Map display method, intelligent equipment and storage medium

Abstract

The invention relates to the technical field of maps, particularly provides a map display method, intelligent equipment and a storage medium, and aims to solve the problem that an existing map cannot display door face orientation information of a building. In order to achieve the purpose, the map display method provided by the invention is applied to the intelligent equipment, and the intelligent equipment is provided with a human-computer interaction interface; the method specifically comprises the steps of obtaining high-precision map information, determining spatial positioning information of a target object based on the high-precision map information, obtaining map display parameters of the target object based on the spatial positioning information of the target object, and obtaining a map image showing the entrance direction of the target object according to the map display parameters of the target object, displaying a map image containing the entrance direction of the target object in a human-computer interaction interface of the intelligent equipment; therefore, more visual and accurate map information is provided for the user, the user can select the driving route more accurately and arrive at the entrance of the target object more quickly, the practicability of the map is improved, and the user experience is optimized.

Description

Technical Field

[0001] The present application relates to the field of map technology, and in particular to a map display method, an intelligent device and a storage medium. Background Art

[0002] Map scanning technology plays a vital role in the field of mapping and navigation, but there are certain limitations in obtaining the facade orientation information of buildings. Even with the use of high-precision scanning technology, only the outline and approximate orientation of the building can be obtained, but it is difficult to accurately locate the specific orientation of the building facade, resulting in the existing maps usually being unable to correctly display the orientation information of buildings with fixed facade orientations. This may cause problems for users' navigation, not only affecting the user experience, but in some cases even causing users to be unable to find the correct entrance, thereby reducing the practicality of the map and the accuracy of navigation.

[0003] Accordingly, the art needs a new map display solution to solve the above problems. Summary of the invention

[0004] In order to overcome the above-mentioned defects, the present application is proposed to solve or at least partially solve the technical problem that existing maps cannot display the facade orientation information of buildings.

[0005] In a first aspect, a map display method is provided, which is applied to an intelligent device, wherein the intelligent device is provided with a human-computer interaction interface; the method comprises: obtaining high-precision map information; determining spatial positioning information of a target object based on the high-precision map information, wherein the spatial positioning information at least includes entrance direction information of the target object; determining map display parameters of the target object based on the spatial positioning information of the target object; rendering and generating a three-dimensional model corresponding to the target object in the high-precision map based on the map display parameters of the target object, and obtaining a map image at least including entrance direction information of the target object; and displaying the map image including entrance direction information of the target object on the human-computer interaction interface.

[0006] In a technical solution of the above-mentioned map display method, the obtaining of high-precision map information includes: obtaining the global coordinate information of the target object and the global coordinate information of the reference object in the global coordinate system, wherein the reference object is a reference object selected based on preset rules and the target object for determining the entrance direction of the target object.

[0007] In a technical solution of the above-mentioned map display method, the spatial positioning information of the target object also includes the rotational displacement information of the target object relative to the smart device; the determining of the spatial positioning information of the target object based on the high-precision map information includes: determining the center point coordinate information of the target object and the center point coordinate information of the reference object based on the global coordinate information of the target object and the global coordinate information of the reference object; determining the entrance direction information of the target object based on the center point coordinate information of the target object and the center point coordinate information of the reference object and a preset correspondence between the target object and the reference object; determining the rotational displacement information of the target object relative to the smart device based on the center point coordinate information of the target object, the center point coordinate information of the reference object and the entrance direction information of the target object.

[0008] In a technical solution of the above-mentioned map display method, the center point coordinate information of the target object and the center point coordinate information of the reference object are determined based on the global coordinate information of the target object and the global coordinate information of the reference object, including: converting the global coordinate system into a local coordinate system with a preset position as the origin; determining the local coordinate information of the target object and the local coordinate information of the reference object in the local coordinate system based on the global coordinate information of the target object and the global coordinate information of the reference object; determining the center point coordinate information of the target object based on the local coordinate information of the target object; and determining the center point coordinate information of the reference object based on the local coordinate information of the reference object.

[0009] In a technical solution of the above-mentioned map display method, the rotational displacement information of the target object relative to the smart device is determined based on the center point coordinate information of the target object, the center point coordinate information of the reference object and the entry direction information of the target object, including: determining the rotation angle information of the target object based on the center point coordinate information of the target object, the center point coordinate information of the reference object and the entry direction information of the target object; determining the rotational displacement information of the target object relative to the smart device based on the center point coordinate information of the target object and the rotation angle information of the target object.

[0010] In a technical solution of the above-mentioned map display method, determining the map display parameters of the target object based on the spatial positioning information of the target object includes: obtaining an observation matrix of a rendering engine; obtaining vertex information of a three-dimensional model corresponding to the target object; and determining the map display parameters of the target object based on the spatial positioning information of the target object, the vertex information of the three-dimensional model and the observation matrix.

[0011] In a technical solution of the above-mentioned map display method, determining the map display parameters of the target object based on the spatial positioning information of the target object also includes: obtaining the relative displacement information and steering information of the smart device; determining the movement transformation information of the smart device based on the relative displacement information and steering information of the smart device; obtaining the observation matrix of the rendering engine; obtaining the vertex information of the three-dimensional model corresponding to the target object; and determining the map display parameters of the target object based on the movement transformation information of the smart device, the spatial positioning information of the target object, the vertex information of the three-dimensional model and the observation matrix.

