Map Navigation Method and Apparatus, Computer Device, and Computer Program

Abstract

This application relates to a map navigation method and apparatus, a computer device, and a storage medium, and pertains to the field of maps. The map navigation method includes the steps of displaying a navigation interface, where the navigation interface is used to navigate an object moving on a road (step 202); when a road section on the road is in any preset road condition and the object is located in a road range outside the road section on the road, displaying a first type of navigation map on the navigation interface (step 204); and when the road section is in the preset road condition and the object is located within the road section, displaying a second type of navigation map on the navigation interface, where the scale used for the second type of navigation map is larger than the scale used for the first type of navigation map (step 206).

Description

Technical Field

[0001] (Cross - reference to related applications) This application claims the priority of a Chinese patent application with the application number 2022112069661 and the application title "Map Navigation Method and Apparatus, Computer Device, and Storage Medium", which was filed with the China National Intellectual Property Administration on September 30, 2022, and all of its contents are incorporated herein by reference.

[0002] This application relates to the technical field of map navigation, and in particular, to map navigation methods and apparatuses, computer devices, and storage media.

Background Art

[0003] With the development of Internet and mobile communication technologies, online navigation has been increasingly widely applied. For example, during vehicle driving, online navigation can be performed using navigation software on the in - vehicle terminal, and during walking on the road, online navigation can be performed using navigation software on the mobile terminal. Navigation software can support the display of one or more types of maps. For example, it can support the display of at least one of a standard - definition (SD) map and an augmented - reality (AR) map.

[0004] In the prior art, in order to make maps with different precisions easier to view, maps with different precisions can be simultaneously displayed on the same screen. For example, a standard - definition map and an augmented - reality map can be simultaneously displayed on the same screen.

[0005] However, since the product forms of maps with different precisions are significantly different, an obvious split - screen effect appears in the display effect, which hinders the rapid understanding of the map and thereby reduces the navigation efficiency.

Summary of the Invention

Means for Solving the Problem

[0006] Based on this, it is necessary to provide a map navigation method and apparatus, a computer device, a computer-readable storage medium, and a computer program product for the above technical problems.

[0007] In one aspect, the present application provides a map navigation method executed by a computer device. The map navigation method includes: a step of displaying a navigation interface, where the navigation interface is used to navigate an object moving on a road; a step of displaying a first type of navigation map on the navigation interface when a road section on the road is in any preset road condition and the object is located in a road range outside the road section on the road; and a step of displaying a second type of navigation map on the navigation interface when the road section is in the preset road condition and the object is located within the road section, where a scale used for the second type of navigation map is larger than a scale used for the first type of navigation map.

[0008] In another aspect, the present application further provides a map navigation device, the map navigation device including a navigation interface display module used to display a navigation interface, the navigation interface being used to navigate an object moving on a road; a first map display module used to display a first type of navigation map on the navigation interface when a road section on the road is in any preset road condition and the object is located in a road range outside the road section on the road; and a second map display module used to display a second type of navigation map on the navigation interface when the road section is in the preset road condition and the object is located within the road section, the scale used for the second type of navigation map being larger than the scale used for the first type of navigation map.

[0009] In another aspect, the present application further provides a computer device. The computer device includes a memory and one or more processors, the memory storing computer-readable instructions, and the computer-readable instructions, when executed by the one or more processors, causing the one or more processors to execute the steps in the above map navigation method.

[0010] In another aspect, the present application further provides one or more non-volatile readable storage media. Computer-readable instructions are stored on the computer-readable storage media, and the computer-readable instructions, when executed by one or more processors, cause the one or more processors to implement the steps in the above map navigation method.

[0011] In another aspect, the present application further provides a computer program product. The computer program product includes computer-readable instructions that, when executed by a processor, implement the steps in the above-described map navigation method.

[0012] Details of one or more embodiments of the present application are described in the following accompanying drawings and description. Other features, objects, and advantages of the present application will become apparent from the specification, drawings, and claims.

