Navigation guide surface processing method and device, electronic equipment and storage medium

Abstract

The invention relates to a vehicle-mounted navigation technology, and particularly provides a navigation guide surface processing method and device, electronic equipment and a storage medium, and the method comprises the following steps: carrying out region division on a navigation guide surface in an electronic map along a corresponding navigation direction according to a target aspect ratio of a guide arrow texture map, obtaining a plurality of candidate navigation areas of which the aspect ratio is the target aspect ratio; determining a texture coordinate of each drawing point in each candidate navigation area; determining a texture drawing area under the flow offset in the plurality of candidate navigation areas based on the flow offset and the texture coordinates of the drawing points; the flow offset changes along with time; and drawing a guide arrow texture map in the texture drawing area according to the texture coordinates of the drawing points in the texture drawing area. According to the method, the flow offset changes along with time, so that the guide arrow texture map drawn in the texture drawing area can form a dynamic guide effect, and a more intuitive navigation guide effect is provided for a user.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of map navigation, and more particularly, to a navigation guide surface processing method and device, an electronic device, and a storage medium. BACKGROUND

[0002] In related technologies, a navigation map can provide road-level navigation services, that is, a navigation route is usually planned in road units, and a navigation guide can be displayed on the navigation map to guide the driving direction, for example, a static white arrow. In related technologies, the navigation guide information displayed on the electronic map is relatively single. SUMMARY

[0003] Therefore, the embodiments of the present application provide a navigation guide surface processing method and device, an electronic device, and a storage medium, which can provide more intuitive visual navigation guidance for users.

[0004] In a first aspect, the embodiments of the present application provide a navigation guide surface processing method, which includes: dividing a navigation guide surface in an electronic map along a corresponding navigation direction according to a target width-height ratio of a guide arrow texture map to obtain a plurality of candidate navigation regions with a width-height ratio equal to the target width-height ratio; determining texture coordinates of each drawing point in each candidate navigation region, the texture coordinates including a vertical texture coordinate along the navigation direction and a horizontal texture coordinate in a direction perpendicular to the navigation direction; the vertical texture coordinate of a drawing point farther from a starting navigation position of the navigation guide surface in the navigation direction is greater; determining a texture drawing region under a flow offset in each candidate navigation region based on the flow offset and the texture coordinates of each drawing point in the plurality of candidate navigation regions; the flow offset changes over time; and drawing the guide arrow texture map in the texture drawing region under the flow offset according to the texture coordinates of each drawing point in the texture drawing region.

[0005] In a second aspect, an embodiment of the present application provides a processing device for a navigation guide surface, comprising: a region division module, a texture coordinate determination module, a texture region determination module, and a texture map drawing module. The region division module is configured to divide the navigation guide surface in an electronic map along a corresponding navigation direction according to a target width-height ratio of a guide arrow texture map, to obtain a plurality of candidate navigation regions with a width-height ratio equal to the target width-height ratio. The texture coordinate determination module is configured to determine texture coordinates of each drawing point in each of the candidate navigation regions, the texture coordinates comprising a vertical texture coordinate along the navigation direction and a horizontal texture coordinate in a direction perpendicular to the navigation direction. The vertical texture coordinate of a drawing point farther away from a starting navigation position of the navigation guide surface in the navigation direction is greater. The drawing region determination module is configured to determine a texture drawing region under a flow offset in the plurality of candidate navigation regions based on the flow offset and the texture coordinates of each drawing point in the plurality of candidate navigation regions. The flow offset changes over time. The texture map drawing module is configured to draw the guide arrow texture map in the texture drawing region according to the texture coordinates of each drawing point in the texture drawing region under the flow offset.

[0006] In an implementation, the texture region determination module comprises a first coordinate determination submodule, a second coordinate determination submodule, and a drawing point determination submodule. The first coordinate determination submodule is configured to determine a maximum vertical texture coordinate in the plurality of candidate navigation regions according to the texture coordinates of each drawing point in the plurality of candidate navigation regions. The second coordinate determination submodule is configured to determine an upper limit vertical texture coordinate and a lower limit vertical texture coordinate according to the maximum vertical texture coordinate and the flow offset, the upper limit vertical texture coordinate and the lower limit vertical texture coordinate both not exceeding the maximum vertical texture coordinate. The drawing point determination submodule is configured to determine, as drawing points of the texture drawing region under the flow offset, drawing points in the plurality of candidate navigation regions whose vertical texture coordinates are within a vertical texture coordinate range defined by the upper limit vertical texture coordinate and the lower limit vertical texture coordinate.

[0007] In an implementation, the second coordinate determination submodule determines an upward rounding result of the maximum vertical texture coordinate, calculates a remainder of the flow offset and the upward rounding result, takes the remainder as the lower limit vertical texture coordinate, and takes a sum of 1 and the remainder as the upper limit vertical texture coordinate.

[0008] In an implementation, the texture mapping module comprises a shift amount determining submodule, a pixel point determining submodule and a texture mapping submodule. The shift amount determining submodule is configured to determine a vertical shift amount according to the texture coordinates of the drawing points in the texture mapping region under the flow shift amount. The pixel point determining submodule is configured to determine the corresponding pixel points of the drawing points in the texture mapping region under the flow shift amount in the guide arrow texture map according to the vertical shift amount and the texture coordinates of the drawing points in the texture mapping region under the flow shift amount. The texture mapping submodule is configured to draw the drawing points in the texture mapping region under the flow shift amount according to the pixel values of the corresponding pixel points in the guide arrow texture map, so as to draw the guide arrow texture map in the texture mapping region.

[0009] In an implementation, the texture coordinate determining module comprises a horizontal coordinate determining submodule and a vertical coordinate determining submodule. The horizontal coordinate determining submodule is configured to determine the horizontal texture coordinates of the drawing points in each candidate navigation region according to the horizontal distances of the drawing points in each candidate navigation region from the first boundary line of the navigation guide surface, wherein the horizontal texture coordinates are positively correlated with the horizontal distances, the horizontal texture coordinate of a drawing point on the first boundary line is 0, the horizontal texture coordinate of a drawing point on the second boundary line of the navigation guide surface is 1, the first boundary line and the second boundary line are both parallel to the navigation direction and are located on different sides of the navigation guide surface respectively. The vertical coordinate determining submodule is configured to determine the vertical texture coordinates of the drawing points in each candidate navigation region according to the vertical distances between the drawing points and the first horizontal boundary line of the candidate navigation region, wherein the vertical texture coordinates are positively correlated with the vertical distances, the vertical texture coordinate of a drawing point in the kth candidate navigation region closest to the starting navigation position is ∈ [k-1, k], k is a positive integer, and k does not exceed the total number of candidate navigation regions. The first horizontal boundary line refers to the horizontal boundary line on the side of the candidate navigation region close to the starting navigation position.

[0010] In an implementation, the vertical coordinate determining submodule is further configured to obtain a reference vertical texture coordinate corresponding to a kth candidate navigation region closest to the start navigation position, wherein when k=1, the reference vertical texture coordinate is 0, and when k>1, the reference vertical texture coordinate is equal to a maximum vertical texture coordinate in a (k-1)th candidate navigation region closest to the start navigation position; determine a vertical texture coordinate increment corresponding to each drawing point in the kth candidate navigation region according to a vertical distance between each drawing point in the kth candidate navigation region and a first horizontal boundary line of the kth candidate navigation region, and a reference height corresponding to the kth candidate navigation region; and determine a vertical texture coordinate of each drawing point in the kth candidate navigation region according to the vertical texture coordinate increment corresponding to each drawing point in the kth candidate navigation region and the reference vertical texture coordinate corresponding to the kth candidate navigation region.

[0011] In an implementation, the region dividing module comprises a data obtaining submodule, a partitioning submodule, a width determining submodule, a height determining submodule, and a region dividing submodule. The data obtaining submodule is configured to obtain a plurality of edge point pairs on the navigation guide surface, and determine a road surface width corresponding to each edge point pair, wherein two edge points in each edge point pair are located on different boundary lines of the navigation guide surface, and are aligned in a vertical direction of a navigation direction. The partitioning submodule is configured to partition the navigation guide surface along the navigation direction according to the road surface widths corresponding to the edge point pairs, to obtain a plurality of candidate partitions, wherein a width difference between the road surface widths corresponding to different edge point pairs in a same candidate partition does not exceed a distance threshold. The width determining submodule is configured to determine a reference road surface width of each candidate partition according to the road surface widths corresponding to the edge point pairs in the same candidate partition. The height determining submodule is configured to determine a reference height of each candidate partition according to geographic coordinates of different edge points in the same candidate partition, wherein the reference height of a candidate partition is equal to a maximum interval distance of the different edge points in the candidate partition in the navigation direction. The region dividing submodule is configured to divide the navigation guide surface along the corresponding navigation direction according to the reference road surface widths and the reference heights of the candidate partitions, and a target width-height ratio of the guide arrow texture map, to obtain a plurality of candidate navigation regions with a width-height ratio equal to the target width-height ratio.

[0012] In an implementation, the region dividing sub-module is further configured to sort the candidate sub-regions along the navigation direction to obtain a target order; take a first candidate sub-region in the target order as a target candidate sub-region; take a ratio of a reference width of the target candidate sub-region and the target width-height ratio as a target reference height corresponding to the target candidate sub-region; if the target reference height of the target candidate sub-region is not less than a reference height corresponding to the target candidate sub-region, sequentially divide one or more sub-regions with a height equal to the target reference height corresponding to the target candidate sub-region in the target candidate sub-region along the navigation direction, and take one of the one or more sub-regions as one of the candidate navigation regions; if there is a remaining sub-region in the target candidate sub-region that is not divided as a candidate navigation region, merge the remaining sub-region into a next candidate sub-region in the target order from the target candidate sub-region, and update a reference height of the next candidate sub-region based on a height of the remaining sub-region along the navigation direction; and take the merged next candidate sub-region as a new target candidate sub-region.

[0013] In an implementation, the region dividing sub-module is further configured to, if the target reference height of the target candidate sub-region is less than the reference height corresponding to the target candidate sub-region, merge the target candidate sub-region into a next candidate sub-region in the target order from the target candidate sub-region, and update a reference height of the next candidate sub-region after the merging based on the reference height of the target candidate sub-region; and take the merged next candidate sub-region as a new target candidate sub-region.

[0014] In an implementation, the region dividing sub-module is further configured to, if there is no remaining sub-region in the target candidate sub-region that is not divided as a candidate navigation region, take a next candidate sub-region in the target order from the target candidate sub-region as a new target candidate sub-region.

[0015] In an implementation, the width determining sub-module is further configured to, for each candidate sub-region, take a maximum road width or an average road width between a plurality of edge point pairs in the candidate sub-region as a reference road width of the candidate sub-region.

[0016] In an implementation, the data obtaining sub-module is further configured to sample a plurality of sampling points on a center line of the navigation guide surface; determine an edge point aligned with each sampling point on each of a first boundary line and a second boundary line of the navigation guide surface; take two edge points aligned with a same sampling point as an edge point pair; and obtain a road width corresponding to each edge point pair based on a distance between two edge points in the edge point pair.

[0017] In an implementation, the plurality of sampling points include two end sampling points in the navigation direction and intermediate sampling points between the two end sampling points; the data acquisition submodule is further configured to determine, for the end sampling points, a first straight line passing through the end sampling point and perpendicular to the first boundary line, and an intersection point of the first straight line and the first boundary line as a sideline point on the first boundary line aligned with the end sampling point; and determine a second straight line passing through the end sampling point and perpendicular to the second boundary line, and an intersection point of the second straight line and the second boundary line as a sideline point on the second boundary line aligned with the end sampling point; and determine the sideline points on the first boundary line and the second boundary line respectively aligned with each intermediate sampling point in the following manner: determine a first neighboring sampling point and a second neighboring sampling point of the intermediate sampling point; determine an angle bisector of an included angle formed by a first connecting line and a second connecting line, the first connecting line being a straight line passing through the intermediate sampling point and the first neighboring sampling point, and the second connecting line being a straight line passing through the intermediate sampling point and the second neighboring sampling point; and determine an intersection point of the angle bisector and the first boundary line and the second boundary line respectively as the sideline point aligned with the intermediate sampling point.

