Navigation guidance method and device, computer equipment and storage medium

Abstract

The invention provides a navigation guidance method and device, computer equipment and a storage medium, and the method comprises the following steps: displaying a driving interface; a vehicle model and road environment information are displayed in the driving interface; the pose of the vehicle model is matched with the pose of a driving vehicle; determining a target key position in the road environment based on the obtained vehicle pose information and the road environment information; the target key position is a position influencing a vehicle driving state; according to a mirror moving visual angle matched with the vehicle pose information, displaying a target guide identifier at a position corresponding to the target key position on the driving interface; the target guiding identifier is used for guiding the driving operation.

Description

Technical Field

[0001] The present disclosure relates to the field of image display technology, and in particular to a navigation guidance method, device, computer equipment and storage medium. Background Art

[0002] When the vehicle is driving on the road, the driver will continue to pay attention to the navigation map until reaching the destination. The navigation map will display the navigation-planned road sections, and navigation information such as turning intersections and lane change locations will be marked on the navigation route in the form of fixed-form icons.

[0003] Although the above method uses some fixed-form icons to mark the navigation information, it is still difficult to give timely and effective reminders to the driver in many cases. Summary of the invention

[0004] The embodiments of the present disclosure at least provide a navigation guidance method, device and system.

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

[0006] Displaying a driving interface; the driving interface displays a vehicle model and road environment information; the position and posture of the vehicle model matches the position and posture of the driving vehicle;

[0007] Based on the acquired vehicle posture information and the road environment information, determining a key target position in the road environment; the key target position is a position that affects the driving state of the vehicle;

[0008] According to the camera viewing angle that matches the vehicle posture information, a target guidance mark is displayed at a corresponding position of the target key position on the driving interface; the target guidance mark is used to guide driving operations.

[0009] In an optional implementation, displaying a target guidance mark at a position corresponding to the key position of the target on the driving interface according to a camera viewing angle that matches the vehicle posture information includes:

[0010] Adjusting the camera viewing angle according to the direction of the line between the vehicle position indicated by the vehicle posture information and the target key position, and the vehicle posture indicated by the vehicle posture information, and determining the display form of the target guidance mark according to the adjusted camera viewing angle;

[0011] At a position corresponding to the target key position on the driving interface, the target guidance mark is displayed according to the determined display form.

[0012] In an optional implementation manner, the road environment information includes driving route information; and the method further includes:

[0013] Based on the vehicle position information and the driving route information, determining a lane change of the driving vehicle within a preset driving distance range;

[0014] A lane guidance mark is displayed at the lane position where the driving vehicle changes lanes, and the lane guidance mark is used to indicate lane information of the change.

[0015] In an optional implementation manner, the road environment information includes driving route information and road type information; and the method further includes:

[0016] Determining a changed road type of the driving vehicle within a preset driving distance range based on the vehicle posture information, the driving route information, and the road type information;

[0017] At the road position where the driving vehicle has a road type change, a first sub-identifier and a second sub-identifier are displayed; the first sub-identifier indicates the type of the changed road, and the second sub-identifier indicates the direction of the changed road relative to the driving vehicle.

[0018] In an optional implementation manner, the road environment information includes information of target objects that affect traffic; the target objects include target traffic events and / or target entity objects; and the method further includes:

[0019] Based on the vehicle posture information and the target object information, determining a target object within a preset distance range from the driving vehicle;

[0020] An object type identifier is displayed at the location of the target object, where the object type identifier is used to indicate the type of the target object.

[0021] In an optional implementation manner, the display target guidance mark includes:

[0022] In the case where the target guidance logo includes multiple target guidance logos, the multiple target guidance logos are displayed respectively according to the importance levels corresponding to the multiple target guidance logos;

[0023] The importance level is related to the importance of the driving operation guided by the target guidance sign; target guidance signs of different importance levels have different display prominence.

[0024] In an optional implementation, when there are multiple target guidance marks corresponding to the same target key position, the multiple target guidance marks at the same target key position are displayed in the following manner:

[0025] According to the importance levels of the plurality of target guidance signs, the display position and display size of each target guidance sign are determined respectively; the distance between the display position and the target key position is within a set distance range;

[0026] According to the display position and display size, the multiple target guidance marks corresponding to the same target key position are displayed respectively.

[0027] In an optional implementation manner, when there are multiple target key positions in the driving interface, multiple target guidance marks of the multiple target key positions are displayed according to the following method:

[0028] According to the distances between the multiple target key positions and the vehicle position indicated by the vehicle posture information, as well as the importance levels of the target guidance signs at the multiple target key positions, the target guidance signs associated with the multiple target key positions are switched and displayed; the importance levels are related to the importance of the driving operations guided by the target guidance signs.

[0029] In an optional implementation manner, the switching and displaying of target guidance marks associated with the multiple target key positions includes:

[0030] Determining the order of appearance of each of the target guidance marks according to the distances between the multiple target key positions and the vehicle position;

[0031] Determining the display duration of each target guidance mark according to the importance levels of the target guidance marks at the multiple target key positions;

[0032] According to the appearance order and display duration, the target guidance marks associated with the multiple target key positions are switched and displayed.

[0033] In an optional implementation manner, the method further includes:

[0034] If it is determined that the guidance function of the target guidance mark is invalid based on the acquired vehicle posture information and road environment information, the target guidance mark is not displayed on the driving interface.

[0035] In a second aspect, an embodiment of the present disclosure further provides a navigation guidance device, including:

[0036] A first display module is used to display a driving interface; the driving interface displays a vehicle model and road environment information; the posture of the vehicle model matches the posture of the driving vehicle;

[0037] A determination module, used to determine a key target position in a road environment based on the acquired vehicle posture information and the road environment information; the key target position is a position that affects the driving state of the vehicle;

[0038] The second display module is used to display a target guidance mark at a corresponding position of the target key position on the driving interface according to a camera viewing angle that matches the vehicle posture information; the target guidance mark is used to guide driving operations.

