Map navigation method and device, computer device and storage medium

Abstract

The application relates to a map navigation method and device, computer equipment and a storage medium. The application relates to the field of maps and comprises the following steps: displaying a navigation interface; the navigation interface is used for road navigation of a target object; when the target object is located in a road range outside a target road section in a road, a first type of navigation map is displayed on the navigation interface; the target road section is a road section with a preset road condition; when the target object is located in the target road section, a second type of navigation map is displayed on the navigation interface; the scale of the second type of navigation map is larger than that of the first type of navigation map, and the road reality degree of the second type of navigation map is higher than that of the first type of navigation map. The method can improve navigation efficiency.

Description

Technical Field

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

[0002] With the development of internet and mobile communication technologies, online navigation is becoming increasingly widespread. For example, while driving, one can use navigation software on an in-vehicle terminal for online navigation; while walking, one can use navigation software on a mobile terminal for online navigation. Navigation software can support displaying one or more types of maps, such as at least one of standard definition (SD) maps and augmented reality (AR) maps.

[0003] In traditional technologies, to facilitate viewing maps of different resolutions, maps of different resolutions can be displayed on the same screen simultaneously. For example, standard definition maps and augmented reality maps can be displayed on the same screen at the same time.

[0004] However, due to the significant differences in the product form of maps with different levels of precision, the display effect presents a noticeable split-screen effect, which interferes with the quick understanding of the map and thus leads to low navigation efficiency. Summary of the Invention

[0005] Therefore, it is necessary to provide a map navigation method, device, computer equipment, computer-readable storage medium, and computer program product that can improve navigation efficiency in response to the above-mentioned technical problems.

[0006] On one hand, this application provides a map navigation method. The method includes: displaying a navigation interface; the navigation interface being used for road navigation of the target object; when the target object is located outside a target road segment within the road, displaying a first type of navigation map on the navigation interface; the target road segment is a road segment with preset road conditions; when the target object is located within the target road segment, displaying a second type of navigation map on the navigation interface; the scale of the second type of navigation map is larger than that of the first type of navigation map, and the road accuracy of the second type of navigation map is higher than that of the first type of navigation map.

[0007] On the other hand, this application also provides a map navigation device. The device includes: a navigation interface display module for displaying a navigation interface; the navigation interface is used for road navigation of the target object; a first map display module for displaying a first type of navigation map on the navigation interface when the target object is located outside a target road segment within the road; the target road segment is a road segment with preset road conditions; and a second map display module for displaying a second type of navigation map on the navigation interface when the target object is located within the target road segment; the scale of the second type of navigation map is larger than that of the first type of navigation map, and the road accuracy of the second type of navigation map is higher than that of the first type of navigation map.

[0008] In some embodiments, the first map display module is further configured to display a first type of navigation map on the navigation interface using a scale within a first scale range when the target object is located outside the target road segment in the road; the second map display module is further configured to display a second type of navigation map on the navigation interface using a scale within a second scale range when the target object is located within the target road segment; the scale within the second scale range is larger than the scale within the first scale range.

[0009] In some embodiments, the first map display module is further configured to, when the target object is located outside the target road segment in the road, gradually reduce the size of the first type of navigation map in the navigation interface in response to the target object moving toward the target road segment in the road; the scale corresponding to the size of the first type of navigation map belongs to the first scale range; the second map display module is further configured to, in response to the target object moving from outside the target road segment to inside the target road segment, display the second type of navigation map in the navigation interface using a scale within the second scale range.

[0010] In some embodiments, the second map display module is further configured to, in response to the target object moving from outside the target road segment to inside the target road segment, play a first transition animation on the navigation interface transitioning from the first type of navigation map to the second type of navigation map; wherein, as the first transition animation plays, the visibility of the first type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases; after the first transition animation ends, the second type of navigation map is displayed on the navigation interface using a scale within the second scale range.

[0011] In some embodiments, the apparatus is further configured to: in response to the target object moving from within the target road segment to outside the target road segment, and in the case that the target object is moving toward the next target road segment, return to the road range outside the target road segment in the road, and display a first type of navigation map on the navigation interface.

[0012] In some embodiments, the device is further configured to: in response to the target object moving from within the target road segment to outside the target road segment, when the target object is a first preset distance away from the target road segment, switch the navigation interface from the second type of navigation map to a first type of navigation map displayed using a scale within a first scale range.

[0013] In some embodiments, the first map display module is further configured to display a first type of navigation map on the navigation interface when the target object is located in a road range outside the target road segment in the road, and the distance between the target object and the target road segment is greater than or equal to a second preset distance; the device further includes a third map display module, which is configured to display a third type of navigation map on the navigation interface when the target object is located in a road range outside the target road segment in the road, and the distance between the target object and the target road segment is less than the second preset distance; wherein the road display accuracy of the third type of navigation map is greater than that of the first type of navigation map; and the road accuracy of the second type of navigation map is higher than that of the third type of navigation map.

[0014] In some embodiments, the scale of the first type of navigation map belongs to a first sub-scale range; the third map display module is further configured to, when the target object is located in a road range outside the target road segment in the road, and the distance between the target object and the target road segment is less than the second preset distance, gradually reduce the size of the third type of navigation map in the navigation interface in response to the target object moving towards the target road segment in the road; wherein, the scale corresponding to the size of the third type of navigation map belongs to a second sub-scale range, the scale in the second sub-scale range is larger than the scale in the first sub-scale range, both the second sub-scale range and the first sub-scale range belong to the first scale range, the scale of the second type of navigation map belongs to the second scale range, and the scale in the second scale range is larger than the scale in the first scale range.

[0015] In some embodiments, the second map display module is further configured to, in response to the target object moving from outside the target road segment to inside the target road segment, play a second transition animation on the navigation interface, transitioning from the third type of navigation map to the second type of navigation map; wherein, as the second transition animation plays, the visibility of the third type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases; after the second transition animation ends, the second type of navigation map is displayed on the navigation interface.

[0016] In some embodiments, the navigation interface display module is further configured to display a navigation mode setting page; the navigation mode setting page includes an option for switching the map navigation mode; in response to a trigger operation for the option for switching the map navigation mode, the state of the option for switching the map navigation mode is updated to a selected state; and the navigation interface in the map navigation mode is displayed; the first map display module is further configured to, in the map navigation mode, when the target object is located in a road range outside the target road segment in the road, display a first type of navigation map in the navigation interface.

[0017] In some embodiments, the device is further configured to: display a mode entry for a map split-screen navigation mode in a navigation interface under the map switching navigation mode; the map split-screen navigation mode is used to display a navigation map in a split-screen manner in the navigation interface; and in response to a triggering operation of the mode entry, display a first type of navigation map and a second type of navigation map in a split-screen manner in the navigation interface.

[0018] In some embodiments, the navigation interface is displayed via a navigation screen; the device is further configured to: determine the size of the navigation screen in response to a trigger operation on the mode entry; and, if the size of the navigation screen is greater than a screen size threshold, display the first type of navigation map and the second type of navigation map in a split-screen manner on the navigation interface.

[0019] In some embodiments, the target object has a navigation camera; the second map display module is further configured to display a second type of navigation map with a target pitch angle on the navigation interface when the target object is located within the target road segment; the target pitch angle is matched with the viewing angle of the navigation camera.

[0020] In some embodiments, the device further includes a pitch angle determination module, which is used to obtain the vertical distance between the navigation camera of the target object and the water surface; and to calculate the target pitch angle based on the viewing angle of the navigation camera and the vertical distance.

[0021] In some embodiments, the target object is a target vehicle, and the navigation interface is displayed through a navigation screen; the second map display module is further configured to display a second type of navigation map on the navigation interface using a target scale when the target vehicle is located within the target road segment; the target scale is adapted to the drivable area of ​​the target vehicle and the size of the navigation screen.

[0022] In some embodiments, the apparatus further includes a scale determination module, which is configured to determine the physical distance corresponding to a single pixel on the navigation screen based on the physical dimensions of the drivable area of ​​the target vehicle and the screen size of the navigation screen; and determine the target scale based on the physical distance.

[0023] On the other hand, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in the above-described map navigation method.

[0024] On the other hand, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps in the above-described map navigation method.

[0025] On the other hand, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps in the above-described map navigation method.

[0026] The aforementioned map navigation method, device, computer equipment, storage medium, and computer program product display a navigation interface for navigating a target object. When the target object is located outside the target road segment, a first type of navigation map is displayed on the navigation interface. The target road segment is a road segment with preset road conditions. When the target object is located within the target road segment, a second type of navigation map is displayed on the navigation interface. Since the scale of the second type of navigation map is larger than that of the first type of navigation map, and the road accuracy of the second type of navigation map is higher than that of the first type of navigation map, the display of the navigation map can be automatically controlled according to the road conditions, thereby improving navigation efficiency. Attached Figure Description

[0027] Figure 1 This is a diagram illustrating the application environment of the map navigation method in some embodiments;

[0028] Figure 2 This is a flowchart illustrating the map navigation method in some embodiments;

[0029] Figure 3This is a schematic diagram of the navigation map in some embodiments;

[0030] Figure 4 This is a schematic diagram of the navigation map in some embodiments;

[0031] Figure 5 This is a diagram showing the relationship between scale and pitch angle in some embodiments;

[0032] Figure 6 This is a schematic diagram of the navigation map at different pitch angles in some embodiments;

[0033] Figure 7 These are schematic diagrams of navigation maps at different scales in some embodiments;

[0034] Figure 8 These are scenario diagrams of map navigation methods in some embodiments;

[0035] Figure 9A These are scenario diagrams of map navigation methods in some embodiments;

[0036] Figure 9B These are scenario diagrams of map navigation methods in some embodiments;

[0037] Figure 10A These are renderings of AR and SD split-screen displays in some embodiments;

[0038] Figure 10B These are renderings of AR and SD split-screen displays in some embodiments;

[0039] Figure 10C These are renderings of AR and SD split-screen displays in some embodiments;

[0040] Figure 10D These are illustrations showing the effect of HD and SD split-screen display in some embodiments;

[0041] Figure 10E This demonstrates the effect of HD and AR split-screen display in some embodiments;

[0042] Figure 11A This is a schematic diagram illustrating the switching from an SD basemap to an AR basemap in some embodiments;

[0043] Figure 11B This is a schematic diagram illustrating the switching from an AR basemap to an HD basemap in some embodiments;

[0044] Figure 12A These are scenario diagrams of map navigation methods in some embodiments;

[0045] Figure 12B This is a schematic diagram of different types of navigation maps in some embodiments;

[0046] Figure 13 This is a schematic diagram of the map navigation method in some embodiments;

[0047] Figure 14A This is a schematic diagram of navigation modes in some embodiments;

[0048] Figure 14B This is a schematic diagram showing the map split-screen navigation mode in some embodiments;

[0049] Figure 15A This is a schematic diagram of the device installation of the AR system in some embodiments;

[0050] Figure 15B A top view of the device mounting for the AR system in some embodiments;

[0051] Figure 16 This is a schematic diagram illustrating the principle of calculating the target pitch angle in some embodiments;

[0052] Figure 17 This is a schematic diagram of the principle of extracting lane lines in some embodiments;

[0053] Figure 18 This is a schematic diagram of the drivable area extracted in some embodiments;

[0054] Figure 19 This is a schematic diagram of the calculation of the drivable area in some embodiments;

[0055] Figure 20 This is a schematic diagram illustrating the principle of calculating the target scale in some embodiments;

[0056] Figure 21 This is a flowchart illustrating the map navigation method in some embodiments;

[0057] Figure 22 This is a structural block diagram of a map navigation device in some embodiments;

[0058] Figure 23 These are internal structural diagrams of the computer device in some embodiments;

[0059] Figure 24 This is a diagram showing the internal structure of a computer device in some embodiments. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0061] The map navigation method provided in this application embodiment can be applied to, for example, Figure 1In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104, or it can be located in the cloud or on another server. Server 104 can be a server providing map services, including but not limited to at least one of location services or navigation services. Server 104 can receive location data about vehicles or pedestrians, and perception data about the environment in which vehicles or pedestrians are located. Server 104 can determine the navigation map to be displayed on the navigation interface based on the location data or perception data, and display the navigation map on the navigation interface through terminal 102. Alternatively, terminal 102 can also receive location data and perception data about vehicles or pedestrians, and generate and display a navigation map on the navigation interface based on the location data or perception data.