Brief Description of the Drawings

[0013]

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Embodiments for Carrying out the Invention

[0014] To more clearly explain the technical solutions in the embodiments of this application, the drawings necessary for the description of the embodiments will be briefly introduced. Obviously, the described drawings are only a part of the embodiments of this application, and those skilled in the art can further obtain other drawings based on these drawings without creative efforts.

[0015] To make the objectives, technical solutions and advantages of this application more clear, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used for interpreting this application and not for limiting this application.

[0016] The map navigation method provided by the embodiments of this application can be applied to the application environment shown in FIG. 1. Here, the terminal 102 communicates with the server 104 via a network. The data storage system can store the data that the server 104 needs to process. The data storage system may be integrated with the server 104, or may be placed in the cloud or other servers. The server 104 may be a server that provides a map service, and the map service may include, but is not limited to, at least one of a positioning service or a navigation service. The server 104 can receive positioning data related to a vehicle or a pedestrian, perception data of the environment where the vehicle or the pedestrian is located, etc. The server 104 can determine a navigation map to be displayed on the navigation interface based on the positioning data or the perception data, and can display the navigation map on the navigation interface via the terminal 102. Of course, the terminal 102 can also receive positioning data, perception data, etc. related to a vehicle or a pedestrian, and generate and display a navigation map on the navigation interface based on the positioning data or the perception data.

[0017] Specifically, the terminal 102 displays a navigation interface, and the navigation interface is used to navigate an object moving on a road. When a road section on the road is in any preset road condition and the object is located outside the road range of the road section on the road, the terminal 102 displays a first type of navigation map on the navigation interface. When the road section is in the preset road condition and the object is located within the road section, the terminal 102 displays a second type of navigation map on the navigation interface. Here, the road section with a preset road condition can be called a target road section, and the scale used in the second type of navigation map is larger than the scale used in the first type of navigation map.

[0018] Here, the terminal 102 may be various desktop computers, notebook computers, smartphones, tablets, intelligent voice interaction devices, smart home appliances, in-vehicle terminals, aircraft, and portable wearable devices, but is not limited thereto. The portable wearable device may be a smartwatch, a smart bracelet, a head-mounted device, etc. The server 104 may be realized by an independent server or a server cluster composed of a plurality of servers.

[0019] The map navigation method provided by the present application can be applied to the map field and can also be applied to the vehicle scenario. For example, the map navigation method provided by the present application may be executed by an in-vehicle terminal or may be executed in cooperation with other devices by the in-vehicle terminal.

[0020] In some embodiments, as shown in FIG. 2, a map navigation method is provided, which may be executed by a terminal or jointly executed by a terminal and a server. Taking the application of the method to the terminal 102 in FIG. 1 as an example, the following steps are included.

[0021] In step 202, a navigation interface is displayed, and the navigation interface is used to navigate an object moving on the road.

[0022] Here, the object includes, but is not limited to, pedestrians or vehicles. The vehicle may be a vehicle driven by a human or a vehicle, where being driven by a human means that the driving is controlled by the driver, and being driven by a vehicle means that the driving of the vehicle is controlled by an in-vehicle automatic driving system. The road may be any type of road, including but not limited to at least one of a motor vehicle lane, a non-motor vehicle lane, or a sidewalk. The navigation interface is displayed via a screen on the terminal, and the navigation interface is used to perform road navigation for the object.

[0023] Specifically, the terminal can display a navigation portal, and the navigation portal is used to trigger the display of the navigation interface. For example, the terminal responds to a trigger operation on the navigation portal to display the navigation interface and display a navigation map on the navigation interface. The navigation map describes the actual road environment at the actual geographical location where the vehicle is located, including the road, lane, and indication markers in the lane of the target lane where the vehicle is located. The navigation map can include at least one of a standard definition map (SD map), a high definition map (HD map), or an augmented reality map (AR map). The ground image in the navigation map can be abbreviated as the base map.