[0018] In a third aspect, an electronic device is provided, including a processor and a memory; the memory stores computer readable instructions, and the computer readable instructions are executed by the processor to implement the method described above.

[0019] In a fourth aspect, a computer readable storage medium is provided, which stores computer readable instructions, and the computer readable instructions are executed by a processor to implement the method described above.

[0020] In a fifth aspect, a computer program product is provided, which includes computer readable instructions, and the computer readable instructions are executed by a processor to implement the steps of the method described above.

[0021] This application provides a method, apparatus, electronic device, and storage medium for processing a navigation guidance surface. By dividing the navigation guidance surface along the navigation direction according to the target width-to-height ratio of the guide arrow texture image, multiple candidate navigation regions with a width-to-height ratio equal to the target width-to-height ratio are obtained. Since the width-to-height ratios of the multiple candidate navigation regions are equal to the target width-to-height ratio, different candidate navigation regions with different widths will have different corresponding heights. This achieves adaptive division of multiple candidate navigation regions on the navigation guidance surface based on the width of the guidance surface, ensuring that the guide arrow texture image does not exhibit stretching or shrinkage distortion when displayed in each candidate navigation region. Following the principle that the vertical texture coordinates of drawing points farther from the starting navigation position of the navigation guidance surface in the navigation direction are larger, after determining the texture coordinates of each candidate navigation region, it is possible to distinguish the drawing points in different candidate navigation regions by the vertical texture coordinates. This facilitates subsequent determination of the texture drawing area based on the texture coordinates of the drawing points. By using a time-varying flow offset and the texture coordinates of each drawing point in multiple candidate navigation regions, a texture drawing area under the flow offset is determined within these regions. As the flow offset changes, the position of the determined texture drawing area also changes accordingly. This determined texture drawing area is used to draw guide arrow texture maps. Therefore, as the flow offset changes over time, the guide arrow texture maps drawn on the navigation guidance surface also change accordingly, thus presenting a dynamic flowing visual effect of the guide arrow texture maps drawn on the navigation guidance surface. Navigation guidance is achieved through this dynamically flowing guide arrow texture map, thereby solving the problem of relatively simple navigation guidance information in related technologies. This application provides users with dynamic navigation guidance, improving the user experience. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 The diagram illustrates an application scenario of the method provided in one embodiment of this application.

[0024] Figure 2 A block diagram of an electronic device according to an embodiment of this application is shown;

[0025] Figure 3 A flowchart illustrating a method for processing a navigation guidance surface according to an embodiment of this application is shown.

[0026] Figure 4A schematic diagram of the guide arrow texture graph is shown;

[0027] Figure 5 A schematic diagram of the multiple candidate navigation areas obtained by region division on the navigation guide surface is shown;

[0028] Figure 6 A schematic diagram of the multiple candidate navigation areas obtained by region division on another navigation guide surface is shown;

[0029] Figure 7 An enlarged view of the C1 and C2 candidate navigation areas in Figure 6 is shown;

[0030] Figure 8 A flowchart of step S130 in Figure 3 is shown;

[0031] Figure 9 A flowchart of step S110 in Figure 3 is shown;

[0032] Figure 10 A schematic diagram of another navigation guide surface is shown;

[0033] Figure 11 A schematic diagram of the center line of the navigation guide surface shown in Figure 10 is sampled;

[0034] Figure 12 A schematic diagram of the edge point pairs determined on the navigation guide surface and aligned with the sampling points shown in Figure 11 is shown;

[0035] Figure 13 A schematic diagram of the division of the edge point pairs shown in Figure 12 into different partition sets is shown;

[0036] Figure 14 A schematic diagram of the determination of the candidate partitions based on the partition sets shown in Figure 13 is shown;

[0037] Figure 15 A flowchart of step S115 in Figure 9 is shown;

[0038] Figure 16 A schematic diagram of the determination of the candidate navigation areas based on the candidate partitions shown in Figure 14 is shown;

[0039] Figure 17 Fig. 1 shows a schematic diagram of a navigation guidance interface of an electronic map according to an embodiment of the present application; Figure 16 Fig. 2 shows a schematic diagram of updating a second candidate partition according to an embodiment of the present application;

[0040] Figure 18 Fig. 3 shows a schematic diagram of determining texture coordinates of each drawing point in a candidate partition according to an embodiment of the present application;

[0041] Figure 19 Fig. 4 shows a schematic diagram of adding a guide arrow texture map in a navigation guidance interface of an electronic map at different time according to an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the objects, technical solutions and advantages of the present application clearer, the following will further describe the present application in detail with reference to the accompanying drawings, and the described embodiments should not be regarded as limiting the present application, and all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0043] In the following description, "some embodiments" are described, which describe a subset of all possible embodiments, but it can be understood that "some embodiments" can be the same subset or different subset of all possible embodiments, and can be combined with each other without conflict. In the following description, the term "a plurality of" refers to at least two, i.e. two or more.

[0044] In the following description, the term "first\second" is only to distinguish similar objects, and does not represent a specific order of the objects. It can be understood that "first\second" can be interchanged with a specific order or sequence as allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0046] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined target, and can be implemented entirely or partially by using software, hardware (such as a processing circuit or a memory) or a combination thereof. Similarly, one processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be a part of an overall module or unit that includes the functions of the module or unit.

[0047] The block diagrams shown in the drawings are merely functional entities, and do not necessarily have to correspond to physically independent entities. That is, the functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0048] The flowcharts shown in the drawings are merely exemplary illustrations, and do not necessarily include all contents and operations / steps, nor are they necessarily executed in the order described. For example, some operations / steps can be further decomposed, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to actual conditions.

[0049] The following describes an exemplary application of the processing method of the navigation guide surface provided by the application, which can be applied to a server in an application environment as shown in Figure 1

[0050] Referring to Figure 1 , Figure 1 is a schematic diagram of an application scenario of the processing method of the navigation guide surface provided by the embodiments of the application, in which the terminal device 10 is connected to the server 20 through the network 30, and the server 20 is connected to the database 40, where the network 30 can be a wide area network or a local area network, or a combination of the two.

[0051] In some embodiments, the processing method of the navigation guide surface provided by the embodiments of the application can be implemented by the server 20. The database associated with the server 20 can store guide arrow texture maps and map data, etc.

[0052] The server 20 can divide the navigation guide surface in the electronic map into multiple candidate navigation regions along the corresponding navigation direction according to a target width-height ratio of the guide arrow texture map, determine texture coordinates of each drawing point in each candidate navigation region, the texture coordinates including a vertical texture coordinate along the navigation direction and a horizontal texture coordinate in a direction perpendicular to the navigation direction, the vertical texture coordinate of a drawing point being farther away from a starting navigation position of the navigation guide surface in the navigation direction being larger, determine a texture drawing region in each candidate navigation region under a flow offset based on the flow offset and the texture coordinates of each drawing point in the multiple candidate navigation regions, the flow offset changing over time, and draw the guide arrow texture map in the texture drawing region according to the texture coordinates of each drawing point in the texture drawing region under the flow offset. After completing the drawing of the guide arrow texture map, the server 20 can send the navigation guide surface with the drawn guide arrow texture map to the terminal device 10, so that the terminal device 10 displays the navigation guide surface with the drawn guide arrow texture map.​

[0053] By taking the target width-height ratio of the guide arrow texture map as a reference, the navigation guide surface is divided into multiple candidate navigation regions along the navigation direction, and the width-height ratio of each candidate navigation region is equal to the target width-height ratio. If the widths of different candidate navigation regions are different, the heights of the different candidate navigation regions are also different. In this way, the multiple candidate navigation regions are adaptively divided on the navigation guide surface according to the width of the navigation guide surface, so that the guide arrow texture map does not appear to be stretched or shrunk when displayed in each candidate navigation region. According to the principle that the vertical texture coordinates of a drawing point farther away from the starting navigation position of the navigation guide surface in the navigation direction are greater, the texture coordinates of each candidate navigation region are determined, so that the drawing points in different candidate navigation regions can be distinguished by the vertical texture coordinates. In this way, the texture drawing region can be determined based on the texture coordinates of the drawing points. The texture drawing region in the flow offset is determined in the multiple candidate navigation regions based on the time-varying flow offset and the texture coordinates of the drawing points in the multiple candidate navigation regions. In this way, when the flow offset changes, the position of the determined texture drawing region also changes. The determined texture drawing region is used to draw the guide arrow texture map. Therefore, when the flow offset changes over time, the guide arrow texture map drawn on the navigation guide surface also changes, thereby presenting a visual effect of dynamic flow of the guide arrow texture map drawn on the navigation guide surface. The user can be guided by the dynamically flowing guide arrow texture map, thereby solving the problem of single navigation guide information in the related art. The present application provides dynamic navigation guide for the user and improves the user experience.

[0054] In some other embodiments, the method for processing the navigation guide surface provided by the present application can also be executed by the terminal device 10. The server 20 can send the guide arrow texture map and the map data to the terminal device 10. The terminal device 10 executes the method provided by the present application according to the guide arrow texture map and the map data, and displays the navigation guide surface with the guide arrow texture map drawn thereon on the electronic map. Of course, in other embodiments, the method of the present application can also be implemented by the interaction between the terminal device 10 and the server 20.

[0055] In some embodiments, the server 20 or the terminal device 10 can implement the processing method of the navigation guidance interface provided in the embodiments of the present application by running a computer program. For example, the computer program can be a native program or a software module in an operating system; can be a native application program (APP), that is, a program that needs to be installed in an operating system to run; can be a small program, that is, a program that only needs to be downloaded into a browser environment to run; and can be a small program that can be embedded into any APP, and the small program can be controlled to run or be turned off by a user. In summary, the above computer program can be any form of application program, module or plug-in.

[0056] In some embodiments, the server 20 can be a stand-alone physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content distribution networks (CDNs), and basic cloud computing services such as big data and artificial intelligence platforms.

[0057] The terminal device 10 can be a smart phone, a tablet computer, a notebook computer, or a vehicle-mounted terminal, but is not limited thereto.

[0058] The terminal device 10 and the server 20 can be directly or indirectly connected through wired or wireless communication, which is not limited in the embodiments of the present application.

[0059] In some embodiments, various data related to the embodiments of the present application can be stored in a blockchain, and the data can be ensured to be credible based on the tamper-proofing property of the blockchain.

[0060] Referring to Figure 2 , Figure 2 is a structural schematic diagram of an electronic device 200 provided in the embodiments of the present application. The electronic device 200 can be Figure 1 the terminal device 10 or the server 20 in Figure 2 The electronic device 200 shown in FIG. 2 includes at least one processor 210, a memory 250, and at least one network interface 220. The various components in the electronic device 200 are coupled together by a bus system 240. It can be understood that the bus system 240 is used to realize the connection and communication between the components. In addition to a data bus, the bus system 240 also includes a power bus, a control bus, and a status signal bus. However, for the purpose of clear illustration, all kinds of buses are marked as the bus system 240 in Figure 2 .

[0061] The processor 210 can be an integrated circuit chip that has the processing capability of signals, such as a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc., where the general-purpose processor can be a microprocessor or any conventional processor.

[0062] The memory 250 can be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid-state memories, hard disk drives, optical disk drives, etc. The memory 250 optionally includes one or more storage devices remotely located from the processor 210 in a physical location.

[0063] The memory 250 includes volatile memory or non-volatile memory, and can also include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), and the volatile memory can be random access memory (RAM). The memory 250 described in the embodiments of the present application is intended to include any suitable type of memory.

[0064] In some embodiments, the memory 250 is capable of storing data to support various operations, examples of which include programs, modules, and data structures or subsets or supersets thereof, which are exemplarily illustrated below.

[0065] The operating system 251 includes system programs for processing various basic system services and performing hardware-related tasks, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks;

[0066] The network communication module 252 is used to reach other computing devices via one or more (wired or wireless) network interfaces 220, exemplary network interfaces 220 including Bluetooth, wireless compatibility certification (WiFi), and universal serial bus (USB), etc.

