Navigation display method and device and electronic equipment

Abstract

The embodiment of the invention discloses a navigation display method and device and electronic equipment, and the method comprises the steps: detecting a steering action of a vehicle, responding to the steering action of the vehicle, determining a driving track of a steering road section according to the driving data of the vehicle, and controlling a vehicle logo in a navigation map to bind a road along the driving track. And in response to completion of execution of the steering action of the vehicle, controlling a vehicle logo in the navigation map to bind a road according to a navigation route and road network data. Therefore, according to the embodiment of the invention, the virtual driving track can be determined according to the vehicle driving data in the vehicle steering process to realize vehicle logo road binding in the navigation map, so that the problem that the steering of the vehicle logo displayed in the navigation map is delayed and lagged is avoided, and the track accuracy of the vehicle logo in the navigation map is improved; therefore, the navigation vehicle logo is synchronized with the real vehicle motion state, the vehicle logo steering smoothness is improved, and the user experience is further improved.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and more specifically, to a navigation display method, device and electronic equipment. Background Art

[0002] During the navigation process, the navigation binding strategy needs to map the positioning points on the road network. In turning scenarios such as turning left, turning right, or making a U-turn, the vehicle logo in the navigation map may be delayed or stuck due to deviation or missing binding points in the road network, resulting in inaccurate display of the vehicle logo and a poor user experience. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides a navigation display method, device and electronic device, so as to realize the binding of the vehicle logo in the navigation map by determining the virtual vehicle trajectory according to the vehicle driving data during the vehicle turning process, thereby avoiding the problem of delayed steering of the vehicle logo displayed on the navigation map, improving the trajectory accuracy of the vehicle logo in the navigation map, synchronizing the navigation vehicle logo with the actual vehicle motion state, improving the smoothness of the vehicle logo steering, and thus improving the user experience.

[0004] In a first aspect, an embodiment of the present invention provides a navigation display method, the method comprising:

[0005] Detecting the vehicle's steering action;

[0006] In response to the vehicle starting to perform the turning action, determining the vehicle trajectory of the turning section according to the vehicle driving data;

[0007] Control the vehicle logo in the navigation map to be bound along the vehicle's travel trajectory;

[0008] In response to the steering action of the vehicle being completed, the vehicle logo in the navigation map is controlled to be bound according to the navigation route.

[0009] Further, the detecting the steering action of the vehicle includes:

[0010] A turning action of the vehicle is detected according to the navigation route.

[0011] Further, the detecting the turning action of the vehicle according to the navigation route includes:

[0012] In response to the vehicle reaching a first predetermined point, determining that the vehicle begins to perform a turning action;

[0013] The first predetermined point is determined according to a predetermined turning entry jam point and / or an entry road section end point.

[0014] Further, the detecting the steering action of the vehicle includes:

[0015] A steering action of the vehicle is detected based on the vehicle driving data.

[0016] Further, the detecting the steering action of the vehicle according to the vehicle driving data includes:

[0017] Determine a vehicle positioning point according to the vehicle driving data;

[0018] In response to an angle between a trajectory direction determined according to the vehicle positioning point and a corresponding navigation route direction being greater than a first predetermined value, it is determined that the vehicle starts to perform a turning action.

[0019] Furthermore, the method further comprises:

[0020] In response to the vehicle reaching a second predetermined point, it is determined that the steering action of the vehicle is completed, and the second predetermined point is determined according to a predetermined steering exit jam point and / or an exit section starting point.

[0021] Furthermore, the method further comprises:

[0022] In response to an angle between a trajectory direction determined according to the vehicle positioning point and a corresponding navigation route direction being less than a second predetermined value, it is determined that the steering action of the vehicle is completed.

[0023] Further, the vehicle driving data includes at least one type of positioning data used for vehicle positioning;

[0024] The positioning device for acquiring the positioning data includes a combination of one or more of the following: a positioning device, a gyroscope, an inertial measurement unit, a radar sensor, a visual sensor, and a base station.

[0025] In a second aspect, an embodiment of the present invention provides a navigation display device, the device comprising:

[0026] A first motion detection unit is configured to detect a steering motion of the vehicle;

[0027] a trajectory determination unit, configured to determine the vehicle trajectory of the turning section according to the vehicle driving data in response to the vehicle starting to perform the turning action;

[0028] A first binding unit is configured to control the vehicle logo in the navigation map to bind along the vehicle track;

[0029] The second road binding unit is configured to control the vehicle logo in the navigation map to bind the road according to the navigation route and road network data in response to the completion of the steering action of the vehicle.