[0062] Specifically, terminal 102 displays a navigation interface for navigating to a target object. When the target object is located outside the target road segment, terminal 102 displays a first type of navigation map. When the target object is located within the target road segment, terminal 102 displays a second type of navigation map. The target road segment is a road segment with preset road conditions. The scale of the second type of navigation map is larger than that of the first type of navigation map, and the road realism of the second type of navigation map is higher than that of the first type of navigation map.

[0063] The terminal 102 can be, but is not limited to, various desktop computers, laptops, smartphones, tablets, smart voice interaction devices, smart home appliances, vehicle terminals, aircraft, and portable wearable devices. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0064] The map navigation method provided in this application can be applied in the field of maps and in vehicle scenarios. For example, the map navigation method provided in this application can be executed by a vehicle terminal or by a vehicle terminal in collaboration with other devices.

[0065] In some embodiments, such as Figure 2 As shown, a map navigation method is provided. This method can be executed by a terminal, or it can be executed jointly by a terminal and a server. This method can be applied to... Figure 1 Taking terminal 102 as an example, the explanation includes the following steps:

[0066] Step 202: Display the navigation interface; the navigation interface is used for road navigation to the target object.

[0067] The target objects include, but are not limited to, pedestrians or vehicles. Vehicles can be driven by a human or a vehicle-driven system. Human-driven refers to driving controlled by a driver, while vehicle-driven refers to driving controlled by an onboard autonomous driving system. Roads can be of any type, including but not limited to at least one of motor vehicle lanes, non-motor vehicle lanes, or pedestrian lanes. The navigation interface is displayed on the terminal's screen and is used for road navigation to the target objects.

[0068] Specifically, the terminal can display a navigation entry point, which triggers the display of the navigation interface. For example, in response to a trigger operation on the navigation entry point, the terminal displays the navigation interface and shows a navigation map within it. The navigation map describes the actual road environment at the vehicle's location, including the road, lane, and lane markers in the target lane. The navigation map can include at least one type of map: Standard Definition Map (SD map), High Definition Map (HD map), and Augmented Reality Map (AR map). The ground imagery in the navigation map can be referred to as the base map.

[0069] Among them, SD base maps are weak in detail rendering, but their advantage is wide coverage. AR base maps have a greater advantage in detail and the highest realism, but their disadvantage is a single viewing angle and limited field of view. HD base maps are comparable to AR base maps in terms of detail rendering capabilities and have a variable viewing angle, but their drawback is narrow data coverage and a realism lower than AR but higher than SD. Therefore, the display ratio is adjusted in different scenarios to highlight different guidance information. The viewing angle of SD base maps is controlled by the normal navigation automatic scale strategy, the viewing angle of AR base maps is determined by the installation angle of the AR camera, and the viewing angle of HD base maps is controlled by the human-driving automatic scale in human-driving scenarios and by the vehicle-driving automatic scale in vehicle-driving scenarios. SD base maps are as follows: Figure 3 As shown in (a) above, the AR base map is as follows: Figure 3 As shown in (b) above, the HD base map is as follows: Figure 3 As shown in (c) in the figure.

[0070] Step 204: When the target object is located in a road range outside the target road segment, the navigation interface displays a navigation map of the first type; the target road segment is a road segment with preset road conditions.

[0071] The target road segment is a road segment with preset road conditions. Preset road conditions include, but are not limited to, at least one of the following: lane change, turning, congestion, ramps, roundabouts, accompanying routes, destinations, avoidance, autonomous driving takeover, and maneuvering points. Since the target object is a vehicle, it can be either manually driven or autonomously driven; therefore, avoidance can occur in either a manual or autonomous driving scenario. Avoidance refers to automatically avoiding dangerous situations such as when a vehicle overtakes, slows down, or changes lanes, resulting in poor road conditions. Autonomous driving takeover refers to the scenario where the vehicle is about to leave the area supported by the autonomous driving function and will switch to manual driving. Maneuvering points can be maneuvering points in a manual driving scenario, such as locations in map navigation that guide the driver to perform maneuvering actions like turning, slowing down, changing lanes, or exiting, typically intersections, merging points, etc. Maneuvering points can also be autonomous driving maneuvering points, referring to locations where autonomous driving automatically performs maneuvering operations such as turning or U-turns. The target road segment is a road segment with preset road conditions. For example, the target road segment can be a road segment at a turning intersection, a congested road segment, a road segment requiring evasive action, or a road segment requiring lane changes.

[0072] Navigation maps serve to provide navigation to a target object. They describe the actual road environment at the target object's location, and may include the road, lane, or lane markers. Type 1 navigation maps can be either standard definition or high-definition maps. The road range outside the target road segment includes at least one of the road range before and after the target road segment. The target road segment can be the segment corresponding to a maneuvering point, which is a location where the driver needs to perform lane changes, turns, or U-turns during driving.

[0073] Specifically, when the target object is located outside the target road segment in the road, the terminal can display a first type of navigation map on the navigation interface. For example, the terminal can display a standard definition map or a high definition map on the navigation interface.

[0074] In some embodiments, when the target object is located in a road range outside the target road segment, the terminal can display a first type of navigation map on the navigation interface. The first type of navigation map is matched with the driver's driving proficiency. When the driver's driving proficiency reaches the driving proficiency threshold, the first type of navigation map is a standard definition map. When the driver's driving proficiency does not reach the driving proficiency threshold, the first type of navigation map is a high definition map.

[0075] In some embodiments, when the target object is located outside the target road segment within a road area, the terminal can display a first type of navigation map with a specific scale and pitch angle on the navigation interface. When the target object is a vehicle, the terminal can determine the scale based on the driving status. The pitch angle refers to the angle from which the viewer adjusts the base map. The scale represents the ratio of the distance on the displayed navigation map to the actual geographical distance. For example, if 1 centimeter on the navigation map represents 10,000 centimeters in actual geography, then the scale = 1:10,000. The map size of the navigation map is negatively correlated with the scale; the smaller the scale, the larger the map size, meaning the larger the geographical area represented by the navigation map; conversely, the larger the scale, the smaller the map size, meaning the smaller the geographical area represented by the navigation map. Scales correspond to scale levels; the larger the scale level, the larger the scale, and the smaller the map size. Table 1 shows the relationship between scale levels and map size, displaying scale levels 4-22, each corresponding to a different scale and pitch angle. The correspondence between scale levels and map sheets in Table 1 is for illustrative purposes only. Scale levels can also be decimals. For example, a scale level of 4.5 corresponds to a map sheet of 1,500,000 meters.

[0076] Table 1. Correspondence between scale level and elevation angle

[0077]

[0078]

[0079] Different map scales will display different map sizes on the same screen, such as... Figure 4 As shown, this illustrates the map sheet effects at different scale levels. Figure 4 (a) shows the map layout at scale level 19. Figure 4 (b) shows the map sheet effect at scale level 18. Figure 4 (c) in the image shows the map sheet effect at scale level 17. Figure 4 (d) in the figure represents the map size at scale 16. Figure 4 (e) in the image represents the map sheet effect at scale level 15. Figure 4 As can be seen, different map scales display different map areas on the same screen. The map area viewed varies depending on the scale; a smaller scale shows a larger area but coarser map details, while a larger scale shows a smaller area but more realistic map details. Figure 5 As shown, at the same map scale, adjusting the tilt angle can adjust the visible range for different orientations. The automatic map adjustment strategy adjusts the tilt angle in the vehicle's direction of travel to increase the visible range, and even to display geographical areas beyond the line of sight. For example... Figure 6 The image shows the rendering effect of the base map at different tilt angles. Figure 6 The pitch angle in (a) is 40 degrees. Figure 6 In (b), the pitch angle is 50 degrees. Figure 6 The pitch angle in (c) is 65 degrees. High-precision map data and high-definition map data are highly consistent; the difference is that high-definition map data is more detailed and has more data dimensions, such as... Figure 7 The image shows the effect of high-precision map data being plotted onto an SD base map. From... Figure 7 It can be seen that the display effect of high-precision map data varies greatly at different scale levels. Only when the base map scale level is greater than or equal to 20 can it have a relatively high guiding effect and achieve the purpose of lane-level guidance.

[0080] Step 206: When the target object is located within the target road segment, display the second type of navigation map on the navigation interface; the scale of the second type of navigation map is larger than that of the first type of navigation map, and the road realism of the second type of navigation map is higher than that of the first type of navigation map.

[0081] The road accuracy of a navigation map reflects how closely the roads on the map resemble real roads. The closer the roads on the navigation map are to real roads, the higher the road accuracy of the navigation map.

[0082] To better understand the level of road realism, let's illustrate with an example. For instance, because real-view navigation maps are generated using real-time images captured by a camera of the actual road ahead, they contain the real-world road scene. Electronic maps, however, are not generated using real-time camera images of the actual road scene and therefore do not contain the real-world road scene. Therefore, compared to electronic maps, real-view navigation maps show a greater degree of similarity to real roads, meaning they offer higher road realism. Examples of real-view navigation maps include AR maps, while electronic maps include SD maps or HD maps. Since AR maps are generated using real-time camera images of the actual road scene, while SD and HD maps are generated from images not captured by the actual scene, it's clear that AR maps show a greater degree of similarity to real roads compared to SD and HD maps. Therefore, AR maps offer higher road realism than SD maps, and further, AR maps offer higher road realism than HD maps.

[0083] For example, even among electronic maps, different display resolutions result in varying levels of detail and thus different degrees of realism. Generally, higher resolution electronic maps display richer details and thus closer approximations to reality. Therefore, electronic maps with different display resolutions will differ in their level of road realism. For instance, HD maps present more detail than SD maps, making them more realistic.