[0067] In some embodiments, the processing method of the navigation guide surface provided by the embodiments of the present application can be realized in a software manner, Figure 2 The processing device 255 of the navigation guide surface stored in the memory 250 is shown, which can be software in the form of programs and plug-ins, including the following software modules: a region division module 2551, a texture coordinate determination module 2552, a drawing region determination module 2553, and a texture map drawing module 2554. These modules are logical, so they can be combined or further split according to the functions implemented. The functions of each module will be described below.

[0068] In the following, the processing method of the navigation guide surface provided by the embodiments of the present application will be described in combination with the exemplary application and implementation of the electronic device provided by the embodiments of the present application.

[0069] Please refer to Figure 3 As shown in the drawings, the processing method of the navigation guide surface provided by the embodiments of the present application, the method provided by the present application can be applied to an electronic device, which can be the server or the terminal device described above, and the method comprises the following steps:

[0070] Step S110: According to the target width-height ratio of the guide arrow texture map, the navigation guide surface in the electronic map is regionally divided along the corresponding navigation direction, to obtain a plurality of candidate navigation regions with the width-height ratio equal to the target width-height ratio.

[0071] In the present application, the width-height ratio of the guide arrow texture map is referred to as the target width-height ratio. The guide arrow texture map is pre-set, and the image content presented by the guide arrow texture map is one or more guide arrows. Figure 4 The schematic diagram of the guide arrow texture map is exemplarily shown, which is only exemplary and cannot be considered as a limitation on the use range of the present application.

[0072] The target width-height ratio can be determined according to the width and height of the guide arrow texture map. For example Figure 4 In the example, if the direction pointed by the guide arrow in the guide arrow texture map is regarded as the positive direction of the Y axis, the length of the guide arrow texture map in the Y axis direction is regarded as the height of the guide arrow texture map, and the length of the guide arrow texture map in the X axis direction is regarded as the width of the guide arrow texture map, thereby the target width-height ratio can be determined.

[0073] The navigation guide surface in the electronic map refers to the area for navigation guide on the road surface where the user is currently located in the electronic map, i.e. the area for displaying the navigation guide information, which can be the guide arrow texture map to be drawn in the present application, and the navigation guide information is used to guide the current travel direction of the user. The navigation guide surface can be the area located in front of the current location of the user (i.e. the login user of the map application) in the navigation direction, i.e. the area where the user will enter.

[0074] It can be understood that the position of the navigation guide surface in the electronic map is related to the corresponding position of the user's current location in the electronic map, and in the case that the user's location changes, the position of the navigation guide surface in the electronic map corresponding to the user changes. The map application can obtain the location information of the user, and determine the navigation guide surface for the current user according to the location information of the user and the navigation direction for the user. It can be understood that the navigation direction for the user is determined according to the navigation route of the user.

[0075] Since the navigation guidance surface is divided into regions along the corresponding navigation direction, multiple candidate navigation regions are obtained. Therefore, along the navigation direction, the boundary line between two adjacent candidate navigation regions is perpendicular to the navigation direction. In a specific embodiment, candidate navigation regions can be sequentially divided on the navigation guidance surface along the navigation direction, in order of increasing distance from the starting navigation position in that direction. That is, it is ensured that the region on the navigation guidance surface that is closer to the starting navigation position can be identified as a candidate navigation region.

[0076] Figure 5 This is a schematic diagram illustrating multiple candidate navigation areas divided on a navigation guidance surface according to an embodiment of this application. Figure 5 The direction indicated by the middle arrow is the current navigation direction. For example... Figure 5 As shown in Figure I, the navigation guidance surface is divided into four candidate navigation regions along the navigation direction: candidate navigation region A1, candidate navigation region A2, candidate navigation region A3, and candidate navigation region A4. The boundary between candidate navigation regions A1 and A2 is region boundary line B1; the boundary between candidate navigation regions A2 and A3 is region boundary line B2; and the boundary between candidate navigation regions A3 and A4 is region boundary line B3. Region boundary lines B1 through B3 are all perpendicular to the navigation direction.

[0077] Because it is necessary to ensure that the aspect ratio of each candidate navigation area is equal to the target aspect ratio, and the aspect ratio of the candidate navigation area is related to the road width of the candidate navigation area and the length of the candidate navigation area in the navigation direction (in this application, the length in the navigation direction is referred to as the height), in practice, even if the multiple candidate navigation areas completely cover the navigation guidance surface, there may still be situations where, after division, in addition to the candidate navigation areas, some areas on the navigation guidance surface have aspect ratios that do not meet the target aspect ratio.

[0078] In this application, any remaining area on the navigation guidance surface, excluding the candidate navigation area, whose aspect ratio does not equal the target aspect ratio, is called an invalid area. For example, such as Figure 5 As shown in II, compared to Figure 5 The navigation guidance surface shown as I in the diagram. Figure 5 The navigation guidance surface shown in II has a relatively large height along the navigation direction. After dividing the candidate navigation areas A1, A2, A3, and A4, there is still an invalid area A5. Since the aspect ratio of the invalid area A5 is not equal to the aspect ratio of the target area, the invalid area A5 cannot be used as a candidate navigation area in this application.

[0079] If the width of the road surface of two candidate navigation areas is the same, the height of the two candidate navigation areas is the same, for example, as shown in I and II in FIG. 10. Figure 5 If the width of the road surface of two candidate navigation areas is the same, the height of the two candidate navigation areas is the same, for example, as shown in I and II in FIG. 10.

[0080] If the width of the road surface of two candidate navigation areas is different, the height of the two candidate navigation areas in the navigation direction is also different. In this case, the height ensuring that the width-height ratio is equal to the target width-height ratio is determined according to the width of the road surface at the corresponding position on the navigation guide surface, and the determined height is taken as the height of the candidate navigation area to be divided.

[0081] For example, as shown in FIG. 10, Figure 6 Figure 6 The direction indicated by the arrow in FIG. 10 is the navigation direction, and candidate navigation area C1, candidate navigation area C2, candidate navigation area C3, and candidate navigation area C4 are divided on the navigation guide surface. The region boundary D1 is the region boundary between candidate navigation area C1 and candidate navigation area C2, the region boundary D2 is the region boundary between candidate navigation area C2 and candidate navigation area C3, and the region boundary D3 is the region boundary between candidate navigation area C3 and candidate navigation area C4. Among them, the width of the road surface corresponding to candidate navigation area C1 is less than the width of the road surface corresponding to candidate navigation area C2, and the height of candidate navigation area C1 is less than the height of candidate navigation area C2.

[0082] The width of the road surface corresponding to the candidate navigation area can be the width of the road surface at the starting position of the candidate navigation area in the navigation direction, can be the average width of the road surface at multiple positions in the candidate navigation area, or can be the maximum width of the road surface at multiple positions in the candidate navigation area, which is not specifically limited here.

[0083] In this application, by ensuring that the width-height ratio of each candidate navigation area is equal to the target width-height ratio of the guide arrow texture map, it is ensured that the guide arrow texture map will not be distorted when it is drawn in the candidate navigation area. For example, if the candidate navigation area is a rectangle, the four corner points of the candidate navigation area are respectively corresponding to the four corner points of the guide arrow texture map, it can be ensured that the drawn guide arrow texture map completely covers the candidate navigation area, and after drawing, the width-height ratio of the presented guide arrow texture map is still the target width-height ratio.

[0084] Step S120: determining the texture coordinates of each drawing point in each candidate navigation area.

[0085] ​The texture coordinates include a vertical texture coordinate along the navigation direction and a horizontal texture coordinate in a direction perpendicular to the navigation direction. The farther a drawing point is from a starting navigation position of the navigation guide surface in the navigation direction, the greater the vertical texture coordinate of the drawing point.

[0086] It should be understood that at least one of the horizontal texture coordinates and the vertical texture coordinates of the texture coordinates of different drawing points is different.

[0087] A drawing point refers to a point on the navigation guide surface that needs to draw a color in the guide arrow texture map. In some embodiments, a plurality of drawing points can be specified in the navigation guide surface, and then, after the candidate navigation areas are determined by division, the drawing points located in the candidate navigation areas are considered as the drawing points of the candidate navigation areas. In other embodiments, a plurality of drawing points can be specified in each candidate navigation area after the plurality of candidate navigation areas are determined by division. In specific embodiments, to ensure the texture drawing effect, the drawing points in each candidate navigation area include drawing points located on a boundary line of the candidate navigation area parallel to the navigation direction and drawing points located on a boundary line of the candidate navigation area perpendicular to the navigation direction, which is the area boundary line mentioned above. It can be understood that the more the number of drawing points on the navigation guide surface, the better the drawing effect.

[0088] The drawing points in the candidate navigation area can include drawing points located on the boundary lines on both sides of the navigation guide surface. The boundary lines of the navigation guide surface are substantially parallel to the navigation direction.

[0089] Generally, the texture coordinates start from (0, 0) and end at (1, 1), that is, generally, the horizontal texture coordinate ∈ [0, 1], and the vertical texture coordinate ∈ [0, 1]. In the present application, since the coordinates of each pixel point of the guide arrow texture map start from (0, 0) and end at (1, 1), the texture coordinates of each drawing point in the candidate navigation area can be determined according to the principle that the guide arrow texture map completely covers the candidate navigation area, that is, to ensure that ∈ [0, 1] for each drawing point in the candidate navigation area, and the maximum difference value of the horizontal texture coordinates of different drawing points in the same candidate navigation area is 1, and by analogy, the maximum difference value of the vertical texture coordinates of different drawing points in the same candidate navigation area is also 1. In addition, the farther a drawing point is from a starting navigation position of the navigation guide surface in the navigation direction, the greater the vertical texture coordinate of the drawing point. The vertical texture coordinate of the drawing point farther from the starting navigation position is determined on the basis of the vertical texture coordinate of the drawing point closer to the starting navigation position. In this way, the texture coordinates of the drawing points in different candidate navigation areas can be distinguished, and there is no case that the texture coordinates of different drawing points are the same.

[0090] Under this principle, in the present application, it can be set that the maximum vertical texture coordinate in the first candidate navigation area closest to the start navigation position is 1, and the minimum vertical texture coordinate in the first candidate navigation area closest to the start navigation position is 0; the maximum vertical texture coordinate in the kth candidate navigation area closest to the start navigation position is k, and the minimum vertical texture coordinate in the kth candidate navigation area closest to the start navigation position is k-1, k is a positive integer, and k does not exceed the total number of candidate navigation areas; and the first horizontal boundary line refers to the horizontal boundary line on the side of the candidate navigation area close to the start navigation position.

[0091] In an implementation manner, the texture coordinates of the drawing points can be determined according to (1)-(2) as follows:

[0092] (1) The horizontal texture coordinates of the drawing points in each candidate navigation area are determined according to the horizontal distances of the drawing points in the candidate navigation area from the first boundary line of the navigation guide surface, the horizontal texture coordinates are positively correlated with the horizontal distances, the horizontal texture coordinate of the drawing point located on the first boundary line is 0, the horizontal texture coordinate of the drawing point located on the second boundary line of the navigation guide surface is 1, the first boundary line and the second boundary line are both parallel to the navigation direction, and are located on different sides of the navigation guide surface respectively.

[0093] The horizontal distance of each drawing point from the first boundary line of the navigation guide surface can be determined according to the geographic coordinates of the drawing point and the first boundary line of the navigation guide surface. The geographic coordinates of the drawing point can be obtained from an electronic map, and the geographic coordinates of the drawing point can be latitude and longitude coordinates.

[0094] On the basis of setting the horizontal texture coordinate of the drawing point located on the first boundary line in each candidate navigation area as 0, the horizontal distance of the drawing point to the first boundary line of the candidate navigation area can be calculated, then the road width corresponding to the drawing point is determined, then the ratio of the determined horizontal distance to the road width corresponding to the drawing point is calculated as the horizontal texture coordinate of the drawing point.

[0095] For the drawing point located on the first boundary line of the candidate navigation area, the horizontal distance of the drawing point to the corresponding first boundary line is zero, and therefore the horizontal texture coordinate of the drawing point located on the first boundary line of the candidate navigation area is 0.

[0096] For the drawing point located on the second boundary line of the candidate navigation area, the horizontal distance of the drawing point to the corresponding first boundary line is the same as the road width corresponding to the drawing point, and therefore the horizontal texture coordinate of the drawing point located on the second boundary line of the candidate navigation area is 1.