[0024] Here, the SD base map has the advantage of a wide coverage range although it is weak in detailed representation. The AR base map has a great advantage in details and the highest sense of reality, but it has the disadvantage of a single viewing angle and a limited visible range. The HD base map has a comparable representation ability in details with the AR base map and a variable viewing angle, but it has the drawbacks of a narrow data coverage range and a sense of reality that is inferior to AR but stronger than SD. Therefore, the display ratio is adjusted in different scenarios to emphasize different guidance information. The viewing angle of the SD base map is controlled by the ordinary navigation automatic scaling policy, the viewing angle of the AR base map is determined by the installation angle of the AR camera, the viewing angle of the HD base map is controlled by the human driving automatic scaling policy in the scenario driven by humans, and is controlled by the vehicle driving automatic scaling policy in the scenario driven by the vehicle. The SD base map is as shown in (a) of Figure 3, the AR base map is as shown in (b) of Figure 3, and the HD base map is as shown in (c) of Figure 3.

[0025] In step 204, when a road section on the road is in any of the preset road conditions and the object is located in the road range outside the road section on the road, a first type of navigation map is displayed on the navigation interface.

[0026] Here, a road section with a preset road condition can be called a target road section. The preset road condition is a road condition set in advance, which has a certain degree of complexity or requires attention to more road details. The preset road condition includes, but is not limited to, at least one of lane change, direction change, traffic jam, ramp, roundabout, accompanying route, end point, avoidance, handover of automatic driving, maneuvering point, etc. Here, when the object is a vehicle, it can be either manual driving or automatic driving. Therefore, the avoidance can be the avoidance in a manual driving scenario or the avoidance in an automatic driving scenario. Avoidance refers to a scenario where, when the road condition of the current lane deteriorates due to overtaking by a vehicle on the side, deceleration of the vehicle in front, lane change of the vehicle in front, etc. during driving, dangerous situations are automatically avoided by operations such as deceleration and lane change. Handover of automatic driving refers to a scenario where a vehicle attempts to shift from an area supported by the automatic driving function to manual driving. The maneuvering point can be a maneuvering point in a human driving scenario. For example, the maneuvering point is a position in a map navigation that guides a driver to perform maneuvering operations such as direction change, deceleration, merging, and exiting. Usually, it is a position such as a direction change at an intersection, a branch at an intersection, a merge at an intersection, etc. The maneuvering point can also be an automatic driving maneuvering point. The automatic driving maneuvering point refers to the position of maneuvering operations such as automatic direction change and U-turn during automatic driving. A road section with a preset road condition can be called a target road section. For example, the target road section can be a road section at a direction change intersection, a congested road section, a road section where avoidance measures are taken, a road section where lane change is performed, etc.

[0027] The navigation map is used to provide a navigation function for an object. The navigation map describes the actual road environment at the actual geographical location where the object is located, and can include roads, lanes, or indication markers in the lane where the object is located. The first type of navigation map may be either a standard resolution map or a high-precision map. The road range outside the target road section includes at least one of the road range in front of the target road section and the road range behind the target road section. The target road section may be a road section corresponding to a maneuvering point, and the maneuvering point refers to a position where the driver needs to perform operations such as lane change, direction change, or U-turn during driving.

[0028] Specifically, when the object is located in the road range outside the target road section on the road where it is located, the terminal can display the first type of navigation map on the navigation interface. For example, the terminal can display the navigation map of the standard resolution map on the navigation interface, or display the navigation map of the high-precision map on the navigation interface.

[0029] In some embodiments, when the object is located in the road range outside the target road section on the road, the terminal can display the first type of navigation map on the navigation interface. The first type of navigation map matches the driving proficiency of the driver. When the driving proficiency of the driver reaches the driving proficiency threshold, the first type of navigation map is the navigation map of the standard resolution map. When the driving proficiency of the driver does not reach the driving proficiency threshold, the first type of navigation map is the navigation map of the high-precision map.