[0039] In an optional implementation, the second display module, when displaying the target guidance mark at the corresponding position of the target key position on the driving interface according to the camera viewing angle matching the vehicle posture information, is used to:

[0040] Adjusting the camera viewing angle according to the direction of the line between the vehicle position indicated by the vehicle posture information and the target key position, and the vehicle posture indicated by the vehicle posture information, and determining the display form of the target guidance mark according to the adjusted camera viewing angle;

[0041] At a position corresponding to the target key position on the driving interface, the target guidance mark is displayed according to the determined display form.

[0042] In an optional implementation manner, the road environment information includes driving route information; and the determination module is further configured to:

[0043] Based on the vehicle position information and the driving route information, determining a lane change of the driving vehicle within a preset driving distance range;

[0044] A lane guidance mark is displayed at the lane position where the driving vehicle changes lanes, and the lane guidance mark is used to indicate lane information of the change.

[0045] In an optional implementation manner, the road environment information includes driving route information and road type information; and the determination module is further used to:

[0046] Determining a changed road type of the driving vehicle within a preset driving distance range based on the vehicle posture information, the driving route information, and the road type information;

[0047] At the road position where the driving vehicle has a road type change, a first sub-identifier and a second sub-identifier are displayed; the first sub-identifier indicates the type of the changed road, and the second sub-identifier indicates the direction of the changed road relative to the driving vehicle.

[0048] In an optional implementation manner, the road environment information includes information of target objects that affect traffic; the target objects include target traffic events and / or target entity objects; and the determination module is further used to:

[0049] Based on the vehicle posture information and the target object information, determining a target object within a preset distance range from the driving vehicle;

[0050] An object type identifier is displayed at the location of the target object, where the object type identifier is used to indicate the type of the target object.

[0051] In an optional implementation manner, the second display module, when displaying the target guidance mark, is used to:

[0052] In the case where the target guidance logo includes multiple target guidance logos, the multiple target guidance logos are displayed respectively according to the importance levels corresponding to the multiple target guidance logos;

[0053] The importance level is related to the importance of the driving operation guided by the target guidance sign; target guidance signs of different importance levels have different display prominence.

[0054] In an optional implementation, when there are multiple target guidance marks corresponding to the same target key position, the second display module is used to display the multiple target guidance marks at the same target key position according to the following method:

[0055] According to the importance levels of the plurality of target guidance signs, the display position and display size of each target guidance sign are determined respectively; the distance between the display position and the target key position is within a set distance range;

[0056] According to the display position and display size, the multiple target guidance marks corresponding to the same target key position are displayed respectively.

[0057] In an optional implementation, when there are multiple target key positions in the driving interface, the second display module is used to display multiple target guidance marks of the multiple target key positions according to the following method:

[0058] According to the distances between the multiple target key positions and the vehicle position indicated by the vehicle posture information, as well as the importance levels of the target guidance signs at the multiple target key positions, the target guidance signs associated with the multiple target key positions are switched and displayed; the importance levels are related to the importance of the driving operations guided by the target guidance signs.

[0059] In an optional implementation manner, the second display module, when switching and displaying the target guidance marks associated with the multiple target key positions, is used to:

[0060] Determining the order of appearance of each of the target guidance marks according to the distances between the multiple target key positions and the vehicle position;

[0061] Determining the display duration of each target guidance mark according to the importance levels of the target guidance marks at the multiple target key positions;

[0062] According to the appearance order and display duration, the target guidance marks associated with the multiple target key positions are switched and displayed.

[0063] In an optional implementation manner, the second display module is further used for:

[0064] If it is determined that the guidance function of the target guidance mark is invalid based on the acquired vehicle posture information and road environment information, the target guidance mark is not displayed on the driving interface.

[0065] In a third aspect, an optional implementation of the present disclosure further provides a computer device, a processor, and a memory, wherein the memory stores machine-readable instructions executable by the processor, and the processor is used to execute the machine-readable instructions stored in the memory, and when the machine-readable instructions are executed by the processor, the machine-readable instructions perform the steps of the above-mentioned first aspect, or any possible implementation of the first aspect.

[0066] In a fourth aspect, an optional implementation of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed, the steps of the above-mentioned first aspect, or any possible implementation of the first aspect are executed.

[0067] The navigation guidance method, device, computer equipment and storage medium provided by the embodiments of the present disclosure can display a target guidance mark for guiding driving operations at a target key position that is displayed in the driving interface, matches the vehicle posture information and the road environment information, and affects the driving state of the vehicle, according to the camera angle that matches the vehicle posture information. In this way, compared with using fixed-form icons to mark navigation information, the target guidance mark displayed by the embodiments of the present disclosure can be associated with real-time vehicle posture information and road environment information, so that the guidance mark can be displayed at a position that affects the driving state of the vehicle according to the real-time changes in the vehicle posture and road environment, thereby making timely and effective reminders to the driver; on the other hand, displaying the target guidance mark according to the camera angle that matches the vehicle posture information can make the displayed target guidance mark more intuitive and eye-catching, in line with the user's visual experience, and easier to attract the user's attention, so that the driver can be guided to drive safely better.

[0068] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following is a brief introduction to the drawings required for use in the embodiments. The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and are used together with the specification to illustrate the technical solutions of the present disclosure. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can also be obtained based on these drawings without creative work.