[0097] Continuing the above Figure 6 Corresponding examples, Figure 7The partial drawing points in the candidate navigation area C1 and the candidate navigation area C2 are exemplarily shown in FIG. 5, for the purpose of illustration, Figure 7 The candidate navigation area C1 and the candidate navigation area C2 in FIG. 5 are enlarged in FIG. 6. Figure 6 The candidate navigation area C1 and the candidate navigation area C2 in FIG. 5 are enlarged in FIG. 6.

[0098] The drawing point Q1, the drawing point Q2 and the drawing point Q3 are located in the candidate navigation area C1. The candidate navigation area C1 has two boundary lines parallel to the navigation direction, which are line L3 and line L4 respectively. If the line L3 is regarded as the first boundary line of the candidate navigation area C1, and the line L4 is regarded as the second boundary line of the candidate navigation area C1, the line L5 is the horizontal boundary line of the candidate navigation area C1 close to the start navigation position.

[0099] Since the drawing point Q1 is located on the first boundary line (i.e. the line L3) of the candidate navigation area C1, the horizontal texture coordinate of the drawing point Q1 is 0. The distance between the drawing point Q2 and the line L3 is w1, i.e. the horizontal distance between the drawing point Q2 and the first boundary line of the candidate navigation area C1 is w1. Assuming that the road width corresponding to the drawing point Q2 is W, the horizontal texture coordinate of the drawing point Q2 is w1 / W.

[0100] It is worth mentioning that since the position of the first boundary line of the navigation guide surface at different positions can be different, i.e. the first boundary line of different candidate navigation areas can be different, and the second boundary line of different candidate navigation areas can also be different, the horizontal distance between each drawing point and the first boundary line of the navigation guide surface refers to the horizontal distance between each drawing point and the first boundary line of the navigation guide surface at the position corresponding to the drawing point, i.e. the horizontal distance between the drawing point and the first boundary line of the candidate navigation area where the drawing point is located.

[0101] Please continue to refer to FIG. 6. Figure 7 As shown in FIG. 6, the first boundary line of the candidate navigation area C2 is the line L1, which is obviously not collinear with the first boundary line (i.e. the line L3) of the candidate navigation area C1, i.e. the positions are different; the first boundary line of the candidate navigation area C2 is the line L2, which is obviously not collinear with the second boundary line (i.e. the line L4) of the candidate navigation area C1. Similarly, since the drawing point Q4 is located on the first boundary line (i.e. the line L1) of the candidate navigation area C2, the horizontal texture coordinate of the drawing point Q4 is 0; since the drawing point Q5 is located on the second boundary line (i.e. the line L2) of the candidate navigation area C2, the horizontal texture coordinate of the drawing point Q5 is 1.

[0102] In some embodiments, the horizontal distance of the drawing point to the second boundary line of the candidate navigation area where the drawing point is located can also be calculated, and the road width corresponding to the drawing point is determined, then the ratio of the determined horizontal distance to the road width corresponding to the drawing point is calculated as the first ratio, and the difference between 1 and the first ratio is taken as the horizontal texture coordinate of the drawing point. In this case, the horizontal texture coordinate of the drawing point is negatively correlated with the horizontal distance of the drawing point to the second boundary line of the candidate navigation area where the drawing point is located.

[0103] (2) The vertical texture coordinates of the drawing points in each candidate navigation area are determined according to the vertical distance between each drawing point and the first horizontal boundary line of the candidate navigation area where the drawing point is located, and the vertical texture coordinates are positively correlated with the vertical distance. The vertical texture coordinates of the drawing points in the kth candidate navigation area closest to the starting navigation position are ∈ [k-1, k], k is a positive integer, and k does not exceed the total number of candidate navigation areas; the first horizontal boundary line refers to the horizontal boundary line on the side of the candidate navigation area closest to the starting navigation position.

[0104] In some embodiments, the vertical texture coordinates can be determined according to the following ①-③:

[0105] ① The reference vertical texture coordinate corresponding to the kth candidate navigation area closest to the starting navigation position is obtained. When k = 1, the reference vertical texture coordinate is 0, and when k is greater than 1, the reference vertical texture coordinate is equal to the maximum vertical texture coordinate in the (k-1)th candidate navigation area closest to the starting navigation position.

[0106] It can be understood that in the direction perpendicular to the navigation direction, each candidate navigation area also corresponds to two horizontal boundary lines. For ease of description, the horizontal boundary line on the side of the candidate navigation area closest to the starting navigation position is referred to as the first horizontal boundary line, and the horizontal boundary line on the side of the candidate navigation area farthest from the starting navigation position is referred to as the second horizontal boundary line. For example, Figure 7 The first horizontal boundary line of the candidate navigation area C1 in FIG. 1 is the line L5, and the second horizontal boundary line of the candidate navigation area C1 is the area boundary line D1; the first horizontal boundary line of the candidate navigation area C2 is the area boundary line D1, and the second horizontal boundary line of the candidate navigation area C2 is the area boundary line D2.

[0107] Since the second horizontal boundary line of the k-1th candidate navigation area closest to the start navigation position coincides with the first horizontal boundary line of the kth candidate navigation area closest to the start navigation position, the vertical texture coordinate of the drawing point located on the first horizontal boundary line of the kth candidate navigation area closest to the start navigation position is the minimum vertical texture coordinate in the candidate navigation area. Therefore, it can also be understood that the reference vertical texture coordinate corresponding to the kth candidate navigation area closest to the start navigation position is equal to the minimum vertical texture coordinate in the kth candidate navigation area closest to the start navigation position.

[0108] As described above, in the present application, the maximum vertical texture coordinate in the k-1th candidate navigation area closest to the start navigation position is k-1, and therefore the reference vertical texture coordinate corresponding to the kth candidate navigation area closest to the start navigation position is k-1.

[0109] ②According to the vertical distance between each drawing point in the kth candidate navigation area and the first horizontal boundary line of the kth candidate navigation area, and the reference height corresponding to the kth candidate navigation area, determine the vertical texture coordinate increment corresponding to each drawing point in the kth candidate navigation area.

[0110] The vertical texture coordinate increment corresponding to each drawing point refers to the increment of the vertical texture coordinate of the drawing point relative to the vertical texture coordinate of the drawing point on the first horizontal boundary line in the candidate navigation area where the drawing point is located.

[0111] The reference height corresponding to the kth candidate navigation area is the length of the kth candidate navigation area along the navigation direction. That is, the reference height corresponding to the kth candidate navigation area is equal to the distance between the second horizontal boundary line of the kth candidate navigation area and the first horizontal boundary line of the kth candidate navigation area.

[0112] In some embodiments, since the width-height ratio of the candidate navigation area is equal to the target width-height ratio, the reference height of the kth candidate navigation area can also be equal to the ratio of the reference road width of the kth candidate navigation area to the target width-height ratio.

[0113] In some embodiments, the reference road width of a candidate navigation area can be determined by the road width corresponding to multiple drawing points in the candidate navigation area, for example, can be equal to the maximum road width in the candidate navigation area, or equal to the average road width in the candidate navigation area, etc., which is not specifically limited here.

[0114] In specific embodiments, the vertical texture coordinate increment corresponding to each drawing point in the kth candidate navigation area can be equal to the ratio of the vertical distance corresponding to the drawing point to the reference height corresponding to the kth candidate navigation area.

[0115] Please continue to refer to Figure 7 , the vertical distance between the drawing point Q3 of the candidate navigation area C1 and the first horizontal boundary line (i.e. the line L5) of the candidate navigation area C1 is h1, assuming that the reference height corresponding to the candidate navigation area C1 is H, then the vertical texture coordinate increment corresponding to the drawing point Q3 is h1 / H. It can be understood that the reference height corresponding to the candidate navigation area C1 is equal to the distance between the region boundary line D1 and the line L5.

[0116] It can be understood that since the vertical distance between the drawing point located on the second horizontal boundary line of the kth candidate navigation area and the first horizontal boundary line of the kth candidate navigation area is equal to the reference height corresponding to the kth candidate navigation area, the vertical texture coordinate increment of the drawing point located on the second horizontal boundary line of the kth candidate navigation area is equal to 1.

[0117] ③ determining the vertical texture coordinates of the drawing points in the kth candidate navigation area according to the vertical texture coordinate increments corresponding to the drawing points in the kth candidate navigation area and the reference vertical texture coordinate corresponding to the kth candidate navigation area.

[0118] The vertical texture coordinates of the drawing points in the kth candidate navigation area can be equal to the sum of the vertical texture coordinate increments corresponding to the drawing points and the reference vertical texture coordinate corresponding to the kth candidate navigation area.

[0119] By analogy, the vertical texture coordinates of the drawing points in the kth candidate navigation area can be determined, for example, after determining the vertical texture coordinates of all the drawing points in the kth candidate navigation area, k is accumulated by 1, and the vertical texture coordinates of the drawing points in the next candidate navigation area are determined according to the above-mentioned process ①-③.

[0120] In other embodiments, if the maximum vertical texture coordinate of the drawing points in the kth candidate navigation area is set as k, the vertical texture coordinates of the drawing points in the kth candidate navigation area can be determined according to the following process: determining the vertical distance between each drawing point and the second horizontal boundary line of the candidate navigation area where the drawing point is located as the first vertical distance corresponding to the drawing point; then, calculating the ratio of the first vertical distance corresponding to the drawing point and the reference height corresponding to the candidate navigation area where the drawing point is located as the first vertical texture coordinate increment corresponding to the drawing point, subtracting the maximum vertical texture coordinate k of the kth candidate navigation area from the first vertical texture coordinate increment corresponding to the drawing point to obtain the vertical texture coordinate of the drawing point.

[0121] Based on the above process, the texture coordinates of the drawing points in different candidate navigation areas can be determined.

[0122] Step S130: determining a texture drawing region in the plurality of candidate navigation regions under the flow offset based on the flow offset and the texture coordinates of the drawing points in the plurality of candidate navigation regions. The flow offset changes over time. The flow offset can gradually increase over time, or periodically change over time. The period of the change of the flow offset over time can be set as needed, and is not specifically limited herein.

[0123] In an implementation manner, a function of the change of the flow offset over time can be set, which can be a linear function, a sine function, a cosine function, an exponential function, a logarithmic function, etc. Then, the flow offset at different times can be determined according to the function.

[0124] For example, if the function is a linear function, it can be offset(t) = a x t + b, where offset(t) represents the flow offset at the current time t, a represents a slope and is a positive number, used to determine the rate of change of the flow offset over time, t represents the current time, and b represents an initial flow offset when the time t is zero.

[0125] In some embodiments, a can be determined according to the speed of the target object, i.e., the moving speed of the user (i.e., the target object) currently using the map application (or using the navigation service). For example, a can be positively correlated with the speed of the target object, i.e., the faster the speed of the target object, the larger a is. In another implementation manner, if the flow offset periodically changes over time, the set function can be offset(t) = A x Cos(2π / T x t) + C, where offset(t) is the offset at the current time t, t is the current time, A is a preset value, T is a time period, and C is an initial flow offset.

[0126] It can be understood that the position of the determined texture drawing region changes with the change of the flow offset. The determined texture drawing region is the region in which the guide arrow texture is actually drawn.

[0127] In some embodiments, a target vertical texture coordinate range can be determined based on the flow offset and the texture coordinates of the drawing points in the plurality of candidate navigation regions, and the drawing points with the vertical texture coordinates in the target vertical texture coordinate range are regarded as the drawing points in the texture drawing region. It can be understood that the target vertical texture coordinate range includes an upper limit vertical texture coordinate and a lower limit vertical texture coordinate, the upper limit vertical texture coordinate is the maximum vertical texture coordinate in the target vertical texture coordinate range, and the lower limit vertical texture coordinate is the minimum vertical texture coordinate in the target vertical texture coordinate range.

[0128] In some embodiments, a target drawing point in the plurality of candidate navigation areas can be determined based on the flow offset and the texture coordinates of the drawing points in the plurality of candidate navigation areas, where the target drawing point has a minimum difference between the vertical texture coordinate and the flow offset. Then, the vertical texture coordinate of the target drawing point can be used as the lower limit vertical texture coordinate, and an upper limit vertical texture coordinate can be determined according to the lower limit vertical texture coordinate.