[0030] In a third aspect, an embodiment of the present invention provides a vehicle-mounted device, the vehicle-mounted device comprising:

[0031] processor;

[0032] A memory for storing one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method as described above;

[0033] The display screen is used to display a navigation interface, wherein the navigation interface includes a navigation route and a vehicle logo.

[0034] In a fourth aspect, an embodiment of the present invention provides a vehicle, the vehicle comprising:

[0035] The vehicle-mounted device as described above;

[0036] At least one type of positioning device is used to obtain the positioning point of the vehicle.

[0037] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0038] In a sixth aspect, an embodiment of the present invention provides a computer program product, which, when executed on a computer, enables the computer to execute the method described above.

[0039] The embodiment of the present invention detects the turning action of the vehicle, responds to the vehicle starting to perform the turning action, determines the vehicle trajectory of the turning section according to the vehicle driving data, controls the vehicle logo in the navigation map to be bound along the vehicle trajectory, and responds to the completion of the turning action of the vehicle, controls the vehicle logo in the navigation map to be bound according to the navigation route and road network data. Therefore, the embodiment of the present invention can determine the virtual vehicle trajectory according to the vehicle driving data during the vehicle turning process to realize the binding of the vehicle logo in the navigation map, avoids the problem of delayed and stuck turning of the vehicle logo displayed on the navigation map, improves the trajectory accuracy of the vehicle logo in the navigation map, synchronizes the navigation vehicle logo with the actual vehicle motion state, improves the smoothness of the vehicle logo steering, and thus improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0041] Figure 1 and Figure 2 It is a navigation diagram in the prior art;

[0042] Figure 3 is a flowchart of a navigation display method according to an embodiment of the present invention;

[0043] Figure 4 is a navigation schematic diagram of an embodiment of the present invention;

[0044] Figure 5 is another navigation schematic diagram of an embodiment of the present invention;

[0045] Figure 6 is a schematic diagram of a vehicle trajectory determination method according to an embodiment of the present invention;

[0046] Figure 7 is a schematic diagram of another vehicle trajectory determination method according to an embodiment of the present invention;

[0047] Figure 8 is another navigation schematic diagram of an embodiment of the present invention;

[0048] Fig. 9 is a schematic diagram of displaying a navigation interface according to an embodiment of the present invention;

[0049] Fig.10 is a schematic diagram of a navigation display device according to an embodiment of the present invention;

[0050] Fig.11 Schematic diagram of a vehicle-mounted device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The present application is described below based on embodiments, but the present application is not limited to these embodiments. In the detailed description of the present application below, some specific details are described in detail. It is possible for those skilled in the art to fully understand the present application without the description of these details. In order to avoid confusing the essence of the present application, known methods, processes, flows, components and circuits are not described in detail.

[0052] In addition, persons of ordinary skill in the art will appreciate that the drawings provided herein are for illustration purposes and are not necessarily drawn to scale.

[0053] Unless the context clearly requires otherwise, the words "include", "comprising" and similar words throughout the application should be interpreted as including rather than exclusive or exhaustive; that is, the meaning is "including but not limited to".

[0054] In the description of this application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0055] The solutions described in this specification and in the examples, if they involve the processing of personal information, will be processed on the premise of having a legal basis (such as obtaining the consent of the subject of personal information, or being necessary for the performance of a contract, etc.), and will only be processed within the scope of regulations or agreements. If a user refuses to process personal information other than the necessary information for basic functions, it will not affect the user's use of basic functions.