[0030] In some embodiments, when the object is located in a road range outside the target road section on the road, the terminal can display a first type of navigation map with a specific scale and a specific pitch angle on the navigation interface. When the object is a vehicle, the terminal can determine the scale according to the driving state. Here, the pitch angle refers to the viewing angle for adjusting and viewing the base map. The scale represents the ratio between the distance on the displayed navigation map and the actual geographical distance. For example, if 1 centimeter (cm) in the navigation map represents 10,000 centimeters of actual geography, the scale = 1:10,000. There is a negative correlation between the map size of the navigation map and the scale. The smaller the scale, the larger the map size, that is, the larger the geographical range represented by the navigation map. The larger the scale, the smaller the map size, that is, the smaller the geographical range represented by the navigation map. The map size can be understood as the size of the part in the map displayed on the navigation interface. When the screen is fixed, increasing the scale is equivalent to enlarging the content displayed on the screen, so the content that can be displayed on the screen decreases, and thereby the map size becomes smaller. The scale corresponds to the scale level. The larger the scale level, the larger the scale and the smaller the map size. As shown in Table 1, the relationship between the scale level and the map size is shown. Table 1 shows the scale levels from level 4 to 22, and each level corresponds to a different scale and pitch angle. The correspondence between the scale level and the map size in Table 1 is only an example. The scale level can also be a decimal. For example, the scale level is 4.5 and the corresponding map size is 1,500,000 meters.

[0031]

Table 1

[0032] Different scale levels have different map size ranges presented on the same screen. As shown in Figure 4, the effects of map sizes at different scale levels are displayed. (a) in Figure 4 shows the effect of the map size at scale level 19, (b) in Figure 4 shows the effect of the map size at scale level 18, (c) in Figure 4 shows the effect of the map size at scale level 17, (d) in Figure 4 shows the effect of the map size at scale level 16, and (e) in Figure 4 shows the effect of the map size at scale level 15. It can be seen from Figure 4 that the map size ranges presented on the same screen vary with different scale levels. The ranges of the maps seen at different scale levels are different. The smaller the scale level, the larger the visible range, and the coarser the details of the map. The larger the scale level, the smaller the visible range, and the more realistic the details of the map. As shown in Figure 5, when adjusting the pitch angle at the same scale level, the visible ranges in different directions can be adjusted. In the automatic adjustment strategy of the map size, the purpose is to adjust the pitch angle in the moving direction of the object, for example, the driving direction of the vehicle itself, to expand the visible range, and further to achieve the purpose of displaying geographical areas beyond the line of sight. The vehicle itself refers to an autonomous vehicle. As shown in Figure 6, the rendering effects of the base maps at different pitch angles are displayed. The pitch angle in (a) of Figure 6 is 40 degrees, the pitch angle in (b) of Figure 6 is 50 degrees, and the pitch angle in (c) of Figure 6 is 65 degrees. The high-precision map data is highly consistent with the standard resolution map data. The difference is that the high-precision map data is more detailed and has more data dimensions. As shown in Figure 7, it is the effect of the high-precision map data drawn on the SD base map. As can be seen from Figure 7, the effects of the high-precision map data displayed at different grades of scale levels are very different. When the scale level of the base map is 20 levels or more, it has a relatively high guiding effect and achieves the guiding purpose at the lane level.

[0033] In step 206, when the road section is in a preset road condition and the object is located within the road section, a second type of navigation map is displayed on the navigation interface. Here, the scale used for the second type of navigation map is larger than the scale used for the first type of navigation map.

[0034] In some embodiments, the authenticity of the roads in the second type of navigation map is higher than that of the roads in the first type of navigation map. The authenticity of the roads in the navigation map is used to reflect the proximity (similarity) between the roads in the navigation map and the actual roads. The greater the proximity between the roads in the navigation map and the actual roads, the greater the authenticity of the roads in the navigation map. Since the authenticity of the roads in the second type of navigation map is higher than that of the roads in the first type of navigation map, the authenticity of the roads in the navigation map used within the target road section is higher than that of the roads in the navigation map used outside the target road section. As a result, more details of the roads can be provided within the target road section, improving the navigation efficiency.