[0084] Because the road realism of the second type of navigation map is higher than that of the first type, the second type of navigation map can be a real-view map, while the first type of navigation map can be an electronic map. For example, the second type of navigation map can be an AR map, while the first type of navigation map can be either an SD map or an HD map. Alternatively, both the second and first types of navigation maps can be electronic maps; for example, the second type of navigation map can be an HD map, and the first type of navigation map can be an SD map.

[0085] The scale of the second type of navigation map is larger than that of the first type, and the road realism of the second type is also higher than that of the first type. The second type of navigation map is capable of presenting a realistic environment; for example, it could be an augmented reality map. The scale of the first type of navigation map falls within the first scale range, while the scale of the second type can fall within the second scale range. The first and second scale ranges are different; the scale levels within the first scale range are higher than those within the second scale range. For example, the first scale range consists of scales from 4 to 21, while the second scale range consists of scales of 22 and above.

[0086] Specifically, when the target object is located within the target road segment, the terminal can display a second type of navigation map on the navigation interface, such as a navigation map in the form of an augmented reality map.

[0087] In some embodiments, both the first type of navigation map and the second type of navigation map are electronic maps, and the road accuracy of the second type of navigation map is higher than that of the first type of navigation map. For example, the first type of navigation map is an SD map and the second type of navigation map is an HD map. When the target object is located outside the target road segment, the SD map is displayed on the navigation interface, and when the target object is located within the target road segment, the HD map is displayed on the navigation interface.

[0088] In some embodiments, the first type of navigation map is an electronic map, and the second type of navigation map is a real-view navigation map. The road realism of the second type of navigation map is higher than that of the first type of navigation map. For example, the first type of navigation map is an SD map, and the second type of navigation map is an AR map. When the target object is located outside the target road segment, the SD map is displayed on the navigation interface; when the target object is located within the target road segment, the AR map is displayed. Alternatively, the first type of navigation map is an HD map, and the second type of navigation map is an AR map. When the target object is located outside the target road segment, the HD map is displayed on the navigation interface; when the target object is located within the target road segment, the AR map is displayed.

[0089] In some embodiments, when a target object is located outside a target road segment and moving towards the target road segment, a navigation map switch can be triggered before entering the target road segment. Specifically, the terminal switches from displaying a first type of navigation map to displaying a second type of navigation map when the distance between the target object and the target road segment is less than a preset target distance. That is, the second type of navigation map is displayed before entering the target road segment. When the target object moves out of the target road segment, the terminal switches from displaying the second type of navigation map back to displaying the first type of navigation map. The preset target distance can be determined based on the speed at which the target object moves. The greater the speed at which the target object moves, the greater the preset target distance; the smaller the speed at which the target object moves, the smaller the preset target distance. Taking an SD map as the first type of navigation map and an HD map as the second type of navigation map as an example, ... Figure 8 As shown, the target road segment can be, for example, Figure 8 In the example of a turning intersection, the distance between point A and the turning intersection is a preset target distance. When the target object moves to point A, a switch from displaying an SD map to an HD map is triggered. In other embodiments, the navigation map switch can be triggered when entering the target road segment. For example, in response to the target object entering the target road segment, the terminal switches from displaying a first type of navigation map to displaying a second type of navigation map.

[0090] In some embodiments, the terminal switches from displaying a first type of navigation map to displaying a second type of navigation map in response to a target object moving from outside the target road segment to inside the target road segment. The switching of the navigation map can be caused by a change in scale. Specifically, in response to the target object moving from outside the target road segment to inside the target road segment, the terminal increases the scale to a scale within the range of the second scale, and in response to the scale increasing to the range of the second scale, switches from displaying the first type of navigation map to displaying the second type of navigation map.

[0091] In some embodiments, the target object travels towards the target road segment. When the target object is located outside the target road segment within the road, the terminal, in response to the target object moving towards the target road segment (i.e., in response to a decrease in the distance between the target object and the target road segment), reduces the size of the first type of navigation map displayed on the navigation interface, i.e., increases the scale of the first type of navigation map displayed on the navigation interface. When the terminal determines that the target object has entered the target road segment based on the distance between the target object and the target road segment, the terminal displays a second type of navigation map on the navigation interface. The scale of the second type of navigation map is larger than that of the first type of navigation map, i.e., the size of the second type of navigation map is smaller than that of the first type of navigation map.

[0092] In some embodiments, the target object travels in a direction away from the target road segment. When the target object is within the target road segment, a second type of navigation map is displayed on the navigation interface. When the terminal determines that the target object has moved outside the target road segment based on the distance between the target object and the target road segment, the terminal displays a first type of navigation map on the navigation interface.

[0093] In some embodiments, when only a first type of navigation map and a second type of navigation map exist on the terminal, when the target object is located anywhere within the road range outside the target road segment, the first type of navigation map is displayed on the navigation interface; when the target object is located within the target road segment, the second type of navigation map is displayed on the navigation interface.

[0094] In some embodiments, when the target object is located outside the target road segment and the distance between the target object and the target road segment is greater than or equal to a second preset distance, the terminal displays a first type of navigation map on the navigation interface. When the target object is located outside the target road segment and the distance between the target object and the target road segment is less than the second preset distance, the terminal displays a third type of navigation map on the navigation interface. When the target object is located within the target road segment, a second type of navigation map is displayed on the navigation interface. The road display accuracy of the third type of navigation map is greater than that of the first type of navigation map, and the road realism of the second type of navigation map is higher than that of the third type of navigation map. For example, the first type of navigation map is an SD map, the second type of navigation map is an AR map, and the third type of navigation map is an HD map. This application embodiment actually implements a multi-mode base map switching process. Multi-mode refers to multiple types, and multiple types refer to at least two types.

[0095] In some embodiments, a switch from a third-type navigation map to a second-type navigation map can be triggered upon entering the target road segment. Alternatively, the switch can occur before entering the target road segment. Specifically, if the distance between the target object and the target road segment is less than a second preset distance but greater than a third preset distance, the terminal can display a third-type navigation map. In response to the distance between the target object and the target road segment decreasing to the third preset distance, the terminal switches from the third-type navigation map to the second-type navigation map. If the distance between the target object and the target road segment decreases to the third preset distance, the second-type navigation map remains displayed as the target object moves towards the target road segment until the target object moves away from the target road segment or after the target object has moved a certain distance from the target road segment, at which point the navigation map type is switched. The third preset distance is less than the second preset distance.

[0096] This explanation will use three types of navigation maps as examples: the first type is a standard definition map, the second type is an augmented reality map, and the third type is a high-definition map. Figure 9A and Figure 9B As shown, the process of switching between multi-mode base maps is illustrated using the entire flow before entering a maneuver point, during entering a maneuver point, after entering a maneuver point, and exiting a maneuver point as an example. Before entering a maneuver point, the vehicle is on an unbiased, stable driving section. An unbiased, stable driving section is, for example, a... Figure 9A or Figure 9B Before point A, the unbiased and smooth driving section requires drivers to simply maintain their current lane. There are few specific guidance requirements; drivers are more focused on overall route information, such as distance to the next maneuver point, distance and time to the destination, and road conditions ahead. This section displays a large-format SD (Small Image Map) base map to show global navigation information. The scale level displayed varies depending on the road type. For example, ordinary roads use an L1 scale SD base map, while highways or urban expressways use an L2 scale SD base map. Scale level L1 is lower than scale level L2; that is, the map size corresponding to scale level L2 is smaller than that corresponding to scale level L1. For example, L1 is level 4, and L2 is level 6.

[0097] Drive to Figure 9A or Figure 9BPoint A in the diagram indicates the entry into the intersection turning section, marking the beginning of the maneuvering phase. Upon entering the turning section, the driver needs to monitor surrounding road conditions, prepare, and begin changing lanes to the target lane. During the turning section, the map scale is dynamically adjusted based on the vehicle's position and distance to the maneuvering point. When the map scale reaches HD display level, the display switches from SD base map to HD base map to show more detail. The method for determining whether to enter an intersection turning section varies depending on the road type. For example, on highways or urban expressways, a distance of x meters from the maneuvering point indicates entry into the turning section; on ordinary roads, a distance of y meters indicates entry into the turning section. Here, x is greater than y.

[0098] When approaching a turning point (management point), the driver is instructed to turn onto the next road. To provide more realistic guidance, when the vehicle has entered the turning segment and is less than or equal to z meters from the management point, the display switches from an HD base map to a more directional AR base map. The AR base map guides the user's turn; that is, the prerequisite for displaying the AR base map is that the vehicle has entered the turning segment and is less than or equal to z meters from the management point. After passing the waypoint (management point) and receiving data for the next management point, the AR base map is discontinued. If no new guidance data, such as the next management point, is received after passing m meters from the intersection, the base map size is adjusted.

[0099] In the above map navigation method, a navigation interface is displayed for road navigation of the target object. When the target object is located outside the target road segment, a first type of navigation map is displayed on the navigation interface. The target road segment is a road segment with preset road conditions. When the target object is located within the target road segment, a second type of navigation map is displayed on the navigation interface. Since the scale of the second type of navigation map is larger than that of the first type of navigation map, and the road accuracy of the second type of navigation map is higher than that of the first type of navigation map, the display of the navigation map can be automatically controlled according to the road conditions, giving full play to the advantages of different types of navigation maps and improving navigation efficiency.

[0100] Currently, navigation maps have various presentation modes, including but not limited to SD mode, AR mode, and HD mode. Different presentation modes are differentiated in product strategy. For example... Figure 10A , Figure 10B and Figure 10C The image shows the AR and SD split-screen effects on screens of different sizes. Figure 10A This is the AR and SD split-screen effect displayed on a screen with a resolution of 1280×720. Figure 10B This is the AR and SD split-screen effect displayed on a screen with a resolution of 1920×720. Figure 10C This is the AR and SD split-screen effect displayed on a screen with a resolution of 1920×1080. The size of the SD image and the AR image vary depending on the screen size. Figure 10D The effect of split-screen display in HD and SD is shown. Figure 10E This shows the effect of HD and AR split-screen display. HD and SD split-screen are not exactly the same as AR and SD split-screen solutions. From Figure 10D and Figure 10E As can be seen, due to the diverse forms of base map products and their varying split-screen strategies, the fusion effect of multi-mode maps is poor, exhibiting a noticeable split-screen effect. From a product form perspective, this requires a high level of user comprehension, resulting in a high learning curve. From a technical perspective, different forms require different technology stacks to achieve their effects, leading to high implementation and maintenance costs. The map navigation method provided in this application, however, comprehensively considers both product form and technical implementation, achieving a unified, efficient, stable, and highly integrated multi-mode fusion solution, thus improving navigation efficiency.

[0101] In some embodiments, when the target object is located within a road range outside the target road segment, displaying a first type of navigation map on the navigation interface includes: displaying a first type of navigation map on the navigation interface using a scale within a first scale range when the target object is located within the target road segment; when the target object is located within the target road segment, displaying a second type of navigation map on the navigation interface includes: displaying a second type of navigation map on the navigation interface using a scale within a second scale range when the target object is located within the target road segment; the scale within the second scale range is larger than the scale within the first scale range.