[0056] Figure 1 and Figure 2 This is a navigation diagram in the prior art. Turning actions such as left and right turns and U-turns are common types of actions in the navigation process. The existing binding strategy is to map the vehicle positioning point on the road network. On the one hand, due to the certain deviation between the actual road conditions and the road network, there will be errors in the binding of the positioning point. Figure 1 As shown, the navigation display interface 1 displays the navigation route L1. During navigation, the vehicle logo on the navigation map is used to represent the actual vehicle movement state. The vehicle logo binding point is also the vehicle positioning point (not displayed on the navigation map, Figure 1 and Figure 2 The mapping position on the navigation route L1 is shown only for ease of understanding. Figure 1 As shown, when the vehicle turns left or right, there may be certain deviations in the road conditions and the road network, resulting in the vehicle positioning point not being able to be well bound to the navigation route L1, which in turn causes the vehicle logo to freeze at the vehicle logo binding point 11 in the navigation display interface 1 until the vehicle's turning action completes the binding to the vehicle logo binding point 12. This creates a visual effect where the vehicle logo freezes at point 11 for a period of time and then jumps directly to point 12, giving the user a physical perception that the navigation is stuck. On the other hand, in actual driving scenarios, drivers often make U-turns in advance, and since there is a section of non-navigation-planned route when making U-turns in advance, the most basic "road" for navigation binding is missing, making it impossible to bind the positioning point to the route. At this time, the positioning point will be bound to the last position where the road can be bound by default, which causes the vehicle logo on the navigation map to stay in one position for a long time instead of turning according to the actual vehicle position. As shown Figure 2 As shown, the navigation display interface 2 displays the navigation route L2. The vehicle makes a U-turn on the sidewalk in advance before the U-turn operation guided by the navigation route L2. This causes the vehicle positioning point to lack the vehicle logo binding point during the U-turn process until the road is re-bound after the U-turn is completed. This creates a visual effect that the vehicle logo is stuck at point 21 for a period of time and then jumps directly to point 22, giving the user a physical perception that the navigation is stuck. Based on this, an embodiment of the present invention provides a navigation display method, device, and electronic device to achieve vehicle logo binding in a navigation map by determining a virtual vehicle trajectory according to vehicle driving data during the vehicle turning process, avoiding the problem of delayed and stuck steering of the vehicle logo displayed on the navigation map, improving the trajectory accuracy of the vehicle logo in the navigation map, synchronizing the navigation vehicle logo with the actual vehicle motion state, improving the smoothness of vehicle logo steering, and thus improving the user experience.

[0057] Figure 3 FIG. 1 is a flowchart of a navigation display method according to an embodiment of the present invention. Figure 3 As shown, the navigation display method of the embodiment of the present invention includes the following steps:

[0058] Step S110, detecting the steering action of the vehicle.

[0059] In an optional implementation, the present embodiment detects the turning action of the vehicle according to the navigation route. When the vehicle follows the navigation route, the present embodiment can detect the turning action of the vehicle according to the turning position indicated by the navigation route and the vehicle positioning point.

[0060] Figure 4 Schematic diagram of navigation in an embodiment of the present invention. Figure 4 As shown, the vehicle follows the navigation route L4, and the navigation route indicates turning at the intersection C0. Then, this embodiment can detect the turning action of the vehicle by detecting whether the vehicle positioning point reaches the intersection C0.

[0061] Further, in response to the vehicle reaching the first predetermined point, it is determined that the vehicle starts to perform a turning action. The first predetermined point is determined according to a predetermined turning entry jam point and / or an end point of the incoming road section (inlink_end). The turning entry jam point is also the starting jam point of the vehicle logo during the turning process. Optionally, the turning entry jam point can be determined based on experience, or based on the vehicle logo jam point in the vehicle steering test, or the end point of the incoming road section. For example, this embodiment can determine the distance between the vehicle logo jam point and the corresponding end point of the incoming road section in various road turning scenarios through testing and save it. In an actual scenario, the turning entry jam point is determined based on the distance in the adapted road turning scenario and the distance of the current end point of the incoming road section. It should be understood that this embodiment does not limit the specific method for determining the turning entry jam point.

[0062] Furthermore, the present embodiment may determine the turning point into the stuck point as the first predetermined point, or may determine the first predetermined point as a point that is the first distance away from the turning point into the stuck point. It should be understood that the present embodiment does not limit the value of the first distance, and it may be set according to the specific application scenario. Further optionally, the corresponding first distances in different road scenes may be the same or different. That is, each type of turning road scene may use the same first distance, or the first distances of different road scenes may be determined by testing, and the corresponding first distance may be determined by identifying the current turning road scene type.

[0063] Furthermore, the present embodiment may determine the end point of the incoming road section as the first predetermined point, or may determine the point at a second distance from the end point of the incoming road section as the first predetermined point. It should be understood that the present embodiment does not limit the value of the second distance, which can be set according to the specific application scenario. Further optionally, the corresponding second distances in different road scenes may be the same or different. That is, each type of turning road scene may use the same second distance, or the second distances of different road scenes may be determined by testing, and the corresponding second distance may be determined by identifying the current turning road scene type. Optionally, the end point of the incoming road section may be located at the stop line of the intersection. It should be understood that the present embodiment does not limit the position of the end point of the input road section, which may be customized according to actual applications.

[0064] like Figure 4 As shown, the vehicle enters the intersection C0 at a road section l1, the end point p1 of the road section is located on the stop line of the road section l1, and the first predetermined point p2 is a point at a second distance d0 from the end point p1 of the road section. Therefore, in this embodiment, when the vehicle travels to the position corresponding to the first predetermined point p2, it is determined that the vehicle enters the turning action.