[0012] In a technical solution of the above-mentioned map display method, the high-precision map information also includes global coordinate information and global heading angle information of the smart device in the global coordinate system; the acquisition of the relative displacement information and steering information of the smart device includes: acquiring real-time global coordinate information and real-time global heading angle information of the smart device in the global coordinate system; converting the global coordinate system into a local coordinate system with a preset position as the origin; based on the real-time global coordinate information and real-time global heading angle information of the smart device, determining the real-time local coordinate information and real-time local heading angle information of the smart device in the local coordinate system; based on the global coordinate information and global heading angle information of the smart device, determining the local coordinate information and local heading angle information of the smart device in the local coordinate system; determining the relative displacement information of the smart device based on the local coordinate information and real-time local coordinate information of the smart device; determining the steering information of the smart device based on the local heading angle information and real-time local heading angle information of the smart device.

[0013] In a technical solution of the above-mentioned map display method, the three-dimensional model corresponding to the target object is rendered and generated in the high-precision map based on the map display parameters of the target object to obtain a map image containing at least the entrance direction information of the target object, including: obtaining high-precision map data with a preset position as the origin; obtaining the three-dimensional model corresponding to the target object and the three-dimensional model corresponding to the smart device; based on the map display parameters of the target object and the high-precision map data, using a rendering engine to render the three-dimensional model corresponding to the target object and the three-dimensional model corresponding to the smart device to obtain a map image containing the target object, the smart device and the entrance direction information of the target object.

[0014] In a second aspect, a smart device is provided, comprising a display device, at least one processor; and a memory communicatively connected to the at least one processor; wherein the display device is configured to display a human-computer interaction interface, and a computer program is stored in the memory, and when the computer program is executed by the at least one processor, the method described in any one of the technical solutions of the above-mentioned map display method is implemented.

[0015] In a third aspect, a computer-readable storage medium is provided, wherein a plurality of program codes are stored therein, wherein the program codes are suitable for being loaded and run by a processor to execute the method described in any one of the technical solutions of the above-mentioned map display method.

[0016] Solution 1. A map display method, applied to a smart device, characterized in that the smart device is provided with a human-computer interaction interface; the method comprises:

[0017] Obtain high-precision map information;

[0018] Based on the high-precision map information, determine the spatial positioning information of the target object, where the spatial positioning information at least includes the entrance direction information of the target object;

[0019] Determining map display parameters of the target object based on the spatial positioning information of the target object;

[0020] Based on the map display parameters of the target object, a three-dimensional model corresponding to the target object is rendered in a high-precision map to obtain a map image containing at least the entrance direction information of the target object;

[0021] The map image including the target object entrance direction information is displayed on the human-computer interaction interface.

[0022] Solution 2. The map display method according to claim 1, wherein obtaining high-precision map information comprises:

[0023] The global coordinate information of the target object and the global coordinate information of the reference object in the global coordinate system are acquired. The reference object is a reference object selected based on a preset rule and the target object and used to determine the entrance direction of the target object.

[0024] Solution 3. The map display method according to claim 2, wherein the spatial positioning information of the target object further includes rotational displacement information of the target object relative to the smart device;

[0025] The determining the spatial positioning information of the target object based on the high-precision map information includes:

[0026] Determine the center point coordinate information of the target object and the center point coordinate information of the reference object based on the global coordinate information of the target object and the global coordinate information of the reference object;

[0027] Determining the entrance direction information of the target object based on the center point coordinate information of the target object and the center point coordinate information of the reference object and a preset correspondence relationship between the target object and the reference object;

[0028] Based on the center point coordinate information of the target object, the center point coordinate information of the reference object and the entrance direction information of the target object, the rotation displacement information of the target object relative to the smart device is determined.

[0029] Solution 4. The map display method according to claim 3, characterized in that the step of determining the center point coordinate information of the target object and the center point coordinate information of the reference object based on the global coordinate information of the target object and the global coordinate information of the reference object comprises:

[0030] Convert the global coordinate system into a local coordinate system with the preset position as the origin;

[0031] Determine local coordinate information of the target object and local coordinate information of the reference object in a local coordinate system based on the global coordinate information of the target object and the global coordinate information of the reference object;

[0032] Determine the center point coordinate information of the target object based on the local coordinate information of the target object;

[0033] The center point coordinate information of the reference object is determined based on the local coordinate information of the reference object.

[0034] Solution 5. The map display method according to claim 3, characterized in that the step of determining the rotational displacement information of the target object relative to the smart device based on the center point coordinate information of the target object, the center point coordinate information of the reference object, and the entrance direction information of the target object comprises:

[0035] Determine the rotation angle information of the target object based on the center point coordinate information of the target object, the center point coordinate information of the reference object, and the entrance direction information of the target object;

[0036] Based on the center point coordinate information of the target object and the rotation angle information of the target object, the rotation displacement information of the target object relative to the smart device is determined.

[0037] Solution 6. The map display method according to any one of claims 1 to 5, characterized in that determining the map display parameters of the target object based on the spatial positioning information of the target object comprises:

[0038] Get the viewing matrix of the rendering engine;

[0039] Obtain vertex information of the three-dimensional model corresponding to the target object;

[0040] A map display parameter of the target object is determined based on the spatial positioning information of the target object, the vertex information of the three-dimensional model, and the observation matrix.

[0041] Solution 7. The map display method according to any one of claims 1 to 5, characterized in that the step of determining the map display parameters of the target object based on the spatial positioning information of the target object further comprises:

[0042] Acquiring relative displacement information and steering information of the smart device;

[0043] Determine movement transformation information of the smart device based on the relative displacement information and the steering information of the smart device;

[0044] Get the viewing matrix of the rendering engine;

[0045] Obtain vertex information of the three-dimensional model corresponding to the target object;

[0046] The map display parameters of the target object are determined based on the movement transformation information of the smart device, the spatial positioning information of the target object, the vertex information of the three-dimensional model and the observation matrix.

