Bubble display method and device for different-source navigation

Abstract

The embodiment of the invention provides a bubble display method and device for heterogeneous navigation. The method comprises the following steps: when a navigation route of high-definition navigation of a first map provider is displayed on vehicle-mounted navigation equipment, acquiring an initial position of a bubble to be displayed in a navigation route of standard-definition navigation of a second map provider; wherein the navigation route of the high-definition navigation is obtained by fusing the navigation route of the standard-definition navigation with the high-definition navigation; based on the initial position, determining a target road section corresponding to the bubble in a navigation route of high-definition navigation by adopting space retrieval and projection matching processing; according to the target road section, determining a target lane group corresponding to the bubbles in the navigation route of the high-definition navigation; determining a target display position of the bubble in a navigation route of high-definition navigation according to the type information of the bubble and the lane information of the target lane group; and based on the target display position, displaying the bubbles on the navigation route of the high-definition navigation. The method is used for improving the reliability of the navigation information.

Description

Technical Field

[0001] This application relates to the field of navigation technology, and in particular to a bubble display method and apparatus for heterogeneous navigation. Background Technology

[0002] While standard-definition (SD) navigation systems in vehicles can meet basic route planning and navigation needs, their limitations in data accuracy and detail mean they cannot provide lane-level positioning and guidance services, making them unsuitable for complex intersections, multi-lane driving, and other sophisticated driving scenarios. Supplementing these systems with high-definition (HD) navigation from a different source can fully leverage the advantages of HD navigation in road details, lane division, and precise positioning, achieving a navigation upgrade from the road segment level to the lane level. This effectively improves navigation accuracy and usability, helping drivers better understand their routes, avoid lane selection errors, and ensure driving safety and convenience.

[0003] In the practical application of heterogeneous navigation fusion, since standard definition (SD) and high definition (HD) navigation come from different map providers, there are inherent differences between them in terms of data collection standards and road detail annotation. This causes the position of the bubbles used to indicate key information (such as traffic lights, electronic eyes, etc.) in SD navigation to not be accurately aligned with the lane-level positioning results of HD navigation. This results in abnormal bubble rendering and abrupt positions, which not only disrupts the visual harmony of the navigation interface, but may also mislead drivers in judging the location of the prompts, reduce the credibility of navigation information, and thus seriously affect the user's navigation experience. Summary of the Invention

[0004] The bubble display method and apparatus for heterogeneous navigation provided in this application are used to improve the reliability of navigation information.

[0005] In a first aspect, embodiments of this application provide a bubble display method for heterogeneous navigation, the method being applied to an in-vehicle navigation device, the in-vehicle navigation device being configured with standard-definition navigation from a first map provider and high-definition navigation from a second map provider, including:

[0006] When displaying a high-definition navigation route on the in-vehicle navigation device, the initial position of the bubble to be displayed in the standard-definition navigation route is obtained; wherein, the high-definition navigation route is obtained by fusing the standard-definition navigation route with the high-definition navigation;

[0007] Based on the initial position, spatial retrieval and projection matching processing are used to determine the target road segment corresponding to the bubble in the navigation route of the high-definition navigation.

[0008] Based on the target road segment, determine the target lane group corresponding to the bubble in the navigation route of the high-definition navigation;

[0009] Based on the bubble type information and the lane information of the target lane group, the target display position of the bubble in the navigation route of the high-definition navigation is determined;

[0010] Based on the target display location, the bubble is displayed on the navigation route of the high-definition navigation.

[0011] In one possible implementation, determining the target road segment corresponding to the bubble in the navigation route of the high-definition navigation system based on the initial position using spatial retrieval and projection matching processing includes:

[0012] Based on the initial position, a spatial search is performed in a preset spatial index to determine the candidate road segment corresponding to the bubble in the navigation route of the high-definition navigation; wherein, the spatial index is constructed based on each road segment in the high-precision navigation route;

[0013] Based on the projection point of the initial position on the candidate road segment and the initial position, determine the projection distance of the candidate road segment;

[0014] The candidate road segment corresponding to the minimum projection distance is determined as the target road segment corresponding to the bubble in the navigation route of the high-definition navigation.

[0015] In one possible implementation, the spatial index includes the minimum bounding rectangle of each segment in the navigation route of the high-definition navigation; the step of performing spatial retrieval in the preset spatial index based on the initial position to determine the candidate segment corresponding to the bubble in the navigation route of the high-definition navigation includes:

[0016] Using the initial position as the center, construct a search outer rectangle according to a preset search radius;

[0017] Based on the search bounding rectangle, a spatial range retrieval is performed in the spatial index to obtain the candidate road segment; wherein, the candidate road segment is the road segment corresponding to the smallest bounding rectangle that intersects with the search bounding rectangle.

[0018] In one possible implementation, the method further includes:

[0019] If it is determined that no smallest bounding rectangle intersects with the search bounding rectangle, the search radius is updated according to the preset radius increment, and an updated search bounding rectangle is constructed based on the updated search radius;

[0020] Based on the updated search outer rectangle, a spatial range retrieval is performed in the spatial index to obtain the candidate road segment.

[0021] In one possible implementation, the candidate road segment has start-point coordinates and end-point coordinates; determining the projection distance of the candidate road segment based on the projection point of the initial position onto the candidate road segment and the initial position includes:

[0022] A relative position coefficient is determined based on the starting coordinates, ending coordinates, and initial position of the candidate road segment; wherein, the relative position coefficient represents the relative position of the initial position on the candidate road segment;

[0023] Based on the relative position coefficient, determine the projection point of the initial position on the candidate road segment;

[0024] The projection distance of the candidate road segment is obtained based on the initial position and the distance between the initial position and its projection point on the candidate road segment.

[0025] In one possible implementation, determining the target lane group corresponding to the bubble in the navigation route of the high-definition navigation based on the target road segment includes:

[0026] Based on the driving direction of the navigation route of the high-definition navigation, candidate lane groups are determined from the list of lane groups associated with the target road segment;

[0027] For each candidate lane group, the matching score of the candidate lane group is determined based on the projection point of the initial position on the target road segment;

[0028] The target lane group is determined from the candidate lane groups based on the matching score.

[0029] In one possible implementation, determining the matching score of the candidate lane group based on the projection point of the initial position on the target road segment includes:

[0030] Determine the offset between the projection point of the initial position on the target road segment and the center point of the candidate lane group;

[0031] The matching score for the candidate lane group is determined based on the offset.

[0032] In one possible implementation, the lane information of the target lane group includes the left and right boundaries of the lanes. Determining the target display position of the bubble in the navigation route of the high-definition navigation system based on the bubble type information and the lane information of the target lane group includes:

[0033] The initial position is projected onto the target road segment and then onto the left and right boundaries of the target lane group, respectively, to obtain the left boundary projection point and the right boundary projection point.

[0034] The lane center point of the target lane group is determined based on the left boundary projection point and the right boundary projection point;

[0035] Based on the bubble type information, the target display position is determined from the left boundary projection point, the right boundary projection point, and the lane center point.

[0036] Secondly, embodiments of this application provide a bubble display device for heterogeneous navigation. The device is applied to an in-vehicle navigation device, which is configured with standard-definition navigation from a first map provider and high-definition navigation from a second map provider, including:

[0037] The acquisition module is used to acquire the initial position of the bubble to be displayed in the standard definition navigation route when the high-definition navigation route is displayed on the in-vehicle navigation device; wherein the high-definition navigation route is obtained by fusing the standard definition navigation route with the high-definition navigation;

[0038] The first determining module is used to determine the target road segment corresponding to the bubble in the navigation route of the high-definition navigation based on the initial position by using spatial retrieval and projection matching processing.

[0039] The second determining module is used to determine the target lane group corresponding to the bubble in the navigation route of the high-definition navigation based on the target road segment;

[0040] The third determining module is used to determine the target display position of the bubble in the navigation route of the high-definition navigation based on the bubble type information and the lane information of the target lane group;

[0041] The display module is used to display the bubble on the navigation route of the high-definition navigation based on the target display location.

[0042] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0043] The memory stores computer-executed instructions;

[0044] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0045] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0046] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0047] The bubble display method and apparatus for heterogeneous navigation provided in this application, during the display of a high-definition navigation route on an in-vehicle navigation device, first obtains the initial position of the bubbles in the standard-definition navigation, then determines the target road segment corresponding to the bubble through spatial retrieval and projection matching, determines the appropriate target lane group based on the target road segment, and determines the precise target display position by combining the bubble type and lane information, finally completing the rendering and display of the bubble on the high-definition navigation route. This method, through the fusion and calibration of heterogeneous navigation data, achieves accurate positioning and standardized display of standard-definition navigation bubbles in high-definition navigation lane-level scenarios. It effectively solves the problems of abrupt bubble rendering and abnormal position caused by the mismatch between standard-definition bubbles and high-definition lane-level positioning during heterogeneous navigation fusion, improves the visual coordination of the navigation interface and the accuracy of traffic information display, avoids interference from abnormal bubble positions on the driver's driving judgment, enhances the credibility and practicality of navigation information, strengthens the refined guidance capability of in-vehicle navigation, and comprehensively optimizes the user's navigation experience. Attached Figure Description

[0048] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0049] Figure 1 Flowchart of the bubble display method for heterogeneous navigation provided in this application Figure 1 ;

[0050] Figure 2 Flowchart of the bubble display method for heterogeneous navigation provided in this application Figure 2 ;

[0051] Figure 3 A schematic diagram illustrating one application scenario provided in this application;

[0052] Figure 4 A structural schematic diagram of a vehicle infotainment system provided in this application;

[0053] Figure 5 A flowchart illustrating a navigation display provided in this application;

[0054] Figure 6 A flowchart illustrating another navigation display provided for this application;

[0055] Figure 7 A schematic diagram of the bubble display device for heterogeneous navigation provided in this application;

[0056] Figure 8 A schematic diagram of the structure of the electronic device provided in this application.