[0129] In some embodiments, the determined texture drawing region can be used to draw a guide arrow texture map, and in this case, the difference between the upper limit vertical texture coordinate and the lower limit vertical texture coordinate in the determined target texture coordinate range is 1.

[0130] If the determined texture drawing region is used to draw a guide arrow texture map, the determined texture drawing region can be one of the plurality of candidate navigation areas, or can span two adjacent candidate navigation areas, i.e., part of the texture drawing region is located in one of the two adjacent candidate navigation areas, and the other part is located in the other navigation area.

[0131] In some embodiments, the determined texture drawing region can be used to draw n guide arrow texture maps, where n is a positive integer greater than 1, and n is less than the total number of candidate navigation areas. In this case, the difference between the upper limit vertical texture coordinate and the lower limit vertical texture coordinate in the determined target texture coordinate range is n.

[0132] In one implementation, referring to Figure 8 The above step S130 can include steps S132-S136.

[0133] Step S132: Determine the maximum vertical texture coordinate in the plurality of candidate navigation areas according to the texture coordinates of the drawing points in the plurality of candidate navigation areas.

[0134] In one implementation, since the vertical texture coordinate of a drawing point farther from the start navigation position of the navigation guide surface is larger, the maximum vertical texture coordinate in the texture coordinates of the drawing points in the candidate navigation area farthest from the start navigation position of the navigation guide surface can be determined as the maximum vertical texture coordinate in the plurality of candidate navigation areas.

[0135] Step S134: Determine the upper limit vertical texture coordinate and the lower limit vertical texture coordinate according to the maximum vertical texture coordinate and the flow offset.

[0136] Wherein the upper limit vertical texture coordinate and the lower limit vertical texture coordinate are both less than or equal to the maximum vertical texture coordinate.

[0137] In an embodiment, the step S134 can be determining an upward rounding result of the maximum vertical texture coordinate; calculating a remainder result of the flow offset and the upward rounding result; taking the remainder result as the lower limit vertical texture coordinate, and taking a sum of 1 and the remainder result as the upper limit vertical texture coordinate.

[0138] For example, if the determined upward rounding result of the maximum vertical texture coordinate is maxV, and the flow offset is represented as offset, the remainder result of the flow offset and the upward rounding result can be represented as offset%maxV, and correspondingly, the lower limit vertical texture coordinate is offset%maxV, and the upper limit vertical texture coordinate is offset%maxV+1.

[0139] In another embodiment, the step S134 can also be subtracting the maximum vertical texture coordinate from the flow offset to obtain the upper limit vertical texture coordinate, and subtracting 1 from the upper limit vertical texture coordinate to obtain the lower limit vertical texture coordinate.

[0140] In this case, the value range of the flow offset can be determined according to the maximum vertical texture coordinate and the minimum vertical texture coordinate. For example, if the value of the maximum vertical texture coordinate is K, and the value of the minimum vertical texture coordinate is 0, the value of the flow offset can be between 0 and K-1.

[0141] In yet another embodiment, the minimum vertical texture coordinate in the plurality of candidate navigation areas can also be added to the flow offset to obtain the lower limit vertical texture coordinate, and 1 can be added to the lower limit vertical texture coordinate to obtain the upper limit vertical texture coordinate.

[0142] Step S136: taking the drawing points in the plurality of candidate navigation areas whose vertical texture coordinates are within the vertical texture coordinate range defined by the upper limit vertical texture coordinate and the lower limit vertical texture coordinate as the drawing points of the texture drawing area under the flow offset.

[0143] For example, if the distance is as above, if the lower limit vertical texture coordinate is determined as offset%maxV, and the upper limit vertical texture coordinate is determined as offset%maxV+1, the drawing points whose vertical texture coordinates are within [offset%maxV, offset%maxV+1] are taken as the drawing points of the texture drawing area under the flow offset.

[0144] Step S140: drawing the guide arrow texture in the texture drawing area according to the texture coordinates of the drawing points in the texture drawing area under the flow offset.

[0145] In an embodiment, the step S140 includes the following 1)-3):

[0146] 1) determining the vertical offset according to the texture coordinates of the drawing points in the texture drawing region under the flow offset.

[0147] As described above, the pixel coordinates of the pixels of the guide arrow texture map are within the range of (0, 0) to (1, 1), but in the present application, the determined vertical texture coordinates of the drawing points can be greater than 1, so in the present application, in order to align the drawing points in the texture drawing region with the pixels in the guide arrow texture map, it is necessary to first determine the vertical offset of the texture coordinates of the drawing points in the texture drawing region relative to the pixels of the guide arrow texture map.

[0148] In some embodiments, if the texture drawing region is used to draw one guide arrow texture map, the minimum vertical texture coordinate in the texture drawing region can be used as the vertical offset; or the difference between the maximum vertical texture coordinate in the texture drawing region and 1 can be used as the vertical offset.

[0149] In some embodiments, if the determined texture drawing region is used to draw n (n is a positive integer greater than 1, and n is less than the total number of candidate navigation regions) guide arrow texture maps, the region in the texture drawing region used to draw one guide arrow texture map can be regarded as a sub-texture drawing region, and then the corresponding vertical offset can be determined for each sub-texture drawing region. For example, the minimum vertical texture coordinate in the texture drawing region can be used as the vertical offset of the first texture drawing region closest to the starting navigation position, and the vertical offset of the jth sub-texture drawing region closest to the starting navigation position is equal to the sum of the vertical offset of the (j-1)th sub-texture drawing region closest to the starting navigation position and 1. j is an integer greater than 1, and j≤n. Similarly, the maximum vertical texture coordinate in the texture drawing region can also be used to determine the corresponding vertical offset of each sub-texture drawing region.

[0150] 2) determining the corresponding pixels of the drawing points in the guide arrow texture map in the texture drawing region under the flow offset according to the vertical offset and the texture coordinates of the drawing points in the texture drawing region under the flow offset.

[0151] If the texture coordinates of the drawing points are (x, y), the corresponding pixels of the drawing points in the guide arrow texture map are the pixels with pixel coordinates (x, y-y1), where y1 is the determined vertical offset.

[0152] 3) drawing the drawing points in the texture drawing region under the flow offset according to the pixel values of the corresponding pixels in the guide arrow texture map, to draw the guide arrow texture map in the texture drawing region.

[0153] In the drawing process, the color value to be drawn for the drawing point in the texture drawing region is the pixel value of the corresponding pixel point of the guide arrow texture image of the drawing point. Thus, after determining the corresponding pixel point of each drawing point in the texture drawing region in the guide arrow texture image, the color to be drawn at the drawing point in the texture drawing region can be correspondingly determined. In this way, after drawing according to the above process, the guide arrow texture image can be drawn in the texture drawing region.

[0154] By using the above method of the present application, the navigation guide surface is regionally divided along the navigation direction to obtain a plurality of candidate navigation regions with a target width-height ratio according to the width-height ratio of the guide arrow texture image. Since the width-height ratio of the plurality of candidate navigation regions is equal to the target width-height ratio, if the widths of different candidate navigation regions are different, the corresponding heights are also different. Thus, the plurality of candidate navigation regions are adaptively divided on the navigation guide surface according to the width of the guide surface, so that the guide arrow texture image will not be stretched or shrunk when displayed in each candidate navigation region. According to the principle that the vertical texture coordinates of the drawing points farther from the starting navigation position of the navigation guide surface in the navigation direction are greater, after determining the texture coordinates of each candidate navigation region, it can be ensured that the drawing points in different candidate navigation regions are distinguished by the vertical texture coordinates. Thus, it is convenient to determine the texture drawing region based on the texture coordinates of the drawing points. By determining the texture drawing region under the flow offset based on the time-varying flow offset and the texture coordinates of each drawing point in the plurality of candidate navigation regions, the position of the determined texture drawing region also changes when the flow offset changes. Since the determined texture drawing region is used to draw the guide arrow texture image, the guide arrow texture image drawn on the navigation guide surface also changes when the flow offset changes over time. Thus, a dynamic flow visual effect of the guide arrow texture image drawn on the navigation guide surface is presented, so that the navigation guide is performed by using the dynamic flow guide arrow texture image. Thus, the problem of single navigation guide information in the related art is solved, and the user experience is improved.

[0155] Please refer to Figure 9 In an implementation manner, the step S110 includes:

[0156] Step S111: Obtain a plurality of line point pairs on the navigation guide surface, and determine the road surface width corresponding to each line point pair.

[0157] The two edge points in each edge point pair are located on different boundary lines of the navigation guide surface and are aligned in a direction perpendicular to the navigation direction. The road surface width corresponding to each edge point pair can be equal to the distance between the two edge points in the edge point pair, or the distance between the two edge points in the edge point pair in a direction perpendicular to the navigation direction.

[0158] In an implementation manner, the step S111 can include: sampling the first boundary line of the navigation guide surface to obtain a plurality of first edge points; for each first edge point, obtaining a second edge point on the second boundary line aligned with the first edge point, each first edge point and the corresponding second edge point together constitute an edge point pair, and the distance between the first edge point and the second edge point in the edge point pair is the road surface width corresponding to the edge point pair.

[0159] The sampling can be equidistant sampling, which is not limited herein. In some embodiments, a first straight line passing through the first edge point and perpendicular to the second boundary line can be determined, and the intersection point of the first straight line and the second boundary line is determined as the second edge point on the second boundary line aligned with the first edge point. In other embodiments, the point on the second boundary line closest to the first edge point can also be determined as the second edge point on the second boundary line aligned with the first edge point.

[0160] Of course In other embodiments, the first and second portions can be formed by first forming a first portion and then forming a second portion on the first portion, in any order. The second boundary line of the navigation guide surface is sampled to obtain a plurality of second edge points, and then the edge points aligned with the second sampling points are determined on the first boundary line in a similar manner as described above, and the edge point pairs are constructed correspondingly.

[0161] In another implementation manner, the step S111 can also include: sampling the center line of the navigation guide surface to obtain a plurality of sampling points; determining the edge points aligned with the sampling points on the first boundary line and the second boundary line of the navigation guide surface, respectively; taking the two edge points aligned with the same sampling point as an edge point pair; and obtaining the road surface width corresponding to each edge point pair based on the distance between the two edge points in the edge point pair.

[0162] For example, as Figure 10 shown, a schematic diagram of a part of a navigation guide surface is shown, which has two boundary lines in the navigation direction and a navigation center line between the two boundary lines. In the navigation guide surface in Figure 10 , the center line within a preset distance range from the target object is sampled to obtain a plurality of sampling points as Figure 11 shown.

[0163] In some embodiments, for each sampling point on the center line, a first perpendicular line passing through the sampling point and perpendicular to the first boundary line can be determined, and a second perpendicular line passing through the sampling point and perpendicular to the second boundary line can be determined, and then the intersection of the first perpendicular line and the first boundary line and the intersection of the second perpendicular line and the second boundary line are taken as two boundary points aligned with the same sampling point.

[0164] In one embodiment, for each sampling point on the center line, a line connecting the sampling point and one of its neighboring sampling points can be determined, and a perpendicular line passing through the sampling point and perpendicular to the connecting line can be determined, and the intersection of the perpendicular line and the first boundary line and the intersection of the perpendicular line and the second boundary line are taken as two boundary points aligned with the same sampling point.

[0165] In another embodiment, the plurality of sampling points on the center line includes two end sampling points in the navigation direction and a plurality of intermediate sampling points between the two end sampling points, and determining the boundary points aligned with each sampling point on the first boundary line and the second boundary line of the navigation guide surface can include:

[0166] 1) for the end sampling points, determining a first straight line passing through the end sampling point and perpendicular to the first boundary line, and taking the intersection of the first straight line and the first boundary line as the boundary point on the first boundary line aligned with the end sampling point, and determining a second straight line passing through the end sampling point and perpendicular to the second boundary line, and taking the intersection of the second straight line and the second boundary line as the boundary point on the second boundary line aligned with the end sampling point. It should be understood that the way of determining the two boundary points aligned with the end sampling point here can also be replaced by the way of determining the boundary point pair corresponding to the target sampling point described above.