[0065] In another optional implementation, the present embodiment detects the turning action of the vehicle based on the vehicle driving data. Since the vehicle may occasionally not strictly follow the navigation route to turn, for example, turning ahead (or behind) before (or after) the turning position indicated by the navigation route, this makes it impossible to detect the turning action of the vehicle according to the point corresponding to the turning position indicated by the navigation route. Therefore, the present embodiment detects the turning action of the vehicle based on the current vehicle driving data, thereby improving the detection accuracy of the position where the vehicle turning action occurs. Among them, the vehicle driving data includes at least one type of positioning data for vehicle positioning. Among them, the positioning device for obtaining the positioning data includes a combination of one or more of the following: a positioning device, a gyroscope, an IMU (Inertial Measurement Unit), a radar sensor, a visual sensor, a base station, etc. It should be understood that the present embodiment does not limit the specific positioning device used for vehicle positioning, which can be determined according to the actual configuration of the vehicle.

[0066] Furthermore, this embodiment determines a vehicle positioning point according to vehicle driving data, and in response to an angle between a trajectory direction determined according to the vehicle positioning point and a corresponding navigation route direction being greater than a first predetermined value, determines that the vehicle starts to perform a turning action.

[0067] In an optional implementation, the vehicle positioning point of this embodiment can be acquired according to a positioning device, or can be a fusion positioning point determined according to data from multiple sensors.

[0068] Furthermore, the present embodiment can obtain the fusion positioning point of the vehicle by acquiring the positioning data collected by multiple positioning devices and inputting the multiple positioning data into a predetermined fusion positioning algorithm. Optionally, the fusion positioning algorithm of the present embodiment can fuse multiple positioning data to obtain the optimal estimate of the vehicle position (i.e., the fusion positioning point) based on the multiple positioning data. Furthermore, the fusion positioning algorithm of the present embodiment can be a pre-trained fusion positioning model, which can be obtained based on historical vehicle driving data and actual position training. It should be understood that the present embodiment does not limit the implementation method of the vehicle's fusion positioning, and the existing or future methods that can achieve multi-sensor fusion positioning generated during the development of technology can be applied to the present embodiment.

[0069] In this embodiment, if the angle between the trajectory direction formed by the vehicle positioning point and the navigation route direction is greater than a first predetermined value, it is determined that the vehicle starts to perform a turning action.

[0070] Figure 5 FIG. 1 is another navigation schematic diagram of an embodiment of the present invention. Figure 5 As shown in the figure, when the vehicle is driving along the navigation route L5, the trajectory direction o1 formed by the vehicle positioning point is basically consistent with the navigation route direction o2. Figure 5 At the sidewalk shown, the track direction o3 formed by the vehicle positioning point forms an angle α with the navigation route direction o2. Assuming the first predetermined value is α0, the track direction o3 formed by the vehicle positioning point and the navigation route direction o2 form an angle α greater than the first predetermined value α0, then it is determined that the vehicle is currently starting to turn.

[0071] Therefore, this embodiment can detect the vehicle's turning action according to the navigation route when the vehicle follows the navigation route, and detect the vehicle's turning action according to the vehicle execution data when the vehicle deviates from the navigation route and turns early or late, thereby improving the recognition accuracy of the vehicle's steering action.

[0072] Step S120, in response to the vehicle starting to perform a turning action, determining the vehicle trajectory of the turning section according to the vehicle driving data.

[0073] In an optional implementation, after detecting that the vehicle starts to perform a turning action, this embodiment determines a vehicle positioning point according to vehicle driving data, and predicts the vehicle's driving trajectory on the turning section according to the vehicle positioning point.

[0074] Furthermore, the present embodiment can predict the next positioning point of the vehicle according to the current positioning point of the vehicle based on the fusion positioning algorithm, and obtain the vehicle trajectory of the vehicle on the turning section based on this. Furthermore, the present embodiment can determine the positioning point of the vehicle at the next moment based on the current positioning point, direction angle and data from other sensors (such as gyroscopes, IMUs, radar sensors, visual sensors, speed acceleration and other sensors) of the vehicle. In another optional implementation, the present embodiment can also predict the positioning point of the vehicle at the next moment through a pre-trained fusion positioning model. Among them, the fusion positioning model is obtained by training based on the trajectory points on the historical driving trajectory and various sensor data. It should be understood that the present embodiment does not limit the method for determining the vehicle trajectory.

[0075] Figure 6 FIG. 1 is a schematic diagram of a vehicle trajectory determination method according to an embodiment of the present invention. Figure 6 As shown, this embodiment can predict the positioning point p4 at the next moment based on the vehicle's current positioning point p3, the vehicle's driving direction angle and other sensor data, and predict the corresponding positioning point at the next moment based on p4 (or p3 and p4, or the vehicle's actual positioning point at the next moment, etc.), thereby obtaining the vehicle's driving trajectory L6 on the turning section.