[0070] Figure 1 A flowchart of a navigation guidance method provided by an embodiment of the present disclosure is shown;

[0071] Figure 2 A schematic diagram of a driving interface provided by an embodiment of the present disclosure is shown;

[0072] Figure 3 A schematic diagram showing a lane guidance sign provided by an embodiment of the present disclosure is shown;

[0073] Figure 4 A schematic diagram showing a first sub-identifier and a second sub-identifier displayed at a road position where a road type change occurs, provided by an embodiment of the present disclosure;

[0074] Figure 5 A schematic diagram showing a display object type identification provided by an embodiment of the present disclosure is shown;

[0075] Figure 6 A schematic diagram showing a navigation guidance device provided by an embodiment of the present disclosure is shown;

[0076] Figure 7 A schematic diagram of a computer device provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical scheme and advantages of the embodiments of the present disclosure clearer, the technical scheme in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The components of the embodiments of the present disclosure generally described and shown here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure is not intended to limit the scope of the present disclosure claimed for protection, but merely represents the selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present disclosure.

[0078] Research has found that when a vehicle is driving on the road, the driver will continue to pay attention to the navigation map until they reach the destination. The navigation map will display the route sections planned for navigation, and navigation information such as turning intersections and lane change locations will be marked on the navigation route in the form of fixed-form icons. Although the above method uses some fixed-form icons to mark the navigation information, it is still difficult to provide timely and effective reminders to the driver in many cases.

[0079] Based on the above research, the present disclosure provides a navigation guidance method, device, computer equipment and storage medium, which can display a target guidance mark for guiding driving operation at a target key position that is displayed in the driving interface, matches the vehicle posture information and the road environment information, and affects the driving state of the vehicle, according to the camera angle that matches the vehicle posture information. In this way, compared with using fixed-form icons to mark navigation information, the target guidance mark displayed in the embodiment of the present disclosure can be associated with real-time vehicle posture information and road environment information, so that the guidance mark can be displayed at a position that affects the driving state of the vehicle according to the real-time changes of the vehicle posture and the road environment, so as to make timely and effective reminders to the driver; on the other hand, displaying the target guidance mark according to the camera angle that matches the vehicle posture information can make the displayed target guidance mark more intuitive and eye-catching, in line with the user's perception experience, and easier to attract the user's attention, so as to guide the driver to drive safely better.

[0080] The defects existing in the above solutions are the results obtained by the inventor after practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed by the present disclosure for the above problems below should be the contributions made by the inventor to the present disclosure during the disclosure process.

[0081] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0082] To facilitate understanding of this embodiment, a navigation guidance method disclosed in the embodiment of the present disclosure is first introduced in detail. The execution subject of the navigation guidance method provided in the embodiment of the present disclosure is generally a computer device with certain computing capabilities, and the computer device includes, for example, a terminal device, and the terminal device can be a vehicle-mounted terminal device with a display function. In some possible implementations, the navigation guidance method can be implemented by a processor calling a computer-readable instruction stored in a memory.

[0083] The navigation guidance method provided by the embodiment of the present disclosure is described below by taking the execution subject as a vehicle-mounted terminal device as an example.

[0084] See also Figure 1 FIG. 1 is a flowchart of a navigation guidance method provided by an embodiment of the present disclosure, wherein the method includes steps S101 to S103, wherein:

[0085] S101: displaying a driving interface; the driving interface displays a vehicle model and road environment information; the posture of the vehicle model matches the posture of the driving vehicle;

[0086] S102: Determine a target key position in the road environment based on the acquired vehicle posture information and the road environment information; the target key position is a position that affects the driving state of the vehicle;

[0087] S103: Displaying a target guidance mark at a position corresponding to the key position of the target on the driving interface according to a camera viewing angle that matches the vehicle posture information; the target guidance mark is used to guide driving operations.

[0088] The above S101 to S103 are described in detail below.

[0089] With respect to the above S101, the driving interface may be a display interface corresponding to a display device mounted on the vehicle, and the driving interface is specifically used to display application pages such as navigation information. In the embodiment of the present disclosure, the driving interface specifically displays a vehicle model and road environment information. Figure 2As shown, a schematic diagram of a driving interface provided by an embodiment of the present disclosure is shown. In a specific implementation, a vehicle model is displayed in the driving interface. In order to highlight the driving state of the vehicle during the display, such as turning left or right on the road, when the vehicle model is displayed in the driving interface, the posture of the displayed vehicle model is specifically matched with the driving posture of the vehicle in the real scene.

[0090] Regarding the road environment information, it specifically includes driving route information, road type information, target object information, etc., that is, information that may affect the driving of the vehicle. Here, the driving route information can specifically be a navigation route planned in advance for the vehicle, or it can be a driving route set by the user; the road type information can specifically reflect different road types, such as uphill and downhill sections, left-turn and right-turn sections, alley sections, etc.; the target object information can specifically include target entity objects that specifically affect the driving safety of the vehicle, such as vehicles merging into the merging lanes, obstacles set on the road surface, pedestrians crossing the road, etc., or it can also include target traffic events, such as road accidents, temporarily closed road sections, etc.

[0091] Next, the above-mentioned possible road environment information is explained.

[0092] In one possible case, the road environment information includes driving route information. In this case, based on the vehicle posture information and the driving route information, the lane change of the driving vehicle within a preset driving distance can be determined; at the lane position where the driving vehicle changes lanes, a lane guidance sign is displayed, and the lane guidance sign is used to indicate the lane information of the change.

[0093] Specifically, the vehicle's position information and driving route information can be used to determine the lane that the vehicle is about to enter or the multiple lanes that it chooses to enter. Here, in order to display a limited amount of information in the driving interface and reduce information interference to the driver, when it is determined that the vehicle may choose to enter a lane, the lane will be screened by the preset driving distance range. For example, the preset driving distance range is 0.6 kilometers or 1 kilometer, and lanes outside the driving range of more than 1 kilometer do not need to be displayed in advance because more driving time is required to reach the vicinity of the lane, so as to prevent excessive information from being displayed and the driver from being unable to prioritize important information with a closer driving distance.