[0047] Solution 8. The map display method according to claim 7, characterized in that the high-precision map information also includes global coordinate information and global heading angle information of the smart device in a global coordinate system;

[0048] The obtaining of the relative displacement information and the steering information of the smart device includes:

[0049] Acquire real-time global coordinate information and real-time global heading angle information of the smart device in a global coordinate system;

[0050] Converting the global coordinate system into a local coordinate system with a preset position as the origin;

[0051] Based on the real-time global coordinate information and the real-time global heading angle information of the smart device, determine the real-time local coordinate information and the real-time local heading angle information of the smart device in the local coordinate system;

[0052] Based on the global coordinate information and the global heading angle information of the smart device, determine the local coordinate information and the local heading angle information of the smart device in the local coordinate system;

[0053] Determine relative displacement information of the smart device based on the local coordinate information of the smart device and the real-time local coordinate information;

[0054] The steering information of the smart device is determined based on the local heading angle information of the smart device and the real-time local heading angle information.

[0055] Solution 9. The map display method according to claim 1 is characterized in that, based on the map display parameters of the target object, a three-dimensional model corresponding to the target object is rendered in a high-precision map to obtain a map image containing at least the entrance direction information of the target object, including:

[0056] Obtain high-precision map data with the preset location as the origin;

[0057] Acquire a three-dimensional model corresponding to the target object and a three-dimensional model corresponding to the smart device;

[0058] Based on the map display parameters of the target object and the high-precision map data, a rendering engine is used to render the three-dimensional model corresponding to the target object and the three-dimensional model corresponding to the smart device to obtain a map image containing information about the target object, the smart device and the entrance direction of the target object.

[0059] Solution 10. An intelligent device comprising a display device, at least one processor and at least one memory, wherein the display device is configured to display a human-computer interaction interface, and the memory is suitable for storing multiple program codes, characterized in that the program code is suitable for being loaded and run by the processor to execute the map display method described in any one of claims 1 to 9.

[0060] Solution 11. A computer-readable storage medium storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the map display method according to any one of claims 1 to 9.

[0061] The above one or more technical solutions of the present application have at least one or more of the following beneficial effects:

[0062] The present application provides a map display method, which is applied to a smart device, and the smart device is provided with a human-computer interaction interface; the method specifically includes: obtaining high-precision map information; determining the spatial positioning information of the target object based on the high-precision map information, the spatial positioning information at least including the entrance direction information of the target object; determining the map display parameters of the target object based on the spatial positioning information of the target object; rendering and generating a three-dimensional model corresponding to the target object in the high-precision map based on the map display parameters of the target object, and obtaining a map image containing at least the entrance direction information of the target object; and displaying the map image containing the entrance direction information of the target object on the human-computer interaction interface. The present application determines the spatial positioning information of the target object based on the high-precision map information, obtains the map display parameters of the target object based on the spatial positioning information of the target object, and obtains a map image showing the entrance direction of the target object according to the map display parameters of the target object, and then displays the map image containing the entrance direction of the target object on the human-computer interaction interface of the smart device, providing users with more intuitive and accurate map information, helping users to more accurately select driving routes and reach the entrance of the target object faster, thereby improving the practicality of the map and optimizing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The disclosure of the present application will become easier to understand with reference to the accompanying drawings. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present application. Among them:

[0064] Figure 1 is a flowchart of the main steps of a map display method according to an embodiment of the present application;

[0065] Figure 2 is a schematic diagram of the positions of a target object and a reference object according to an embodiment of the present application;

[0066] Figure 3 is a schematic diagram of a map image of a map display method according to an embodiment of the present application;

[0067] Figure 4 is a detailed step flow diagram of a map display method according to an embodiment of the present application;

[0068] Figure 5 is a schematic diagram of a structural block diagram of a map display system according to an embodiment of the present application;

[0069] Figure 6 It is a schematic diagram of the main structure of a smart device according to an embodiment of the present application.

[0070] Reference numerals:

[0071] 11: memory; 12: processor; 13: display device. DETAILED DESCRIPTION

[0072] Some embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the protection scope of the present application.

[0073] In the description of the present application, "module" and "processor" may include hardware, software or a combination of the two. A module may include hardware circuits, various suitable sensors, communication ports, memory, and may also include software parts, such as program code, or a combination of software and hardware. The processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, hardware or a combination of the two. Computer-readable storage media include any suitable medium that can store program code, such as a disk, a hard disk, an optical disk, a flash memory, a read-only memory, a random access memory, etc. The term "A and / or B" means all possible combinations of A and B, such as only A, only B or A and B. The term "at least one A or B" or "at least one of A and B" has a similar meaning to "A and / or B" and may include only A, only B or A and B. The singular terms "one" and "the" may also include plural forms.

[0074] The relevant user personal information that may be involved in the various embodiments of this application is strictly in accordance with the requirements of laws and regulations, following the principles of legality, legitimacy and necessity, based on the reasonable purposes of business scenarios, to process the personal information that users actively provide during the use of products / services or generated due to the use of products / services, as well as the personal information obtained with the user's authorization.

[0075] The user personal information processed by this application will vary depending on the specific product / service scenario, and shall be based on the specific scenario in which the user uses the product / service, and may involve the user's account information, device information, driving information, vehicle information or other related information. This application will treat the user's personal information and its processing with a high degree of diligence.

[0076] This application attaches great importance to the security of user personal information and has taken reasonable and feasible security protection measures that meet industry standards to protect user information and prevent personal information from being accessed, disclosed, used, modified, damaged or lost without authorization.

[0077] Smart devices may include driving devices, smart vehicles, robots, aircraft and other devices. In order to make the purpose, technical solutions and advantages of this application more clear, the map display method of this application is described in detail below with reference to the accompanying drawings and embodiments, taking the vehicle as an example of a smart device. It should be understood by those skilled in the art that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the map display method described in this application to using the vehicle as a smart device.