[0057] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0058] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0059] Same-source navigation refers to both standard-definition (SD) and high-definition (HD) navigation data coming from the same map provider. Heterogeneous navigation, on the other hand, involves SD navigation data from a primary map provider and HD navigation data from a secondary map provider. Currently, SD navigation has largely achieved compliant global deployment and localized adaptation, while HD navigation, limited by data policies and collection coverage, struggles to be rapidly and synchronously implemented. Through a heterogeneous navigation fusion solution, OEMs can reuse mature SD navigation global capabilities, adding lane-level functionality only in regions with HD data. This eliminates the need for re-implementing global compliance and localization for HD navigation, significantly shortening the global deployment cycle for lane-level navigation and facilitating global promotion. Furthermore, it allows for different map providers for SD and HD navigation, enabling cost control and mutual constraint.

[0060] However, in the practical application of heterogeneous navigation fusion, the inventors discovered that standard definition (SD) and high-definition (HD) navigation from different map providers have inherent differences in data collection standards and road detail annotations. This causes the bubbles used in SD navigation to indicate key information such as traffic lights and electronic eyes to not be accurately aligned with the lane-level positioning results of HD navigation. Consequently, the bubbles appear abnormally rendered, abruptly positioned, or even incorrectly rendered in areas that do not conform to the actual road scene, such as outside the road surface or in the center of intersections, thus disrupting the visual harmony of the navigation interface. At the same time, since SD navigation is deeply integrated with the vehicle's infotainment system and controls the voice broadcast, if the bubbles generated by SD navigation are directly displayed on the HD navigation interface when displaying HD navigation routes, it is easy to conflict and ambiguity with the broadcast content of SD navigation and HD navigation routes. It may also mislead the driver's judgment, reduce the credibility of navigation information, and seriously affect the user's navigation experience.

[0061] Based on this, the inventors realized that the core of the problem lies in establishing a precise correlation between the initial position of the standard definition bubble and the lane-level positioning of the high-definition navigation. Therefore, they devised a method to first determine the target road segment corresponding to the bubble in the high-definition navigation route by performing spatial retrieval and projection processing on the initial position of the bubble. Then, based on the target road segment, they further located the corresponding target lane group. Finally, by combining the bubble type information and the lane information of the target lane group, they determined the precise target display position of the bubble in the high-definition navigation route, thereby achieving accurate display of the bubble in the high-definition navigation route, completely solving the problem of abrupt bubble rendering, and improving the accuracy of navigation and user experience.

[0062] The implementing entity in this application embodiment can be an in-vehicle navigation device. In some possible implementations, the in-vehicle navigation device can be a vehicle-mounted system. It should be noted that in this application embodiment, high-definition navigation and lane-level navigation have the same meaning and are not distinguished in this application embodiment.

[0063] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0064] Figure 1 Flowchart of the bubble display method for heterogeneous navigation provided in this application Figure 1 ,like Figure 1 As shown, the method includes:

[0065] S101. When displaying a high-definition navigation route on an in-vehicle navigation device, obtain the initial position of the bubble to be displayed in the standard-definition navigation route.

[0066] The in-vehicle navigation device is equipped with standard definition navigation from the first map provider and high definition navigation from the second map provider. The navigation route of the high definition navigation is obtained by merging the navigation route of the standard definition navigation with the high definition navigation.

[0067] For example, an in-vehicle navigation device refers to an in-vehicle terminal device installed inside a vehicle to provide the driver with route planning, driving guidance, and traffic information prompts. Standard definition navigation from a first-tier map provider refers to a standard-definition navigation service provided by the first map service provider, possessing basic road segment-level route planning and voice broadcast functions. High-definition navigation from a second-tier map provider refers to a high-definition navigation service provided by the second map service provider, possessing lane-level road details, accurate spatial positioning, and refined visual guidance capabilities. First-tier and second-tier map providers are different.

[0068] High-definition navigation refers to a fusion navigation route that combines the original standard-definition (SD) navigation route with the high-precision map data of high-definition navigation, taking into account both the planning logic of SD navigation and the lane-level accuracy of high-definition navigation.

[0069] Bubbles are visual prompts used in standard definition navigation to indicate key driving information such as traffic lights, speed cameras, and traffic incidents. The initial position refers to the bubble's original location coordinates in the standard definition navigation coordinate system.

[0070] In one example, while the in-vehicle navigation device renders and outputs the high-definition navigation route after heterogeneous source fusion on the screen, it reads the original latitude and longitude coordinates of the bubbles to be displayed, such as traffic lights and electronic eyes, from the data source of standard definition navigation, which is the initial position of the bubbles.

[0071] In some possible implementations, the navigation route of the standard definition (SD) navigation of the first map provider is obtained. The SD navigation route includes route planning results and corresponding road attributes. Based on the heterogeneous mapping of the SD navigation route to the high definition (HD) navigation of the second map provider using the origin, destination, waypoints, and road segment points, multiple road attributes such as road grade, road use, and road name are additionally combined to assist in matching, thereby improving the mapping accuracy of the heterogeneous SD navigation route to the HD navigation route.

[0072] To address the inherent differences in field data collection standards and map production specifications among different map providers, which lead to discrepancies in inflection point coordinates, longitudinal differences in the starting point of elevated ramps, and differences in data on lesser-known side roads, the aforementioned multi-road attribute-assisted matching method can further optimize route matching accuracy and avoid introducing incorrect road segments due to heterogeneous data errors and route connectivity issues. Ultimately, this heterogeneous route mapping method yields high-quality, usable HD navigation routes with a matching accuracy of up to 97%.

[0073] Understandably, since heterogeneous route mapping is a mapping process based on route shape point sequences, it can effectively distinguish shape point locations, road levels, road uses, road attributes, and road names. When a sequence of shape points is input, heterogeneous route mapping can reduce the interference of differences in the freshness of heterogeneous map data through a series of analytical processes such as filtering, feature extraction, and shape point ordering, while preserving and enhancing the characteristic information of the route, thereby improving the accuracy of the final high-definition navigation route.

[0074] S102. Based on the initial position, spatial retrieval and projection matching are used to determine the target road segment corresponding to the bubble in the navigation route of the high-definition navigation.

[0075] For example, spatial retrieval refers to a retrieval method that quickly filters road segment data within the navigation route of a high-definition navigation system based on a preset spatial index structure.

[0076] Projection matching refers to the method of vertically projecting the initial position of the bubble onto the road segment and matching the road segment through distance calculation.

[0077] The target road segment refers to the high-precision road segment in the navigation route of high-definition navigation that is closest to the initial position of the bubble in space and has the highest matching priority. This target road segment can be represented by a road segment identifier, such as a road segment ID.

[0078] In one example, the in-vehicle navigation device uses the initial position of the bubble as the retrieval benchmark, quickly filters out candidate road segments through a pre-built spatial index, then projects the initial position onto each candidate road segment to calculate the corresponding projection distance, and determines the candidate road segment with the smallest projection distance as the target road segment corresponding to the bubble in the navigation route of the high-definition navigation.

[0079] S103. Based on the target road segment, determine the target lane group corresponding to the bubble in the navigation route of the high-definition navigation.

[0080] For example, a lane group refers to a collection of lanes in high-definition navigation that consists of continuous lanes with the same direction and driving function. For example, it may include straight lane groups, left-turn lane groups, right-turn lane groups, etc.

[0081] The target lane group refers to the optimal set of lanes that best matches the initial position of the bubble and is most suitable for the current driving scenario under the target road segment.

[0082] In one example, the in-vehicle navigation device queries the list of associated lane groups by the unique identifier of the target road segment, and combines the driving direction of the navigation route of the high-definition navigation with the projection position of the bubble on the target road segment to complete the lane group filtering and matching, and determine the target lane group corresponding to the bubble.

[0083] S104. Based on the bubble type information and the lane information of the target lane group, determine the target display position of the bubble in the navigation route of the high-definition navigation.

[0084] For example, the bubble type information refers to the identification information that distinguishes the functional attributes of the bubble, such as categories such as traffic light prompt bubbles, electronic eye prompt bubbles, and driving guidance bubbles.

[0085] Lane information of a target lane group refers to the geometric location information of the lanes, such as the left and right boundaries of the lanes included in the target lane group.

[0086] The target display position refers to the precise display position of the bubble in the lane-level coordinate system of high-definition navigation, which can be rendered normally and without positional anomalies after calibration.

[0087] In one example, the in-vehicle navigation device projects the initial position's projection point on the target road segment onto the left and right boundaries of the target lane group, and extracts the projection points of the left and right boundaries of the target lane group and the lane center point. Then, combined with the bubble type information, it selects the appropriate position from the three types of positions as the target display position of the bubble in the navigation route of the high-definition navigation.

[0088] S105. Based on the target display location, display bubbles on the navigation route of the high-definition navigation.

