navigation map interface is indicated by a solid line with an arrow. This direction of travel can be understood as both the current direction of travel on the navigation map and the future direction the vehicle will travel. Solid dots represent path points along the vehicle's direction of travel on the navigation path. These path points are selected at predetermined intervals on the navigation path for ease of calculation. Figure 3B As shown, in Figure 3A The determined filtering direction is shown based on the direction of vehicle travel in the navigation map interface. Figure 3B The diagram also shows other directions parallel to the filtering direction. It can be understood that the diagram only schematically illustrates two other directions on either side of the filtering direction; the remaining directions are represented by ellipses. In practical applications, all or some of the other directions parallel to the filtering direction can be used. Figure 3BAs can be seen, the filtering direction has the most path points, while in the other directions to the right of the filtering direction, each other direction corresponds to two path points, represented by solid black dots. In the other directions to the left of the filtering direction, each other direction corresponds to one path point. Therefore, by filtering the filtering direction and other directions, some path points on the navigation path can be filtered out (at least a large number of path points are filtered out in the filtering direction, leaving only one path point), which greatly reduces the number of path points participating in subsequent preprocessing calculations.

[0113] In an optional implementation of this embodiment, the method further includes:

[0114] The target path points are filtered at preset intervals, and the unselected target path points are removed.

[0115] In this optional implementation, as described above, after determining the filtering direction, the target path points are filtered out by retaining one path point in the filtering direction and other directions parallel to the filtering direction. Then, the determined target path points can be further thinned out, that is, the filtering can be carried out according to a preset interval. For example, one target path point can be retained every preset distance value, and the remaining target path points can be removed, which can further reduce the number of target path points.

[0116] In some embodiments, starting from the location of the navigable object, target path points can be filtered along the navigable object's direction of travel at preset intervals, with selected points retained and unselected points discarded.

[0117] In other embodiments, target path points can also be filtered in the direction perpendicular to the filtering direction. A target path point is selected at preset distance intervals, and the selected target path points are retained while the unselected ones are removed. This is because only one path point is retained as a target path point in the filtering direction and other directions parallel to it. This means that after the target path points are projected onto the direction perpendicular to the filtering direction, no overlap of target path points will occur. Therefore, a portion of the target path points can be filtered in this vertical direction at preset intervals, and the unselected ones can be removed.

[0118] In an optional implementation of this embodiment, step S102, which involves determining a filtering direction on the horizontal plane of the navigation map interface to be rendered, wherein the filtering direction is related to the projection direction of the travel direction of the navigated object or the camera's viewpoint on the horizontal plane, further includes the following steps:

[0119] The projection direction of the travel direction or the camera's viewing angle onto the horizontal plane is determined as the filtering direction.

[0120] In this optional implementation, since the pathpoints on the road to be rendered have the least impact on preprocessing calculations in the current direction of travel or the direction corresponding to the camera's viewpoint, the current direction of travel or the camera's viewpoint is used as the filtering direction. Therefore, in any direction between this filtering direction and other directions parallel to it, only one pathpoint is retained to participate in subsequent preprocessing calculations. This reduces the number of pathpoints participating in subsequent preprocessing calculations without significantly affecting the results. The current direction of travel can be understood as the direction of travel of the navigable object in the current navigation map interface to be rendered.

[0121] In an optional implementation of this embodiment, the angle between the filtering direction and the direction of travel of the navigated object on the navigation map interface to be rendered or the direction corresponding to the camera view is less than 90 degrees.

[0122] In this optional implementation, the filtering direction can have an angle of less than 90 degrees between it and the direction of travel of the navigated object or the direction corresponding to the camera's viewpoint. This is because when determining the target path point on the navigation path based on the filtering direction, more than one path point in the filtering direction or other directions parallel to the filtering direction can be removed, leaving only one path point as the target path point. This ensures that the retained path point participates in subsequent preprocessing calculations, and the effect is minimally different from having all path points participate in subsequent preprocessing calculations. To achieve this goal, the filtering direction can be selected from the direction of travel of the navigated object or the direction corresponding to the camera's viewpoint, or it can be selected from a direction with an angle of less than 90 degrees between it and the direction of travel of the navigated object or the direction corresponding to the camera's viewpoint.