[0102] The first and second scale ranges are preset. The scale in the second scale range is larger than the scale in the first scale range. When using the scale in the first scale range, a first type of navigation map is displayed; when using the scale in the second scale range, a second type of navigation map is displayed.

[0103] Specifically, when the target object is located outside the target road segment, the navigation interface displays a first type of navigation map using the scale within the first scale range; when the target object is located within the target road segment, the navigation interface displays a second type of navigation map using the scale within the second scale range; the scale within the second scale range is larger than the scale within the first scale range.

[0104] In some embodiments, the first type of navigation map is a standard definition (SD) map, and the second type of navigation map is an augmented reality (AR) map. When the target object is located outside the target road segment, the SD map is displayed on the navigation interface using a scale within the first scale range. When the target object is located within the target road segment, the AR map is displayed on the navigation interface using a scale within the second scale range.

[0105] In some embodiments, the first type of navigation map is a high-definition map, and the second type of navigation map is an augmented reality map. When the target object is located outside the target road segment, a high-definition map is displayed on the navigation interface using a scale within the first scale range; when the target object is located within the target road segment, an augmented reality map is displayed on the navigation interface using a scale within the second scale range.

[0106] In this embodiment, since the scale in the second scale range is larger than the scale in the first scale range, different types of navigation maps are displayed in different second scale ranges. Using a large scale within the target road segment can display more details in the map, making it easier to grasp the condition of the target road segment, thereby improving navigation efficiency. Using a smaller scale on roads far from the target road segment, i.e., unbending and stable road segments, allows for the display of a larger map area, thereby enabling a global grasp of the target object's location, adapting to navigation needs, and thus improving navigation efficiency.

[0107] In some embodiments, when the target object is located in a road area outside the target road segment, displaying a first type of navigation map on the navigation interface using a scale within a first scale range includes: when the target object is located in a road area outside the target road segment, in response to the target object moving towards the target road segment, gradually reducing the size of the first type of navigation map on the navigation interface; the scale corresponding to the size of the first type of navigation map belongs to the first scale range; when the target object is located within the target road segment, displaying a second type of navigation map on the navigation interface using a scale within a second scale range includes: in response to the target object moving from outside the target road segment to inside the target road segment, displaying a second type of navigation map on the navigation interface using a scale within a second scale range.

[0108] Specifically, when the target object is located outside the target road segment in the road, the terminal responds to the target object moving towards the target road segment in the road. That is, as the distance between the target object and the target road segment decreases, the scale of the first type of navigation map displayed in the navigation interface is gradually increased, thereby causing the map size of the first type of navigation map in the navigation interface to gradually decrease.

[0109] In some embodiments, the target object is a target vehicle. The terminal can determine the speed at which the scale increases based on the driving state. The driving state includes, but is not limited to, at least one of driving speed, manual driving, automatic driving, or road conditions. For example, the terminal can detect the driving speed of the target vehicle and determine the speed at which the scale increases based on the driving speed. For example, the greater the driving speed, the greater the speed at which the scale increases.

[0110] In some embodiments, in response to a target object moving from outside the target road segment to inside the target road segment, the terminal displays a first type of navigation map on the navigation interface using a scale within a first scale range, and then switches to displaying a second type of navigation map on the navigation interface using a scale within a second scale range.

[0111] In this embodiment, as the target object moves toward the target road segment, the map size is gradually reduced, i.e., the map scale is gradually increased. This allows the map scale to gradually approach the scale within the second map scale range. As the target object moves from outside the target road segment to inside the target road segment, the map scale can be switched smoothly, reducing visual discomfort caused by large changes in the map scale. This reduces interference during navigation and improves navigation efficiency.

[0112] In some embodiments, in response to a target object moving from outside a target road segment to inside a target road segment, displaying a second type of navigation map on the navigation interface using a scale within a second scale range includes: in response to the target object moving from outside a target road segment to inside a target road segment, playing a first transition animation on the navigation interface transitioning from a first type of navigation map to a second type of navigation map; wherein, as the first transition animation plays, the visibility of the first type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases; after the first transition animation ends, displaying a second type of navigation map on the navigation interface using a scale within a second scale range.

[0113] The first transition animation is used to show the process of switching from a first type of navigation map to a second type of navigation map. For example, if the first type of navigation map is an SD map and the second type of navigation map is an AR map, then the first transition animation shows the process of switching from the SD map to the AR map; if the first type of navigation map is an HD map and the second type of navigation map is an AR map, then the first transition animation shows the process of switching from the HD map to the AR map. As the first transition animation plays, the visibility of the first type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases.

[0114] Specifically, the first transition animation can be obtained by fusing images of a first type of navigation map with images of a second type of navigation map. For example, for multiple moments during the handover process, the terminal can use Alpha fusion to fuse the image of the first type of navigation map with the image of the second type of navigation map at each moment to obtain a fused image at that moment, and generate the first transition animation from the fused images at each moment.

[0115] In some embodiments, in response to a target object moving from within a target road segment to outside the target road segment, the terminal plays a transition animation from a second type of navigation map to a first type of navigation map, wherein, as the transition animation plays, the visibility of the second type of navigation map gradually decreases and the visibility of the first type of navigation map gradually increases.

[0116] In this embodiment, as the first transition animation plays, the visibility of the first type of navigation map gradually decreases, while the visibility of the second type of navigation map gradually increases, creating an overlay effect in the animation. This results in a seamless transition and improves the stability of the map changes. Figure 11A The image shown illustrates the process of switching from an SD base map to an AR base map. Figure 11A In the image, (a) is an SD base image, (c) is an AR base image, and (b) shows the overlay effect that occurs when switching from an SD base image to an AR base image. Figure 11B The image shows the process of switching from an AR base image to an HD base image. Figure 11B In the image, (a) is an AR background image, (c) is an HD background image, and (b) shows the overlay effect that occurs when switching from an AR background image to an HD background image.

[0117] In some embodiments, the method further includes the step of displaying a first type of navigation map on the navigation interface in response to the target object moving from inside the target road segment to outside the target road segment, and in the case that the target object moves toward the next target road segment.

[0118] The next target road segment and the target road segment that has already been passed can be road segments with the same preset road conditions or road segments with different preset road conditions. For example, the target road segment that has already been passed is a turning intersection, and the next target road segment is a congested road segment, or both the target road segment that has already been passed and the next target road segment are turning intersections.

[0119] Specifically, in response to a target object moving from within a target road segment to outside the target road segment, if the target object is moving towards the next target road segment, the terminal returns to the step of displaying a first type of navigation map on the navigation interface when the target object is located within the road range outside the target road segment of the current road. Thus, when the target object is located within the road range outside the target road segment of the current road, the terminal displays a first type of navigation map on the navigation interface; when the target object is within the target road segment, the terminal displays a second type of navigation map on the navigation interface. In some embodiments, in response to a target object moving from within a target road segment to outside the target road segment, upon receiving data for the next target road segment, the terminal determines that it is moving towards the next target road segment. For example... Figure 9A or Figure 9B If, after passing a waypoint (i.e., a maneuver point), data for the next maneuver point is received, the system exits the AR base map and determines the navigation map to be displayed based on the distance between the target object and the next target road segment.

[0120] In this embodiment, the navigation map is switched in a timely manner according to the target road segment, which improves navigation efficiency.

[0121] In some embodiments, the method further includes: in response to a target object moving from inside the target road segment to outside the target road segment, when the target object and the target road segment are at a first preset distance apart, switching the navigation interface from a second type of navigation map to a first type of navigation map displayed using a scale within a first scale range.

[0122] The first preset distance is a preset distance, such as 50 meters or 100 meters.

[0123] Specifically, in response to the target object moving from inside the target road segment to outside the target road segment, when the target object and the target road segment are at a first preset distance apart, the terminal displays a second type of navigation map on the navigation interface using a scale within the second scale range, and then switches to displaying a first type of navigation map on the navigation interface using a scale within the first scale range. Since the scale within the second scale range is larger than the scale within the first scale range, the map size of the navigation map becomes larger after the switch.

[0124] In some embodiments, in response to a target object moving from within a target road segment to outside the target road segment, if no next target road segment is received and the target object is a first preset distance from the target road segment, the terminal displays a second type of navigation map on the navigation interface using a scale within a second scale range, and then switches to displaying a first type of navigation map on the navigation interface using a scale within a first scale range. For example... Figure 9A or Figure 9B If no new guidance data, such as data for the next maneuver point, is received after passing a turning intersection m meters, the scale is adjusted, i.e., the map size is adjusted. For example, the navigation interface displays the first type of navigation map and the map size is increased.

[0125] In this embodiment, when the target object and the target road segment are at a first preset distance apart, a first type of navigation map is displayed on the navigation interface, thereby displaying a larger navigation map, making it easier to intuitively observe the location of the target object, and facilitating the determination of the next movement route.

[0126] In some embodiments, when the target object is located in a road range outside the target road segment, displaying a first type of navigation map on the navigation interface includes: when the target object is located in a road range outside the target road segment and the distance between the target object and the target road segment is greater than or equal to a second preset distance, displaying a first type of navigation map on the navigation interface; the method further includes: when the target object is located in a road range outside the target road segment and the distance between the target object and the target road segment is less than the second preset distance, displaying a third type of navigation map on the navigation interface; wherein the road display accuracy of the third type of navigation map is greater than that of the first type of navigation map; and the road accuracy of the second type of navigation map is higher than that of the third type of navigation map.

[0127] The second preset distance can be determined according to the type of road. The higher the speed limit of the road, the larger the second preset distance. For example, the second preset distance is smaller for ordinary roads and larger for expressways.

[0128] Road display precision refers to the level of detail used when displaying roads. Higher precision results in more detailed road representations. The third type of navigation map has a higher road display precision than the first type, while the second type has a higher level of road realism than the third type. For example, the third type is an augmented reality map, while the second type is a high-precision map.

[0129] Specifically, when the terminal supports three types of navigation maps (Type 1, Type 2, and Type 3), a Type 3 navigation map can be added as a transition when switching between Type 1 and Type 2 navigation maps, making the switch smoother. For example, in a scenario switching from Type 1 to Type 2 navigation maps, one can first switch to Type 3, and then switch back to Type 2.

[0130] In some embodiments, when the target object is located within a road area outside the target road segment, and the distance between the target object and the target road segment is greater than or equal to a second preset distance, the terminal displays a first type of navigation map on the navigation interface; when the target object is located within a road area outside the target road segment, and the distance between the target object and the target road segment is less than the second preset distance, the terminal displays a third type of navigation map on the navigation interface, and displays a second type of navigation map within the target road segment. For example, the second preset distance is... Figure 12A The distance between point D and the turning intersection, i.e., road segment AB. Driving to... Figure 12A Before point D, the navigation interface displays the first type of navigation map. The road segment between point D and point A displays the third type of navigation map. The turning intersection AB segment displays the second type of navigation map.