[0089] For example, displaying bubbles refers to the rendering operation of rendering calibrated bubble visualization elements onto the screen of an in-vehicle navigation device, and displaying them synchronously with the navigation route and lane information of the high-definition navigation.

[0090] In one example, the in-vehicle navigation device precisely renders the bubble to the designated target display position, ensuring that the bubble fits the lane and road surface display of the high-definition navigation route, thus avoiding rendering anomalies such as the bubble deviating from the road surface or falling into intersections.

[0091] The bubble display method for heterogeneous navigation provided in this application first obtains the initial position of the bubbles in the standard definition (SD) navigation during the display of a high-definition (HD) navigation route on an in-vehicle navigation device. Then, it determines the target road segment corresponding to the bubble through spatial retrieval and projection matching. Based on the target road segment, it determines the appropriate target lane group. Combining the bubble type and lane information, it determines the precise target display position and finally completes the rendering and display of the bubble on the HD navigation route. This method achieves accurate positioning and standardized display of SD navigation bubbles in HD navigation lane-level scenarios through the fusion and calibration of heterogeneous navigation data. It effectively solves the problem of abrupt bubble rendering and abnormal position caused by the mismatch between SD bubble and HD lane-level positioning during heterogeneous navigation fusion. It improves the visual coordination of the navigation interface and the accuracy of traffic information display, avoids interference from abnormal bubble positions on the driver's driving judgment, enhances the credibility and practicality of navigation information, strengthens the refined guidance capability of in-vehicle navigation, and comprehensively optimizes the user's navigation experience.

[0092] Figure 2 Flowchart of the bubble display method for heterogeneous navigation provided in this application Figure 2 ,like Figure 2 As shown, in this embodiment... Figure 1 Based on the embodiments, a bubble display method for heterogeneous navigation is described in detail, the method including:

[0093] S201. When displaying a high-definition navigation route on an in-vehicle navigation device, obtain the initial position of the bubble to be displayed in the standard-definition navigation route.

[0094] It should be noted that this step is similar to the aforementioned step S101, and will not be repeated here.

[0095] S202. Based on the initial position, perform spatial retrieval in the preset spatial index to determine the candidate road segment corresponding to the bubble in the navigation route of the high-definition navigation.

[0096] For example, the preset spatial index refers to a pre-built index structure used for quickly querying road segment data in a high-definition navigation route. This spatial index is built based on each road segment in the high-definition navigation route; the spatial index includes the smallest bounding rectangle of each road segment in the high-definition navigation route. The smallest bounding rectangle refers to the smallest rectangular area that can completely enclose a single road segment in the high-definition navigation route, and it is the basic unit for fast retrieval using the spatial index.

[0097] Candidate road segments refer to road segments in the navigation routes of high-definition navigation that are initially filtered through spatial retrieval and have a spatial relationship with the initial location.

[0098] In one example, the in-vehicle navigation device uses the initial position of the bubble as the search center and performs a search operation in a spatial index that contains the minimum bounding rectangle of each road segment, which is pre-constructed based on the navigation route of high-definition navigation. The system then filters out road segments that have a spatial relationship with the initial position as candidate road segments corresponding to the bubble.

[0099] Specifically, a search bounding rectangle is constructed with the initial location as the center and a preset search radius; based on the search bounding rectangle, a spatial range retrieval is performed in the spatial index to obtain candidate road segments.

[0100] Candidate road segments are those corresponding to the smallest bounding rectangle that intersects with the search bounding rectangle. The preset search radius refers to the pre-defined spatial retrieval range length centered on the initial position and extending outwards. The search bounding rectangle is a rectangular retrieval area constructed with the initial position as the center and half its side length being the preset search radius, used to limit the scope of the spatial retrieval. Spatial range retrieval refers to a retrieval method that uses the search bounding rectangle as the retrieval range and filters matching road segments in the spatial index. Candidate road segments are road segment objects obtained after preliminary filtering within the navigation route of high-definition navigation, where their smallest bounding rectangle spatially overlaps with the search bounding rectangle.

[0101] For example, the in-vehicle navigation device uses the initial position of the bubble as the center of the rectangle, determines the side length range of the rectangle according to the preset search radius, constructs the corresponding search outer rectangle, and then uses the search outer rectangle as the retrieval range to perform spatial range retrieval in the pre-constructed spatial index. It traverses the minimum outer rectangle of all road segments in the spatial index, filters out the road segments where its own minimum outer rectangle and the search outer rectangle have spatial intersection, and uses these road segments as candidate road segments corresponding to the bubble in the navigation route of the high-definition navigation.

[0102] Optionally, if it is determined that no smallest outer rectangle intersects with the search outer rectangle, the search radius is updated according to the preset radius increment, and an updated search outer rectangle is constructed based on the updated search radius; based on the updated search outer rectangle, a spatial range search is performed in the spatial index to retrieve candidate road segments.

[0103] Among them, the smallest bounding rectangle that does not have an intersection is the smallest bounding rectangle that has spatial overlap with the road segment of the navigation route for which there is no high-definition navigation in the spatial index within the current search bounding rectangle retrieval range.

[0104] The preset radius increment refers to a fixed length value set in advance to gradually expand the search range. The updated search radius refers to the new search radius obtained by adding the preset radius increment to the original search radius. The updated search bounding rectangle refers to the rectangular search area reconstructed with the initial position as the center and the updated search radius as half the side length.

[0105] For example, after completing the spatial range retrieval of the current search bounding rectangle, the in-vehicle navigation device determines that no smallest bounding rectangle with which it intersects has been found. Then, it adds a preset radius increment to the original search radius to obtain an updated search radius. Then, it reconstructs the updated search bounding rectangle with the initial position as the center and the updated search radius as half the side length. The updated search bounding rectangle is used as the new search range, and the spatial range retrieval is performed again in the spatial index. Finally, the candidate road segments corresponding to the smallest bounding rectangle with which the updated search bounding rectangle has spatial intersection are selected.

[0106] In some possible implementations, an R-tree spatial index structure is constructed for each segment of the navigation route in high-definition navigation. First, based on the point set P={ corresponding to each segment... , ,..., Define the boundary of the spatial rectangle by calculating the minimum x-coordinate of all coordinate points in the set of points. =min{ |( , )∈P}, maximum x-coordinate =max{ |( , )∈P}, minimum ordinate =min{ |( , )∈P}, maximum ordinate =max{ |( , Given a road segment ∈ P}, we obtain the smallest bounding rectangle that can completely enclose the corresponding road segment. Its mathematical expression can be represented as MBR(P) = {(x,y)| ≤x≤ , ≤y≤ The minimum bounding rectangle serves as the spatial retrieval boundary unit for the corresponding road segment. Subsequently, based on the R-tree insertion operation Insert(MBR, data_object) → R-tree node, where data_object refers to the road segment (link) object, the minimum bounding rectangle of each road segment and the corresponding road segment data object are inserted into the R-tree one by one, completing the construction of the overall R-tree spatial index. This accelerates the rapid retrieval of line segments in the navigation route from bubble points to high-definition navigation.

[0107] Furthermore, based on the constructed R-tree spatial index structure, combined with a dynamic buffer query model and a multi-level matching strategy, the recallByPoint method is used to perform candidate road segment queries in the spatial index based on the coordinates of the initial position: First, an adaptive search range expansion method is adopted, according to the formula... (where k = 0, 1, 2, ..., K, and R0 is the initial search radius,) The search radius is gradually expanded using a preset radius increment (K is the maximum number of expansions), and R(k) is the updated search radius. For example, if the initial search radius is set to 3 meters, the preset radius increment (also called the step size) is 3 meters, and the maximum search radius is set to 50 meters, a corresponding search bounding rectangle MBR_search is constructed with the initial position of the bubble as the center and the updated search radius. Range queries are then performed using the R-tree spatial index. Where MBR_search is the search bounding rectangle constructed with the initial position of the bubble as the center, obj is the link object corresponding to the road segment of the high-definition navigation route stored in the R tree space index, and MBR_obj is the minimum bounding rectangle of the road segment corresponding to the link object. This represents the spatial intersection operation. This indicates that there is a non-empty spatial intersection between the two. This range query operation will filter out all road segments corresponding to link objects that satisfy the condition "there is a spatial intersection between its own minimum bounding rectangle and the search bounding rectangle," and will follow a conditional termination strategy, terminating when the retrieved candidate road segment set... satisfy That is, when the number of elements in the candidate road segment set is greater than 0, the expansion of the search range is terminated immediately, and the matching and determination of candidate road segments in the navigation route of high-definition navigation is finally completed.

[0108] In some embodiments, before constructing the spatial index structure, the straight-line distance between the initial position of the bubble and any point on each segment of the high-definition navigation route can be calculated. Based on this straight-line distance and the preset multi-source data association relationship, segments in the high-definition navigation route that are too far from the bubble can be quickly filtered out to obtain the filtered segments (the association between the initial position of the bubble and the segment). Then, the spatial index structure is constructed based on the filtered segments to reduce the computational load of subsequent spatial retrieval.

[0109] The straight-line distance can be calculated based on the Haversine distance, meaning it can be the surface distance between the initial position calculated under a global spherical model and any point on each road segment. Alternatively, it can be calculated based on a spherical geometric correction model.

[0110] (1) The specific formula for the Haversine distance is as follows:

[0111] ;

[0112] ;

[0113] ;

[0114] in, The dimension coordinates representing the initial position. Represents the latitude coordinates of any point on the road segment; This represents the difference in latitude between two points; R represents the difference in longitude between two points; a represents the Earth's radius; c represents the central angle between the two points relative to the Earth's center; and d represents the straight-line distance.