[0123] Figures 4A-4B This diagram illustrates the coordinate system and the filtering effect of target path points according to an embodiment of the present disclosure. Figure 4A As shown, the vertical axis of this coordinate system represents the vehicle's direction of travel, and the origin represents the vehicle's location. The path points in the path rendering data are projected onto the horizontal axis, and a position point is selected between the minimum and maximum horizontal coordinates. The distance between two adjacent selected position points is a preset distance value. The selected position point, minimum coordinate value, and maximum coordinate value are shown as circles in the figure.

[0124] like Figure 4B As shown, the intersection of the projection point on the horizontal axis with the corresponding path of the path rendering data along the filtering direction can be used as the target path point. If the same projection point has multiple intersections with the corresponding path, the intersection point farthest from the horizontal axis (i.e., with the largest vertical coordinate) is retained, and the final retained intersection point is the target path point. It should be noted that... Figure 4A and Figure 4BThe projection points and anti-intersection points are merely shown as examples and do not have a strict correspondence, nor do they limit the scope of protection of this disclosure.

[0125] Figure 5 A flowchart illustrating a detection method according to an embodiment of this disclosure is shown. Figure 5 As shown, the detection method includes the following steps:

[0126] In step S501, the data to be rendered corresponding to the navigation map interface is obtained; the data to be rendered includes target rendering element rendering data and path rendering data.

[0127] In step S502, based on the path rendering data, target path points for building occlusion detection are determined;

[0128] In step S503, based on the target path point, occlusion detection is performed on the buildings in the target rendering elements to determine whether the buildings are occluded.

[0129] In some embodiments, the target path points in the path rendering data can be connected to the camera viewpoint, and it can be determined whether the connection intersects with any one or more preset types of elements to be rendered in the navigation map interface to be rendered. If they intersect, it can be considered that the intersecting element will obscure the road surface information where the intersecting path point is located in the current navigation map interface to be rendered. In this case, the element to be rendered can be identified as an element that needs to be preprocessed, and thus the element can be preprocessed such as hiding or semi-transparency before rendering the navigation map interface.

[0130] In this embodiment, the detection method can be executed on a terminal. The terminal can be a mobile phone, vehicle terminal, intelligent driving device, or any device with application software that has navigation functionality installed. The object being navigated can be the terminal or the user.

[0131] The terminal can receive map data and navigation data from the server, and calculate the rendering data corresponding to the navigation map interface to be rendered based on the current rendering requirements. Alternatively, the server can calculate the rendering data based on the map data and navigation data, and the terminal can directly obtain the rendering data from the server. In some embodiments, the rendering data may include data corresponding to the image content to be rendered on the navigation map interface, such as target rendering element rendering data, path rendering data, etc. The terminal can render the navigation map interface in real time based on the rendering data. The current navigation map interface to be rendered may be the navigation map interface to be rendered at the current moment, and the rendering data corresponding to this current navigation map interface may include path rendering data for all roads to be displayed in this frame of image.

[0132] The route rendering data can be calculated based on the lane data included in the navigation route. This data can include multiple path points. When rendering the navigation map interface, the terminal can connect these path points to form the navigation route. It's important to note that in high-precision maps, the navigation route is typically rendered as a road surface. The multiple path points in the route rendering data can be understood as path points along the centerline of the navigation route. Connecting these path points forms the centerline of the navigation route. By widening the path by half its width on both sides according to the road surface's widening direction, multiple path points on the side edges of the road can be obtained. Connecting these path points further yields the side edges of the road. The area between these side edges forms the road surface of the navigation route. After rendering, this road surface is displayed as the vehicle's navigation guidance surface on the navigation map interface. When rendering the navigation map interface, the guidance surface can be rendered based on the direction of travel of the navigated object on the navigation route to guide the vehicle to travel in the corresponding lane.

[0133] The current navigation map interface can display the current direction of travel and the future direction of travel of the navigated object. The current direction of travel can be understood as the direction of travel of the navigated object on the navigation path at the current moment, and the future direction of travel can be understood as the direction of travel of the navigated object on the navigation path at multiple consecutive moments in the future.