[0094] Here, after screening, the vehicle can select a lane to enter, which is specifically referred to as a lane change in the disclosed embodiment. Lane change includes but is not limited to other lanes changed when the vehicle is driving in multiple lanes, or a lane when entering a forked road, etc.

[0095] For these determined lane changes, lane guidance signs can be displayed at the lane position where the driving vehicle changes lanes. As for lane changes, the entrance to the lane has a greater impact on the vehicle, such as the position where lane changes are allowed in a multi-lane environment, or the entrance to a forked road. Therefore, the entrance or entrance described in the above example can be specifically selected as the lane position for displaying lane guidance signs. In addition, in order for lane guidance signs to be used to indicate lane change information, lane guidance signs can be specifically represented by text and / or icons. Taking the forked road described above as an example, it can be marked "The lane change here is a forked road" and / or be graphically marked with a traffic sign for the forked road.

[0096] For example, see Figure 3 , which is a schematic diagram of displaying a lane guidance sign provided by an embodiment of the present disclosure. Under a lane change of a forked road type, a corresponding lane guidance sign is displayed through a right turn arrow of the forked road.

[0097] In another possible case, the road environment information includes driving route information and road type information. In this case, the changed road type of the driving vehicle within a preset driving distance can be determined based on the vehicle posture information, the driving route information, and the road type information; the first sub-identifier and the second sub-identifier are displayed at the road position where the driving vehicle has a road type change; the first sub-identifier indicates the changed road type, and the second sub-identifier indicates the changed road direction relative to the driving vehicle.

[0098] Here, similar to the above situation, the vehicle posture information and driving route information can be used to determine the road that the vehicle may enter. On this basis, if the road type of the road changes within the preset driving distance, such as from a low-speed section to a high-speed section, or from a relatively flat section to a sandy section, then in order to remind the driver of the section change, a sign can be used to display it.

[0099] Specifically, at the road position where the driving vehicle changes the road, a single logo can be displayed, such as the first sub-logo that only prompts the change of the road type. Similarly, the first sub-logo can be displayed in the form of text or icon. In order to show the change process of the road position change, when displaying the icon, a dynamic icon can be displayed to show the process of the icon flipping from a low-speed section icon to a high-speed section icon.

[0100] In addition, when displaying, the direction of the changed road relative to the driving vehicle can also be displayed. For example, the changed road is in front of the right side of the driving vehicle, and an icon with the meaning of the right front direction is displayed. In a specific implementation, the direction of the changed road relative to the driving vehicle is displayed with the second sub-identifier. Since the first sub-identifier and the second sub-identifier have different specific objects of concern, they can be displayed separately around the road position determined to have undergone the road type change.

[0101] For example, see Figure 4 As shown, it is a schematic diagram of a first sub-identifier and a second sub-identifier displayed at a road position where a road type change occurs, provided by an embodiment of the present disclosure. Under the straight section, two different road types are marked in gray and white, including a low-speed section currently being driven on, indicated by a white section, and a high-speed section where a road type change is about to occur, indicated by a gray section. At the junction, the first sub-identifier is displayed, indicating that the road type after the change is high-speed, specifically marked with a speed of 80km / h; the second sub-identifier is also displayed, indicating the direction of the driving vehicle. Since it is still the forward direction, the direction is indicated as the straight direction.

[0102] In another possible case, the road environment information includes information about target objects that affect traffic. In this case, the target object within a preset distance from the driving vehicle can be determined based on the vehicle posture information and the target object information; an object type identifier is displayed at the location of the target object, and the object type identifier is used to indicate the type of the target object.

[0103] Here, similar to the above situation, within the preset distance range of the driving vehicle, the object type identification can be displayed according to the location of the target object. In addition, the displayed object type identification can be used to indicate the type of the target object. Here, examples are given for different target objects. First, for target traffic events, they can be specifically classified into road traffic accidents, road closure areas, restricted areas, etc. For different types of target traffic events, the corresponding object type identification is different. For example, the object type identification under a road traffic accident can be identified by a damaged vehicle icon, and the object type identification under a road closure area can be identified by a road warning line icon. For target entity objects, such as vehicles changing lanes or nearby pedestrians, first of all, since the positions of these target entity objects are dynamically changing, their corresponding object type identifications are also dynamically changing in the driving interface. Secondly, when displaying, icons of people, vehicles, etc. can be used as object type identifications to make detailed distinctions.

[0104] For example, see Figure 5As shown, it is a schematic diagram of displaying an object type identification provided by an embodiment of the present disclosure. For example, if there is a road obstacle on the lane in front of the vehicle, a detour sign under the target traffic event is displayed accordingly; if there is a pedestrian in front of the left side of the vehicle, a pedestrian sign under the target entity object is displayed accordingly.

[0105] With respect to the above S102, when the vehicle posture information and the road environment information are determined, various driving situations that may be encountered during driving can be determined for the vehicle, such as obstacles set in the current driving section, or a right turn 500 meters ahead, etc. These driving situations will specifically affect the vehicle's driving state. For example, in the case where there is an obstacle ahead as described in the above example, the vehicle should make a detour to avoid it, or for the case of a right turn 500 meters ahead in the above example, the vehicle should execute a right turn after moving forward 500 meters.

[0106] Here, the current driving section and the 500 meters ahead described in the above example will specifically affect the vehicle's driving status, so it is necessary to make timely reminders to the user. These positions that will affect the vehicle's driving status are called target key positions in the disclosed embodiment.

[0107] With respect to the above S103, for the determined target key position, in one possible case, it will be specifically displayed in a fixed form icon in the navigation map, for example, it will be displayed at a specific gas station, road turn, etc. through a square logo of the same size. Although the navigation information is marked in this way, due to the small size of the icon and the fixed display form, it cannot make timely and effective reminders to the driver. The driver needs to manually zoom in on the navigation map and then check the icons one by one to pay attention to the effective information, but there is a driving risk in this way.