[0076] In another optional implementation, when the vehicle starts to turn, the present embodiment may determine at least one virtual point based on the current vehicle positioning point and the current road environment, and determine the vehicle trajectory based on the current vehicle positioning point and the at least one virtual point. For example, the line connecting the current vehicle positioning point and the at least one virtual point is determined as the vehicle trajectory. Furthermore, the present embodiment may also form a corresponding vehicle trajectory based on the current vehicle positioning point and the at least one virtual point in other ways. It should be understood that the present embodiment does not limit the method of determining the vehicle trajectory based on multiple points, and it is sufficient that it can form a turning trajectory that conforms to the corresponding road environment.

[0077] Figure 7 FIG. 1 is a schematic diagram of another method for determining a vehicle trajectory according to an embodiment of the present invention. Figure 7 As shown, when it is determined that the vehicle starts to turn, a possible turning section trajectory (such as common left turn, right turn, and U-turn trajectory) is determined according to the current road environment, and at least one virtual point is determined based on this. In this embodiment, three virtual points p6, p7, and p8 are used as examples. Further, the vehicle trajectory L7 of the turning section is formed according to the vehicle positioning point p5 at the starting point of the turning action, and the virtual points p6, p7, and p8.

[0078] Furthermore, this embodiment only describes the example of predicting the vehicle trajectory of the turning section through the current vehicle positioning point and sensor data, and forming the vehicle trajectory using the vehicle positioning point and the virtual point. It should be understood that this embodiment does not limit the specific method of how to determine the vehicle trajectory based on the current vehicle positioning point, and it is sufficient to be able to obtain the turning section trajectory relatively accurately.

[0079] Step S130, control the vehicle logo in the navigation map to be bound along the vehicle trajectory. Since this embodiment implements the vehicle logo binding in the navigation map according to the predicted vehicle trajectory, and the vehicle trajectory can basically be synchronized with the actual vehicle driving trajectory, this embodiment can solve the problem of vehicle logo freezing caused by deviation or loss of vehicle logo binding points during steering, improve the trajectory accuracy of the vehicle logo in the navigation map, synchronize the navigation vehicle logo with the actual vehicle movement state, improve the vehicle logo steering smoothness, and thus improve the user experience.

[0080] Step S140, in response to the vehicle's steering action being completed, controlling the vehicle logo in the navigation map to be bound according to the navigation route.

[0081] In an optional implementation, the present embodiment determines the completion of the vehicle's steering action according to the navigation route. That is, when the vehicle follows the navigation route, the present embodiment can detect the vehicle's steering action end position according to the navigation route and the vehicle positioning point.

[0082] Further, in response to the vehicle reaching the second predetermined point, it is determined that the vehicle's steering action is completed. The second predetermined point is determined based on a predetermined turning exit jam point and / or an exit section starting point (outlink_start). The turning exit jam point is also the termination jam point of the vehicle logo during the turning process. Optionally, the turning exit jam point can be determined based on experience, or based on the vehicle logo jam point in the vehicle turning test, or the exit section starting point. For example, this embodiment can determine the distance between the vehicle logo jam point and the corresponding exit section starting point in various road turning scenarios through testing and save it. In an actual scenario, the turning exit jam point is determined based on the distance in the adapted road turning scenario and the distance of the current exit section starting point. It should be understood that this embodiment does not limit the specific determination method of the turning exit jam point.

[0083] Furthermore, the present embodiment may determine the turning exit stuck point as the second predetermined point, or may determine the second predetermined point as a point a third distance from the turning exit stuck point. It should be understood that the present embodiment does not limit the value of the third distance, which may be set according to the specific application scenario. Further optionally, the corresponding third distances in different road scenes may be the same or different. That is, each type of turning road scene may use the same third distance, or the third distances of different road scenes may be determined by testing, and the corresponding third distance may be determined by identifying the current turning road scene type. Further, the third distance may be the same as or different from the value of the above-mentioned first distance.

[0084] Further, in this embodiment, the starting point of the exit section can be determined as the second predetermined point, or the point at the fourth distance from the starting point of the exit section can be determined as the second predetermined point. It should be understood that the present embodiment does not limit the value of the fourth distance, which can be set according to the specific application scenario. Further optionally, the corresponding fourth distances in different road scenes can be the same or different. That is, each type of turning road scene can use the same fourth distance, or the fourth distances of different road scenes can be determined by testing, and the corresponding fourth distance can be determined by identifying the current turning road scene type. Optionally, the starting point of the exit section can be located at the stop line of the intersection. It should be understood that the present embodiment does not limit the position of the starting point of the exit section, and it can be customized according to actual application. Further, the fourth distance can be the same as or different from the value of the above-mentioned second distance.