[0078] Map scanning technology plays a vital role in the field of mapping and navigation. However, due to the limitations of map scanning technology, existing maps usually cannot correctly display the orientation information of buildings with fixed facade orientations. This situation may cause problems for users' navigation, not only affecting the user's usage experience, but in some cases may even cause users to be unable to find the correct entrance, thereby reducing the practicality of the map and the accuracy of navigation.

[0079] To this end, a map display method provided in the present application is applied to a smart device, and the smart device is provided with a human-computer interaction interface; by obtaining high-precision map information, determining the spatial positioning information of the target object based on the high-precision map information, obtaining the map display parameters of the target object based on the spatial positioning information of the target object, and obtaining a map image showing the entrance direction of the target object according to the map display parameters of the target object, and then displaying the map image containing the entrance direction of the target object in the human-computer interaction interface of the smart device, providing users with more intuitive and accurate map information, helping users to select driving routes more accurately and reach the entrance of the target object faster, thereby improving the practicality of the map and optimizing the user experience.

[0080] See attached Figure 1 , Figure 1 FIG. 1 is a flow chart of the main steps of a map display method according to an embodiment of the present application. Figure 1 As shown, the map display method in the embodiment of the present application is applied to a smart device, and the smart device is provided with a human-computer interaction interface; the method mainly includes the following steps S101 to S105.

[0081] Step S101: Obtain high-precision map information.

[0082] In this embodiment, the high-precision map information may be global positioning system (WGS84 coordinate system) data obtained through a map provider or through self-scanning.

[0083] Step S102: Based on the high-precision map information, determine the spatial positioning information of the target object, where the spatial positioning information at least includes the entrance direction information of the target object.

[0084] In this embodiment, the target object may be the destination of the driving route set by the user, which is a building with a fixed entrance direction, such as a battery swap station, a parking lot, a multi-story parking lot, a store, and the like.

[0085] Step S103: Determine map display parameters of the target object based on the spatial positioning information of the target object.

[0086] Step S104: Based on the map display parameters of the target object, a three-dimensional model corresponding to the target object is rendered and generated in the high-precision map to obtain a map image that at least includes the entrance direction information of the target object.

[0087] In this embodiment, based on the spatial positioning information of the target object, the map display parameters of the target object are determined, and based on the map display parameters of the target object, the three-dimensional model of the target object is rendered in the high-precision map to obtain a map image showing the entrance direction of the target object.

[0088] Step S105: Displaying the map image including the target object entrance direction information on the human-computer interaction interface.

[0089] Based on the method described in steps S101 to S105 above, the present application obtains high-precision map information, determines the spatial positioning information of the target object based on the high-precision map information, obtains the map display parameters of the target object based on the spatial positioning information of the target object, and obtains a map image showing the entrance direction of the target object according to the map display parameters of the target object, and then displays the map image containing the entrance direction of the target object in the human-computer interaction interface of the smart device, providing users with more intuitive and accurate map information, helping users to select driving routes more accurately and reach the entrance of the target object faster, thereby improving the practicality of the map and optimizing the user experience.

[0090] The above steps S101 to S105 are further explained below.

[0091] For step S101, high-precision map information is obtained.

[0092] In one embodiment, obtaining high-precision map information includes: obtaining global coordinate information of the target object and global coordinate information of a reference object in a global coordinate system, wherein the reference object is a reference object selected based on preset rules and the target object for determining the entrance direction of the target object.

[0093] Specifically, the global coordinate system refers to the global positioning system (WGS84 coordinate system) of the global positioning system; the target object may be an object whose entrance direction needs to be displayed on the map; the reference object may be an object used to determine the entrance direction of the target object; the preset rules include the correspondence between the target object and the reference object in a specific usage scenario. For example, when the target object is a battery swap station, since the battery swap station has a fixed entrance direction and a fixed parking area, the vehicle can only continue the battery swap operation when it drives to the fixed parking area of ​​the battery swap station. Therefore, the reference object of the battery swap station is the fixed parking area of ​​the battery swap station. When the target object is a store, according to conventional store site selection, the entrance direction of the store generally faces the direction of the adjacent road, so the reference object of the store determined according to the preset rules is the adjacent road.

[0094] After the target object is determined according to the destination of the driving route set by the user, the reference object is determined according to the target object and preset rules, and the global coordinate information of the target object and the reference object in the global coordinate system is obtained.

[0095] With respect to step S102, based on the high-precision map information, the spatial positioning information of the target object is determined, and the spatial positioning information at least includes the entrance direction information of the target object.

[0096] In one embodiment, the spatial positioning information of the target object also includes rotational displacement information of the target object relative to the smart device; determining the spatial positioning information of the target object based on the high-precision map information includes: determining the center point coordinate information of the target object and the center point coordinate information of the reference object based on the global coordinate information of the target object and the global coordinate information of the reference object; determining the entrance direction information of the target object based on the center point coordinate information of the target object and the center point coordinate information of the reference object and a preset correspondence between the target object and the reference object; determining the rotational displacement information of the target object relative to the smart device based on the center point coordinate information of the target object, the center point coordinate information of the reference object and the entrance direction information of the target object.

[0097] In one embodiment, determining the center point coordinate information of the target object and the center point coordinate information of the reference object based on the global coordinate information of the target object and the global coordinate information of the reference object includes: converting the global coordinate system into a local coordinate system with a preset position as the origin; determining the local coordinate information of the target object and the local coordinate information of the reference object in the local coordinate system based on the global coordinate information of the target object and the global coordinate information of the reference object; determining the center point coordinate information of the target object based on the local coordinate information of the target object; and determining the center point coordinate information of the reference object based on the local coordinate information of the reference object.