[0115] (2) The specific formula for the spherical geometric correction model is shown below:

[0116] ;

[0117] ;

[0118] ;

[0119] in, This represents the difference in longitude between two points; This represents the difference in latitude between two points; This represents the average latitude between two points. Indicate latitude Converted to radians, that is R represents the Earth's radius; Represents the planar distance component in the east-west direction (longitude direction); d represents the planar distance component in the north-south direction (latitude direction); d represents the straight-line distance.

[0120] The pre-defined multi-source data association relationship can be described as follows:

[0121] .

[0122] In other words, based on the relationship between the initial position src_obj and the straight-line distance dist(src_obj,tgt_obj) between each road segment tgt_obj and the preset threshold, road segments that are too far from the bubble can be quickly filtered out to obtain the filtered road segment Association.

[0123] Optionally, after filtering the aforementioned road segments, the in-vehicle navigation device can convert the initial location and the coordinates in the high-definition navigation route from latitude and longitude coordinates to Universal Transverse Mercator (UTM) coordinates to improve calculation accuracy. UTM coordinates are one of the most commonly used Cartesian coordinate systems globally, belonging to the Transverse Mercator projection. It projects the Earth's ellipsoidal surface onto a plane according to longitude zones, converting latitude and longitude (geographic coordinates) into metric plane coordinates (east / north distance). It is frequently used in in-vehicle navigation, high-precision maps, surveying, and autonomous driving scenarios. Alternatively, the coordinate conversion can be performed after the candidate road segments are determined; this embodiment does not limit this, and the specific settings can be based on actual needs.

[0124] S203. Based on the projection point of the initial position on the candidate road segment and the initial position, determine the projection distance of the candidate road segment.

[0125] For example, the projection point of the initial position on the candidate road segment refers to the landing point obtained by vertically projecting the initial position of the bubble onto the candidate road segment, which is the vertical mapping point of the initial position on the candidate road segment.

[0126] Projection distance refers to the straight-line distance between the initial position of the bubble and the corresponding projection point on the candidate road segment, and is used to measure the degree of matching between the initial position and the candidate road segment.

[0127] In one example, the in-vehicle navigation device vertically projects the initial position of the bubble onto each candidate road segment to obtain the corresponding projection point. Then, it calculates the straight-line distance between the initial position and the corresponding projection point using coordinates, which is the projection distance of each candidate road segment.

[0128] In another example, the candidate road segment has start-point and end-point coordinates. A relative position coefficient can be determined based on the start-point and end-point coordinates, as well as the initial position of the candidate road segment. Based on the relative position coefficient, the projection point of the initial position onto the candidate road segment can be determined. Finally, the projection distance of the candidate road segment can be obtained based on the distance between the initial position and its projection point on the candidate road segment.

[0129] The starting coordinates of a candidate road segment refer to the Cartesian coordinates of the starting and ending points of the candidate road segment in the high-definition navigation route. The ending coordinates of a candidate road segment refer to the Cartesian coordinates of the ending point of the candidate road segment in the high-definition navigation route.

[0130] The relative position coefficient is a dimensionless value used to quantify the relative position of the initial position along the direction of the candidate road segment. Its value typically ranges from 0 to 1 (0 corresponds to the start point of the candidate road segment, 1 to the end point, and values ​​outside this range indicate that the projection point of the initial position falls on the extension line of the candidate road segment). This relative position coefficient can be used to determine whether the projection point of the initial position falls between the start and end points of the candidate road segment, outside the start point, or outside the end point. In this way, the line segments corresponding to road segments in a high-definition navigation route can be uniformly expressed mathematically using the relative position coefficient t, i.e., parameterized line segment representation.

[0131] For example, the in-vehicle navigation device first retrieves the starting coordinates A of a candidate road segment from the high-definition navigation route. , ) and endpoint coordinates B ( , ), and simultaneously obtain the initial position coordinates P of the bubble ( , First, calculate the vector of the candidate road segment. ( , The vector relative to the starting point of the candidate road segment from the initial position. ( , ), through formula The relative position coefficient t is calculated; then, based on this relative position coefficient and the coordinates of the start and end points of the candidate road segment, the coordinates of the projection point of the initial position on the straight line of the candidate road segment are calculated. , );Finally, calculate the distance between the initial position and the projection point through the Euclidean distance formula, and this distance is the projection distance corresponding to the candidate road segment. For example, when t ≤ 0, use the starting point of the candidate road segment as the projection point of the initial position on the candidate road segment; when t ≥ 1, use the end point of the candidate road segment as the projection point of the initial position on the candidate road segment; when 0 < t < 1, the coordinates of the projection point can be calculated based on the linear interpolation formula. Taking the abscissa of the projection point as an example, the abscissa of the starting point of the candidate road segment plus the product of the relative position coefficient and the difference in abscissa of the candidate road segment is used as the abscissa of the projection point.

[0132] Through this method, the calculation is realized based on the precise mathematical logic of analytic geometry and vector operations, rather than intuitive geometric projection operations. It can avoid the accuracy loss caused by coordinate sampling, graphic rendering or discretization processing in the direct projection process from the root, ensure that the calculation results of the projection distance and the projection point position have absolute numerical accuracy. At the same time, this pure numerical calculation method does not rely on graphic projection operations, and can complete the solution only through basic vector dot product and linear interpolation, consuming less computing power for in-vehicle navigation devices and having stronger operation real-time performance, and can adapt to the high-concurrency and high-response operation requirements of in-vehicle navigation. In addition, this method can compatibly handle various scenarios where the projection point falls on the extension line of the candidate road segment through the relative position coefficient, effectively adapting to the complex situation of the deviation between the initial position and the road segment caused by data differences in the heterogeneous navigation fusion process, having stronger robustness and scene adaptability, and can also highly match the coordinate-based data storage format of the road segments in the navigation route of high-definition navigation, reducing the intermediate error caused by data format conversion, and further ensuring the overall accuracy and stability of road condition matching and bubble positioning in the heterogeneous navigation fusion process.

[0133] It can be understood that this step can be to calculate the projection distance from the point (the initial position of the bubble) to the line segment (the candidate road segment) using the UTM coordinate system, which improves the calculation accuracy of the distance.

[0134] S204. Determine the candidate road segment corresponding to the minimum value of the projection distance as the target road segment corresponding to the bubble in the navigation route of the high-definition navigation.

[0135] Exemplarily, the minimum value of the projection distance refers to the distance with the smallest numerical value among the projection distances corresponding to all candidate road segments.

[0136] In one example, the in-vehicle navigation device compares the magnitudes of the projection distances of all candidate road segments, screens out the candidate road segment with the smallest projection distance, and determines this road segment as the target road segment corresponding to the bubble in the navigation route of the high-definition navigation, that is, the nearest neighbor selection.

[0137] Optionally, since the projected distance is calculated using the Euclidean distance formula, which is a square root value, the square value can be directly used for comparison when comparing projected distances, eliminating the need for square root calculations and reducing the computational load on in-vehicle navigation devices. Furthermore, the square value can be calculated directly during projected distance calculations, eliminating the need for square root operations and optimizing distance calculations.

[0138] S205. Based on the driving direction of the navigation route in the high-definition navigation system, determine the candidate lane group from the list of lane groups associated with the target road segment.

[0139] For example, the driving direction of the navigation route in a high-definition navigation system refers to the planned driving direction of the vehicle within the navigation route of the high-definition navigation system.

[0140] A lane group list refers to a set of lane groups associated with a target road segment, consisting of lanes traveling in the same direction and with the same function. A candidate lane group refers to a lane group selected from the lane group list that matches the direction of travel.

[0141] In one example, the in-vehicle navigation device retrieves a list of lane groups associated with the target road segment from the high-definition navigation map data. It can be understood that the list of lane groups may include lane groups in multiple directions. Therefore, based on the driving direction of the high-definition navigation route, lane groups that do not match the driving direction can be eliminated, and the remaining lane groups are the candidate lane groups. This determines the candidate lane group (LaneGroup) corresponding to the target road segment (Link), thus realizing the Link-to-LaneGroup mapping.

[0142] S206. For each candidate lane group, determine the matching score of the candidate lane group based on the projection point of the initial position on the target road segment.

[0143] For example, the matching score is a numerical value used to quantify the degree of matching between the projection point of the initial position on the target road segment and the candidate lane group. The higher the score, the higher the matching degree.

[0144] In one example, the in-vehicle navigation device can calculate the offset between the projection point of the initial position on the target road segment and the center position of each candidate lane group, and obtain the matching score corresponding to each candidate lane group based on the offset.

[0145] Specifically, determine the offset between the projection point of the initial position on the target road segment and the center point of the candidate lane group; based on the offset, determine the matching score of the candidate lane group.

[0146] The center point of the candidate lane group refers to the normalized center position of the candidate lane group, which can be obtained by calculating the average of the starting and ending positions of the candidate lane group. The offset refers to the distance between the projection point and the center point of the candidate lane group, used to characterize the degree of spatial deviation between the two.

[0147] For example, an in-vehicle navigation device can first calculate the position of the center point based on the left and right boundary positions of the candidate lane group. Then, it can calculate the Euclidean distance between the projection point and the center point and divide the Euclidean distance by 100,000 to normalize it so that it is within the range of 0 to 1, which is used as the offset. Finally, the difference between 1 and the offset is used as the matching score corresponding to the candidate lane group.