[0134] In some embodiments, a target path point can be determined based on path rendering data. The target path point is used for building occlusion detection. That is, by connecting the target path point with the camera viewpoint, if the line intersects with any one or more buildings on the navigation map interface to be rendered, it can be considered that the building will obstruct the user's view during navigation.

[0135] Based on the target waypoint, collision detection can be performed on buildings in the preset type of target rendering elements that will appear in the navigation map interface to be rendered, so as to determine whether the buildings in the target rendering elements will obscure the road information in the navigation map interface to be rendered based on the detection results.

[0136] The primary purpose of a navigation map interface is to enable users to better anticipate road information in the direction of their vehicle's travel while driving. However, in some navigation scenarios, such as when roads have curves, rendering the navigation map interface based on the original data to be rendered may result in some high-profile rendering elements, such as buildings, obscuring road information. This prevents users from perceiving the road information behind buildings from the current frame of the navigation map interface, thus affecting the navigation effect. If the target rendering elements that obscure road information, such as buildings, are pre-identified before rendering the navigation map interface, these target rendering elements in the data to be rendered can be pre-processed before rendering the navigation map interface. This can prevent these target rendering elements from obscuring road information, thereby improving the navigation effect and the user experience.

[0137] In some embodiments, preprocessing calculations can be performed using all or some of the path points on the path to be rendered. For example, all or some of the path points on the path to be rendered can be connected to the camera viewpoint, and it can be determined whether the connection intersects with a building in the target rendering feature of the navigation map interface. If they intersect, it can be assumed that the intersecting building will obscure the road surface information where the intersecting path point is located in the current navigation map interface.

[0138] However, as described in the background art, if all or most of the path points on the path to be rendered participate in the above calculations, it will result in high computational complexity, which may cause excessive consumption of computational resources during rendering and affect the rendering effect.

[0139] Therefore, the present disclosure proposes the above-mentioned solution, which can determine the target path point for building occlusion detection through path rendering data, thereby using the target path point to participate in building collision detection, which can reduce computational complexity and improve rendering effect.

[0140] In this embodiment, during the rendering of the navigation map interface, the rendering data corresponding to the navigation map interface to be rendered can be obtained in real time. This rendering data includes target rendering element rendering data and path rendering data. Based on the path rendering data, target path points for building occlusion detection can be determined. In this way, all path points on the rendering path can be filtered, and some path points can be retained so that occlusion detection of buildings in the target rendering elements can be performed based on these path points. This reduces the complexity of preprocessing, improves the rendering effect, and enhances the user experience.

[0141] In an optional implementation of this embodiment, the target path point determination method described above is performed based on the path rendering data to determine the target path point for building occlusion detection.

[0142] For details on determining the target waypoint, please refer to the description of the target waypoint determination method above, which will not be repeated here.

[0143] The following are embodiments of the apparatus disclosed herein, which can be used to execute embodiments of the method disclosed herein.

[0144] Figure 6 This diagram illustrates a structural block diagram of a target path point determination device according to an embodiment of the present disclosure. This device can be implemented as part or all of an electronic device through software, hardware, or a combination of both. Figure 6 As shown, the target path point determination device includes:

[0145] The first acquisition module 601 is configured to acquire navigation rendering data corresponding to the navigation map interface to be rendered. The navigation rendering data includes path rendering data determined based on the navigation path, the direction of travel of the navigated object, or the camera view.

[0146] The first determining module 602 is configured to determine a filtering direction on the horizontal plane of the navigation map interface to be rendered. The filtering direction is related to the projection direction of the travel direction of the navigated object or the camera view direction on the horizontal plane.

[0147] The second determining module 603 is configured to determine the target path point based on the filtering direction and the path rendering data.

[0148] In this embodiment, the target waypoint determination method is executed on a terminal. The terminal can be a mobile phone, vehicle terminal, intelligent driving device, or any device with application software that has navigation functionality installed. The object being navigated can be the terminal or the user.