[0131] In some embodiments, the navigation map can be switched upon entering the target road segment. For example, the terminal switches from displaying a third type of navigation map to displaying a second type of navigation map in response to the target object entering the target road segment. Alternatively, the terminal can switch from a third type of navigation map to a second type of navigation map before entering the target road segment. For instance, if the distance between the target object and the target road segment is less than a second preset distance but greater than a third preset distance, the terminal can display a third type of navigation map. In response to the distance between the target object and the target road segment decreasing to the third preset distance, the terminal switches from a third type of navigation map to a second type of navigation map. Even when the distance between the target object and the target road segment decreases to the third preset distance, the second type of navigation map is displayed as the target object moves towards the target road segment until the target object moves away from the target road segment or after the target object has moved a certain distance from the target road segment, at which point the navigation map type is switched.

[0132] In this embodiment, when switching between the first type of navigation map and the second type of navigation map, a third type of navigation map can be added as a transition, making the process of switching from the first type of navigation map to the second type of navigation map smoother, improving the visual effect of the navigation interface, making it easier to understand the map in the navigation interface, and thus improving navigation efficiency.

[0133] In some embodiments, the scale of the first type of navigation map belongs to a first sub-scale range; when the target object is located in a road range outside the target road segment and the distance between the target object and the target road segment is less than a second preset distance, displaying the third type of navigation map on the navigation interface includes: when the target object is located in a road range outside the target road segment and the distance between the target object and the target road segment is less than the second preset distance, in response to the target object moving towards the target road segment, the size of the third type of navigation map is gradually reduced in the navigation interface; wherein, the scale corresponding to the size of the third type of navigation map belongs to a second sub-scale range, the scale in the second sub-scale range is greater than the scale in the first sub-scale range, both the second sub-scale range and the first sub-scale range belong to the first scale range, the scale of the second type of navigation map belongs to the second scale range, and the scale in the second scale range is greater than the scale in the first scale range.

[0134] The navigation map of type 1 falls within the first sub-scale range; the map scale of type 3 falls within the second sub-scale range. Both the second and first sub-scale ranges belong to the first scale range, with scales within the second sub-scale range being larger than those within the first sub-scale range. Similarly, the navigation map of type 2 falls within the second scale range, with scales within the second scale range being larger than those within the first scale range. For example, the first sub-scale range comprises scales of levels 4-19, the second sub-scale range comprises scales of levels 20-21, and the third sub-scale range comprises scales of levels 22 and above.

[0135] Specifically, when the target object is located in the road range outside the target road segment and the distance between the target object and the target road segment is less than the second preset distance, the terminal responds to the target object moving towards the target road segment in the road by gradually decreasing the map size of the third type of navigation map in the navigation interface, that is, gradually increasing the scale of the third type of navigation map in the navigation interface. When it is determined that the target object has moved into the target road segment, the second type of navigation map is displayed in the navigation interface using the scale within the second scale range.

[0136] In this embodiment, since the scale of the first type of navigation map belongs to the first sub-scale range, and the scale corresponding to the map size of the third type of navigation map belongs to the second sub-scale range, the scale in the second sub-scale range is larger than the scale in the first sub-scale range. Both the second and first sub-scale ranges belong to the first scale range, and the scale of the second type of navigation map belongs to the second scale range, which is larger than the scale in the first scale range. Therefore, as the target object moves from outside the target road segment to inside, the scale of the navigation map gradually increases, the map size gradually decreases, and the accuracy and realism of the navigation map gradually increase. This achieves automatic adjustment of the navigation map according to the driving or walking scenario, making the navigation map more suitable for navigation in the corresponding scenario and improving navigation efficiency.

[0137] In some embodiments, when the target object is located within the target road segment, displaying a second type of navigation map on the navigation interface includes: in response to the target object moving from outside the target road segment to inside the target road segment, playing a second transition animation on the navigation interface from a third type of navigation map to a second type of navigation map; wherein, as the second transition animation plays, the visibility of the third type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases; after the second transition animation ends, displaying a second type of navigation map on the navigation interface.

[0138] The second transition animation is used to show the process of switching from the third type of navigation map to the second type of navigation map. As the second transition animation plays, the visibility of the third type of navigation map gradually decreases, while the visibility of the second type of navigation map gradually increases. For example, if the third type of navigation map is an HD map and the second type of navigation map is an AR map, then the second transition animation is used to show the process of switching from the HD map to the AR map.

[0139] Specifically, the second transition animation can be obtained by fusing the image of the third type of navigation map with the image of the second type of navigation map. The specific process for generating the second transition animation is the same as that for generating the first transition animation, and will not be repeated here.

[0140] In some embodiments, the step of displaying a third type of navigation map on the navigation interface when the target object is located outside the target road segment and the distance between the target object and the target road segment is less than a second preset distance includes: as the target object moves toward the target road segment, in response to the distance between the target object and the target road segment being less than the second preset distance, playing a third transition animation on the navigation interface to transition from a first type of navigation map to a third type of navigation map; wherein, as the third transition animation plays, the visibility of the first type of navigation map gradually decreases, and the visibility of the third type of navigation map gradually increases. The third transition animation is used to present the process of switching from a first type of navigation map to a third type of navigation map. For example, if the first type of navigation map is an SD map and the third type of navigation map is an HD map, then the third transition animation is used to present the process of switching from an SD map to an HD map. The third transition animation can be obtained by fusing the image of the third type of navigation map with the image of the first type of navigation map. The specific process of generating the third transition animation is the same as the process of generating the first transition animation, and will not be repeated here. Of course, in the scenario of switching from an AR map to an HD map, there is an animation presenting the process of switching from an AR map to an HD map.

[0141] Table 2 illustrates the correspondence between map types and scale levels. Scale levels, also known as scale grades, are used in this application embodiment to correspond to different types of navigation maps across different scale ranges. This allows for unified management of different map types using the scale, enabling automatic switching of map types based on scale changes. This achieves a solution for automatically fusing (switching) multi-mode base maps using scale, where the multi-mode base map includes, but is not limited to, at least two of SD, HD, or AR base maps. Figure 12B As shown, three types of base maps are displayed. From Figure 12B The strategy of merging SD and HD maps is relatively easy to see. In the HD base map, SD map data is still used for non-road data, while HD road styles are used for road sections with high-precision map data. Given that the advantages of HD at scales below level 20 are not significant, only scales 20, 21, and 22 are used as the display levels for the HD base map. That is, the HD map is only displayed at scales 20, 21, and 22; the HD base map is not visible at other scales. The display levels for the SD base map are specified as 4 to 20, with level 20 serving as the transition level between SD and HD, and level 22 as the transition level between HD and AR. Scale levels can also be called scale layers. The scales of each map in transition animations (e.g., first transition animation, second transition animation, third transition animation) can all be the scales of the transition layers.

[0142] Table 2 Multi-mode basemap fusion based on scale level

[0143]

[0144] When the scale level is between 4 and 19, an SD basemap is displayed; when the scale level is between 20 and 21, an HD basemap is displayed; and when the scale level is equal to or greater than 22, an AR basemap is displayed. During the switch from SD to HD basemaps, there will be an overlay effect between the HD and SD basemaps, meaning both will be displayed simultaneously. Similarly, during the switch from HD to AR basemaps, there will be an overlay effect between the HD and AR basemaps, again meaning both will be displayed simultaneously. It should be noted that Table 2 shows scale levels represented using positive integers. Of course, scale levels represented by decimals also exist. For example, multiple scale levels can be interpolated from positive integer scale levels. For instance, interpolating between 4 and 5 yields 4.5, and interpolating between 2000,000 and 1000,000 yields 1500,000. Therefore, 4.5 represents a scale level with a physical scale of 1500,000 meters.

[0145] like Figure 13 The diagram illustrates flowcharts for multi-modal basemap fusion in several embodiments. In multi-modal basemap fusion, the optimal display layer and viewpoint are determined based on the inherent characteristics of SD basemaps, HD maps, and AR maps. These layers and viewpoints are then integrated into the basemap hierarchy, forming a complete basemap hierarchy. A unified automatic scale strategy can then be used to achieve automatic switching between multi-modal basemaps. Figure 13 The diagram illustrates the multi-modal base map fusion process. First, the multi-modal base map is incorporated into the scale-level management system through scale-level fusion. Then, the map size is adjusted based on guidance information or autonomous driving status information. Finally, the base map scale and pitch angle are switched according to the level calculated by the automatic scale adjustment strategy. Alpha fusion is used for seamless switching between levels. Figure 13 The image shows a blended image 1 in an animation depicting the process of switching from an SD map to an AR map, and another image shows a blended image 2 in an animation depicting the process of switching from an AR map to an HD map.

[0146] In this embodiment, as the second transition animation plays, the visibility of the third type of navigation map gradually decreases, while the visibility of the second type of navigation map gradually increases, thus creating an overlay effect in the animation. This ensures a seamless transition during the switching process and improves the stability of the map changes.

[0147] In some embodiments, displaying a navigation interface includes: displaying a navigation mode settings page; the navigation mode settings page includes an option to switch the map navigation mode; in response to a triggering operation for the option to switch the map navigation mode, updating the state of the option to a selected state; displaying the navigation interface in the map navigation mode switch; when the target object is located in a road range outside the target road segment in the road, displaying a first type of navigation map in the navigation interface includes: in the map navigation mode switch, when the target object is located in a road range outside the target road segment in the road, displaying a first type of navigation map in the navigation interface.

[0148] The navigation modes include map switching navigation mode and map split-screen navigation mode. In map switching navigation mode, the navigation map in the navigation interface is displayed in a switching manner, for example, switching from a first type of navigation map to a second type. In map split-screen navigation mode, the navigation map in the navigation interface is displayed in a split-screen manner; for example, the navigation screen is divided into two screen areas, with one screen area displaying the first type of navigation map and the other screen area displaying the second type of navigation map.

[0149] Specifically, the terminal can display a navigation mode settings page, which can show both map navigation mode switching and map split-screen navigation modes. When the terminal receives a selection operation for map navigation mode switching, it updates the status of the map navigation mode switching option to the selected state and determines the map navigation mode switching as the current navigation mode for the target object. For example... Figure 14A As shown, the navigation mode settings page displays option 1402 for switching map navigation modes and option 1404 for map split-screen navigation mode.

[0150] In some embodiments, when the current navigation mode of the target object is map switching navigation mode, when the terminal determines that the target object is located in a road range outside the target road segment, the terminal displays a first type of navigation map on the navigation interface; when the terminal determines that the target object is located within the target road segment, the terminal displays a second type of navigation map on the navigation interface.

[0151] In this embodiment, the map is displayed to switch navigation modes, which allows for flexible selection of navigation modes and improves navigation flexibility.

[0152] In some embodiments, the method further includes: displaying a mode entry for a map split-screen navigation mode in a navigation interface under a map switching navigation mode; the map split-screen navigation mode is used to display a navigation map in a split-screen manner in the navigation interface; and in response to a triggering operation of the mode entry, displaying a first type of navigation map and a second type of navigation map in a split-screen manner in the navigation interface.

[0153] In the map split-screen navigation mode, the navigation map in the navigation interface is displayed in a split-screen manner. For example, the navigation screen of the display interface is divided into two screen areas. One screen area displays the first type of navigation map, and the other screen area displays the second type of navigation map. The trigger operation of the mode entry is used to trigger the switch of the current navigation mode from map switching mode to map split-screen navigation mode.