[0148] S207. Based on the matching score, determine the target lane group from the candidate lane groups.

[0149] In one example, the in-vehicle navigation device can first filter the candidate lane groups again based on the relationship between the position of the projection point of the initial position on the target road segment and the position range of each candidate lane group, to obtain intermediate candidate lane groups. If the intermediate candidate lane group includes only one lane group, then the intermediate candidate lane group is determined as the target lane group; if the intermediate candidate lane group includes multiple lane groups, then step S206 is executed to calculate the matching score of each candidate lane group, and the candidate lane group with the highest matching score is taken as the target lane group.

[0150] Optionally, if the high-precision navigation route includes a recommended lane attribute, the priority of the candidate lane group corresponding to the recommended lane attribute is higher than other candidate lane groups, thus determining the priority of each candidate lane group. For example, if the recommended lane attribute of the current high-precision navigation route is "straight ahead," then the straight-ahead lane group has a higher priority than the left-turn and right-turn lane groups. Furthermore, after calculating the matching scores for all candidate lane groups, a multi-candidate sorting mechanism is executed to sort the candidate lane groups. First, a first-round sort is performed based on the matching scores of each candidate lane group from highest to lowest. If multiple candidate lane groups have the same matching score, a second-round sort is performed based on the priority of the candidate lane groups. This process of sorting by matching score and priority is repeated to complete the priority sorting of all candidate lane groups, and the candidate lane group ranked first is then selected as the target lane group.

[0151] Through the aforementioned steps, the in-vehicle navigation device uses range-based matching to first identify candidate road segments within the spatial range, and then accurately matches the target road segment based on the projection point of the initial position on the candidate road segment, thereby accurately matching the target lane group corresponding to the target road segment.

[0152] S208. Project the initial position of the projection point on the target road segment onto the left and right boundaries of the target lane group, respectively, to obtain the left boundary projection point and the right boundary projection point.

[0153] For example, the left boundary of the target lane group refers to the left edge line of the leftmost lane in the target lane group. The right boundary of the target lane group refers to the right edge line of the rightmost lane in the target lane group. The left boundary projection point is the mapping point obtained by vertically projecting the initial position's projection point on the target road segment onto the left boundary of the lane. The right boundary projection point is the mapping point obtained by vertically projecting the initial position's projection point on the target road segment onto the right boundary of the lane.

[0154] In one example, the in-vehicle navigation device projects the initial position on the target road segment onto the left and right boundaries of the target lane group, respectively, and obtains the corresponding left boundary projection point and right boundary projection point on the two boundaries.

[0155] S209. Determine the lane center point of the target lane group based on the left boundary projection point and the right boundary projection point.

[0156] For example, the lane center point refers to the position located between the left boundary projection point and the right boundary projection point of the target lane group, which is the center position of the target lane group.

[0157] In one example, the in-vehicle navigation device processes the coordinates of the left and right boundary projection points by averaging the coordinates, and calculates the coordinates of the midpoint between the two points. The point corresponding to these coordinates is the center point of the target lane group.

[0158] S210. Based on the bubble type information, determine the target display position from the left boundary projection point, the right boundary projection point, and the lane center point.

[0159] Understandably, different functional types of bubbles correspond to different suitable display positions. The selection rules are to fit the bubble prompt scenario, ensure a clear navigation interface display, and not obstruct the core driving route. For example, in-vehicle navigation devices can preset display position rules corresponding to different types of bubbles. Then, based on the bubble's type information and the display position rules, the in-vehicle navigation device selects a position suitable for the current bubble type from three locations: the left boundary projection point, the right boundary projection point, and the lane center point. This position is then used as the target display position of the bubble in the high-definition navigation route.

[0160] For example, if the in-vehicle navigation device identifies the current bubble type as a traffic light alert bubble, this type of bubble needs to directly correspond to the core area of ​​the driving lane, so the center point of the lane is selected as the target display position; if the current bubble type is identified as a roadside electronic eye monitoring alert bubble, this type of bubble is more in line with the actual scene when displayed close to the side of the road, so the left boundary projection point is selected as the target display position; if the current bubble type is identified as a right-side road construction traffic event alert bubble, this type of bubble needs to be displayed close to the right side of the road, so the right boundary projection point is selected as the target display position. Finally, the appropriate target display position is obtained through bubble type matching.

[0161] Through the above steps, the in-vehicle navigation device can first identify lane groups based on the target road segment using lane boundary projection technology, obtain the target lane group, and then perform boundary projection calculation based on the target lane group to determine the final target display position of the bubble.

[0162] S211. Based on the target display location, display bubbles on the navigation route of the high-definition navigation.

[0163] It should be noted that this step is similar to the aforementioned step S105, and will not be repeated here.

[0164] Through the aforementioned steps S201-S211, when the standard definition navigation broadcasts an A electronic eye or B traffic sign ahead, the in-vehicle navigation device can obtain the initial position and type information of the A or B bubble from the standard definition navigation. Based on the navigation route of the high definition navigation, spatial retrieval is performed, and projection processing is carried out. On the basis of the same longitudinal projection position, three lateral projection positions (left line, center, right line) are returned to finally determine the target display position according to the bubble type. This improves the practicality of the standard definition navigation bubble in lane-level navigation and avoids the standard definition navigation bubble being rendered in strange positions in or outside the lane-level navigation road, achieving the standard for mass production.

[0165] In some embodiments, when displaying a high-definition navigation route on an in-vehicle navigation device, based on the aforementioned steps, the initial position of each bubble in the standard-definition navigation route can be matched with a corresponding target display position in the high-definition navigation route. This correspondence satisfies both spatial proximity and geometric rationality. Therefore, each bubble can be verified using the following formula to obtain the verification result. This verification process can be described by the following formula:

[0166] ;

[0167] Among them, Consistency_check represents the verification result, including verification pass or fail; src_obj represents the initial position of the bubble; source_data represents the navigation route of standard definition navigation; tgt_obj represents the target display position; target_data represents the navigation route of high definition navigation; spatial_match(src_obj,tgt_obj) represents spatial matching, that is, the distance between the initial position of the bubble and the target display position (such as the aforementioned straight-line distance) is less than or equal to a preset threshold; geometric_match(src_obj,tgt_obj) represents geometric matching, that is, the projection point falls on the road segment, the relative position coefficient t is valid, the lane group is reasonably assigned, and the topological relationship is correct.

[0168] This verification result ensures that all bubble positions displayed on the high-definition navigation are legal and reliable.

[0169] The bubble display method for heterogeneous navigation provided in this application embodiment first obtains the initial position of the bubble in the standard definition navigation route during the display of the high definition navigation route on the in-vehicle navigation device. Then, it performs spatial retrieval through a preset spatial index to obtain candidate road segments. It calculates the projection distance and determines the target road segment by combining the projection point of the initial position on the candidate road segment. It then filters the candidate lane group from the lane group list of the target road segment according to the driving direction. It calculates the matching score of the candidate lane group based on the projection point of the initial position on the target road segment and determines the target lane group. It projects the projection point on the target road segment to the left and right boundaries of the target lane group to obtain the boundary projection point. Then, it determines the lane center point through the boundary projection point. Finally, it determines the target display position from three positions by combining the bubble type information. This method achieves lane-level precise positioning of standard definition (SD) navigation bubbles within high-definition (HD) navigation routes through multi-level spatial retrieval, projection calculation, and matching filtering. It effectively solves the problems of abrupt rendering and abnormal positioning caused by the mismatch between SD bubbles and HD lane-level positioning during heterogeneous navigation fusion. This improves the coordination of the navigation interface display and the accuracy of traffic information prompts, avoids interference from abnormal bubble positions on the driver's driving judgment, enhances the refined guidance capability of in-vehicle navigation, and significantly optimizes the user's navigation experience.

[0170] As mentioned above, in heterogeneous navigation applications, due to the characteristics of heterogeneous data, the bubbles in standard definition navigation tend to appear in unnatural positions after vertical position matching and mapping, especially in traffic light scenarios with countdowns. In addition, the inventors discovered the following problems in heterogeneous navigation applications:

[0171] (1) In terms of broadcasting, standard definition navigation has no lane-level broadcasting capability. Although lane-level navigation can generate event-based lane-level broadcasting based on high-precision positioning, it would seem awkward to directly insert it into regular guidance broadcasting.

[0172] (2) In terms of route planning, standard definition navigation uses the planning results based on road links, while lane-level navigation uses the planning results based on lanes. The data freshness of the two is different, and the results are likely to differ in scenarios such as turning, entering and exiting ramps, and road construction sections. For example, standard definition navigation will announce that it will enter the ramp 100 meters later, while lane-level navigation may show that it will take another 200 meters to arrive.

[0173] (3) Regarding road conditions, both standard definition navigation and lane-level navigation use their own road condition data. However, the cost of mapping heterogeneous road conditions is high and the implementation is difficult, resulting in inconsistent road condition sources and different data freshness, and ultimately, the road condition performance results presented are quite different.

[0174] Therefore, embodiments of this application also provide a navigation display method for heterogeneous navigation. In some embodiments, Figure 3 A schematic diagram illustrating an application scenario provided in this application, such as... Figure 3 As shown, taking a vehicle-mounted navigation system as an example, the system can first perform heterogeneous route mapping and fusion based on the standard definition navigation provided by the first map provider and the high definition navigation map data of the first map provider to obtain the high definition navigation route, and then cache it.