[0149] The terminal can receive map data and navigation data from the server and calculate the navigation rendering data corresponding to the navigation map interface to be rendered based on the current rendering requirements. It is understood that the server can also calculate the navigation rendering data based on the map data and navigation data, and the terminal can directly obtain the navigation rendering data from the server. In some embodiments, the navigation rendering data may include data corresponding to the image content to be rendered on the navigation map interface, such as path rendering data determined based on the navigation path, the direction of travel of the navigated object, or the camera view. The terminal can render the navigation map interface in real time based on the navigation rendering data. The current navigation map interface to be rendered may be the navigation map interface to be rendered at the current moment. The navigation rendering data corresponding to this current navigation map interface may include path rendering data for all roads to be displayed in the frame image. This path rendering data can be calculated based on the lane data included in the navigation path. The path rendering data may include multiple path points. When rendering the navigation map interface, the terminal can connect multiple path points to form a navigation path. It should be noted that in high-precision maps, the navigation path is usually rendered in the form of road surfaces, and the multiple path points in the path rendering data can be understood as multiple path points on the centerline of the navigation path. Connecting these multiple waypoints forms the centerline of the navigation path. Expanding the path width by half in both directions according to the road's widening direction yields multiple waypoints on the side edges of the road. Connecting these waypoints creates the side edges of the navigation path. The area between these side edges forms the road surface of the navigation path. After rendering, this road surface appears as a navigation guide surface on the navigation map interface. When rendering the navigation map interface, the guide surface can be rendered based on the direction of travel of the navigated object on the navigation path to guide the vehicle to travel in the corresponding lane.

[0150] The current navigation map interface can display the current direction of travel and the future direction of travel of the navigated object. The current direction of travel can be understood as the direction of travel of the navigated object on the navigation path at the current moment, and the future direction of travel can be understood as the direction of travel of the navigated object on the navigation path at multiple consecutive moments in the future.

[0151] The camera view is the angle used to determine the field of view and direction of the current navigation map interface to be rendered. Different camera views will result in different display angles of map elements rendered on the current screen, and the field of view on the current screen will also be different.

[0152] In some embodiments, the navigation map interface under the high-precision map is a three-dimensional image, which includes a horizontal plane and a vertical plane corresponding to the height. In this embodiment, the filtering direction can be determined on the horizontal plane of the current navigation map interface to be rendered, and the filtering direction can be related to the direction of travel of the navigated object and the direction corresponding to the camera viewpoint.

[0153] After determining the filtering direction, at least one target waypoint can be determined on the navigation path based on the filtering direction. Based on the target waypoint, the preset type of rendering elements that will appear on the current navigation map interface can be preprocessed so that after the current navigation map interface is rendered, the occlusion of the road information by the preset type of rendering elements can be reduced, so that the user can better perceive the road information.

[0154] The primary purpose of a navigation map interface is to enable users to better perceive road information in advance while driving. However, in some navigation scenarios, such as when there are curves, rendering the navigation map interface according to the original navigation rendering data may result in some elements with high heights, such as buildings, obscuring road information. This prevents users from perceiving the road information behind buildings from the navigation map frame, thus affecting the navigation effect. If the elements obscuring road information, such as buildings, are pre-calculated before rendering the navigation map interface, these elements in the navigation rendering data can be pre-processed before rendering, such as hiding them or making them semi-transparent. This avoids the obscuring of road information by these elements, thereby improving the navigation effect and the user experience.

[0155] In some embodiments, preprocessing calculations can be performed using all or some path points on the navigation path. For example, all or some path points in the path rendering data can be connected to the camera viewpoint, and it can be determined whether the connection intersects with any one or more preset types of elements to be rendered in the navigation map interface to be rendered. If they intersect, it can be assumed that the intersecting element will obscure the road surface information where the intersecting path point is located in the current navigation map interface to be rendered. In this case, the element to be rendered can be identified as an element that needs to be preprocessed, and thus preprocessed such as hiding or semi-transparency can be performed on the element before rendering the navigation map interface.

[0156] However, as described in the background art, if all or most of the path points in the path rendering data participate in the above calculations, it will result in high computational complexity, which may cause excessive consumption of computational resources when the navigation object is rendered, thus affecting the rendering effect.

[0157] Therefore, the present disclosure proposes the above-mentioned solution, which can determine the target path point from the path rendering data based on the determined filtering direction, thereby using the target path point to participate in the calculation, which can reduce the computational complexity and improve the rendering effect.