[0154] Specifically, when the target object's current navigation mode is map-switching navigation mode, the terminal can display the map-switching navigation mode entry point while displaying the navigation map, such as... Figure 14B As shown, while displaying the AR map, a mode entry 1406 for switching navigation modes is also displayed. In response to a trigger operation on the mode entry, the terminal displays a first type of navigation map and a second type of navigation map in a split-screen manner within the navigation interface. For example, it may display an SD map and an AR map in a split-screen manner, or it may display an HD map and an AR map in a split-screen manner within the navigation interface.

[0155] In some embodiments, when the target object's current navigation mode is a map switching navigation mode and the navigation interface displays a third type of navigation map, the terminal responds to the trigger operation for the mode entry by displaying a first type of navigation map and a third type of navigation map in a split-screen manner in the navigation interface. For example, when the target object moves away from the target road segment, a first type of navigation map and a third type of navigation map can be displayed in a split-screen manner in the navigation interface. Of course, the terminal can also display a second type of navigation map and a third type of navigation map in a split-screen manner in the navigation interface. For example, when the target object moves toward the target road segment, a second type of navigation map and a third type of navigation map can be displayed in a split-screen manner in the navigation interface.

[0156] In this embodiment, the map split-screen navigation mode entry is displayed in the navigation interface when the map is switched to a new navigation mode. In response to the triggering operation of the mode entry, the navigation interface displays a first type of navigation map and a second type of navigation map in a split screen, thereby enabling quick switching of navigation modes and improving navigation efficiency.

[0157] In some embodiments, the navigation interface is displayed via a navigation screen; in response to a triggering operation of a mode entry, displaying a first type of navigation map and a second type of navigation map in the navigation interface in a split-screen manner includes: in response to a triggering operation of a mode entry, determining the size of the navigation screen; and if the size of the navigation screen is greater than a screen size threshold, displaying the first type of navigation map and the second type of navigation map in the navigation interface in a split-screen manner.

[0158] The dimensions of the navigation screen include its length and width, measured in pixels. A preset screen size threshold is used. Split-screen display performs better when the navigation screen size reaches this threshold.

[0159] Specifically, when the current navigation mode is map switching navigation mode, the terminal responds to the trigger operation of the mode entry, determines the size of the navigation screen, and if the size of the navigation screen is greater than the screen size threshold, the terminal displays the first type of navigation map and the second type of navigation map in the navigation interface in a split screen.

[0160] In some embodiments, when the size of the navigation screen is smaller than a screen size threshold, a prompt message and a mode entry for the map split-screen navigation mode are displayed. The prompt message is used to remind the user that the navigation screen is not suitable for split-screen display. The terminal responds to the trigger operation for the map split-screen navigation mode mode entry, and displays a first type of navigation map and a second type of navigation map in a split-screen manner on the navigation interface.

[0161] In this embodiment, when the size of the navigation screen is larger than the screen size threshold, the navigation interface displays the first type of navigation map and the second type of navigation map in a split-screen manner, thereby improving the effect of the split-screen display.

[0162] In some embodiments, the target object has a navigation camera; when the target object is located within the target road segment, displaying a second type of navigation map on the navigation interface includes: when the target object is located within the target road segment, displaying a second type of navigation map with a target pitch angle on the navigation interface; the target pitch angle matches the viewing angle of the navigation camera.

[0163] The navigation camera is used to collect data for the second type of navigation map. For example, the navigation camera can capture images of the scene where the target object is located to obtain the data for the second type of navigation map. If the second type of navigation map is an AR map, then the navigation camera is an AR camera. The image displayed is the second type of navigation map with a target pitch angle, representing the view observed from the navigation camera's perspective. Target pitch angle matching with the navigation camera's perspective means that the target pitch angle changes as the navigation camera's perspective changes; the target pitch angle can be calculated based on the navigation camera's perspective. If the target object is a pedestrian, the AR camera can be worn by the pedestrian; if the target object is a vehicle, the AR camera can be mounted on the vehicle.

[0164] Taking vehicles as an example, such as Figure 15A It shows a schematic diagram of the AR system's equipment installation. Figure 15BA top-view view of the AR system's device installation is shown. Theoretically, the camera is horizontally centered, but due to manufacturing limitations, a perfectly horizontal installation is not possible; therefore, the camera forms an angle with the horizon. To address this, the camera's mounting angle and field of view are calculated in both the horizontal and vertical dimensions. Figure 16 As shown, assuming point O is the camera position, O' is the foot of the perpendicular line drawn from point O to the horizontal ground. The height h of OO' is determined by the camera's installation. α is the camera lens's field of view, and A represents the starting point within the camera's view; the portion O'A is invisible within the camera's view. OB is the angle bisector of the camera's field of view, and O'OB is the AR camera's installation angle. The installation angle O'OB corresponds to the pitch angle in the SD map; that is, the installation angle O'OB is the AR map's pitch angle. The length AB is relatively difficult to measure, but the length O'A is relatively easy to measure. By measurement, the length of O'O can be obtained as h, and the length of O'A as W1. The angle α is provided by the camera lens supplier or measured independently. The SD-AR fusion scheme calculates the AR camera's installation angle and sensing range based on the camera's physical properties to determine the reference angle and scale for multi-mode switching.

[0165] Specifically, the terminal can calculate the target pitch angle based on the navigation camera's viewpoint and display a second type of navigation map with the target pitch angle on the navigation interface. For example, the terminal can obtain the vertical distance between the navigation camera and the water surface of the target object, and calculate the target pitch angle based on the navigation camera's viewpoint and the vertical distance. Here, the vertical distance is the length h of O'O mentioned above, and the viewpoint of the navigation camera is α mentioned above.

[0166] In this embodiment, because the target pitch angle matches the viewpoint of the navigation camera, the second type of navigation map can accurately present the scene where the target object is located, thus improving the reliability of the navigation map.

[0167] In some embodiments, the step of determining the target pitch angle includes: obtaining the vertical distance between the navigation camera of the target object and the water surface; and calculating the target pitch angle based on the viewpoint of the navigation camera and the vertical distance.

[0168] Specifically, the target pitch angle is the pitch angle O'OB mentioned above. The terminal can calculate the target pitch angle using W1, h, and α. For example, the target pitch angle = arctan(W1 / h) + α / 2.

[0169] In this embodiment, the target pitch angle is calculated based on the viewpoint and vertical distance of the navigation camera, thereby improving the accuracy of the target pitch angle.

[0170] In some embodiments, the target object is a target vehicle, and the navigation interface is displayed through a navigation screen; when the target object is located within the target road segment, displaying a second type of navigation map on the navigation interface includes: when the target vehicle is located within the target road segment, displaying a second type of navigation map on the navigation interface using a target scale; the target scale is adapted to the drivable area of ​​the target vehicle and the size of the navigation screen.

[0171] The drivable area refers to the area within the scene where the target vehicle can drive. The target scale falls within the second scale range and is related to the drivable area of ​​the target vehicle and the size of the navigation screen.

[0172] Specifically, the terminal can determine the drivable area by extracting lane lines and road surface. After recognizing the road surface and lane lines, the terminal determines the road surface and lane based on the lane lines, and determines the currently drivable lane surface (the driving area) by the intersection of the lane line closure and the image edge. For example... Figure 17 The diagram illustrates a flowchart for lane line extraction. The lane line extraction model is a neural network model capable of extracting lane lines. This model can be a segmentation network employing an "upsampling + downsampling" structural paradigm. The principle behind the recognition is to output a binary feature map of the same scale as the input image. The segmentation model then determines which pixels in the image belong to lane lines and which belong to the background. Figure 18 The image shows the extracted drivable area of ​​the road surface. Of course, the lane line extraction model can also use other neural network structures, such as a neural network that includes upsampling but not downsampling. This involves establishing several equal-division lines along the height direction of the lower half of the road image, identifying the lane line positions on each division line, and fitting a lane line polynomial equation to several position points. Simultaneously, lane line confidence scores are established to determine the existence of lane lines, and lane line position point confidence scores are established to determine whether they are valid position points. After downsampling, a vector of length 4×61 is directly output, saving the computational cost of the "upsampling" part and improving model performance. Figure 19 As shown. After the above feasible area and lane extraction, the number of lanes contained in the current AR map can be calculated, thereby calculating the width of the drivable area.

[0173] In this embodiment, since the target scale is adapted to the drivable area of ​​the target vehicle and the size of the navigation screen, the second type of navigation map is displayed on the navigation interface using the target scale, which improves navigation accuracy.

[0174] In some embodiments, the step of determining the target scale includes: determining the physical distance corresponding to a single pixel on the navigation screen based on the physical dimensions of the drivable area of ​​the target vehicle and the screen size of the navigation screen; and determining the target scale based on the physical distance.

[0175] Physical distance refers to geographical distance, i.e., real distance. The physical distance corresponding to a single pixel is the actual geographical distance covered by that pixel.

[0176] Specifically, different physical distances correspond to different scales. The map area in Table 1 can be understood as physical distance. Table 1 shows that different scale levels correspond to different physical distances. Since different scale levels correspond to different scales, the physical distances also differ. The terminal can determine the scale corresponding to the physical distance of a single pixel based on the correspondence between physical distance and scale, such as the correspondence in Table 1, thus obtaining the target scale. Taking the second type of navigation map, AR map, as an example, the scale level of the AR map can be calculated based on the camera's field of view. The field of view can be determined by detecting the drivable area and measuring its width. The correspondence between AR and SD levels can be calculated based on the actual width and scale level. For example... Figure 20 As shown, after obtaining the drivable area, the furthest lateral distance AB within the drivable area can be calculated. When the AR map is displayed on a screen with a size of W×H, the physical distance represented by each pixel on that screen is d. ar =AB / W. In the SD base map layer, the physical distance represented by each pixel at each scale level is dn, where n represents each scale level, and the value of n ranges from 4 to 22. By using d... ar By comparing with DN, the corresponding scale level of the AR map can be determined, thereby determining the target scale.

[0177] In this embodiment, the physical distance corresponding to a single pixel on the navigation screen is determined based on the physical size of the drivable area of ​​the target vehicle and the screen size of the navigation screen. The target scale is then determined based on the physical distance, which improves the accuracy of the target scale.

[0178] In some embodiments, such as Figure 21 As shown, a map navigation method is provided. This method can be executed by a terminal or jointly by a terminal and a server. Taking the application of this method to a terminal as an example, it includes the following steps:

[0179] Step 2102: Display the navigation interface.

[0180] The navigation interface is used for road navigation to the target object.

[0181] Step 2104: During the process of the target object moving toward the target road segment in the road, when the target object is located in the road range outside the target road segment and the distance between the target object and the target road segment is greater than or equal to the second preset distance, the first type of navigation map is displayed on the navigation interface.

[0182] Step 2106: In response to the distance between the target object and the target road segment being less than the second preset distance, a transition animation from the first type of navigation map to the third type of navigation map is played on the navigation interface.