[0175] (1) The vehicle system uses the steps described in the aforementioned embodiments to map each bubble in the standard definition navigation route to the high definition navigation route, thereby obtaining heterogeneous bubbles that can be accurately displayed in the high definition navigation route. This can effectively solve the problem of heterogeneous bubbles being offset and mismatched on the high definition map, and ensure that various prompt bubbles are accurately anchored in the lane-level navigation scenario.

[0176] (2) The vehicle-mounted unit generates lane-level recommended lane surfaces (lane surface data) based on the navigation route of the high-definition navigation system, and combines the positioning signals of the Global Navigation Satellite System (GNSS) (such as GPS signals) and lane line recognition results (lane line data) output by other vehicle controllers to achieve lane-level positioning (i.e., the vehicle's own position) and complete the positioning result binding process, as well as generate recommended guide lines through lane-level positioning.

[0177] (3) The vehicle system can directly generate a bubble of the same origin as the high-definition navigation based on the navigation route of the high-definition navigation. The bubble of the same origin may include prompt bubbles generated based on real-time traffic data and traffic event information, as well as navigation guidance (Maneuver) bubbles generated based on the navigation route and fork in the road of the high-definition navigation. It can complement the bubble of different origins and further enrich the dimensions and timeliness of navigation prompts.

[0178] (4) The vehicle-mounted unit performs coordinate transformation and object processing on the object recognition results to obtain object data.

[0179] (5) The vehicle system can realize lane-level broadcasting based on the aforementioned lane-level positioning results and lane-level traffic restriction rules. By determining the target road segment, optimal lane group and real-time lane position of the vehicle through lane-level positioning, and combining the lane-level traffic restriction data provided by high-definition navigation, including lane traffic restrictions, dedicated lane control, steering constraints and temporary traffic restriction information, the vehicle's driving lane and the corresponding traffic restriction rules are matched and verified in real time. Based on the matching results, a broadcast text that fits the lane-level driving scenario is generated. The broadcast timing and content (TTS broadcast data) are adjusted by combining the aforementioned heterogeneous and homogeneous bubble prompts and navigation guidance instructions. The voice output is completed through the text-to-speech (TTS) broadcast module. In this way, the vehicle's infotainment system can read the lane-level positioning results of the high-definition navigation in real time. Using this lane-level information as the core input, it dynamically adjusts and generates lane-level broadcast messages. This introduces a feedback mechanism based on lane-level positioning results to achieve lane-level broadcasting, instead of using the coarse-grained broadcasting logic of standard-definition navigation. Lane-level navigation supplements standard-definition navigation broadcasting, enriching the broadcast content and message types, reducing the likelihood of drivers driving in lanes they shouldn't be in, and lowering the possibility of violations.

[0180] (6) During the state management process of the Operational Design Domain (ODD) of lane-level navigation, the vehicle-mounted system can maintain the state machine operation based on both external triggering factors and internal judgment factors, thus determining the ODD state. External triggering factors include user actions such as manually exiting navigation, manually exiting lane-level navigation, and actively disabling lane-level navigation functions. The current state of the state machine is modified in real time based on various external operations. Internal judgment factors cover GNSS positioning accuracy, lane line recognition result validity, high-definition navigation data availability, heterogeneous data fusion consistency verification results, lane-level positioning road binding status, and Range-Based matching and projection fine matching results. The vehicle-mounted system determines whether the lane-level navigation function meets the availability conditions through a comprehensive judgment of internal factors. Finally, the real-time availability status of lane-level navigation is revealed to the outside. Based on this availability status, the upper-layer application module can automatically achieve seamless switching between the first map's clear navigation screen and the second map's high-definition lane-level navigation screen, ensuring the stable adaptation and normal operation of the navigation function. By maintaining the lane-level navigation ODD state machine through both external operation and internal operating conditions, the availability status of the lane-level navigation function can be accurately determined, enabling adaptive and seamless switching between standard definition and high definition navigation images, effectively improving the scene adaptability, operational stability and switching smoothness of the navigation function.

[0181] In summary, the vehicle-mounted navigation system can integrate generated lane surface data, vehicle position, lane line data, homogeneous navigation bubbles, TTS broadcast data, ODD status, perceived object data, and heterogeneous navigation bubbles, aggregating them into the lane-level navigation rendering module. This enables the output of lane-level navigation rendering after the fusion of heterogeneous standard-definition (SD) and high-definition (HD) navigation data. This method achieves deep fusion output of heterogeneous SD and HD navigation data, constructing a unified, complete, and accurate lane-level navigation display interface. It resolves issues such as display confusion, functional fragmentation, insufficient positioning accuracy, and mismatched prompts that exist during heterogeneous navigation data fusion. This significantly improves the accuracy of lane-level navigation and its consistency with SD navigation, achieving consistency in voice broadcasts and navigation bubbles, and comprehensively optimizing the operational reliability and user experience of lane-level navigation.

[0182] In some embodiments, Figure 4 A structural schematic diagram of a vehicle infotainment system is provided for this application, such as... Figure 4As shown, the vehicle's infotainment system has a navigation application installation package installed, such as an Android application package (APK), which can be called a client APK. This client APK provides a Human-Machine Interface (HMI), which is the direct entry point for users to interact with the vehicle's navigation function. It is responsible for transmitting user operation commands, transmitting the route calculation results (the navigation route of the standard definition navigation) and bubble data of the standard definition navigation, switching between standard definition navigation and lane-level navigation, inserting lane-level navigation broadcast text, and handling turn-by-turn (TBT) guidance interaction.

[0183] The vehicle infotainment system also includes backend components such as lane-level navigation Android Archive (AAR), lane-level navigation Software Development Kit (SDK), and standard definition navigation AAR. These components work together to utilize the vehicle infotainment system's hardware resources (such as GNSS modules, inertial navigation sensors, and sensing cameras / radar) and system capabilities to achieve lane-level navigation functions including positioning, route calculation, rendering, broadcasting, and status management.

[0184] Among them, Lane-Level Navigation (AAR) is the rendering and data transmission component for lane-level navigation. It is integrated into the client APK as a library and runs at the vehicle application layer. It achieves lane-level visual effect output based on rendering engines such as Unreal / Unity / OpenGL. At the same time, it is responsible for transmitting GNSS signals, Inertial Measurement Unit (IMU) signals, Advanced Driver Assistance Systems (ADAS) object recognition results, ADAS lane line recognition results, standard definition navigation route calculation results, ODD results, and TTS data. It completes the rendering of elements such as standard definition (HD) / high definition (SD) base maps, guide lines, guide surfaces, vehicle models, objects, homogeneous / heterogeneous bubbles, and ADAS L2 effects.

[0185] The Lane-Level Navigation SDK is the core logic processing layer of lane-level navigation, deployed at the vehicle application layer, providing underlying capability support for lane-level navigation AAR. It includes a logic engine, rendering engine, localization engine, routing engine, and a caching module. The logic engine is responsible for lane surface calculation and smoothing, ODD logic judgment, and processing of homogeneous and heterogeneous bubble types. The rendering engine is responsible for reading standard definition and high definition map elements. The localization engine implements lane-level localization and object sensing processing. The routing engine completes heterogeneous route matching, wide lane calculation, bubble generation, and broadcast generation. The caching module stores high-definition map data (HDMap Data) and wide lane tile data (widelane Tile).

[0186] Standard Definition Navigation (AAR) is a component library for standard definition navigation functions. As a basic capability dependency for lane-level navigation, it can provide core engines such as positioning, route calculation, logic, and rendering, as well as database (DB) and caching support.

[0187] The overall system integrates heterogeneous standard definition (SD) and high definition (HD) navigation data through client APK interaction, lane-level navigation AAR rendering output, core logic processing and data caching of the lane-level navigation SDK, and the underlying capabilities of the standard definition (SD) navigation AAR. This enables lane-level navigation rendering effects, voice broadcasting, and status management, ultimately supporting seamless switching between SD and HD navigation. Furthermore, it supports customized development, quickly supports third-party rendering companies for better visual effects, and facilitates deep integration with the vehicle's overall infotainment system.

[0188] In some embodiments, Figure 5 A flowchart illustrating a navigation display provided in this application, such as Figure 5As shown, the vehicle's infotainment system sends the route calculation results from the standard definition (SD) navigation of the first map provider, performs heterogeneous route matching processing, and maps and aligns the SD navigation results with the map data from the high definition (HD) navigation of the second map provider to obtain the HD navigation route (route matching result). Subsequently, based on GNSS (GPS) positioning signals and lane line recognition results, combined with the aforementioned HD navigation route, the vehicle's lane-level positioning is completed. Then, the lane-level navigation function (Lane Level...) is... The availability of Navigation (LLN) is determined: if it is deemed unavailable, an external switch to standard definition (SD) navigation mode is triggered, and the process returns to perform lane-level positioning based on GNSS (GPS) positioning signals, lane line recognition results, and the aforementioned route matching results; if it is deemed available, an external switch to lane-level navigation mode is triggered; after entering lane-level navigation mode, the vehicle's infotainment system generates lane surface data and lane line data sequentially based on the navigation route of high-definition (HD) navigation; based on the lane line data, prompts and guidance bubbles of the same origin as those of HD navigation are generated, and bubbles of different origin from SD navigation are accurately mapped to anchor them to the navigation route of HD navigation, and lane-level announcements are generated; then, a deviation determination is performed based on the vehicle's driving status: if a deviation is determined, the route calculation results of SD navigation are re-sent to enter the next round of process loop; if no deviation is determined, lane surface data is continuously generated to maintain the stable operation of lane-level navigation. The external switch to lane-level navigation mode refers to the operation by which the upper-layer application of the vehicle system (client APK) switches the visual display and core functions of navigation from standard definition navigation mode to lane-level navigation mode based on the determination result that lane-level navigation (LLN) is available.