[0108] Therefore, in the disclosed embodiment, a camera angle that matches the vehicle posture information is specifically selected to display a target guidance mark at a position corresponding to the target key position on the driving interface. Here, the camera angle that matches the vehicle posture information can adapt to changes in the vehicle's driving state, and the displayed target guidance mark is specifically used to guide driving operations. In this way, the real-time driving environment of the vehicle can be displayed with the vehicle as the center. For the driver, the target guidance mark on the driving interface is more eye-catching and intuitive, making it easy for him to drive safely according to the real-time driving environment reflected in the driving interface.

[0109] In order to achieve the above-mentioned effect, in a specific implementation, when displaying a target guidance mark at a position corresponding to the target key position on the driving interface according to a camera angle that matches the vehicle posture information, the camera angle can be adjusted according to the direction of a line between the vehicle position indicated by the vehicle posture information and the target key position, and the vehicle posture indicated by the vehicle posture information, and the display form of the target guidance mark is determined according to the adjusted camera angle; and the target guidance mark is displayed at a position corresponding to the target key position on the driving interface according to the determined display form.

[0110] First, when determining the camera angle, we can consider the direction of the target key position relative to the vehicle position. The relative position of the target key position relative to the vehicle position described here can be represented by the direction of the line between the vehicle position indicated by the vehicle posture information and the target key position. In addition, when displaying the target guidance mark on the driving interface, the display from the perspective of the vehicle is specifically determined according to the posture of the vehicle model. Therefore, when determining the camera angle, it is also related to the vehicle posture indicated by the vehicle posture information.

[0111] Exemplarily, when the camera angle is determined by using the connection direction and the vehicle posture, the vehicle can be used as the center, and the camera can be pushed in the connection direction to display the target guidance mark on the driving interface, so that the target guidance marks displayed on the driving interface are all facing the vehicle model. As for the vehicle posture, in brief, it can be the direction of the front of the vehicle, and then it can be refined so that the displayed target guidance mark is not only facing the direction of the vehicle, but also further facing the direction of the front of the vehicle. Under this camera angle, it is possible to more clearly and realistically display which target guidance marks exist in the road environment where the vehicle is traveling around the vehicle model, so that the driver in the vehicle can determine the changes in the environment outside the vehicle when the vehicle's operating state is constantly changing, so as to guide the driver to perform safe driving operations.

[0112] In addition, when displaying target guidance signs, according to the density of target key positions in the driving interface and the number of signs associated with each target key position (for example, a certain intersection indicates that the vehicle should turn left and that the vehicle should slow down, etc.), there may be a situation where multiple target guidance signs are displayed. In this case, multiple target guidance signs can be displayed separately according to their corresponding importance levels.

[0113] Here, the importance level is related to the importance of the driving operation guided by the target guidance mark; target guidance marks of different importance levels have different display prominence.

[0114] When determining the importance level corresponding to the target guidance sign, the importance level of the target guidance sign is related to the driving operation it affects. For example, when driving, the top priority is whether to drive into other road sections, etc., while the importance of changes in road types is relatively low.

[0115] Here, when judging the importance level of the target guidance mark, the importance level of the driving operation guided by the target guidance mark can be specifically referred to. During the driving process, there are some driving operations that should be responded to promptly and quickly, while there are other driving operations that will not cause a significant impact even if they are not responded to quickly. For the former, it is more reasonable to set the corresponding importance level of the target guidance mark to be higher for these driving operations that require timely and quick responses. On the contrary, for the latter, driving operations that do not require quick responses can be allowed, and the corresponding importance level of the target guidance mark can be set to be relatively low.

[0116] For example, for the target guidance sign that prompts the driver to enter other road sections, the corresponding driving operation is, for example, a right turn. If the right turn is not timely, the driver cannot enter the correct road section. Therefore, the target guidance sign that prompts the driver to enter other road sections has a higher importance level. For the change of road type described above, the corresponding driving operation may include driving actions such as acceleration, but even if the driving action of acceleration is not completed in time, it will not cause a significant driving impact. Therefore, the target guidance sign that indicates the change of road type has a lower importance level.

[0117] In addition, in order to distinguish target guidance signs at different importance levels, the corresponding display prominence can be different when displayed. This display prominence can be specifically reflected in different display positions and / or display sizes. For example, a target guidance sign with a higher importance level will be displayed at the top and its display size will be larger than that of a target guidance sign with a lower importance level.

[0118] In one possible case, in response to the above description, when there are multiple target guidance signs corresponding to the same target key position, the multiple target guidance signs at the same target key position can be displayed in the following manner: according to the importance levels of the multiple target guidance signs, the display position and display size of each target guidance sign are determined respectively; the distance between the display position and the target key position is within a set distance range; and the multiple target guidance signs corresponding to the same target key position are displayed respectively according to the display position and display size.

[0119] Here, the display position is first explained. When determining the display position, in order to reduce the occlusion of the target key position, while reflecting the correlation between the target guidance mark and the target key position, the display position is specifically selected to be within a set distance range from the target key position. Since multiple target guidance marks are displayed under the same target key position, if each target guidance mark is displayed in one place, it will inevitably cause occlusion. Therefore, within the set distance range of the target key position, the display position corresponding to each target guidance mark can be determined according to the importance level. The higher the corresponding importance level, the closer the distance between the corresponding display position and the target key position can be set.

[0120] Next, the display size is described. When determining the display size, for example, the maximum display size and the minimum display size can be determined, and the corresponding display size can be determined within the range between the two according to the importance level corresponding to the target guidance mark. Specifically, the higher the importance level, the larger the corresponding display size.

[0121] In this way, multiple target guidance marks corresponding to the same target key position can be displayed respectively according to the display position and display size determined for each target guidance mark.