[0183] As the transition animation to the third type of navigation map plays, the visibility of the first type of navigation map gradually decreases, while the visibility of the third type of navigation map gradually increases. The scale of the first type of navigation map belongs to the first sub-scale range; the scale corresponding to the map sheet of the third type of navigation map belongs to the second sub-scale range, and the scales in the second sub-scale range are larger than the scales in the first sub-scale range.

[0184] Step 2108: After the transition animation to the third type of navigation map finishes playing, the third type of navigation map is displayed on the navigation interface.

[0185] Step 2110: In response to the target object moving from outside the target road segment to inside the target road segment, a transition animation from the third type of navigation map to the second type of navigation map is played on the navigation interface.

[0186] Step 2112: After the transition animation to the second type of navigation map finishes playing, the second type of navigation map is displayed on the navigation interface.

[0187] The second subscale range and the first subscale range both belong to the first scale range. The scale of the second type of navigation map belongs to the second scale range, and the scale in the second scale range is larger than the scale in the first scale range.

[0188] In this embodiment, different types of navigation maps are displayed at different scales, thereby achieving the fusion of multiple navigation maps by using scale, so that the navigation map is automatically switched to a navigation map and scale that is more suitable for the scene, thereby improving navigation efficiency.

[0189] The map navigation method provided in this application can be applied to pedestrian, vehicle, and human-driven scenarios. Taking a standard definition map (SD map) as the first type, an augmented reality map (AR map) as the second type, and a high-definition map (HD map) as the third type, with a turning intersection as the target road segment, for a target vehicle in a vehicle scenario, the navigation interface is displayed while the target vehicle is moving on the road. When the target vehicle is moving towards a turning intersection, and it is located outside the turning intersection but the distance between it and the intersection is greater than or equal to a second preset distance, an HD map is displayed on the navigation interface. When the distance between the target vehicle and the turning intersection is less than the second preset distance, a transition animation from the HD map to the HD map is played on the navigation interface. After the transition animation ends, the HD map is displayed again. When the target vehicle moves from outside the turning intersection to inside it, a transition animation from the HD map to the HD map is played on the navigation interface. After the transition animation ends, the HD map is displayed again. As the transition animation to the high-definition map plays, the visibility of the high-definition map gradually decreases and then gradually increases. The scale of the high-definition map belongs to the first sub-scale range; the scale corresponding to the map sheet of the high-definition map belongs to the second sub-scale range, and the scales in the second sub-scale range are larger than the scales in the first sub-scale range. Both the second and first sub-scale ranges belong to the first scale range. The scale of the augmented reality map belongs to the second scale range, and the scales in the second scale range are larger than the scales in the first scale range.

[0190] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0191] Based on the same inventive concept, this application also provides a map navigation device for implementing the map navigation method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more map navigation device embodiments provided below can be found in the limitations of the map navigation method described above, and will not be repeated here.

[0192] In some embodiments, such as Figure 22 As shown, a map navigation device is provided, including: a navigation interface display module 2202, a first map display module 2204, and a second map display module 2206, wherein:

[0193] The navigation interface display module 2202 is used to display the navigation interface; the navigation interface is used for road navigation of the target object.

[0194] The first map display module 2204 is used to display a first type of navigation map on the navigation interface when the target object is located in a road range outside the target road segment; the target road segment is a road segment with preset road conditions.

[0195] The second map display module 2206 is used to display a second type of navigation map on the navigation interface when the target object is located within the target road segment; the scale of the second type of navigation map is larger than that of the first type of navigation map, and the road realism of the second type of navigation map is higher than that of the first type of navigation map.

[0196] In some embodiments, the first map display module 2204 is further configured to display a first type of navigation map on the navigation interface using a scale within a first scale range when the target object is located outside the target road segment in the road; the second map display module 2206 is further configured to display a second type of navigation map on the navigation interface using a scale within a second scale range when the target object is located within the target road segment; the scale within the second scale range is larger than the scale within the first scale range.

[0197] In some embodiments, the first map display module 2204 is further configured to, when the target object is located outside the target road segment in the road, gradually reduce the size of the first type of navigation map in the navigation interface in response to the target object moving toward the target road segment in the road; the scale corresponding to the size of the first type of navigation map belongs to the first scale range; the second map display module 2206 is further configured to, in response to the target object moving from outside the target road segment to inside the target road segment, display the second type of navigation map in the navigation interface using a scale within the second scale range.

[0198] In some embodiments, the second map display module 2206 is further configured to, in response to a target object moving from outside the target road segment to inside the target road segment, play a first transition animation on the navigation interface transitioning from a first type of navigation map to a second type of navigation map; wherein, as the first transition animation plays, the visibility of the first type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases; after the first transition animation ends, the second type of navigation map is displayed on the navigation interface using a scale within the second scale range.

[0199] In some embodiments, the apparatus is further configured to: in response to a target object moving from inside a target road segment to outside the target road segment, and in the case that the target object is moving toward the next target road segment, return to the road range outside the target road segment when the target object is in the road, and display a navigation map of the first type on the navigation interface.

[0200] In some embodiments, the device is further configured to: in response to a target object moving from within a target road segment to outside the target road segment, when the target object and the target road segment are at a first preset distance apart, switch the navigation interface from a second type of navigation map to a first type of navigation map displayed using a scale within a first scale range.

[0201] In some embodiments, the first map display module 2204 is further configured to display a first type of navigation map on the navigation interface when the target object is located in a road range outside the target road segment and the distance between the target object and the target road segment is greater than or equal to a second preset distance; the device further includes a third map display module, which is configured to display a third type of navigation map on the navigation interface when the target object is located in a road range outside the target road segment and the distance between the target object and the target road segment is less than the second preset distance; wherein the road display accuracy of the third type of navigation map is greater than that of the first type of navigation map; the road accuracy of the second type of navigation map is higher than that of the third type of navigation map.

[0202] In some embodiments, the scale of the first type of navigation map belongs to the first sub-scale range; the third map display module is further configured to, when the target object is located in a road range outside the target road segment in the road, and the distance between the target object and the target road segment is less than a second preset distance, gradually reduce the size of the third type of navigation map in the navigation interface in response to the target object moving toward the target road segment in the road; wherein, the scale corresponding to the size of the third type of navigation map belongs to the second sub-scale range, the scale in the second sub-scale range is greater than the scale in the first sub-scale range, both the second sub-scale range and the first sub-scale range belong to the first scale range, the scale of the second type of navigation map belongs to the second scale range, and the scale in the second scale range is greater than the scale in the first scale range.

[0203] In some embodiments, the second map display module 2206 is further configured to, in response to a target object moving from outside the target road segment to inside the target road segment, play a second transition animation on the navigation interface transitioning from a third type of navigation map to a second type of navigation map; wherein, as the second transition animation plays, the visibility of the third type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases; after the second transition animation ends, the second type of navigation map is displayed on the navigation interface.

[0204] In some embodiments, the navigation interface display module 2202 is further configured to display a navigation mode setting page; the navigation mode setting page includes an option for switching the map navigation mode; in response to a trigger operation for the option for switching the map navigation mode, the state of the option for switching the map navigation mode is updated to a selected state; and the navigation interface in the map switching navigation mode is displayed; the first map display module 2204 is further configured to, in the map switching navigation mode, when the target object is located in a road range outside the target road segment in the road, display a first type of navigation map in the navigation interface.

[0205] In some embodiments, the device is further configured to: display a mode entry for a map split-screen navigation mode in a navigation interface under a map switching navigation mode; the map split-screen navigation mode is used to display a navigation map in a split-screen manner in the navigation interface; and in response to a triggering operation of the mode entry, display a first type of navigation map and a second type of navigation map in a split-screen manner in the navigation interface.

[0206] In some embodiments, the navigation interface is displayed via a navigation screen; the device is further configured to: determine the size of the navigation screen in response to a triggering operation on a mode entry; and, if the size of the navigation screen is greater than a screen size threshold, display a first type of navigation map and a second type of navigation map in a split-screen manner on the navigation interface.

[0207] In some embodiments, the target object has a navigation camera; the second map display module 2206 is further configured to display a second type of navigation map with a target pitch angle on the navigation interface when the target object is located within the target road segment; the target pitch angle matches the viewing angle of the navigation camera.

[0208] In some embodiments, the device further includes a pitch angle determination module, which is used to obtain the vertical distance between the navigation camera of the target object and the water surface; and to calculate the target pitch angle based on the viewpoint of the navigation camera and the vertical distance.

[0209] In some embodiments, the target object is a target vehicle, and the navigation interface is displayed through a navigation screen; the second map display module 2206 is also used to display a second type of navigation map on the navigation interface using a target scale when the target vehicle is located within the target road segment; the target scale is adapted to the drivable area of ​​the target vehicle and the size of the navigation screen.

[0210] In some embodiments, the apparatus further includes a scale determination module, which is used to determine the physical distance corresponding to a single pixel on the navigation screen based on the physical dimensions of the drivable area of ​​the target vehicle and the screen size of the navigation screen; and to determine a target scale based on the physical distance.

[0211] The modules in the aforementioned map navigation device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0212] In some embodiments, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 23 As shown, this computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data involved in the map navigation method. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a map navigation method.

[0213] In some embodiments, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 24 As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a map navigation method. The display unit of the computer device is used to form a visually visible image. It can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0214] Those skilled in the art will understand that Figure 23 and Figure 24 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0215] In some embodiments, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the map navigation method described above.

[0216] In some embodiments, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the map navigation method described above.

[0217] In some embodiments, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the map navigation method described above.

[0218] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0219] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0220] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0221] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A map navigation method, characterized in that, The method includes: The navigation interface is displayed; the navigation interface is used for road navigation of the target object; When the target object is located outside the target road segment in the road, and the distance between the target object and the target road segment is greater than or equal to a second preset distance, a first type of navigation map is displayed on the navigation interface; the target road segment is a road segment with preset road conditions. When the target object is located within the target road segment, a second type of navigation map is displayed on the navigation interface; the scale of the second type of navigation map is larger than that of the first type of navigation map, and the road accuracy of the second type of navigation map is higher than that of the first type of navigation map. When the target object is located outside the target road segment in the road, and the distance between the target object and the target road segment is less than the second preset distance, a third type of navigation map is displayed on the navigation interface; wherein, the road display accuracy of the third type of navigation map is greater than that of the first type of navigation map; and the road accuracy of the second type of navigation map is higher than that of the third type of navigation map.

2. The method according to claim 1, characterized in that, When the target object is located outside the target road segment in the road, the first type of navigation map is displayed on the navigation interface using the scale within the first scale range; The step of displaying a second type of navigation map on the navigation interface when the target object is located within the target road segment includes: When the target object is located within the target road segment, a second type of navigation map is displayed on the navigation interface using a scale within the second scale range; The scale in the second scale range is larger than the scale in the first scale range.

3. The method according to claim 2, characterized in that, The method further includes: When the target object is located outside the target road segment in the road, in response to the target object moving towards the target road segment in the road, the map size of the first type of navigation map in the navigation interface is gradually reduced; the map size of the first type of navigation map corresponds to a scale within the first scale range. The step of displaying a second type of navigation map on the navigation interface using a scale within the second scale range when the target object is located within the target road segment includes: In response to the target object moving from outside the target road segment to inside the target road segment, a second type of navigation map is displayed on the navigation interface using a scale within the second scale range.