[0189] By intelligently determining the availability of lane-level navigation and externally switching between standard definition (SD) and lane-level navigation modes based on the determination results, the system can adaptively select the appropriate navigation mode according to actual operating conditions. This ensures that lane-level navigation is stably enabled when conditions are met, and seamlessly reverts to SD navigation when conditions are not met, guaranteeing uninterrupted navigation service throughout the process. This significantly improves the scenario adaptability and operational reliability of the navigation system, and comprehensively enhances the practicality, stability, and user experience of lane-level navigation.

[0190] In some embodiments, Figure 6 Another flowchart illustrating the navigation display provided in this application, such as Figure 6 As shown, the in-vehicle infotainment system includes software modules such as standard definition navigation, an adaptation layer, and a lane-level navigation SDK. Among them, standard definition navigation is a basic navigation application that is deeply integrated into the in-vehicle infotainment system. It is responsible for core route calculation, voice broadcast control, and HMI interaction management. At the same time, it provides basic data such as standard definition navigation routes and heterogeneous navigation bubbles to the adaptation layer. It is the input source and upper-layer interaction entry point for lane-level navigation functions.

[0191] The adaptation layer serves as an intermediate bridge between the standard definition (SD) navigation and lane-level navigation SDKs. It is responsible for shielding the interface differences between the two, uniformly transmitting data such as routes, heterogeneous bubbles, HMI operations, and sensor signals from the SD navigation to the lane-level navigation SDK, while simultaneously sending back the SDK's rendering instructions, ODD status, and other results to the SD navigation, thus achieving smooth integration of heterogeneous data.

[0192] The lane-level navigation SDK is the core logic processing unit of lane-level navigation. It runs on the vehicle's infotainment system, receives various types of data transmitted through the adaptation layer, and completes core business functions such as heterogeneous route mapping, lane-level positioning, lane surface / lane line calculation, same / heterogeneous bubble generation and mapping, lane-level broadcast generation, and ODD status determination. At the same time, it interacts with the lane-level navigation cloud service to obtain cloud data such as high-definition maps, road conditions, and traffic events. It is the core engine for realizing lane-level functions.

[0193] Lane-level navigation cloud service is a cloud-based support service that provides the lane-level navigation SDK with capabilities such as high-definition map data caching, wide-lane cloud computing, and real-time traffic conditions and traffic event delivery, ensuring the supply of high-precision, real-time data required for lane-level navigation.

[0194] refer to Figure 6 As shown, after a user initiates a route calculation request, the system performs route calculation based on standard definition (SD) navigation and sets the navigation route. The adaptation layer then transmits the SD navigation route to the lane-level navigation SDK. The lane-level navigation SDK collaborates with the lane-level navigation cloud service to complete the heterogeneous route mapping, obtaining the high-definition (HD) navigation route (i.e., the HD route). Figure 6 The route results are obtained from the high-definition navigation system, and cached data is downloaded from the cloud service based on the navigation route results.

[0195] Subsequently, the adaptation layer transmits sensor signals (such as 1-2Hz GPS data, 10Hz lane line recognition results, and object perception data) to the lane-level navigation SDK. The lane-level navigation SDK acquires GPS data, lane line results, and object perception results, completes positioning and road binding based on the navigation route of the high-definition navigation, generates lane-level positioning results, and simultaneously transmits back the processed object perception data.

[0196] During the lane surface and lane line output stage, the lane-level navigation SDK synchronizes the wide lane calculation results to the cloud service and calculates passable lane surfaces based on the lane-level positioning results. It then updates the guide surface with low-frequency rendering and recommends lane lines based on the lane-level positioning results, updating the guide lines with high-frequency rendering. Rendering instructions are then passed through by the adaptation layer. During rendering, OEMs can choose third-party rendering (via callback passing through) or internal rendering to complete the rendering output of the guide surface and guide lines.

[0197] Optionally, internal rendering refers to the unified development and invocation of lane-level rendering AARs through the lane-level navigation SDK, eliminating the need for callback pass-through between the lane-level navigation SDK and external rendering AARs during third-party rendering. This constructs an end-to-end rendering link, which not only shortens the data flow path and reduces cross-module communication latency, but also ensures the real-time, consistency, and accuracy of guidance information display, significantly optimizing the overall system operating efficiency and development experience.

[0198] During the homogeneous bubble generation stage, the lane-level navigation SDK downloads real-time traffic conditions and traffic events from the lane-level navigation cloud service. It generates congestion bubbles based on traffic conditions and traffic event bubbles based on traffic events. When triggered at intersections, it generates navigation guidance (Maneuver) bubbles based on lane-level positioning results and the navigation route from high-definition navigation. The congestion bubble, traffic event bubble, and Maneuver bubble are then rendered. Rendering can be done using either third-party rendering or internal rendering. The homogeneous bubble's rendering update can be a low-frequency update with a 1-minute cycle.

[0199] During the heterogeneous bubble generation stage, after the standard definition navigation transmits the heterogeneous bubble, the adaptation layer transmits the heterogeneous bubble to the lane-level navigation SDK. The lane-level navigation SDK performs spatial range retrieval and projection processing on the heterogeneous bubble according to the navigation route of the high definition navigation and the method described in the previous embodiment. Based on the boundary of the matching lane group of the matching road segment of the high definition navigation, it generates three projection positions: left, center, and right. Finally, it matches the display position of the heterogeneous bubble, completes the accurate mapping of the heterogeneous bubble to the high definition navigation route, and then completes the rendering of the heterogeneous bubble by transmitting rendering instructions and selecting an appropriate rendering method.

[0200] During the lane-level broadcast phase, the lane-level navigation SDK combines the navigation route from the high-definition navigation system, the lane-level positioning results, and traffic restriction conditions to generate lane-level broadcast text that fits the lane-level driving scenario. This lane-level broadcast text can be updated infrequently.

[0201] During the lane-level navigation ODD state management phase, standard definition (SD) navigation transmits user operations through HMI interaction. The lane-level navigation SDK drives ODD state machine changes based on external factors (such as user exiting navigation or disabling lane-level navigation) and internal factors (such as positioning accuracy and data availability) to determine the ODD state, thereby determining whether lane-level navigation is available. The availability status of lane-level navigation is then transmitted back to SD navigation through the adaptation layer. After SD navigation synchronizes the results, it switches windows to display the lane-level rendering effect. If vehicle deviation is detected, the navigation route is updated, triggering the SD navigation route clearing step to enter the next round of process loop.

[0202] The above navigation display method has the following technical effects:

[0203] (1) By relying on the adaptation layer and heterogeneous route mapping technology, the basic route calculation capability of standard definition navigation is decoupled from the high-precision map data of high definition navigation. Without modifying the existing standard definition navigation system, smooth docking and alignment of navigation data between different map providers are realized, providing a stable and reliable high-definition route foundation for lane-level functions. Moreover, users cannot perceive that the navigation applications of two map providers are working together.

[0204] (2) The precise mapping of homogeneous and heterogeneous bubbles not only ensures the integrity of the original prompts in high-definition navigation, but also solves the problem of misalignment of heterogeneous bubbles in the high-definition interface and conflict with standard definition broadcasts, thus achieving unified and unambiguous display of navigation prompts in both visual and audio aspects.

[0205] (3) Based on the bidirectional decision logic of the ODD state machine, it can intelligently switch between standard definition navigation and lane-level navigation modes according to external user operation and internal operating conditions, provide refined guidance in high definition data coverage areas, and seamlessly revert to standard definition navigation when conditions are not met, ensuring that the navigation service is uninterrupted throughout the process.

[0206] (4) Decoupling the supplier binding of standard definition navigation and high definition navigation allows OEMs to flexibly choose different supplier combinations, reuse mature standard definition navigation systems in global promotion, quickly add lane-level functions, and gain greater initiative in cost control, supply chain constraints, and technology iteration pace.

[0207] Figure 7 This is a schematic diagram of the structure of the bubble display device for heterogeneous navigation provided in this application, as shown below. Figure 7 As shown, the bubble display device 300 for heterogeneous navigation provided in this embodiment includes:

[0208] The acquisition module 301 is used to acquire the initial position of the bubble to be displayed in the standard definition navigation route when the high definition navigation route is displayed on the in-vehicle navigation device; wherein, the high definition navigation route is obtained by fusing the standard definition navigation route with the high definition navigation route.

[0209] The first determining module 302 is used to determine the target road segment corresponding to the bubble in the navigation route of the high-definition navigation based on the initial position and by using spatial retrieval and projection matching processing.

[0210] The second determining module 303 is used to determine the target lane group corresponding to the bubble in the navigation route of the high-definition navigation based on the target road segment;

[0211] The third determining module 304 is used to determine the target display position of the bubble in the navigation route of the high-definition navigation based on the bubble type information and the lane information of the target lane group.

[0212] Display module 305 is used to display bubbles on the navigation route of high-definition navigation based on the target display location.