[0167] 2) determining the boundary points aligned with each intermediate sampling point on the first boundary line and the second boundary line in the following manner: determining the first neighboring sampling point and the second neighboring sampling point of the intermediate sampling point; determining the angle bisector of the included angle formed by the first connecting line and the second connecting line, the first connecting line being a straight line passing through the intermediate sampling point and the first neighboring sampling point, and the second connecting line being a straight line passing through the intermediate sampling point and the second neighboring sampling point; and taking the intersection of the angle bisector and the first boundary line and the intersection of the angle bisector and the second boundary line as the boundary points aligned with the intermediate sampling point. In this way, the boundary points aligned with each sampling point on the first boundary line and the second boundary line of the navigation guide surface can be obtained as shown in Figure 11 Figure 12 ​The edge point pair AA1 corresponding to the end sampling point closest to the start position of the middle distance navigation, the edge point pair KK1 corresponding to the end sampling point closest to the start position of the distance navigation, and the edge point pairs BB1, CC1, DD1, EE1, FF1, GG1, HH1, II1 and JJ1 aligned with each intermediate sampling point. Step S112: According to the road width corresponding to each edge point pair, the navigation guide surface is divided into multiple candidate partitions along the navigation direction.

[0168] The width difference between the road widths corresponding to different edge point pairs in the same candidate partition does not exceed the distance threshold.

[0169] In an optional embodiment, step S112 includes 1)-5) as follows:

[0170] 1) Sort the plurality of edge point pairs along the navigation direction, and the edge point pair farther away from the start navigation position of the navigation guide surface in the navigation direction has a larger serial number, to determine the target sorting of the plurality of edge point pairs.

[0171] 2) Add the first edge point pair in the target sorting to the first partition set, and initialize the maximum road width MaxDist(1) corresponding to the first partition set MaxDist(1) = Dist(1), Dist(1) being the road width corresponding to the first edge point pair;

[0172] 3) Traverse the i-th edge point pair according to the target sorting, where i starts from 2, i is a positive integer, i does not exceed N, and N is the total number of edge point pairs;

[0173] 4) Determine the maximum road width MaxDist(v) corresponding to the partition set (supposed to be the v-th partition set) where the i-1-th edge point pair is located; v is a positive integer; when i = 2, v = 1;

[0174] 4) If the absolute value of the difference between the road width corresponding to the i-th edge point pair and MaxDist(v) does not exceed the distance threshold, add the i-th edge point pair to the v-th partition set, and update the maximum road width MaxDist(v) corresponding to the v-th partition set;

[0175] If the absolute value of the difference between the road width corresponding to the i-th edge point pair and MaxDist(v) exceeds the distance threshold, create the v+1-th partition set, add the i-th edge point pair to the v+1-th partition set, and initialize the maximum road width MaxDist(v+1) corresponding to the v+1-th partition set as the road width corresponding to the i-th edge point pair;

[0176] 5) Increment i by 1, and return to 3) above until i = N.

[0177] According to the above process, a plurality of partition sets can be determined, wherein the width difference between the road surface widths corresponding to different edge point pairs in the same partition set does not exceed the distance threshold.

[0178] For example, 1)-5) included in S112 above can divide the edge point pairs in Figure 12 into two partition sets (i.e., a first partition set and a second partition set) as shown in Figure 13 , wherein the first partition set includes edge point pairs AAI, BB1, CC1 and DD1, and the second partition set includes edge point pairs EE1, FF1,..., KK1.

[0179] On this basis, for a plurality of edge point pairs in a partition set, a candidate partition can be determined. For the first partition set, the horizontal boundary line close to the start navigation position can be taken as the lower limit horizontal boundary line of the first candidate partition corresponding to the first partition set (i.e., the horizontal boundary line close to the start navigation position), and the line connecting the edge point pair farthest from the start navigation position in the first partition set can be taken as the upper limit horizontal boundary line of the first candidate partition (i.e., the horizontal boundary line far from the start navigation position).

[0180] Similarly, the line connecting the edge point pair farthest from the navigation position in the vth partition set can be taken as the upper limit horizontal boundary line of the vth candidate partition corresponding to the vth partition set (i.e., the horizontal boundary line far from the start navigation position), and the line connecting the edge point pair farthest from the navigation position in the (v-1)th partition set can be taken as the lower limit horizontal boundary line of the vth candidate partition, wherein v is greater than 1. In this way, each candidate partition (first candidate partition,..., vth candidate partition) can be determined.

[0181] For example, Figure 14 shows the first candidate partition and the second candidate partition determined according to the first partition set and the second partition set in Figure 13 , wherein the lower limit horizontal boundary line of the first candidate partition is the line between the edge point pair AAI closest to the start navigation position, and the upper limit horizontal boundary line of the first candidate partition is the line connecting the edge point pair DD1 farthest from the start navigation position in the first partition set; the lower limit horizontal boundary line of the second candidate partition is the upper limit horizontal boundary line DD1 of the first candidate partition, and the upper limit horizontal boundary line of the second candidate partition is the line connecting the edge point pair KK1 farthest from the start navigation position in the second partition set.

[0182] Step S113: determining the reference road surface width of each candidate partition according to the road surface widths corresponding to the plurality of edge point pairs located in the same candidate partition.

[0183] In an implementation, for each candidate partition, the maximum road width or the average road width among the pairs of edge points located in the candidate partition is taken as the reference road width of the candidate partition.

[0184] Step S114: determining the reference height of each candidate partition according to the geographic coordinates of the different pairs of edge points located in the same candidate partition.

[0185] In one implementation, the reference height of a candidate partition is equal to the maximum interval distance of the different edge points in the candidate partition in the navigation direction.

[0186] Step S115: dividing the navigation guide surface into candidate navigation regions along the corresponding navigation direction according to the reference road width and the reference height of each candidate partition and the target width-height ratio of the guide arrow texture map, to obtain a plurality of candidate navigation regions with the target width-height ratio.

[0187] In one implementation, the width of each candidate navigation region can be the same as the reference road width of the candidate partition in which the candidate navigation region is located, or the ratio between the width of each candidate navigation region and the reference road width of the candidate partition in which the candidate navigation region is located can be a preset ratio, such as 0.9 or 0.8, so that the width of the candidate navigation region is adapted to the road width of the navigation guide surface while avoiding the candidate navigation region occupying too much field of view space and thus avoiding the candidate navigation region interfering with the driver's observation of the surrounding environment.

[0188] In another implementation, referring to Figure 15 , the above step S115 can specifically include steps S115a-S115g: step S115a: sorting the plurality of candidate partitions along the navigation direction to obtain a target sorting; step S115b: taking the first candidate partition in the target sorting as a target candidate partition; step S115c: taking the ratio between the reference width of the target candidate partition and the target width-height ratio as the target reference height corresponding to the target candidate partition; step S115d: determining whether the target reference height of the target candidate partition is less than the reference height corresponding to the target candidate partition. If the target reference height of the target candidate partition is not less than the reference height corresponding to the target candidate partition, step S115e is executed: sequentially dividing one or more partitions in the target candidate partition along the navigation direction, with the height of each partition being equal to the target reference height corresponding to the target candidate partition, and each partition being taken as a candidate navigation region. Step S115f: determining whether there is still a remaining partition in the target candidate partition that has not been divided as a candidate navigation region.

[0189] As shown in Figure 16 , it is shown that Figure 14After the first candidate partition is designated as the target partition, if one or more candidate navigation areas with heights equal to the target reference height corresponding to the target candidate partition are sequentially divided in the target candidate partition along the navigation direction, the intersection of the target area boundary line and the center line of the candidate area furthest from the starting navigation position is determined as a new sampling point S1. The edge point pair corresponding to the sampling point S1 is obtained in a similar manner to the aforementioned step S111. The area obtained by dividing the line between the two boundary points in the edge point pair corresponding to S1 and the line between DD1 is determined as the remaining partition in the target candidate partition.

[0190] If there are remaining partitions in the target candidate partitions that have not been divided into candidate navigation areas, then execute step S115g: merge the remaining partitions into the next candidate partition in the target candidate distinction in the target sorting, and update the reference height of the next candidate partition based on the height of the remaining partition in the navigation direction; take the merged next candidate partition as the new target candidate partition, and return to execute step S115d.

[0191] For example, it will be as follows Figure 16 The remaining partitions in the first candidate partition are merged into the second candidate partition to obtain the following result: Figure 17 The updated second candidate partition shown can be used as the new target candidate partition. At this time, the reference height of the new target candidate partition is the maximum distance along the navigation direction between the point on the line connecting the two boundary points in the edge point pair corresponding to sampling point S1 and the point on the line connecting the edge point pair KK1.

[0192] In one possible implementation, if there are no remaining partitions in the target candidate partitions that have not been divided into candidate navigation areas, then step S115h is executed: the next candidate partition in the target candidate distinction in the target sorting is taken as the new target candidate partition, and the process returns to step S115c to take the ratio of the reference width of the target candidate partition to the target width-to-height ratio as the target reference height corresponding to the target candidate partition.

[0193] In one possible implementation, if the target reference height of the target candidate partition is less than the reference height corresponding to the target candidate partition, then step S115i is executed: the target candidate partition is merged into the next candidate partition in the target candidate distinction in the target sorting, and the reference height of the merged next candidate partition is updated based on the reference height of the target candidate partition; the merged next candidate partition is used as the new target candidate partition, and the execution of step S115c is returned.

[0194] By adopting the steps S115a-S115i, the height-width ratio of each candidate navigation area can be made consistent with the target height-width ratio of the guide arrow texture map, and the multiple candidate navigation areas arranged along the navigation direction are sequentially adjacent in position, so that when the texture drawing area under the flow offset is determined in the multiple candidate navigation areas and the guide arrow texture map is drawn in the texture drawing area, regardless of the size change of the candidate navigation area, the height-width ratio of the guide arrow texture map is always the target height-width ratio, the width of the guide arrow texture map is adapted to the width of the candidate navigation area where the guide arrow texture map is located, and the guide arrow texture map can move along the guide direction over time, and the transition between different candidate navigation areas can be smooth during the movement, so that the navigation guidance is more intuitive and clear.

[0195] The navigation guidance surface processing method provided in the application can be applied to the case of navigation driving using an electronic map. The electronic map is not limited, and can be a high-precision map, a high-definition map, a three-dimensional map, or a low-precision map, a navigation map, a two-dimensional map, etc. The method can be executed by an electronic device configured with a map navigation service. The electronic device can be a terminal device (such as a notebook computer, a desktop computer, a vehicle-mounted computer, a mobile phone, etc.), a server, a server cluster, etc. Here, the navigation service provided by the terminal device for the target vehicle during driving is taken as an example, the user can run the product (such as an application) corresponding to the electronic map through the terminal device, and then the terminal device can execute the navigation guidance surface processing method of the application to add the flow display guide arrow texture map in the electronic map navigation guidance surface, thereby providing more accurate navigation guidance for the user.

[0196] On the basis of steps S111-S115 and steps S115a-S115i, the navigation guidance surface in Figure 17 is divided into multiple candidate navigation areas, as shown in Figure 18 , the vertical texture coordinates of each drawing point in each candidate navigation area are determined to increase along the navigation direction, and the arrow flow direction is also along the navigation direction. After obtaining the flow offset at different times, the texture drawing area under each flow offset can be determined in the multiple navigation guidance areas according to the flow offset at different times and the texture coordinates of each drawing point in the multiple navigation areas, and the corresponding guide arrow texture map is drawn in the texture drawing area. Please refer to Figure 19 , Figure 19 , and A in Figure 19Fig. 19B illustrates a schematic diagram of drawing a guide arrow texture map in a navigation guide surface on an electronic map at time t2. As can be seen from Fig. 19A and Fig. 19B, the width of the guide arrow texture map drawn in the navigation guide surface varies with the width of the navigation guide surface, ensuring that the guide arrow texture map can be clearly displayed on roads of different widths, and although the width of the guide arrow texture map changes, the width-height ratio of the guide arrow texture map remains consistent, which helps to maintain visual harmony and does not distort due to the change in the width of the road surface of the navigation guide surface. In addition, since the guide arrow texture map moves along the navigation direction over time, the user can also be clearly aware of their driving direction at any time without worrying about the loss or confusion of navigation information due to the change in the width of the road surface, thereby providing a better navigation experience for the user and enabling the user to focus on driving while obtaining accurate and clear navigation information.