[0098] See attached Figure 2 , Figure 2 is a schematic diagram of the positions of a target object and a reference object according to an embodiment of the present application.

[0099] By converting the global coordinate system into a local coordinate system with the preset position as the origin, the local coordinate information of the target object and the local coordinate information of the reference object can be obtained. The global coordinate information includes the coordinate information of the four corner points. Therefore, the converted local coordinate information also includes the coordinate information of the four corner points. The local coordinate system with the preset position as the origin can be the Northeastern Celestial Coordinate System (ENU Coordinate System) with the coordinate information of the smart device as the origin, or it can be a local coordinate system with an arbitrary point as the origin. Based on the local coordinate information of the target object and the local coordinate information of the reference object, the center point coordinate information of the target object and the center point coordinate information of the reference object can be determined respectively.

[0100] The preset correspondence between the target object and the reference object may be a preset direction correspondence between the building and the reference object. For example, when the target object is a battery swap station and the reference object is a fixed parking area, the entrance direction of the battery swap station faces the fixed parking area; when the target object is a store and the reference object is a nearby street, the entrance direction of the store faces the nearby street.

[0101] According to the center point coordinate information of the target object and the center point coordinate information of the reference object and the preset correspondence between the target object and the reference object, the entrance direction information of the target object can be determined. Figure 2 As shown, assuming that the target object is a battery swap station, the reference object is a fixed parking area of ​​the battery swap station, the center point coordinate information of the target object is at point A, and the center point coordinate information of the reference object is at point B. Based on the directional correspondence between the battery swap station and the fixed parking area, it can be determined that the entrance direction of the target object is towards the fixed parking area.

[0102] Then, based on the determined center point coordinate information of the target object, the center point coordinate information of the reference object and the entrance direction information of the target object, the rotation displacement information of the target object relative to the smart device is obtained.

[0103] In one embodiment, the determining the rotational displacement information of the target object relative to the smart device based on the center point coordinate information of the target object, the center point coordinate information of the reference object, and the entry direction information of the target object includes: determining the rotation angle information of the target object based on the center point coordinate information of the target object, the center point coordinate information of the reference object, and the entry direction information of the target object; determining the rotational displacement information of the target object relative to the smart device based on the center point coordinate information of the target object and the rotation angle information of the target object.

[0104] Specifically, based on the center point coordinate information of the target object, the center point coordinate information of the reference object and the entrance direction information of the target object, the first vector between the center point of the target object and the center point of the reference object is determined, and the first coordinate system is obtained based on the first vector. Then, based on the local coordinate information of the two corner points of the target object, two second vectors and third vectors pointing in different directions are determined, and following the right-hand coordinate system, the angles between the second vector and the third vector and the vertical axis of the first coordinate system are calculated in the counterclockwise direction of the first coordinate system. The vector with the smaller angle between the second vector and the vertical axis of the first coordinate system and the angle between the third vector and the vertical axis of the first coordinate system is used as the fourth vector for calculating the rotation angle, and then the angle between the fourth vector and the positive direction of the vertical axis of the local coordinate system is calculated, and the angle is used as the rotation angle information of the target object.

[0105] The rotational displacement information of the target object relative to the smart device can be expressed as a rotational displacement matrix of the target object relative to the smart device. Substitute the center point coordinate information of the target object and the rotation angle information of the target object into the calculation formula to determine the rotational displacement information of the target object relative to the smart device. Because the opening direction of the target object is usually rotated according to the Z-axis of the three-dimensional model of the target object, it is necessary to apply the rotation matrix along the Z-axis to calculate the rotational displacement information of the target object relative to the smart device. The calculation formula of the rotational displacement matrix is ​​as follows:

[0106] Among them, α is the rotation angle information of the target object, x 0 ,y 0 、z 0 are the vertex information of the three-dimensional model of the target object, x t ,y t 、z t It is the displacement information of the center point coordinate information of the target object relative to the origin of the local coordinate system. is the rotation displacement matrix.

[0107] Step S103: determining a map display parameter of the target object based on the spatial positioning information of the target object.

[0108] In one embodiment, determining the map display parameters of the target object based on the spatial positioning information of the target object includes: obtaining an observation matrix of a rendering engine; obtaining vertex information of a three-dimensional model corresponding to the target object; and determining the map display parameters of the target object based on the spatial positioning information of the target object, the vertex information of the three-dimensional model, and the observation matrix.

[0109] Specifically, the observation matrix of the rendering engine can be the observation matrix of the camera of the rendering engine, and the observation matrix can transform all world coordinates into observation coordinates relative to the position and direction of the camera. The vertex information of the three-dimensional model corresponding to the target object is obtained through the rendering engine, and the map display parameters of the target object are determined based on the vertex information of the three-dimensional model corresponding to the target object, the observation matrix, and the rotation displacement matrix of the target object relative to the smart device. The calculation formula is as follows: FinalPosition =ProjectionCameraWorldmatrix*TranslationRotationmatrix *Position

[0110] Among them, FinalPosition is the map display parameter of the target object, ProjectionCameraWorldmatrix is ​​the observation matrix, TranslationRotationmatrix is ​​the rotation displacement matrix of the target object relative to the smart device, and Position is the vertex information of the three-dimensional model corresponding to the target object.

[0111] In one embodiment, determining the map display parameters of the target object based on the spatial positioning information of the target object also includes: obtaining relative displacement information and steering information of the smart device; determining the movement transformation information of the smart device based on the relative displacement information and steering information of the smart device; obtaining an observation matrix of a rendering engine; obtaining vertex information of a three-dimensional model corresponding to the target object; and determining the map display parameters of the target object based on the movement transformation information of the smart device, the spatial positioning information of the target object, the vertex information of the three-dimensional model, and the observation matrix.