[0158] In some embodiments, the filtering direction is related to the direction of travel of the navigated object or the camera's viewpoint. This is because whether the feature to be rendered obscures road information is related to the user's field of view. The user's field of view on the current navigation map interface is related to the direction of travel of the navigated object and the camera's viewpoint. Therefore, the filtering direction can be selected based on the direction of travel of the navigated object or the camera's viewpoint.

[0159] In this embodiment, during the rendering of the navigation map interface, navigation rendering data corresponding to the current navigation map interface to be rendered can be acquired in real time. This navigation rendering data includes path rendering data determined based on the navigation path, the direction of travel of the navigable object, or the camera view. On the horizontal plane of the navigation map interface to be rendered, a filtering direction related to the direction of travel or the camera view is determined. Then, based on the filtering direction and the path rendering data, the target path point is determined. In this way, all path points in the path rendering data can be filtered, retaining a portion of the path points so that the navigation rendering data can be preprocessed based on these remaining path points. This reduces computational complexity, improves rendering effects, and enhances user experience.

[0160] The target path point determination device in this embodiment corresponds to the target path point determination method described above. For details, please refer to the description of the target path point determination method above, which will not be repeated here.

[0161] According to an embodiment of the present disclosure, the detection apparatus can be implemented as part or all of an electronic device through software, hardware, or a combination of both. The detection apparatus includes:

[0162] The second acquisition module is configured to acquire the data to be rendered corresponding to the navigation map interface; the data to be rendered includes target rendering element rendering data and path rendering data.

[0163] The third determining module is configured to determine the target path point for building occlusion detection based on the path rendering data.

[0164] The detection module is configured to perform occlusion detection on buildings in the target rendering elements based on the target path points, so as to determine whether the buildings are occluded.

[0165] In this embodiment, the detection device can be executed on a terminal. The terminal can be a mobile phone, vehicle terminal, intelligent driving device, or any device with application software that has navigation functions installed. The object being navigated can be the terminal or the user.

[0166] The terminal can receive map data and navigation data from the server, and calculate the rendering data corresponding to the navigation map interface to be rendered based on the current rendering requirements. Alternatively, the server can calculate the rendering data based on the map data and navigation data, and the terminal can directly obtain the rendering data from the server. In some embodiments, the rendering data may include data corresponding to the image content to be rendered on the navigation map interface, such as target rendering element rendering data, path rendering data, etc. The terminal can render the navigation map interface in real time based on the rendering data. The current navigation map interface to be rendered may be the navigation map interface to be rendered at the current moment, and the rendering data corresponding to this current navigation map interface may include path rendering data for all roads to be displayed in this frame of image.

[0167] The route rendering data can be calculated based on the lane data included in the navigation route. This data can include multiple path points. When rendering the navigation map interface, the terminal can connect these path points to form the navigation route. It's important to note that in high-precision maps, the navigation route is typically rendered as a road surface. The multiple path points in the route rendering data can be understood as path points along the centerline of the navigation route. Connecting these path points forms the centerline of the navigation route. By widening the path by half its width on both sides according to the road surface's widening direction, multiple path points on the side edges of the road can be obtained. Connecting these path points further yields the side edges of the road. The area between these side edges forms the road surface of the navigation route. After rendering, this road surface is displayed as the vehicle's navigation guidance surface on the navigation map interface. When rendering the navigation map interface, the guidance surface can be rendered based on the direction of travel of the navigated object on the navigation route to guide the vehicle to travel in the corresponding lane.

[0168] The current navigation map interface can display the current direction of travel and the future direction of travel of the navigated object. The current direction of travel can be understood as the direction of travel of the navigated object on the navigation path at the current moment, and the future direction of travel can be understood as the direction of travel of the navigated object on the navigation path at multiple consecutive moments in the future.

[0169] In some embodiments, a target path point can be determined based on path rendering data. The target path point is used for building occlusion detection. That is, by connecting the target path point with the camera viewpoint, if the line intersects with any one or more buildings on the navigation map interface to be rendered, it can be considered that the building will obstruct the user's view during navigation.

[0170] Based on the target waypoint, collision detection can be performed on buildings in the preset type of target rendering elements that will appear in the navigation map interface to be rendered, so as to determine whether the buildings in the target rendering elements will obscure the road information in the navigation map interface to be rendered based on the detection results.