[0197] It should be understood that although each step in the flowchart involved in each of the above embodiments is shown in sequence according to the arrow, these steps are not necessarily executed in the order indicated by the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart involved in each of the above embodiments can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or steps or stages in other steps.

[0198] Please refer again to Figure 2In another embodiment of the present application, a processing device 255 for a navigation guide surface is provided, comprising a region division module 2551, a texture coordinate determination module 2552, a texture region determination module 2553, and a texture map drawing module 2554. The region division module 2551 is configured to divide the navigation guide surface in the electronic map along a corresponding navigation direction according to a target width-height ratio of the guide arrow texture map, to obtain a plurality of candidate navigation regions with a width-height ratio equal to the target width-height ratio. The texture coordinate determination module 2552 is configured to determine texture coordinates of each drawing point in each candidate navigation region, the texture coordinates including a vertical texture coordinate along the navigation direction and a horizontal texture coordinate in a direction perpendicular to the navigation direction. The vertical texture coordinate of a drawing point farther away from a starting navigation position of the navigation guide surface along the navigation direction is greater. The drawing region determination module 2553 is configured to determine a texture drawing region under a flow offset in the plurality of candidate navigation regions based on the flow offset and the texture coordinates of each drawing point in the plurality of candidate navigation regions. The flow offset changes over time. The texture map drawing module 2554 is configured to draw the guide arrow texture map in the texture drawing region according to the texture coordinates of each drawing point in the texture drawing region under the flow offset.

[0199] In an implementation, the texture region determination module 2553 comprises a first coordinate determination submodule, a second coordinate determination submodule, and a drawing point determination submodule. The first coordinate determination submodule is configured to determine a maximum vertical texture coordinate in the plurality of candidate navigation regions according to the texture coordinates of each drawing point in the plurality of candidate navigation regions. The second coordinate determination submodule is configured to determine an upper limit vertical texture coordinate and a lower limit vertical texture coordinate according to the maximum vertical texture coordinate and the flow offset, the upper limit vertical texture coordinate and the lower limit vertical texture coordinate both not exceeding the maximum vertical texture coordinate. The drawing point determination submodule is configured to take, as the drawing points of the texture drawing region under the flow offset, the drawing points in the plurality of candidate navigation regions whose vertical texture coordinates are within a vertical texture coordinate range defined by the upper limit vertical texture coordinate and the lower limit vertical texture coordinate.

[0200] In an implementation, the second coordinate determination submodule determines an upward rounding result of the maximum vertical texture coordinate, calculates a remainder of the flow offset and the upward rounding result, takes the remainder as the lower limit vertical texture coordinate, and takes a sum of 1 and the remainder as the upper limit vertical texture coordinate.

[0201] In an implementation, the texture mapping module 2554 includes a shift amount determining sub-module, a pixel point determining sub-module, and a texture mapping sub-module. The shift amount determining sub-module is configured to determine a vertical shift amount according to the texture coordinates of the drawing points in the texture mapping region under the flow shift amount. The pixel point determining sub-module is configured to determine the corresponding pixel points of the drawing points in the texture mapping region under the flow shift amount in the guide arrow texture according to the vertical shift amount and the texture coordinates of the drawing points in the texture mapping region under the flow shift amount. The texture mapping sub-module is configured to map the drawing points in the texture mapping region under the flow shift amount according to the pixel values of the corresponding pixel points in the guide arrow texture, so as to map the guide arrow texture in the texture mapping region.

[0202] In an implementation, the texture coordinate determining module 2552 includes a horizontal coordinate determining sub-module and a vertical coordinate determining sub-module. The horizontal coordinate determining sub-module is configured to determine the horizontal texture coordinates of the drawing points in each candidate navigation region according to the horizontal distances of the drawing points in each candidate navigation region from the first boundary line of the navigation guide surface, the horizontal texture coordinates being positively correlated with the horizontal distances, the horizontal texture coordinate of a drawing point on the first boundary line being 0, the horizontal texture coordinate of a drawing point on the second boundary line of the navigation guide surface being 1, the first boundary line and the second boundary line being parallel to the navigation direction and being located on different sides of the navigation guide surface, respectively. The vertical coordinate determining sub-module is configured to determine the vertical texture coordinates of the drawing points in each candidate navigation region according to the vertical distances between the drawing points and the first horizontal boundary line of the candidate navigation region in which the drawing points are located, the vertical texture coordinates being positively correlated with the vertical distances, the vertical texture coordinate of a drawing point in the kth candidate navigation region closest to the start navigation position being ∈[k-1, k], k being a positive integer and k not exceeding the total number of the candidate navigation regions. The first horizontal boundary line refers to the horizontal boundary line of the candidate navigation region close to the start navigation position.

[0203] In an implementation, the vertical coordinate determining submodule is further configured to: obtain a reference vertical texture coordinate corresponding to the kth candidate navigation area closest to the start navigation position, wherein the reference vertical texture coordinate is 0 when k = 1, and the reference vertical texture coordinate is equal to the maximum vertical texture coordinate in the (k-1)th candidate navigation area closest to the start navigation position when k is greater than 1; divide the reference road surface width of the kth candidate navigation area by the target width-height ratio to obtain a reference height of the kth candidate navigation area; determine a vertical texture coordinate increment corresponding to each drawing point in the kth candidate navigation area according to a vertical distance between each drawing point in the kth candidate navigation area and the first horizontal boundary line of the kth candidate navigation area, and the reference height corresponding to the kth candidate navigation area; and determine the vertical texture coordinate of each drawing point in the kth candidate navigation area according to the vertical texture coordinate increment corresponding to each drawing point in the kth candidate navigation area and the reference vertical texture coordinate corresponding to the kth candidate navigation area.

[0204] In an implementation, the region dividing module 2551 includes a data obtaining submodule, a partitioning submodule, a width determining submodule, a height determining submodule, and a region dividing submodule. The data obtaining submodule is configured to obtain a plurality of edge point pairs on the navigation guide surface, and determine a road surface width corresponding to each edge point pair, wherein two edge points in each edge point pair are located on different boundary lines of the navigation guide surface and are aligned in a direction perpendicular to the navigation direction. The partitioning submodule is configured to partition the navigation guide surface along the navigation direction according to the road surface widths corresponding to the edge point pairs to obtain a plurality of candidate partitions, wherein a width difference between the road surface widths corresponding to different edge point pairs in a same candidate partition does not exceed a distance threshold. The width determining submodule is configured to determine a reference road surface width of each candidate partition according to the road surface widths corresponding to the edge point pairs in the same candidate partition. The height determining submodule is configured to determine a reference height of each candidate partition according to geographical coordinates of different edge points in the same candidate partition, wherein the reference height of a candidate partition is equal to a maximum interval distance of the different edge points in the candidate partition in the navigation direction. The region dividing submodule is configured to divide the navigation guide surface along the corresponding navigation direction according to the reference road surface widths and the reference heights of the candidate partitions, and the target width-height ratio of the guide arrow texture map to obtain a plurality of candidate navigation areas with a width-height ratio equal to the target width-height ratio.

[0205] In an implementation, the region division sub-module is further configured to sort the candidate partitions along the navigation direction to obtain a target order; take a first candidate partition in the target order as a target candidate partition; take a ratio of a reference width of the target candidate partition and the target width-height ratio as a target reference height corresponding to the target candidate partition; if the target reference height of the target candidate partition is not less than a reference height corresponding to the target candidate partition, sequentially divide one or more partitions in the target candidate partition along the navigation direction, and take one of the one or more partitions as a candidate navigation region, the one or more partitions having a height equal to the target reference height; if there is a remaining partition in the target candidate partition that is not divided as a candidate navigation region, merge the remaining partition into a next candidate partition of the target candidate partition in the target order, and update a reference height of the next candidate partition based on a height of the remaining partition along the navigation direction; and take the merged next candidate partition as a new target candidate partition.

[0206] In an implementation, the region division sub-module is further configured to, when the target reference height of the target candidate partition is less than the reference height corresponding to the target candidate partition, merge the target candidate partition into the next candidate partition of the target candidate partition in the target order, and update the reference height of the merged next candidate partition based on the reference height of the target candidate partition; and take the merged next candidate partition as the new target candidate partition.

[0207] In an implementation, the region division sub-module is further configured to, when there is no remaining partition in the target candidate partition that is not divided as a candidate navigation region, take the next candidate partition of the target candidate partition in the target order as the new target candidate partition.

[0208] In an implementation, the width determination sub-module is further configured to, for each candidate partition, take a maximum road width or an average road width of a plurality of edge point pairs in the candidate partition as a reference road width of the candidate partition.

[0209] In an implementation, the data acquisition sub-module is further configured to sample a plurality of sampling points on a center line of the navigation guide surface; determine an edge point aligned with each sampling point on a first boundary line and a second boundary line of the navigation guide surface respectively; take two edge points aligned with a same sampling point as an edge point pair; and obtain a road width corresponding to each edge point pair based on a distance between the two edge points in the edge point pair.

[0210] In an implementation, the plurality of sampling points include two end sampling points in the navigation direction, and intermediate sampling points between the two end sampling points; the data acquisition submodule is further configured to determine, for the end sampling points, a first straight line passing through the end sampling point and perpendicular to the first boundary line, and an intersection point of the first straight line and the first boundary line as a side line point on the first boundary line aligned with the end sampling point; and determine a second straight line passing through the end sampling point and perpendicular to the second boundary line, and an intersection point of the second straight line and the second boundary line as a side line point on the second boundary line aligned with the end sampling point; determine a first adjacent sampling point and a second adjacent sampling point of the intermediate sampling point; determine an angle bisector of an included angle formed by a first connecting line and a second connecting line, the first connecting line being a straight line passing through the intermediate sampling point and the first adjacent sampling point, and the second connecting line being a straight line passing through the intermediate sampling point and the second adjacent sampling point; and determine an intersection point of the angle bisector and the first boundary line and the second boundary line respectively as a side line point aligned with the intermediate sampling point.

[0211] Each of the modules in the above apparatus can be implemented wholly or partially by software, hardware, and combinations thereof. The modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in the computer device in software form, so as to be called and executed by a processor to perform operations corresponding to the modules. It should be noted that the device embodiments in the present application correspond to the foregoing method embodiments, and the specific principles in the device embodiments can be referred to the content in the foregoing method embodiments, which will not be described herein.

[0212] The computer program product or computer program provided in the embodiments of the present application includes executable instructions stored in a computer readable storage medium. The processor of the electronic device reads the executable instructions from the computer readable storage medium, and the processor executes the executable instructions, so that the electronic device executes the foregoing method implemented by the embodiments of the present application.

[0213] The computer readable storage medium provided in the embodiments of the present application stores computer readable instructions, and the computer readable instructions include executable instructions. When the computer readable instructions are executed by a processor, the processor executes the foregoing method steps provided by the embodiments of the present application.

[0214] In some embodiments, the computer readable storage medium can be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disc, or CD-ROM; or various devices including one or any combination of the above memories.

[0215] In some embodiments, the computer readable instructions can be in the form of programs, procedures, scripts, or code, and can be written in any programming language, including compiled or interpreted languages, or declarative or procedural languages; and can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0216] By way of example, computer readable instructions can be, but are not limited to, those made of files in a file system, those made of one or more scripts in a hypertext markup language (HTML) document, those made of a single file dedicated to a particular program, or those made of multiple cooperating files.

[0217] By way of example, computer readable instructions can be, but are not limited to, those made of files in a file system, those made of one or more scripts in a hypertext markup language (HTML) document, those made of a single file dedicated to a particular program, or those made of multiple cooperating files.