[0112] In one embodiment, the high-precision map information also includes global coordinate information and global heading angle information of the smart device in the global coordinate system; obtaining the relative displacement information and steering information of the smart device includes: obtaining real-time global coordinate information and real-time global heading angle information of the smart device in the global coordinate system; converting the global coordinate system into a local coordinate system with a preset position as the origin; determining the real-time local coordinate information and real-time local heading angle information of the smart device in the local coordinate system based on the real-time global coordinate information and real-time global heading angle information of the smart device; determining the local coordinate information and local heading angle information of the smart device in the local coordinate system based on the global coordinate information and global heading angle information of the smart device; determining the relative displacement information of the smart device based on the local coordinate information and real-time local coordinate information of the smart device; determining the steering information of the smart device based on the local heading angle information and real-time local heading angle information of the smart device.

[0113] The relative displacement information and the steering information of the smart device may be the movement information and the angle change information of the smart device relative to the initial position determined according to the relative movement of the smart device after the smart device moves.

[0114] Specifically, the high-precision map information also includes the global coordinate information and global heading angle information of the smart device in the global coordinate system, obtains the real-time global coordinate information and real-time global heading angle information of the smart device, converts the global coordinate system into a local coordinate system with a preset position as the origin, and determines the real-time local coordinate information, real-time local heading angle information, local coordinate information and local heading angle information of the smart device in the local coordinate system through the real-time global coordinate information, real-time global heading angle information, global coordinate information and global heading angle information of the smart device. The preset position can be the local coordinate information of the smart device or the local coordinate information of any position.

[0115] The relative displacement information of the smart device is determined according to the difference between the local coordinate information of the smart device and the real-time local coordinate information, and the steering information of the smart device is determined according to the difference between the local heading angle information of the smart device and the real-time local heading angle information. Then, the mobile transformation information of the smart device is determined according to the relative displacement information and the steering information of the smart device. The mobile transformation information can be expressed as a mobile transformation matrix of the smart device. The calculation formula of the mobile transformation matrix is ​​as follows:

[0116] Among them, x, y, z are the local coordinate information of the smart device, θ is the local heading angle information of the smart device, x', y', z' are the real-time local coordinate information of the smart device, θ' is the real-time local heading angle information of the smart device, and Map is the mobile transformation matrix of the smart device.

[0117] The map display parameters of the target object are determined based on the real-time mobile transformation information of the determined smart device, the spatial positioning information of the target object, the vertex information of the three-dimensional model corresponding to the target object, and the observation matrix of the rendering engine. The map display parameter calculation formula of the target object is as follows: FinalPosition = ProjectionCameraWorldmatrix* TranslationRotationmatrix*Position*Map

[0118] Among them, FinalPosition is the map display parameter of the target object, ProjectionCameraWorldmatrix is ​​the observation matrix, TranslationRotationmatrix is ​​the rotation displacement matrix of the target object relative to the smart device, Position is the vertex information of the three-dimensional model corresponding to the target object, and Map is the mobile transformation matrix of the smart device.

[0119] The map display parameters of the target object are obtained through the real-time movement transformation information of the smart device and the spatial positioning information of the target object, and then the map image is obtained according to the map display parameters of the target object, to ensure that during the movement of the smart device, the target object can still be displayed and moved in real time relative to the smart device, so as to achieve complete fit between the map image and the relative movement of the smart device and the target object in the real scene.

[0120] In one embodiment, based on the map display parameters of the target object, a three-dimensional model corresponding to the target object is rendered and generated in a high-precision map to obtain a map image containing at least the entrance direction information of the target object, including: obtaining high-precision map data with a preset position as the origin; obtaining the three-dimensional model corresponding to the target object and the three-dimensional model corresponding to the smart device; based on the map display parameters of the target object and the high-precision map data, using a rendering engine to render the three-dimensional model corresponding to the target object and the three-dimensional model corresponding to the smart device to obtain a map image containing the target object, the smart device and the entrance direction information of the target object.

[0121] Specifically, high-precision map data with a preset position as the origin is obtained, and the three-dimensional model corresponding to the target object and the three-dimensional model corresponding to the smart device are imported through the rendering engine, which can be a Kanzi engine. A display window is created, and a three-dimensional display scene is constructed. The three-dimensional scene display elements such as cameras and windows are set, and the three-dimensional model corresponding to the target object and the three-dimensional model corresponding to the smart device are rendered in the high-precision map data based on the map display parameters of the target object, so as to obtain a map image including the three-dimensional model of the target object and the three-dimensional model of the smart device. The entrance direction information of the target object can be intuitively obtained through the placement posture of the three-dimensional model of the target object in the map image.

[0122] When the coordinate information of the smart device is used as the origin of the local coordinate system, the high-precision map data is also high-precision map data with the coordinate information of the smart device as the origin. The obtained map image is as follows Figure 3 As shown, Figure 3 In the example, the entrance position of the target object can be intuitively seen according to the 3D model of the target object. When an arbitrary point is used as the origin of the local coordinate system, the high-precision map data is the high-precision map data with the coordinates of the arbitrary point as the origin. At this time, the map image obtained depends on the display direction of the camera. If the camera looks in the direction of the arbitrary point as the origin, the map image is a picture showing the object at the arbitrary point.

[0123] See attached Figure 4 , Figure 4 FIG. 1 is a flowchart of detailed steps of a map display method according to an embodiment of the present application. Figure 4 As shown, the map display method of the present application includes the following steps.

[0124] Step S201: Obtain high-precision map information. Specifically, the high-precision map information is global positioning system data (WGS84 coordinate system data) obtained through a map provider or self-scanning, including global coordinate information of target objects, reference objects and smart devices in the global coordinate system, and global heading angle information of the smart device.