[0122] In one possible implementation, when there are multiple target key positions in the driving interface, when displaying multiple target guidance markers of the multiple target key positions, the target guidance markers associated with the multiple target key positions can be switched for display based on the distances between the multiple target key positions and the vehicle positions indicated by the vehicle posture information, and the importance levels of the target guidance markers of the multiple target key positions; the importance level is related to the importance of the driving operation guided by the target guidance marker.

[0123] Among them, when the target guidance marks associated with the multiple target key positions are switched for display according to the distances between the multiple target key positions and the vehicle positions indicated by the vehicle posture information, and the importance levels of the target guidance marks at the multiple target key positions, a first display order of the target guidance marks can be determined in order from near to far according to the distances between the multiple target key positions and the vehicle positions indicated by the vehicle posture information; according to the importance levels of the target guidance marks at the multiple target key positions, the display order of the target guidance marks corresponding to the preset importance levels in the first display order is adjusted to obtain a second display order; or,

[0124] It is also possible to determine a third display order of each target guidance sign according to the importance levels of the target guidance signs at the multiple target key positions, in descending order of importance; and adjust the display order of the target guidance signs in the third display order whose distances from the vehicle position are within the set distance range according to the distances between the multiple target key positions and the vehicle position indicated by the vehicle posture information, to obtain a fourth display order.

[0125] Specifically, when the target guidance marks associated with the plurality of target key positions are switched for display, the target guidance marks may be switched for display according to the second display sequence or the fourth display sequence determined above.

[0126] In a possible implementation manner, when switching and displaying the target guidance marks associated with the multiple target key positions, the following steps A1 to A3 may be performed:

[0127] A1: Determine the order of appearance of each of the target guidance signs according to the distances between the multiple target key positions and the vehicle position.

[0128] Here, for any target guidance mark, the closer the distance between the target key position associated with the target guidance mark and the vehicle position is, the earlier the target guidance mark appears, that is, the closer it is to the vehicle position, the higher the priority is for display.

[0129] A2: Determine the display duration of each target guidance mark according to the importance levels of the target guidance marks at the multiple target key positions.

[0130] A3: Switch and display the target guidance marks associated with the multiple target key positions according to the appearance order and display duration.

[0131] Here, for any target guidance mark, the higher the importance level of the target guidance mark, the longer the display time corresponding to the target guidance mark.

[0132] Furthermore, when determining the display duration of each of the target guidance signs, the shortest total display duration can be determined based on the vehicle's driving speed and the nearest target key position, and the display duration of each of the target guidance signs can be determined based on the shortest total display duration and the importance levels of the target guidance signs at the multiple target key positions, so that the sum of the determined display durations does not exceed the shortest total display duration.

[0133] Furthermore, if it is determined that the guidance function of the target guidance mark is invalid based on the acquired vehicle posture information and road environment information, the target guidance mark can be cancelled from being displayed on the driving interface.

[0134] Among them, the failure of the guidance effect may include that the driving operation guided by the target guidance mark has been completed. For example, if the driving operation guided by the target guidance mark is to turn right after going straight for 100 meters, the target guidance mark can be cancelled when it is determined that the vehicle has completed the above driving operation based on the vehicle posture information and road environment information; or, the failure of the guidance effect may also include that the target guidance mark does not meet the real-time guidance mark display conditions. Failure to meet the real-time guidance mark display conditions may include that the vehicle does not travel according to the navigation route indicated by the target guidance mark. If the vehicle does not travel according to the navigation route indicated by the target guidance mark, it means that the driver has deviated from the navigation route. At this time, it can be determined that the guidance effect of the target guidance mark has failed, and the target guidance mark is cancelled on the driving interface, and the guidance mark is re-determined according to the above steps S101 to S103.

[0135] The navigation guidance method provided by the embodiment of the present disclosure can display a target guidance mark for guiding driving operations at a target key position that is displayed in the driving interface, matches the vehicle posture information and the road environment information, and affects the vehicle's driving state, according to a camera angle that matches the vehicle posture information. In this way, compared with using fixed-form icons to mark navigation information, the target guidance mark displayed by the embodiment of the present disclosure can be associated with real-time vehicle posture information and road environment information, so that the guidance mark can be displayed at a position that affects the vehicle's driving state according to the real-time changes in the vehicle posture and road environment, thereby making timely and effective reminders to the driver; on the other hand, displaying the target guidance mark according to a camera angle that matches the vehicle posture information can make the displayed target guidance mark more intuitive and eye-catching, in line with the user's visual experience, and easier to attract the user's attention, so that the driver can be guided to drive better and safely.

[0136] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0137] Based on the same inventive concept, a navigation guidance device corresponding to the navigation guidance method is also provided in the embodiment of the present disclosure. Since the principle of solving the problem by the device in the embodiment of the present disclosure is similar to the above-mentioned navigation guidance method in the embodiment of the present disclosure, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0138] Reference Figure 6, which is a schematic diagram of a navigation guidance device provided by an embodiment of the present disclosure, the device includes: a first display module 601, a determination module 602, and a second display module 603; wherein,

[0139] The first display module 601 is used to display a driving interface; the driving interface displays a vehicle model and road environment information; the posture of the vehicle model matches the posture of the driving vehicle;

[0140] The determination module 602 is used to determine the key position of the target in the road environment based on the acquired vehicle posture information and the road environment information; the key position of the target is a position that affects the driving state of the vehicle;

[0141] The second display module 603 is used to display a target guidance mark at a corresponding position of the target key position on the driving interface according to a camera viewing angle that matches the vehicle posture information; the target guidance mark is used to guide driving operations.