[0085] like Figure 4 As shown, the exit section of the vehicle exiting the intersection C0 is l2, the exit section starting point p'1 is located on the stop line of the exit section l2, and the second predetermined point p'2 is a point at a fourth distance d1 from the exit section starting point p'1. Therefore, when the vehicle travels to the position corresponding to the second predetermined point p'2, it is determined that the steering action of the vehicle is completed.

[0086] In another optional implementation, the present embodiment detects whether the steering action of the vehicle is completed according to the vehicle driving data. Since the vehicle may occasionally not strictly follow the navigation route to turn, for example, turning around in advance (or later) before (or after) the turning position indicated by the navigation route, it is impossible to detect whether the steering action of the vehicle is completed according to the point corresponding to the turning position indicated by the navigation route. Therefore, the present embodiment detects whether the steering action of the vehicle is completed according to the current vehicle driving data, thereby improving the detection accuracy of the end position of the vehicle steering action. Among them, the vehicle driving data includes at least one type of positioning data for vehicle positioning. Among them, the positioning device for obtaining positioning data includes a combination of one or more of the following: a positioning device, a gyroscope, an IMU, a radar sensor, a visual sensor, a base station, etc. It should be understood that the present embodiment does not limit the specific positioning device used for vehicle positioning, which can be determined according to the actual configuration of the vehicle.

[0087] Further, this embodiment determines a vehicle positioning point according to vehicle driving data, and in response to an angle between a trajectory direction determined according to the vehicle positioning point and a corresponding navigation route direction being less than a second predetermined value, determines that the vehicle's steering action is completed.

[0088] In an optional implementation, the vehicle positioning point of this embodiment can be obtained according to the positioning device, or can be a fusion positioning point determined according to multiple sensor data. The determination method of the fusion positioning point of this embodiment is similar to that of the above embodiment, and will not be repeated here.

[0089] like Figure 5 As shown, after the vehicle's steering action is completed, the track direction o'3 formed by the vehicle positioning point is substantially consistent with the navigation route direction o'2 of the corresponding navigation route L5 (the angle is less than the second predetermined value), and it is determined that the vehicle's steering action is completed.

[0090] Therefore, this embodiment can detect whether the vehicle's turning action is completed according to the navigation route when the vehicle follows the navigation route, and detect whether the vehicle's turning action is completed according to the vehicle execution data when the vehicle deviates from the navigation route and turns early or late, thereby improving the recognition accuracy of the vehicle's steering action.

[0091] Figure 8 FIG. 1 is another navigation diagram of an embodiment of the present invention. Figure 8As shown, in this embodiment, when the vehicle does not perform a turning action, the vehicle positioning point is bound to the corresponding vehicle logo binding point on the navigation route. When the vehicle starts to perform a turning action, it turns to the vehicle trajectory of section L8 based on the above method, and binds the vehicle positioning point to the corresponding vehicle logo binding point (for example, vehicle logo binding point 81) on the vehicle trajectory. After the vehicle's turning action is completed, the vehicle positioning point continues to be bound to the corresponding vehicle logo binding point on the navigation route. Therefore, the embodiment of the present invention can determine the virtual vehicle trajectory according to the vehicle driving data during the vehicle turning process to realize the vehicle logo binding in the navigation map, avoid the problem of delayed and stuck turning of the vehicle logo displayed on the navigation map, improve the trajectory accuracy of the vehicle logo in the navigation map, synchronize the navigation vehicle logo with the actual vehicle motion state, improve the smoothness of the vehicle logo turning, and thus improve the user experience.

[0092] Fig. 9 Schematic diagram of the navigation interface display of an embodiment of the present invention. Fig. 9 As shown, by applying the navigation display method of the embodiment of the present invention, when the vehicle performs a steering operation, the vehicle logo s on the navigation map can be synchronized with the actual vehicle movement state, and the vehicle logo will not be stuck or directly skip the steering process, thereby ensuring the smoothness of the vehicle logo steering and improving the user experience.