[0218] Finally, it should be noted that the above-described embodiments are merely intended to illustrate the technical solutions of the present application, but not to limit the same; even though the above-described embodiments have been described in detail, those skilled in the art should understand that: they can still modify the technical solutions recorded in the above-described embodiments, or make equivalent replacements to some of the technical features; and these modifications or replacements do not drive the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for processing a navigation guidance surface, characterized in that, include: Based on the target width-to-height ratio of the guide arrow texture map, the navigation guide surface in the electronic map is divided into regions along the corresponding navigation direction to obtain multiple candidate navigation regions with a width-to-height ratio equal to the target width-to-height ratio. The texture coordinates of each drawing point in each of the candidate navigation regions are determined. The texture coordinates include vertical texture coordinates along the navigation direction and horizontal texture coordinates in the direction perpendicular to the navigation direction. The vertical texture coordinates of drawing points that are farther away from the starting navigation position of the navigation guide surface in the navigation direction are larger. Based on the flow offset and the texture coordinates of each drawing point in the plurality of candidate navigation regions, a texture drawing region under the flow offset is determined in the plurality of candidate navigation regions; the flow offset changes over time; The guide arrow texture map is drawn in the texture drawing area based on the texture coordinates of each drawing point in the texture drawing area under the flow offset.

2. The method according to claim 1, characterized in that, The step of determining the texture drawing area under the flow offset within the multiple candidate navigation regions based on the flow offset and the texture coordinates of each drawing point in the multiple candidate navigation regions includes: Based on the texture coordinates of each drawing point in the multiple candidate navigation regions, determine the maximum vertical texture coordinate in the multiple candidate navigation regions; Based on the maximum vertical texture coordinates and the flow offset, the upper limit vertical texture coordinates and the lower limit vertical texture coordinates are determined, and neither the upper limit vertical texture coordinates nor the lower limit vertical texture coordinates exceed the maximum vertical texture coordinates. Drawing points whose vertical texture coordinates are located within the range of vertical texture coordinates defined by the upper limit and lower limit of the vertical texture coordinates in multiple candidate navigation regions are used as drawing points of the texture drawing region under the flow offset.

3. The method according to claim 2, characterized in that, The step of determining the upper limit vertical texture coordinate and the lower limit vertical texture coordinate based on the maximum vertical texture coordinate and the flow offset includes: Determine the rounded-up result of the maximum vertical texture coordinate; Calculate the remainder between the flow offset and the rounded-up result; The remainder result is used as the lower limit vertical texture coordinate, and the sum of 1 and the remainder result is used as the upper limit vertical texture coordinate.

4. The method according to claim 1, characterized in that, The step of drawing the guide arrow texture map in the texture drawing area based on the texture coordinates of each drawing point in the texture drawing area under the flow offset includes: The vertical offset is determined based on the texture coordinates of the points drawn in the texture drawing area under the flow offset. Based on the vertical offset and the texture coordinates of each drawing point in the texture drawing area under the flow offset, determine the pixel point corresponding to each drawing point in the texture drawing area under the flow offset in the guide arrow texture map; Based on the pixel value of the corresponding pixel in the guide arrow texture map, the drawing point in the texture drawing area under the flow offset is drawn to draw the guide arrow texture map in the texture drawing area.

5. The method according to claim 1, characterized in that, Determining the texture coordinates of each drawing point in each of the candidate navigation regions includes: Based on the horizontal distance of each drawing point in each candidate navigation area from the first boundary line of the navigation guidance surface, the horizontal texture coordinates of each drawing point in each candidate navigation area are determined. The horizontal texture coordinates are positively correlated with the horizontal distance. The horizontal texture coordinates of the drawing points located on the first boundary line are 0, and the horizontal texture coordinates of the drawing points located on the second boundary line of the navigation guidance surface are 1. The first boundary line and the second boundary line are both parallel to the navigation direction and are located on different sides of the navigation guidance surface. Based on the vertical distance between each drawing point and the first horizontal boundary line of the candidate navigation region, the vertical texture coordinates of each drawing point in each candidate navigation region are determined. The vertical texture coordinates are positively correlated with the vertical distance. The vertical texture coordinates of the drawing point in the k-th candidate navigation region closest to the start navigation position are ∈ [k-1,k], where k is a positive integer and does not exceed the total number of candidate navigation regions. The first horizontal boundary line refers to the horizontal boundary line in the candidate navigation region that is closer to the start navigation position.

6. The method according to claim 5, characterized in that, The step of determining the vertical texture coordinates of each drawing point in each candidate navigation region based on the vertical distance between each drawing point and the first horizontal boundary line of the candidate navigation region includes: Obtain the reference vertical texture coordinates corresponding to the kth candidate navigation region closest to the start navigation position. When k = 1, the reference vertical texture coordinates are 0. When k is greater than 1, the reference vertical texture coordinates are equal to the maximum vertical texture coordinates located in the (k-1)th candidate navigation region closest to the start navigation position. Based on the vertical distance between each drawing point in the k-th candidate navigation region and the first horizontal boundary line of the k-th candidate navigation region, and the reference height corresponding to the k-th candidate navigation region, determine the vertical texture coordinate increment corresponding to each drawing point in the k-th candidate navigation region; The vertical texture coordinates of each drawing point in the k-th candidate navigation region are determined based on the vertical texture coordinate increments corresponding to each drawing point in the k-th candidate navigation region and the reference vertical texture coordinates corresponding to the k-th candidate navigation region.

7. The method according to claim 1, characterized in that, The step involves dividing the navigation guidance surface in the electronic map along the corresponding navigation direction based on the target aspect ratio of the guide arrow texture map, resulting in multiple candidate navigation regions with aspect ratios equal to the target aspect ratio, including: Multiple edge point pairs located on the navigation guidance surface are obtained, and the road width corresponding to each edge point pair is determined. The two edge points in each edge point pair are located on different boundary lines of the navigation guidance surface and are aligned with each other in the vertical direction of the navigation direction. Based on the road width corresponding to each edge point pair, the navigation guidance surface is divided into multiple candidate partitions along the navigation direction. The width difference between the road widths corresponding to different edge point pairs in the same candidate partition does not exceed the distance threshold. The reference road width for each candidate zone is determined based on the road width corresponding to multiple edge point pairs located in the same candidate zone. The reference height of each candidate partition is determined based on the geographic coordinates of different edge points located in the same candidate partition. The reference height of a candidate partition is equal to the maximum interval distance between different edge points in the candidate partition in the navigation direction. Based on the reference road width and reference height of each candidate partition, and the target width-to-height ratio of the guide arrow texture map, the navigation guidance surface is divided into regions along the corresponding navigation direction to obtain multiple candidate navigation regions with a width-to-height ratio equal to the target width-to-height ratio.

8. The method according to claim 7, characterized in that, The navigation guidance surface is divided into regions along the corresponding navigation direction based on the reference road surface width and reference height of each candidate region and the target width-to-height ratio of the guide arrow texture map, resulting in multiple candidate navigation regions with a width-to-height ratio equal to the target width-to-height ratio, including: The multiple candidate partitions are sorted along the navigation direction to obtain the target sorting; The first candidate partition in the target sort is taken as the target candidate partition; The ratio of the reference width of the target candidate partition to the target width-to-height ratio is used as the target reference height corresponding to the target candidate partition; If the target reference height of the target candidate partition is not less than the reference height corresponding to the target candidate partition, one or more partitions with heights equal to the target reference height corresponding to the target candidate partition are sequentially divided in the target candidate partition along the navigation direction, and each partition is a candidate navigation area; If there are remaining partitions in the target candidate partitions that have not been divided into candidate navigation areas, the remaining partitions are merged into the next candidate partition in the target candidate distinction in the target sorting, and the reference height of the next candidate partition is updated based on the height of the remaining partition in the navigation direction; The merged next candidate partition is taken as the new target candidate partition, and the process of using the ratio of the reference width of the target candidate partition to the target width-to-height ratio as the target reference height of the target candidate partition is returned.

9. The method according to claim 8, characterized in that, After using the ratio of the reference width of the target candidate partition to the target width-to-height ratio as the target reference height corresponding to the target candidate partition, the method further includes: If the target reference height of the target candidate partition is less than the reference height corresponding to the target candidate partition, the target candidate partition is merged into the next candidate partition of the target candidate distinction in the target sorting, and the reference height of the merged next candidate partition is updated based on the reference height of the target candidate partition. The merged next candidate partition is taken as the new target candidate partition, and the process of using the ratio of the reference width of the target candidate partition to the target width-to-height ratio as the target reference height of the target candidate partition is returned.

10. The method according to claim 8, characterized in that, If the target reference height of the target candidate partition is not less than the reference height corresponding to the target candidate partition, after dividing the target candidate partition along the navigation direction into a partition with a height equal to the target reference height corresponding to the target candidate partition, and using it as the candidate navigation region, the method further includes: If there are no remaining partitions in the target candidate partitions that have not been divided into candidate navigation areas, the next candidate partition in the target candidate distinction in the target sorting is taken as the new target candidate partition, and the process of using the ratio of the reference width of the target candidate partition to the target width-to-height ratio is returned as the target reference height corresponding to the target candidate partition.

11. The method according to claim 7, characterized in that, The step of determining the reference road width for each candidate zone based on the road widths corresponding to multiple edge point pairs located in the same candidate zone includes: For each candidate zone, the maximum or average road width among multiple edge point pairs of the candidate zone is used as the reference road width of the candidate zone.

12. The method according to claim 7, characterized in that, The step of acquiring multiple pairs of edge line points located on the navigation guidance surface and determining the road width corresponding to each pair of edge line points includes: Multiple sampling points were obtained by sampling along the centerline of the navigation guidance surface; On the first and second boundary lines of the navigation guidance surface, edge points aligned with each sampling point are determined respectively. Two edge points that are aligned with the same sampling point are considered as a pair of edge points. The road width corresponding to each pair of edge points is obtained based on the distance between the two edge points in each edge point pair.

13. The method according to claim 12, characterized in that, The plurality of sampling points includes two end sampling points in the navigation direction and an intermediate sampling point located between the two end sampling points; The step of determining edge points aligned with each sampling point on the first and second boundary lines of the navigation guidance surface includes: For the end sampling point, a first straight line passing through the end sampling point and perpendicular to the first boundary line is determined, and the intersection of the first straight line and the first boundary line is taken as the edge point on the first boundary line that is aligned with the end sampling point; and a second straight line passing through the end sampling point and perpendicular to the second boundary line is determined, and the intersection of the second straight line and the second boundary line is taken as the edge point on the second boundary line that is aligned with the end sampling point. The boundary points aligned with each intermediate sampling point are determined on the first and second boundary lines respectively, as follows: Determine the first and second adjacent sampling points of the intermediate sampling point; Determine the angle bisector of the angle formed by the first connecting line and the second connecting line, wherein the first connecting line is a straight line passing through the intermediate sampling point and the first adjacent sampling point, and the second connecting line is a straight line passing through the intermediate sampling point and the second adjacent sampling point; The intersection points of the angle bisector with the first boundary line and the second boundary line are respectively used as the edge points aligned with the intermediate sampling point.

14. A processing device for a navigation guidance surface, characterized in that, include: The region division module is used to divide the navigation guidance surface in the electronic map along the corresponding navigation direction according to the target width and height ratio of the guide arrow texture map, so as to obtain multiple candidate navigation regions with a width and height ratio equal to the target width and height ratio. The texture coordinate determination module is used to determine the texture coordinates of each drawing point in each of the candidate navigation regions. The texture coordinates include vertical texture coordinates along the navigation direction and horizontal texture coordinates in the vertical direction of the navigation direction. The vertical texture coordinates of drawing points that are farther away from the starting navigation position of the navigation guide surface in the navigation direction are larger. A drawing region determination module is used to determine a texture drawing region under the flow offset in the multiple candidate navigation regions based on the flow offset and the texture coordinates of each drawing point in the multiple candidate navigation regions; the flow offset changes over time; The texture drawing module is used to draw the guide arrow texture map in the texture drawing area according to the texture coordinates of each drawing point in the texture drawing area under the flow offset.

15. An electronic device, characterized in that, include: processor; A memory storing computer-readable instructions that, when executed by the processor, implement the method as described in any one of claims 1-13.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-readable instructions that, when executed by a processor, implement the method as described in any one of claims 1-13.

17. A computer program product comprising computer-readable instructions, characterized in that, When executed by a processor, the computer-readable instructions implement the steps of the method according to any one of claims 1-13.

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