[0142] In an optional implementation, the second display module 603, when displaying the target guidance mark at the corresponding position of the target key position on the driving interface according to the camera viewing angle matching the vehicle posture information, is used to:

[0143] Adjusting the camera viewing angle according to the direction of the line between the vehicle position indicated by the vehicle posture information and the target key position, and the vehicle posture indicated by the vehicle posture information, and determining the display form of the target guidance mark according to the adjusted camera viewing angle;

[0144] At a position corresponding to the target key position on the driving interface, the target guidance mark is displayed according to the determined display form.

[0145] In an optional implementation manner, the road environment information includes driving route information; and the determination module 602 is further configured to:

[0146] Based on the vehicle position information and the driving route information, determining a lane change of the driving vehicle within a preset driving distance range;

[0147] A lane guidance mark is displayed at the lane position where the driving vehicle changes lanes, and the lane guidance mark is used to indicate lane information of the change.

[0148] In an optional implementation manner, the road environment information includes driving route information and road type information; the determination module 602 is further used to:

[0149] Determining a changed road type of the driving vehicle within a preset driving distance range based on the vehicle posture information, the driving route information, and the road type information;

[0150] At the road position where the driving vehicle has a road type change, a first sub-identifier and a second sub-identifier are displayed; the first sub-identifier indicates the type of the changed road, and the second sub-identifier indicates the direction of the changed road relative to the driving vehicle.

[0151] In an optional implementation manner, the road environment information includes information of target objects that affect traffic; the target objects include target traffic events and / or target entity objects; and the determination module 602 is further used to:

[0152] Based on the vehicle posture information and the target object information, determining a target object within a preset distance range from the driving vehicle;

[0153] An object type identifier is displayed at the location of the target object, where the object type identifier is used to indicate the type of the target object.

[0154] In an optional implementation manner, the second display module 603, when displaying the target guidance mark, is used to:

[0155] In the case where the target guidance logo includes multiple target guidance logos, the multiple target guidance logos are displayed respectively according to the importance levels corresponding to the multiple target guidance logos;

[0156] The importance level is related to the importance of the driving operation guided by the target guidance sign; target guidance signs of different importance levels have different display prominence.

[0157] In an optional implementation, when there are multiple target guidance marks corresponding to the same target key position, the second display module 603 is used to display the multiple target guidance marks at the same target key position in the following manner:

[0158] According to the importance levels of the plurality of target guidance signs, the display position and display size of each target guidance sign are determined respectively; the distance between the display position and the target key position is within a set distance range;

[0159] According to the display position and display size, the multiple target guidance marks corresponding to the same target key position are displayed respectively.

[0160] In an optional implementation manner, when there are multiple target key positions in the driving interface, the second display module 603 is used to display multiple target guidance marks of the multiple target key positions according to the following method:

[0161] According to the distances between the multiple target key positions and the vehicle position indicated by the vehicle posture information, as well as the importance levels of the target guidance signs at the multiple target key positions, the target guidance signs associated with the multiple target key positions are switched and displayed; the importance levels are related to the importance of the driving operations guided by the target guidance signs.

[0162] In an optional implementation manner, the second display module 603, when switching and displaying the target guidance marks associated with the multiple target key positions, is used to:

[0163] Determining the order of appearance of each of the target guidance marks according to the distances between the multiple target key positions and the vehicle position;

[0164] Determining the display duration of each target guidance mark according to the importance levels of the target guidance marks at the multiple target key positions;

[0165] According to the appearance order and display duration, the target guidance marks associated with the multiple target key positions are switched and displayed.

[0166] In an optional implementation manner, the second display module 603 is further used to:

[0167] If it is determined that the guidance function of the target guidance mark is invalid based on the acquired vehicle posture information and road environment information, the target guidance mark is not displayed on the driving interface.

[0168] For descriptions of the processing flow of each module in the device and the interaction flow between each module, reference may be made to the relevant descriptions in the above method embodiment, which will not be described in detail here.

[0169] The navigation guidance device provided by the embodiment of the present disclosure can display a target guidance mark for guiding driving operations at a target key position that is displayed in the driving interface, matches the vehicle posture information and the road environment information, and affects the driving state of the vehicle, according to the camera angle that matches the vehicle posture information. In this way, compared with using fixed-form icons to mark navigation information, the target guidance mark displayed by the embodiment of the present disclosure can be associated with real-time vehicle posture information and road environment information, so that the guidance mark can be displayed at a position that affects the driving state of the vehicle according to the real-time changes in the vehicle posture and road environment, thereby making timely and effective reminders to the driver; on the other hand, displaying the target guidance mark according to the camera angle that matches the vehicle posture information can make the displayed target guidance mark more intuitive and eye-catching, in line with the user's visual experience, and easier to attract the user's attention, so that the driver can be guided to drive safely better.

[0170] The present disclosure also provides a computer device, such as Figure 7 FIG. 1 is a schematic diagram of a computer device structure provided in an embodiment of the present disclosure, including:

[0171] A processor 10 and a memory 20; the memory 20 stores machine-readable instructions executable by the processor 10, and the processor 10 is used to execute the machine-readable instructions stored in the memory 20. When the machine-readable instructions are executed by the processor 10, the processor 10 performs the following steps:

[0172] Displaying a driving interface; the driving interface displays a vehicle model and road environment information; the position and posture of the vehicle model matches the position and posture of the driving vehicle;

[0173] Based on the acquired vehicle posture information and the road environment information, determining a key target position in the road environment; the key target position is a position that affects the driving state of the vehicle;

[0174] According to the camera viewing angle that matches the vehicle posture information, a target guidance mark is displayed at a corresponding position of the target key position on the driving interface; the target guidance mark is used to guide driving operations.

[0175] The above-mentioned memory 20 includes an internal memory 210 and an external memory 220; the internal memory 210 here is also called an internal memory, which is used to temporarily store the calculation data in the processor 10, as well as the data exchanged with the external memory 220 such as a hard disk. The processor 10 exchanges data with the external memory 220 through the internal memory 210.