[0213] In one possible implementation, the first determining module 302 is configured to:

[0214] Based on the initial position, spatial retrieval is performed in a preset spatial index to determine the candidate road segment corresponding to the bubble in the high-definition navigation route; wherein, the spatial index is constructed based on each road segment in the high-precision navigation route;

[0215] Based on the projection point of the initial position on the candidate road segment and the initial position, determine the projection distance of the candidate road segment;

[0216] The candidate road segment corresponding to the minimum projection distance is determined as the target road segment in the navigation route of the bubble in high-definition navigation.

[0217] In one possible implementation, the spatial index includes the minimum bounding rectangle of each segment in the navigation route of the high-definition navigation; the first determining module 302 is configured to:

[0218] With the initial position as the center, construct a search bounding rectangle according to the preset search radius;

[0219] Based on the search bounding rectangle, a spatial range retrieval is performed in the spatial index to obtain candidate road segments; wherein, the candidate road segment is the road segment corresponding to the smallest bounding rectangle that intersects with the search bounding rectangle.

[0220] In one possible implementation, the first determining module 302 is configured to:

[0221] If it is determined that no smallest bounding rectangle intersects with the search bounding rectangle, the search radius is updated according to the preset radius increment, and the updated search bounding rectangle is constructed based on the updated search radius;

[0222] Based on the updated search bounding rectangle, a spatial range search is performed in the spatial index to retrieve candidate road segments.

[0223] In one possible implementation, the candidate road segment has start-point coordinates and end-point coordinates; the first determining module 302 is used for:

[0224] The relative position coefficient is determined based on the starting coordinates, ending coordinates, and initial position of the candidate road segment; where the relative position coefficient represents the relative position of the initial position on the candidate road segment.

[0225] Based on the relative position coefficient, determine the projection point of the initial position on the candidate road segment;

[0226] The projection distance of the candidate road segment is obtained based on the initial position and the distance between the initial position and its projection point on the candidate road segment.

[0227] In one possible implementation, the second determining module 303 is configured to:

[0228] Based on the driving direction of the navigation route in the high-definition navigation system, candidate lane groups are determined from the list of lane groups associated with the target road segment;

[0229] For each candidate lane group, the matching score of the candidate lane group is determined based on the projection point of the initial position on the target road segment;

[0230] The target lane group is determined from the candidate lane groups based on the matching score.

[0231] In one possible implementation, the second determining module 303 is configured to:

[0232] Determine the offset between the projection point of the initial position on the target road segment and the center point of the candidate lane group;

[0233] The matching score for the candidate lane group is determined based on the offset.

[0234] In one possible implementation, the lane information of the target lane group includes the left boundary and the right boundary of the lane. The third determining module 304 is used for:

[0235] The initial projection points on the target road segment are projected onto the left and right boundaries of the target lane group, respectively, to obtain the left boundary projection points and the right boundary projection points;

[0236] Determine the lane center point of the target lane group based on the left boundary projection point and the right boundary projection point;

[0237] Based on the bubble type information, the target display position is determined from the left boundary projection point, the right boundary projection point, and the lane center point.

[0238] The bubble display device for heterogeneous navigation provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0239] Figure 8 A schematic diagram of the structure of the electronic device provided in this application. Figure 8 As shown, the electronic device 400 provided in this embodiment includes at least one processor 401 and a memory 402. Optionally, the electronic device 400 further includes a communication component 403. The processor 401, memory 402, and communication component 403 are connected via a bus. This electronic device can be the aforementioned in-vehicle navigation device or a vehicle infotainment system; this embodiment does not limit the scope of the application.

[0240] In a specific implementation, at least one processor 401 executes computer execution instructions stored in memory 402, causing at least one processor 401 to perform the above-described method.

[0241] The specific implementation process of processor 401 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0242] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0243] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0244] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0245] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0246] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0247] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0248] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0249] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0250] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0251] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0252] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0253] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0254] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A bubble display method for heterogeneous navigation, characterized in that, The method is applied to an in-vehicle navigation device, the in-vehicle navigation device being equipped with standard-definition navigation from a first map provider and high-definition navigation from a second map provider, the method comprising: When displaying a high-definition navigation route on the in-vehicle navigation device, the initial position of the bubble to be displayed in the standard-definition navigation route is obtained; wherein, the high-definition navigation route is obtained by fusing the standard-definition navigation route with the high-definition navigation; Based on the initial position, spatial retrieval and projection matching processing are used to determine the target road segment corresponding to the bubble in the navigation route of the high-definition navigation. Based on the target road segment, determine the target lane group corresponding to the bubble in the navigation route of the high-definition navigation; Based on the bubble type information and the lane information of the target lane group, the target display position of the bubble in the navigation route of the high-definition navigation is determined; Based on the target display location, the bubble is displayed on the navigation route of the high-definition navigation.

2. The method according to claim 1, characterized in that, The step of determining the target road segment corresponding to the bubble in the navigation route of the high-definition navigation system based on the initial position using spatial retrieval and projection matching processing includes: Based on the initial position, a spatial search is performed in a preset spatial index to determine the candidate road segment corresponding to the bubble in the navigation route of the high-definition navigation; wherein, the spatial index is constructed based on each road segment in the high-precision navigation route; Based on the projection point of the initial position on the candidate road segment and the initial position, determine the projection distance of the candidate road segment; The candidate road segment corresponding to the minimum projection distance is determined as the target road segment corresponding to the bubble in the navigation route of the high-definition navigation.

3. The method according to claim 2, characterized in that, The spatial index includes the minimum bounding rectangle of each segment in the navigation route of the high-definition navigation; the step of performing spatial retrieval in the preset spatial index based on the initial position to determine the candidate segment corresponding to the bubble in the navigation route of the high-definition navigation includes: Using the initial position as the center, construct a search outer rectangle according to a preset search radius; Based on the search bounding rectangle, a spatial range retrieval is performed in the spatial index to obtain the candidate road segment; wherein, the candidate road segment is the road segment corresponding to the smallest bounding rectangle that intersects with the search bounding rectangle.

4. The method according to claim 3, characterized in that, The method further includes: If it is determined that no smallest bounding rectangle intersects with the search bounding rectangle, the search radius is updated according to the preset radius increment, and an updated search bounding rectangle is constructed based on the updated search radius; Based on the updated search outer rectangle, a spatial range retrieval is performed in the spatial index to obtain the candidate road segment.

5. The method according to claim 2, characterized in that, The candidate road segment has start-point coordinates and end-point coordinates; determining the projection distance of the candidate road segment based on the projection point of the initial position on the candidate road segment and the initial position includes: A relative position coefficient is determined based on the starting coordinates, ending coordinates, and initial position of the candidate road segment; wherein, the relative position coefficient represents the relative position of the initial position on the candidate road segment; Based on the relative position coefficient, determine the projection point of the initial position on the candidate road segment; The projection distance of the candidate road segment is obtained based on the initial position and the distance between the initial position and its projection point on the candidate road segment.

6. The method according to claim 1, characterized in that, The step of determining the target lane group corresponding to the bubble in the navigation route of the high-definition navigation based on the target road segment includes: Based on the driving direction of the navigation route of the high-definition navigation, candidate lane groups are determined from the list of lane groups associated with the target road segment; For each candidate lane group, the matching score of the candidate lane group is determined based on the projection point of the initial position on the target road segment; The target lane group is determined from the candidate lane groups based on the matching score.

7. The method according to claim 6, characterized in that, The step of determining the matching score of the candidate lane group based on the projection point of the initial position on the target road segment includes: Determine the offset between the projection point of the initial position on the target road segment and the center point of the candidate lane group; The matching score for the candidate lane group is determined based on the offset.

8. The method according to any one of claims 1-7, characterized in that, The lane information of the target lane group includes the left and right boundaries of the lanes. Determining the target display position of the bubble in the navigation route of the high-definition navigation system based on the bubble type information and the lane information of the target lane group includes: The initial position is projected onto the target road segment and then onto the left and right boundaries of the target lane group, respectively, to obtain the left boundary projection point and the right boundary projection point. The lane center point of the target lane group is determined based on the left boundary projection point and the right boundary projection point; Based on the bubble type information, the target display position is determined from the left boundary projection point, the right boundary projection point, and the lane center point.

9. A bubble display device for heterogeneous navigation, characterized in that, The device is applied to an in-vehicle navigation system, which is equipped with standard-definition navigation from a first map provider and high-definition navigation from a second map provider, including: The acquisition module is used to acquire the initial position of the bubble to be displayed in the standard definition navigation route when the high-definition navigation route is displayed on the in-vehicle navigation device; wherein the high-definition navigation route is obtained by fusing the standard definition navigation route with the high-definition navigation; The first determining module is used to determine the target road segment corresponding to the bubble in the navigation route of the high-definition navigation based on the initial position by using spatial retrieval and projection matching processing. The second determining module is used to determine the target lane group corresponding to the bubble in the navigation route of the high-definition navigation based on the target road segment; The third determining module is used to determine the target display position of the bubble in the navigation route of the high-definition navigation based on the bubble type information and the lane information of the target lane group; The display module is used to display the bubble on the navigation route of the high-definition navigation based on the target display location.

10. An electronic device / computer-readable storage medium / computer program product, characterized in that, The electronic device includes: a memory and a processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-8; The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-8; The computer program product includes a computer program that, when executed by a processor, is used to implement the method as described in any one of claims 1-8.

Images