[0171] The primary purpose of a navigation map interface is to enable users to better anticipate road information in the direction of their vehicle's travel while driving. However, in some navigation scenarios, such as when roads have curves, rendering the navigation map interface based on the original data to be rendered may result in some high-profile rendering elements, such as buildings, obscuring road information. This prevents users from perceiving the road information behind buildings from the current frame of the navigation map interface, thus affecting the navigation effect. If the target rendering elements that obscure road information, such as buildings, are pre-identified before rendering the navigation map interface, these target rendering elements in the data to be rendered can be pre-processed before rendering the navigation map interface. This can prevent these target rendering elements from obscuring road information, thereby improving the navigation effect and the user experience.

[0172] In some embodiments, preprocessing calculations can be performed using all or some of the path points on the path to be rendered. For example, all or some of the path points on the path to be rendered can be connected to the camera viewpoint, and it can be determined whether the connection intersects with a building in the target rendering feature of the navigation map interface. If they intersect, it can be assumed that the intersecting building will obscure the road surface information where the intersecting path point is located in the current navigation map interface.

[0173] However, as described in the background art, if all or most of the path points on the path to be rendered participate in the above calculations, it will result in high computational complexity, which may cause excessive consumption of computational resources during rendering and affect the rendering effect.

[0174] Therefore, the present disclosure proposes the above-mentioned solution, which can determine the target path point for building occlusion detection through path rendering data, thereby using the target path point to participate in building collision detection, which can reduce computational complexity and improve rendering effect.

[0175] In this embodiment, during the rendering of the navigation map interface, the rendering data corresponding to the navigation map interface to be rendered can be obtained in real time. This rendering data includes target rendering element rendering data and path rendering data. Based on the path rendering data, target path points for building occlusion detection can be determined. In this way, all path points on the rendering path can be filtered, and some path points can be retained so that occlusion detection of buildings in the target rendering elements can be performed based on these path points. This reduces the complexity of preprocessing, improves the rendering effect, and enhances the user experience.

[0176] In an optional implementation of this embodiment, the target path point determination device is executed based on the path rendering data to determine the target path point for building occlusion detection.

[0177] For details on determining the target waypoint, please refer to the description of the target waypoint determination device above, which will not be repeated here.

[0178] This disclosure also discloses an electronic device. Figure 7 This diagram illustrates a structural block diagram of an electronic device according to an embodiment of the present disclosure, such as... Figure 7 As shown, the electronic device 700 includes a memory 701 and a processor 702; wherein,

[0179] The memory 701 is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor 702 to implement the above method steps.

[0180] Figure 8 This is a schematic diagram of the structure of a computer system suitable for implementing a target path point determination method and / or detection method according to an embodiment of the present disclosure.

[0181] like Figure 8 As shown, the computer system 800 includes a processing unit 801, which can be implemented as a CPU, GPU, FPGA, NPU, or other processing units. The processing unit 801 can execute various processes according to any of the above-described methods of this disclosure, based on a program stored in the read-only memory (ROM) 802 or a program loaded from the storage portion 808 into the random access memory (RAM) 803. The RAM 803 also stores various programs and data required for the operation of the computer system 800. The processing unit 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0182] The following components are connected to I / O interface 805: an input section 806 including a keyboard, mouse, etc.; an output section 807 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN card, modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to I / O interface 805 as needed. A removable medium 811, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 810 as needed so that computer programs read from it can be installed into storage section 808 as needed.

[0183] In particular, according to embodiments of this disclosure, any of the methods described above in the embodiments of this disclosure can be implemented as a computer software program. For example, embodiments of this disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program containing program code for performing any of the methods in the embodiments of this disclosure. In such an embodiment, the computer program can be downloaded and installed from a network via communication section 809, and / or installed from removable medium 811.

[0184] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0185] The units or modules described in the embodiments of this disclosure can be implemented in software or hardware. The described units or modules can also be located in a processor, and the names of these units or modules do not necessarily constitute a limitation on the unit or module itself.

[0186] In another aspect, this disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the apparatus described in the above embodiments; or it may be a standalone computer-readable storage medium not assembled into a device. The computer-readable storage medium stores one or more programs that are used by one or more processors to perform the methods described in this disclosure.