[0093] The embodiment of the present invention detects the turning action of the vehicle, responds to the vehicle starting to perform the turning action, determines the vehicle trajectory of the turning section according to the vehicle driving data, controls the vehicle logo in the navigation map to be bound along the vehicle trajectory, and responds to the completion of the turning action of the vehicle, controls the vehicle logo in the navigation map to be bound according to the navigation route and road network data. Therefore, the embodiment of the present invention can determine the virtual vehicle trajectory according to the vehicle driving data during the vehicle turning process to realize the binding of the vehicle logo in the navigation map, avoids the problem of delayed and stuck turning of the vehicle logo displayed on the navigation map, improves the trajectory accuracy of the vehicle logo in the navigation map, synchronizes the navigation vehicle logo with the actual vehicle motion state, improves the smoothness of the vehicle logo steering, and thus improves the user experience.

[0094] Fig.10 Schematic diagram of a navigation display device according to an embodiment of the present invention. Fig.10 As shown, the navigation display device 10 of the embodiment of the present invention includes a first action detection unit 101 , a trajectory determination unit 102 , a first binding unit 103 and a second binding unit 104 .

[0095] The first action detection unit 101 is configured to detect the turning action of the vehicle. The trajectory determination unit 102 is configured to determine the vehicle trajectory of the turning section according to the vehicle driving data in response to the vehicle starting to perform the turning action. The vehicle driving data includes at least one type of positioning data for vehicle positioning. The positioning device for obtaining the positioning data includes a combination of one or more of the following: a positioning device, a gyroscope, an inertial measurement unit, a radar sensor, a visual sensor, and a base station.

[0096] The first binding unit 103 is configured to control the vehicle logo in the navigation map to be bound along the vehicle track. The second binding unit 104 is configured to control the vehicle logo in the navigation map to be bound according to the navigation route and road network data in response to the vehicle's steering action being completed.

[0097] In an optional implementation, the first action detection unit 101 is further configured to detect a turning action of the vehicle according to the navigation route.

[0098] In an optional implementation, the first action detection unit 101 is further configured to determine that the vehicle starts to perform a turning action in response to the vehicle reaching a first predetermined point, wherein the first predetermined point is determined according to a predetermined turning entry jam point and / or an entry road segment end point.

[0099] In an optional implementation, the first action detection unit 101 is further configured to detect a steering action of the vehicle according to the vehicle driving data.

[0100] In an optional implementation, the first action detection unit 101 is further configured to determine a vehicle positioning point based on the vehicle driving data, and in response to an angle between a trajectory direction determined based on the vehicle positioning point and a corresponding navigation route direction being greater than a first predetermined value, determine that the vehicle has started to perform a turning action.

[0101] In an optional implementation, the navigation display device 10 also includes a second action detection unit configured to: in response to the vehicle arriving at a second predetermined point, determine that the turning action of the vehicle is completed, and the second predetermined point is determined based on a predetermined turning exit stuck point and / or exit section starting point.

[0102] In an optional implementation, the second action detection unit is further configured to determine that the turning action of the vehicle is completed in response to an angle between a trajectory direction determined according to the vehicle positioning point and a corresponding navigation route direction being less than a second predetermined value.

[0103] The embodiment of the present invention detects the turning action of the vehicle, responds to the vehicle starting to perform the turning action, determines the vehicle trajectory of the turning section according to the vehicle driving data, controls the vehicle logo in the navigation map to be bound along the vehicle trajectory, and responds to the completion of the turning action of the vehicle, controls the vehicle logo in the navigation map to be bound according to the navigation route and road network data. Therefore, the embodiment of the present invention can determine the virtual vehicle trajectory according to the vehicle driving data during the vehicle turning process to realize the binding of the vehicle logo in the navigation map, avoids the problem of delayed and stuck turning of the vehicle logo displayed on the navigation map, improves the trajectory accuracy of the vehicle logo in the navigation map, synchronizes the navigation vehicle logo with the actual vehicle motion state, improves the smoothness of the vehicle logo steering, and thus improves the user experience.

[0104] Fig.11 Schematic diagram of the vehicle-mounted device according to an embodiment of the present invention. Fig.11 As shown, the vehicle-mounted device 110 is a general data processing device, which includes a general computer hardware structure, which at least includes a processor 111, a memory 112 and a display screen 117 for displaying a navigation interface. Among them, the navigation interface includes a navigation route and a car logo. The processor 111 and the memory 112 are connected via a bus 113. The memory 112 is suitable for storing instructions or programs executable by the processor 111. The processor 111 can be an independent microprocessor or a collection of one or more microprocessors. Thus, the processor 111 executes the instructions stored in the memory 112, thereby executing the method flow of the embodiment of the present invention as described above to realize the processing of data and the control of other devices. The bus 113 connects the above-mentioned multiple components together, and at the same time connects the above-mentioned components to the display controller 114 and the display screen 117 and the input / output (I / O) device 115. The input / output (I / O) device 115 can be a mouse, a keyboard, a modem, a network interface, a touch input device, a somatosensory input device, a printer, and other devices known in the art. Typically, input / output devices 115 are connected to the system through input / output (I / O) controllers 116 .