[0125] Step S202: Convert the coordinates of the high-precision map information. Specifically, convert the global coordinate system into a local coordinate system with the coordinate information of the smart device as the origin, determine the local coordinate information of the target object, the reference object and the smart device, and the local heading angle information of the smart device, wherein the reference object is a reference object selected based on preset rules and the target object for determining the entrance direction of the target object. In this embodiment, the target object is a battery swap station, and the reference object is a fixed parking area of ​​the battery swap station.

[0126] Step S203: Determine the center point coordinate information of the target object and the reference object. Specifically, the local coordinate information of the target object and the reference object includes the coordinate information of each corner point of the target object and the reference object. Therefore, the center point coordinate information of the target object and the reference object can be determined through the local coordinate information of the target object and the local coordinate information of the reference object.

[0127] Step S204: Determine the entrance direction information of the target object. Specifically, the entrance direction information of the target object is determined according to the center point coordinate information of the target object and the reference object and the preset corresponding relationship between the target object and the reference object.

[0128] Step S205: Determine the rotation displacement information of the target object relative to the smart device. Specifically, determine the rotation angle information of the target object through the center point coordinate information of the target object, the center point coordinate information of the reference object, and the entry direction information of the target object, and determine the rotation displacement information of the target object relative to the smart device based on the center point coordinate information of the target object and the rotation angle information of the target object.

[0129] Step S206: Acquire the real-time global position information and real-time global heading angle information of the smart device. Specifically, the real-time position information of the smart device is the position information of the smart device in the global positioning system (WGS84 coordinate system) data obtained by a map provider or self-scanning, and the real-time position information is the real-time position information in the global coordinate system.

[0130] Step S207: coordinate conversion is performed on the real-time global position information and the real-time global heading angle information to obtain the real-time local coordinate information and the real-time local heading angle information of the smart device. Specifically, the global coordinate system is converted into a local coordinate system with the coordinate information of the smart device as the origin to determine the real-time local coordinate information and the real-time local heading angle information of the smart device.

[0131] Step S208: Process the real-time local coordinate information, real-time local heading angle information and high-precision map information of the smart device to determine the mobile transformation information of the smart device. Specifically, the mobile transformation information of the smart device is determined by the real-time local coordinate information, real-time local heading angle information of the smart device and the local coordinate information and local heading angle information of the smart device obtained in step S202.

[0132] Step S209: Acquire three-dimensional model data. Specifically, acquire vertex information of the three-dimensional model corresponding to the target object.

[0133] Step S210: Determine the map display parameters of the target object. Specifically, the map display parameters of the target object are determined based on the mobile transformation information of the smart device, the rotation displacement information of the target object relative to the smart device, the vertex information of the three-dimensional model of the target object, and the observation matrix of the rendering engine.

[0134] Step S211: The rendering engine renders and generates a map image. Specifically, the rendering engine renders and generates a three-dimensional model corresponding to the target object in the high-precision map based on the map display parameters of the target object, and obtains a map image that at least includes the entrance direction information of the target object.

[0135] Step S212: Displaying the map image in the human-computer interaction interface of the smart device.

[0136] It should be pointed out that although the various steps in the above embodiments are described in a specific order, those skilled in the art can understand that in order to achieve the effect of the present application, different steps do not have to be executed in such an order. They can be executed simultaneously (in parallel) or in other orders. These adjusted schemes are equivalent to the technical schemes described in this application, and therefore will also fall within the scope of protection of this application.

[0137] It is understood by those skilled in the art that all or part of the processes in the method for implementing the above-mentioned embodiment of the present application can also be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device, medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier signal, telecommunication signal and software distribution medium, etc. that can carry the computer program code.

[0138] Another aspect of the present application also provides a map display system.

[0139] See attached Figure 5 , Figure 5 FIG. 1 is a schematic diagram of a structural block diagram of a map display system according to an embodiment of the present application. Figure 5As shown, the map display system of the present application includes a data processing module, a data storage module, a data receiving module and a display module. Among them, the data receiving module is configured to receive high-precision map information through the Some / IP communication protocol; the data storage module is configured to parse and store the relevant data of the target object, reference object and smart device in the high-precision map information; the data processing module is configured to filter the data in the data storage module to obtain the relevant data for rendering and display, and process these data to obtain the map display parameters of the target object; the display module is configured to obtain the three-dimensional model data corresponding to the target object, and perform the final display integration operation based on the map display parameters of the target object. The map display system in this embodiment uses the Kanzi rendering engine to load the three-dimensional model data.

[0140] Another aspect of the present application also provides a computer-readable storage medium.

[0141] In an embodiment of a computer-readable storage medium according to the present application, the computer-readable storage medium may be configured to store a program for executing the map display method of the above method embodiment, and the program may be loaded and run by a processor to implement the above map display method. For ease of explanation, only the parts related to the embodiment of the present application are shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present application. The computer-readable storage medium may be a storage device formed by various electronic devices. Optionally, the computer-readable storage medium in the embodiment of the present application is a non-temporary computer-readable storage medium.

[0142] Another aspect of the present application also provides a smart device.

[0143] In an embodiment of an intelligent device according to the present application, the intelligent device may include a display device, at least one processor; and a memory connected to the at least one processor; wherein the display device is configured to display a human-computer interaction interface; and a computer program is stored in the memory, and when the computer program is executed by the at least one processor, the method described in any of the above embodiments is implemented. The intelligent device described in the present application may include a driving device, a smart car, a robot, and the like. Figure 6 , Figure 6 exemplarily shows that the memory 11, the processor 12 and the display device 13 are communicatively connected via a bus.