[0187] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

Claims

1. A method for determining target path points, wherein, include: Obtain the navigation rendering data corresponding to the navigation map interface to be rendered. The navigation rendering data includes path rendering data determined based on the navigation path, the direction of travel of the navigated object, or the camera view. On the horizontal plane of the navigation map interface to be rendered, a filtering direction is determined. The filtering direction is related to the projection direction of the direction of travel of the navigated object or the camera's view direction on the horizontal plane. Based on the filtering direction and the path rendering data, the target path point is determined by the intersection of the filtering direction and the path corresponding to the path rendering data; wherein, if there is one or more intersections in the same direction, one of the one or more intersections is selected as the target path point.

2. The method according to claim 1, wherein, The target path point is used for building occlusion detection. The step of determining the target path point based on the filtering direction and the path rendering data, by finding the intersection of the path along the filtering direction and the path corresponding to the path rendering data, includes: Establish a coordinate system with the filtering direction as the vertical axis; Project the path points included in the path rendering data onto the horizontal axis of the coordinate system to obtain the projection points corresponding to the path points. Based on the projection points, target projection points for building occlusion detection are determined; The intersection of the target projection point along the filtering direction and the path corresponding to the path rendering data is taken as the target path point.

3. The method according to claim 2, wherein, Based on the projection points, the target projection points for building occlusion detection are determined, including: Identify the two projection points with the smallest and largest x-coordinates among the projection points; Between the two projection points, a position point is selected on the horizontal coordinate axis, and the distance between adjacent position points is equal to a preset distance value; At least the two projection points and the selected location point are used as target projection points for building occlusion detection.

4. The method according to claim 3, wherein, The method further includes: Obtain the projection point of the location of the navigated object on the horizontal axis; At least the two projection points and the selected location point are used as target projection points for building occlusion detection, specifically including: The two projection points, the selected location point, and the projection point of the navigated object are used as target projection points for building occlusion detection.

5. The method according to any one of claims 2-4, wherein, The origin of the coordinate system is the location of the object being navigated, or the origin of the coordinate system is the projection point of the camera viewpoint onto the horizontal plane.

6. The method according to claim 5, wherein, When the navigation viewpoint is with the front of the vehicle facing upwards, the origin of the coordinate system is the location of the navigated object. or, When the navigation viewpoint is north-facing or the navigation map interface is in drag-and-drop mode, the origin of the coordinate system is the projection point of the camera viewpoint onto the horizontal plane.

7. The method according to any one of claims 1-4, 6, wherein, On the horizontal plane of the navigation map interface to be rendered, a filtering direction is determined. This filtering direction is related to the projection direction of the travel direction of the navigated object or the camera's viewpoint direction onto the horizontal plane, including: The projection direction of the travel direction or the camera's viewing angle onto the horizontal plane is determined as the filtering direction.

8. A detection method, wherein, include: Retrieve the data to be rendered corresponding to the navigation map interface; The data to be rendered includes target rendering feature rendering data and path rendering data; Based on the path rendering data, the target path points for building occlusion detection are determined using the method described in any one of claims 1-7. Based on the target path point, occlusion detection is performed on the buildings in the target rendering elements to determine whether the buildings are occluded.

9. A target path point determination device, wherein, include: The first acquisition module is configured to acquire navigation rendering data corresponding to the navigation map interface to be rendered. The navigation rendering data includes path rendering data determined based on the navigation path, the direction of travel of the navigated object, or the camera view. The first determining module is configured to determine a filtering direction on the horizontal plane of the navigation map interface to be rendered. The filtering direction is related to the projection direction of the travel direction of the navigated object or the camera view direction on the horizontal plane. The second determining module is configured to determine a target path point based on the filtering direction and the path rendering data, by finding the intersection of the path along the filtering direction with the path corresponding to the path rendering data; wherein, if there is one or more intersections in the same direction, one of the one or more intersections is selected as the target path point.

10. An electronic device, wherein, The method includes a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the method of any one of claims 1-8.

11. A computer-readable storage medium having computer instructions stored thereon, wherein, When executed by a processor, the computer instructions implement the method described in any one of claims 1-8.

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