[0105] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, devices (equipment) or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present application may adopt a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0106] The present application is described with reference to flowcharts of methods, apparatuses (devices) and computer program products according to embodiments of the present application. It should be understood that each process in the flowchart can be implemented by computer program instructions.

[0107] These computer program instructions may be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device that implements the process Figure 1 A function specified in a process or multiple processes.

[0108] These computer program instructions may also be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce the instructions for implementing the process Figure 1 A device that specifies functions in a process or multiple processes.

[0109] Another embodiment of the present invention relates to a vehicle, comprising the above-mentioned vehicle-mounted device and at least one type of positioning device, the positioning device is used to obtain positioning data, and then obtain the positioning point of the vehicle according to the positioning data. Further, the positioning device includes a combination of one or more of the following: a positioning device, a gyroscope, an IMU, a radar sensor, a visual sensor, a base station, etc.

[0110] Another embodiment of the present invention relates to a non-volatile storage medium for storing a computer-readable program, wherein the computer-readable program is used for a computer to execute part or all of the above method embodiments.

[0111] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by specifying relevant hardware through a program, and the program is stored in a storage medium, including several instructions for a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0112] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A navigation display method, characterized in that: The method comprises: Detecting the vehicle's steering action; In response to the vehicle starting to perform the turning action, determining the vehicle trajectory of the turning section according to the vehicle driving data; Control the vehicle logo in the navigation map to be bound along the vehicle's travel trajectory; In response to the steering action of the vehicle being completed, the vehicle logo in the navigation map is controlled to be bound according to the navigation route.

2. The method according to claim 1, characterized in that The detecting of the turning action of the vehicle comprises: A turning action of the vehicle is detected according to the navigation route.

3. The method according to claim 2, characterized in that The detecting the turning action of the vehicle according to the navigation route comprises: In response to the vehicle reaching a first predetermined point, determining that the vehicle begins to perform a turning action; The first predetermined point is determined according to a predetermined turning entry jam point and / or an entry road section end point.

4. The method according to claim 1, characterized in that: The detecting of the turning action of the vehicle comprises: A steering action of the vehicle is detected based on the vehicle driving data.

5. The method according to claim 4, characterized in that The detecting the steering action of the vehicle according to the vehicle driving data comprises: Determine a vehicle positioning point according to the vehicle driving data; In response to an angle between a trajectory direction determined according to the vehicle positioning point and a corresponding navigation route direction being greater than a first predetermined value, it is determined that the vehicle starts to perform a turning action.

6. The method according to claim 1, characterized in that The method further comprises: In response to the vehicle reaching a second predetermined point, it is determined that the steering action of the vehicle is completed, and the second predetermined point is determined according to a predetermined steering exit jam point and / or an exit section starting point.

7. The method according to claim 5, characterized in that The method further comprises: In response to an angle between a trajectory direction determined according to the vehicle positioning point and a corresponding navigation route direction being less than a second predetermined value, it is determined that the steering action of the vehicle is completed.

8. The method according to claim 1, characterized in that The vehicle driving data includes at least one type of positioning data used for vehicle positioning; The positioning device for acquiring the positioning data includes a combination of one or more of the following: a positioning device, a gyroscope, an inertial measurement unit, a radar sensor, a visual sensor, and a base station.

9. A navigation display device, characterized in that: The device comprises: A first motion detection unit is configured to detect a steering motion of the vehicle; a trajectory determination unit, configured to determine the vehicle trajectory of the turning section according to the vehicle driving data in response to the vehicle starting to perform the turning action; A first binding unit is configured to control the vehicle logo in the navigation map to bind along the vehicle track; The second road binding unit is configured to control the vehicle logo in the navigation map to bind the road according to the navigation route and road network data in response to the completion of the steering action of the vehicle.

10. A vehicle-mounted device, characterized in that: The vehicle-mounted equipment includes: processor; A memory for storing one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method according to any one of claims 1 to 8; The display screen is used to display a navigation interface, wherein the navigation interface includes a navigation route and a vehicle logo.

11. A vehicle, characterized in that: The vehicle comprises: The vehicle-mounted device according to claim 10; At least one type of positioning device is used to obtain the positioning point of the vehicle.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

13. A computer program product, characterized in that When the computer program product is run on a computer, the computer is caused to execute the method according to any one of claims 1 to 8.

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