[0144] In some embodiments of the present application, the smart device may further include at least one sensor, which is used to sense information. The sensor is connected to any type of processor mentioned in the present application. Optionally, the smart device may further include an intelligent driving system, which is used to guide the smart device to drive itself or assist driving. The processor communicates with the sensor and / or the intelligent driving system to complete the method described in any of the above embodiments.

[0145] So far, the technical solution of the present application has been described in conjunction with an embodiment shown in the accompanying drawings, but it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present application.

Claims

1. A map display method, applied to a smart device, characterized in that: The smart device is provided with a human-computer interaction interface; the method comprises: Obtain high-precision map information; Based on the high-precision map information, determine the spatial positioning information of the target object, where the spatial positioning information at least includes the entrance direction information of the target object; Determining map display parameters of the target object based on the spatial positioning information of the target object; Based on the map display parameters of the target object, a three-dimensional model corresponding to the target object is rendered in a high-precision map to obtain a map image containing at least the entrance direction information of the target object; The map image including the target object entrance direction information is displayed on the human-computer interaction interface.

2. The map display method according to claim 1, characterized in that: The obtaining of high-precision map information includes: The global coordinate information of the target object and the global coordinate information of the reference object in the global coordinate system are acquired. The reference object is a reference object selected based on a preset rule and the target object and used to determine the entrance direction of the target object.

3. The map display method according to claim 2, characterized in that: The spatial positioning information of the target object also includes rotational displacement information of the target object relative to the smart device; The determining the spatial positioning information of the target object based on the high-precision map information includes: Determine the center point coordinate information of the target object and the center point coordinate information of the reference object based on the global coordinate information of the target object and the global coordinate information of the reference object; Determining the entrance direction information of the target object based on the center point coordinate information of the target object and the center point coordinate information of the reference object and a preset correspondence relationship between the target object and the reference object; Based on the center point coordinate information of the target object, the center point coordinate information of the reference object and the entrance direction information of the target object, the rotation displacement information of the target object relative to the smart device is determined.

4. The map display method according to claim 3, characterized in that: The determining, based on the global coordinate information of the target object and the global coordinate information of the reference object, the center point coordinate information of the target object and the center point coordinate information of the reference object comprises: Convert the global coordinate system into a local coordinate system with the preset position as the origin; Determine local coordinate information of the target object and local coordinate information of the reference object in a local coordinate system based on the global coordinate information of the target object and the global coordinate information of the reference object; Determine the center point coordinate information of the target object based on the local coordinate information of the target object; The center point coordinate information of the reference object is determined based on the local coordinate information of the reference object.

5. The map display method according to claim 3, characterized in that: The determining, based on the center point coordinate information of the target object, the center point coordinate information of the reference object, and the entrance direction information of the target object, the rotational displacement information of the target object relative to the smart device includes: Determine the rotation angle information of the target object based on the center point coordinate information of the target object, the center point coordinate information of the reference object, and the entrance direction information of the target object; Based on the center point coordinate information of the target object and the rotation angle information of the target object, the rotation displacement information of the target object relative to the smart device is determined.

6. The map display method according to any one of claims 1 to 5, characterized in that: The determining the map display parameters of the target object based on the spatial positioning information of the target object includes: Get the viewing matrix of the rendering engine; Obtain vertex information of the three-dimensional model corresponding to the target object; A map display parameter of the target object is determined based on the spatial positioning information of the target object, the vertex information of the three-dimensional model, and the observation matrix.

7. The map display method according to any one of claims 1 to 5, characterized in that: The determining the map display parameters of the target object based on the spatial positioning information of the target object further includes: Acquiring relative displacement information and steering information of the smart device; Determine movement transformation information of the smart device based on the relative displacement information and the steering information of the smart device; Get the viewing matrix of the rendering engine; Obtain vertex information of the three-dimensional model corresponding to the target object; The map display parameters of the target object are determined based on the movement transformation information of the smart device, the spatial positioning information of the target object, the vertex information of the three-dimensional model and the observation matrix.

8. The map display method according to claim 7, characterized in that: The high-precision map information also includes global coordinate information and global heading angle information of the smart device in the global coordinate system; The obtaining of the relative displacement information and the steering information of the smart device includes: Acquire real-time global coordinate information and real-time global heading angle information of the smart device in a global coordinate system; Converting the global coordinate system into a local coordinate system with a preset position as the origin; Based on the real-time global coordinate information and the real-time global heading angle information of the smart device, determine the real-time local coordinate information and the real-time local heading angle information of the smart device in the local coordinate system; Based on the global coordinate information and the global heading angle information of the smart device, determine the local coordinate information and the local heading angle information of the smart device in the local coordinate system; Determine relative displacement information of the smart device based on the local coordinate information of the smart device and the real-time local coordinate information; The steering information of the smart device is determined based on the local heading angle information of the smart device and the real-time local heading angle information.

9. The map display method according to claim 1, characterized in that: The method of rendering and generating a three-dimensional model corresponding to the target object in a high-precision map based on the map display parameters of the target object to obtain a map image at least including entrance direction information of the target object includes: Obtain high-precision map data with the preset location as the origin; Acquire a three-dimensional model corresponding to the target object and a three-dimensional model corresponding to the smart device; Based on the map display parameters of the target object and the high-precision map data, a rendering engine is used to render the three-dimensional model corresponding to the target object and the three-dimensional model corresponding to the smart device to obtain a map image containing information about the target object, the smart device and the entrance direction of the target object.

10. An intelligent device, comprising a display device, at least one processor and at least one memory, wherein the display device is configured to display a human-computer interaction interface, and the memory is suitable for storing a plurality of program codes, characterized in that: The program code is suitable for being loaded and run by the processor to execute the map display method according to any one of claims 1 to 9.

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