4. The method according to claim 3, characterized in that, The step of displaying a second type of navigation map on the navigation interface using a scale within a second scale range in response to the target object moving from outside the target road segment to inside the target road segment includes: In response to the target object moving from outside the target road segment to inside the target road segment, a first transition animation is played on the navigation interface, transitioning from the first type of navigation map to the second type of navigation map; wherein, as the first transition animation plays, the visibility of the first type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases; After the first transition animation ends, a second type of navigation map is displayed on the navigation interface using a scale within the second scale range.

5. The method according to claim 3, characterized in that, The method further includes: In response to the target object moving from inside the target road segment to outside the target road segment, and if the target object moves toward the next target road segment, the step of returning to the road range outside the target road segment in the road and the distance between the target object and the target road segment is greater than or equal to a second preset distance, and displaying a first type of navigation map on the navigation interface.

6. The method according to claim 3, characterized in that, The method further includes: In response to the target object moving from within the target road segment to outside the target road segment, when the target object is at a first preset distance from the target road segment, the navigation interface switches from the second type of navigation map to the first type of navigation map displayed using a scale within the first scale range.

7. The method according to claim 1, characterized in that, The scale of the navigation map of the first type belongs to the first sub-scale range; When the target object is located outside the target road segment within the road, and the distance between the target object and the target road segment is less than the second preset distance, displaying a third type of navigation map on the navigation interface includes: When the target object is located outside the target road segment in the road, and the distance between the target object and the target road segment is less than the second preset distance, in response to the target object moving toward the target road segment, the size of the third type of navigation map in the navigation interface is gradually reduced; The map scale of the third type of navigation map belongs to the second sub-scale range, the scale of the second sub-scale range is larger than the scale of the first sub-scale range, both the second sub-scale range and the first sub-scale range belong to the first scale range, the scale of the second type of navigation map belongs to the second scale range, and the scale of the second scale range is larger than the scale of the first scale range.

8. The method according to claim 7, characterized in that, The step of displaying a second type of navigation map on the navigation interface when the target object is located within the target road segment includes: In response to the target object moving from outside the target road segment to inside the target road segment, a second transition animation is played on the navigation interface, transitioning from the third type of navigation map to the second type of navigation map; wherein, as the second transition animation plays, the visibility of the third type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases; After the second transition animation ends, a second type of navigation map is displayed on the navigation interface.

9. The method according to claim 1, characterized in that, The display navigation interface includes: Display the navigation mode settings page; the navigation mode settings page includes an option to switch the map navigation mode; In response to a trigger operation for the option to switch navigation modes on the map, the state of the option to switch navigation modes on the map is updated to the selected state; Displays the navigation interface for switching the map navigation mode; In the map switching navigation mode, the step of displaying a first type of navigation map on the navigation interface is performed when the target object is located outside the target road segment in the road and the distance between the target object and the target road segment is greater than or equal to a second preset distance.

10. The method according to claim 9, characterized in that, The method further includes: The map split-screen navigation mode entry is displayed in the navigation interface of the map switching navigation mode; the map split-screen navigation mode is used to display the navigation map in a split screen in the navigation interface. In response to the triggering operation of the mode entry, the navigation interface displays a first type of navigation map and a second type of navigation map in a split screen.

11. The method according to claim 10, characterized in that, The navigation interface is displayed via a navigation screen; The step of responding to a trigger operation on the mode entry point by displaying a first type of navigation map and a second type of navigation map in a split-screen manner on the navigation interface includes: In response to a trigger operation on the mode entry, the size of the navigation screen is determined; If the size of the navigation screen is larger than the screen size threshold, the navigation interface displays the first type of navigation map and the second type of navigation map in a split-screen manner.

12. The method according to claim 1, characterized in that, The target object has a navigation camera; The step of displaying a second type of navigation map on the navigation interface when the target object is located within the target road segment includes: When the target object is located within the target road segment, a second type of navigation map with the target pitch angle is displayed on the navigation interface; The target pitch angle is matched with the viewing angle of the navigation camera.

13. The method according to claim 12, characterized in that, The steps for determining the target pitch angle include: Obtain the vertical distance between the navigation camera of the target object and the water surface; The target pitch angle is calculated based on the viewpoint of the navigation camera and the vertical distance.

14. The method according to claim 1, characterized in that, The target object is the target vehicle, and the navigation interface is displayed on the navigation screen. The step of displaying a second type of navigation map on the navigation interface when the target object is located within the target road segment includes: When the target vehicle is located within the target road segment, a second type of navigation map is displayed on the navigation interface using the target scale. The target scale is adapted to the drivable area of ​​the target vehicle and the size of the navigation screen.

15. The method according to claim 14, characterized in that, The steps for determining the target scale include: Based on the physical dimensions of the drivable area of ​​the target vehicle and the screen size of the navigation screen, the physical distance corresponding to a single pixel on the navigation screen is determined; The target scale is determined based on the physical distance.

16. A map navigation device, characterized in that, The device includes: A navigation interface display module is used to display a navigation interface; the navigation interface is used for road navigation to a target object. The first map display module is used to display a first type of navigation map on the navigation interface when the target object is located outside the target road segment in the road and the distance between the target object and the target road segment is greater than or equal to a second preset distance; the target road segment is a road segment with preset road conditions; The second map display module is used to display a second type of navigation map on the navigation interface when the target object is located within the target road segment; the scale of the second type of navigation map is larger than that of the first type of navigation map, and the road realism of the second type of navigation map is higher than that of the first type of navigation map. The third map display module is used to display a third type of navigation map on the navigation interface when the target object is located outside the target road segment in the road and the distance between the target object and the target road segment is less than the second preset distance; wherein the road display accuracy of the third type of navigation map is greater than that of the first type of navigation map; and the road accuracy of the second type of navigation map is higher than that of the third type of navigation map.

17. The apparatus according to claim 16, characterized in that, The first map display module is also used to display a first type of navigation map on the navigation interface when the target object is located in a road range outside the target road segment in the road, using a scale within the first scale range; The second map display module is also used to display a second type of navigation map on the navigation interface when the target object is located within the target road segment, using a scale within the second scale range; The scale in the second scale range is larger than the scale in the first scale range.

18. The apparatus according to claim 17, characterized in that, The first map display module is further configured to, when the target object is located in a road range outside the target road segment in the road, in response to the target object moving toward the target road segment in the road, gradually reduce the size of the first type of navigation map in the navigation interface; the scale corresponding to the size of the first type of navigation map belongs to the first scale range. The second map display module is also configured to, in response to the target object moving from outside the target road segment to inside the target road segment, display a second type of navigation map on the navigation interface using a scale within a second scale range.

19. The apparatus according to claim 18, characterized in that, The second map display module is further configured to, in response to the target object moving from outside the target road segment to inside the target road segment, play a first transition animation on the navigation interface, transitioning from the first type of navigation map to the second type of navigation map; wherein, as the first transition animation plays, the visibility of the first type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases; after the first transition animation ends, the second type of navigation map is displayed on the navigation interface using a scale within the second scale range.

20. The apparatus according to claim 18, characterized in that, The device is further configured to, in response to the target object moving from within the target road segment to outside the target road segment, and in the case of the target object moving toward the next target road segment, return to the road range outside the target road segment in the road, and the distance between the target object and the target road segment is greater than or equal to a second preset distance, and display a first type of navigation map on the navigation interface.

21. The apparatus according to claim 18, characterized in that, The device is also configured to, in response to the target object moving from within the target road segment to outside the target road segment, and when the target object is at a first preset distance from the target road segment, switch the navigation interface from the second type of navigation map to the first type of navigation map displayed using a scale within the first scale range.

22. The apparatus according to claim 16, characterized in that, The scale of the navigation map of the first type belongs to the first sub-scale range; The third map display module is also used to gradually reduce the size of the third type of navigation map in the navigation interface when the target object is located outside the target road segment in the road and the distance between the target object and the target road segment is less than the second preset distance, in response to the target object moving toward the target road segment in the road. The map scale of the third type of navigation map belongs to the second sub-scale range, the scale of the second sub-scale range is larger than the scale of the first sub-scale range, both the second sub-scale range and the first sub-scale range belong to the first scale range, the scale of the second type of navigation map belongs to the second scale range, and the scale of the second scale range is larger than the scale of the first scale range.

23. The apparatus according to claim 22, characterized in that, The second map display module is further configured to, in response to the target object moving from outside the target road segment to inside the target road segment, play a second transition animation on the navigation interface, transitioning from the third type of navigation map to the second type of navigation map; wherein, as the second transition animation plays, the visibility of the third type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases; after the second transition animation ends, the second type of navigation map is displayed on the navigation interface.

24. The apparatus according to claim 16, characterized in that, The navigation interface display module is also used to display a navigation mode setting page; the navigation mode setting page includes an option to switch the map navigation mode; in response to a trigger operation on the option to switch the map navigation mode, the state of the option to switch the map navigation mode is updated to the selected state; Displays the navigation interface for switching the map navigation mode; The first map display module is further configured to display a first type of navigation map on the navigation interface when the target object is located in a road range outside the target road segment in the map switching navigation mode, and the distance between the target object and the target road segment is greater than or equal to a second preset distance.

25. The apparatus according to claim 24, characterized in that, The device is also used to display the mode entry of the map split-screen navigation mode in the navigation interface of the map switching navigation mode; the map split-screen navigation mode is used to display the navigation map in the navigation interface in a split screen. In response to the triggering operation of the mode entry, the navigation interface displays a first type of navigation map and a second type of navigation map in a split screen.

26. The apparatus according to claim 25, characterized in that, The navigation interface is displayed via a navigation screen; The device is also configured to determine the size of the navigation screen in response to a trigger operation on the mode entry; and if the size of the navigation screen is greater than a screen size threshold, to display the first type of navigation map and the second type of navigation map in a split-screen manner on the navigation interface.

27. The apparatus according to claim 16, characterized in that, The target object has a navigation camera; The second map display module is also used to display a second type of navigation map with a target pitch angle on the navigation interface when the target object is located within the target road segment; The target pitch angle is matched with the viewing angle of the navigation camera.

28. The apparatus according to claim 27, characterized in that, The device further includes a pitch angle determination module, which is used to obtain the vertical distance between the navigation camera of the target object and the water surface; and to calculate the target pitch angle based on the viewing angle of the navigation camera and the vertical distance.

29. The apparatus according to claim 16, characterized in that, The target object is the target vehicle, and the navigation interface is displayed on the navigation screen. The second map display module is also used to display a second type of navigation map on the navigation interface using a target scale when the target vehicle is located within the target road segment; The target scale is adapted to the drivable area of ​​the target vehicle and the size of the navigation screen.

30. The apparatus according to claim 29, characterized in that, The device further includes a scale determination module, which is used to determine the physical distance corresponding to a single pixel on the navigation screen based on the physical dimensions of the drivable area of ​​the target vehicle and the screen size of the navigation screen; and to determine the target scale based on the physical distance.

31. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 15.

32. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 15.

33. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 15.

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