[0176] The specific execution process of the above instructions can refer to the steps of the navigation guidance method described in the embodiment of the present disclosure, which will not be repeated here.

[0177] The present disclosure also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of the navigation guidance method described in the above method embodiment are executed. The storage medium can be a volatile or non-volatile computer-readable storage medium.

[0178] The present disclosure also provides a computer program product that carries a program code. The program code includes instructions that can be used to execute the steps of the navigation guidance method described in the above method embodiment. For details, please refer to the above method embodiment, which will not be repeated here.

[0179] The computer program product may be implemented in hardware, software or a combination thereof. In one optional embodiment, the computer program product is implemented as a computer storage medium. In another optional embodiment, the computer program product is implemented as a software product, such as a software development kit (SDK).

[0180] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0181] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0182] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0183] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0184] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present disclosure, which are used to illustrate the technical solutions of the present disclosure, rather than to limit them. The protection scope of the present disclosure is not limited thereto. Although the present disclosure is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present disclosure, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A navigation guidance method, characterized in that: include: Display the driving interface; The driving interface displays a vehicle model and road environment information; The posture of the vehicle model matches the posture of the driving vehicle; Based on the acquired vehicle posture information and the road environment information, determining a key target position in the road environment; the key target position is a position that affects the driving state of the vehicle; Displaying a target guidance mark at a position corresponding to the key position of the target on the driving interface according to a camera viewing angle that matches the vehicle posture information; The target guidance mark is used to guide driving operations.

2. The method according to claim 1, characterized in that: According to the camera viewing angle matching the vehicle posture information, a target guidance mark is displayed at a corresponding position of the target key position on the driving interface, including: Adjusting the camera viewing angle according to the direction of the line between the vehicle position indicated by the vehicle posture information and the target key position, and the vehicle posture indicated by the vehicle posture information, and determining the display form of the target guidance mark according to the adjusted camera viewing angle; At a position corresponding to the target key position on the driving interface, the target guidance mark is displayed according to the determined display form.

3. The method according to claim 1, characterized in that: The road environment information includes driving route information; The method further comprises: Based on the vehicle position information and the driving route information, determining a lane change of the driving vehicle within a preset driving distance range; A lane guidance mark is displayed at the lane position where the driving vehicle changes lanes, and the lane guidance mark is used to indicate lane information of the change.

4. The method according to claim 1, characterized in that: The road environment information includes driving route information and road type information; the method further includes: Determining a changed road type of the driving vehicle within a preset driving distance range based on the vehicle posture information, the driving route information, and the road type information; A first sub-identifier and a second sub-identifier are displayed at a road position where the driving vehicle experiences a road type change; the first sub-identifier indicates the type of the changed road, and the second sub-identifier indicates the direction of the changed road relative to the driving vehicle.

5. The method according to claim 1, characterized in that The road environment information includes information of target objects that affect traffic; the target objects include target traffic events and / or target entity objects; the method further includes: Based on the vehicle posture information and the target object information, determining a target object within a preset distance range from the driving vehicle; An object type identifier is displayed at the location of the target object, where the object type identifier is used to indicate the type of the target object.

6. The method according to claim 1, characterized in that The display target guidance mark includes: In the case where the target guidance logo includes multiple target guidance logos, the multiple target guidance logos are displayed respectively according to the importance levels corresponding to the multiple target guidance logos; The importance level is related to the importance of the driving operation guided by the target guidance sign; target guidance signs of different importance levels have different display prominence.

7. The method according to claim 6, characterized in that In the case where there are multiple target guidance marks corresponding to the same target key position, the multiple target guidance marks corresponding to the same target key position are displayed in the following manner: Determining the display position and display size of each target guidance mark according to the importance level of the plurality of target guidance marks; The distance between the display location and the target key location is within a set distance range; According to the display position and display size, the multiple target guidance marks corresponding to the same target key position are displayed respectively.

8. The method according to claim 1, characterized in that In the case where there are multiple target key positions in the driving interface, multiple target guidance marks of the multiple target key positions are displayed according to the following method: According to the distances between the multiple target key positions and the vehicle position indicated by the vehicle posture information, as well as the importance levels of the target guidance signs at the multiple target key positions, the target guidance signs associated with the multiple target key positions are switched and displayed; the importance levels are related to the importance of the driving operations guided by the target guidance signs.

9. The method according to claim 8, characterized in that The switching and displaying of target guidance marks associated with the multiple target key positions includes: Determining the order of appearance of each of the target guidance marks according to the distances between the multiple target key positions and the vehicle position; Determining the display duration of each target guidance mark according to the importance levels of the target guidance marks at the multiple target key positions; According to the appearance order and display duration, the target guidance marks associated with the multiple target key positions are switched and displayed.

10. The method according to claim 1, characterized in that The method further comprises: If it is determined that the guidance function of the target guidance mark is invalid based on the acquired vehicle posture information and road environment information, the target guidance mark is not displayed on the driving interface.

11. A navigation guidance device, characterized in that: include: The first display module is used to display the driving interface; The driving interface displays a vehicle model and road environment information; The posture of the vehicle model matches the posture of the driving vehicle; A determination module, used to determine a key target position in a road environment based on the acquired vehicle posture information and the road environment information; the key target position is a position that affects the driving state of the vehicle; A second display module is used to display a target guidance mark at a corresponding position of the target key position on the driving interface according to a camera angle matching the vehicle posture information; The target guidance mark is used to guide driving operations.

12. A computer device, characterized in that: include: A processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and the processor is used to execute the machine-readable instructions stored in the memory. When the machine-readable instructions are executed by the processor, the processor executes the steps of the navigation guidance method as described in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program. When the computer program is executed by a computer device, the computer device executes the steps of the navigation guidance method according to any one of claims 1 to 10.

Images