[0035] To make it easier to understand the authenticity of the roads, an example is given for explanation. For example, a navigation map including a real scene is generated by an image that uses a camera to capture the real scene of the road ahead in real time. Therefore, the real scene of the road is included in the navigation map. However, since an electronic map is not generated by an image that uses a camera to capture the real scene of the road ahead in real time, the real scene of the road is not included. Therefore, compared with the electronic map, the roads in the real-scene navigation map have a greater proximity to the actual roads, that is, the authenticity of the roads is higher. The real-scene navigation map is, for example, an AR map, and the electronic map is, for example, an SD map or an HD map. The AR map is generated by an image that uses a camera to capture the real scene of the road ahead in real time, and the SD map and the HD map are electronic maps and are not generated by an image that collects the real scene. Obviously, compared with the SD map and the HD map, the roads in the AR map have a greater proximity to the actual roads. Therefore, the authenticity of the roads in the AR map is greater than that of the roads in the SD map, and the authenticity of the roads in the AR map is also greater than that of the roads in the HD map.

[0036] Also, even for the same electronic map, if the road display accuracy is different and the richness of the displayed road details is also different, the proximity to the actual road will also be different. Understandably, the higher the road display accuracy of an electronic map, the richer the displayed road details and the higher the proximity to the actual road. Therefore, there are differences in the authenticity of roads among electronic maps with different road display accuracies. For example, since the details presented by the roads in an HD map are richer than those presented by the roads in an SD map, the authenticity of the roads in an HD map is greater than that of the roads in an SD map.

[0037] Since the authenticity of the roads in the second type of navigation map is higher than that of the roads in the first type of navigation map, the second type of navigation map may be a virtual navigation map, and the first type of navigation map may be an electronic map. For example, the second type of navigation map may be an AR map, and the first type of navigation map may be either an SD map or an HD map. Both the second type of navigation map and the first type of navigation map may be electronic maps. For example, the second type of navigation map may be an HD map, and the first type of navigation map may be an SD map.

[0038] The scale of the second type of navigation map is larger than that of the first type of navigation map, and the authenticity of the roads in the second type of navigation map is higher than that of the roads in the first type of navigation map. The second type of navigation map is a map that can present the actual environment and may be, for example, a navigation map in the form of an augmented reality map. The scale of the first type of navigation map may belong to the first scale range, and the scale of the second type of navigation map may belong to the second scale range. The first scale range is different from the second scale range, and the scale level corresponding to the scale in the first scale range is larger than the scale level to which the scale in the second scale range belongs. For example, the first scale range is a scale range composed of scales from level 4 to 21, and the second scale range is a scale range composed of scales of 22 levels or higher.

[0039] Specifically, when the object is located within the target road section, the terminal can display a second type of navigation map on the navigation interface. For example, it can display a navigation map in the form of an augmented reality map on the navigation interface.

[0040] In some embodiments, both the first type of navigation map and the second type of navigation map are electronic maps. The authenticity of the roads in the second type of navigation map is higher than that of the roads in the first type of navigation map. For example, the first type of navigation map is an SD map, and the second type of navigation map is an HD map. When the object is located in a road range outside the target road section on the road, the SD map is displayed on the navigation interface. When the object is located within the target road section, the HD map is displayed on the navigation interface.

[0041] In some embodiments, the first type of navigation map is an electronic map, and the second type of navigation map is a real - scene navigation map. The authenticity of the roads in the second type of navigation map is higher than that of the roads in the first type of navigation map. For example, the first type of navigation map is an SD map, and the second type of navigation map is an AR map. When the object is located in a road range outside the target road section on the road, the SD map is displayed on the navigation interface. When the object is located within the target road section, the AR map is displayed on the navigation interface. Or, the first type of navigation map is an HD map, and the second type of navigation map is an AR map. When the object is located in a road range outside the target road section on the road, the HD map is displayed on the navigation interface. When the object is located within the target road section, the AR map is displayed on the navigation interface.

[0042] In some embodiments, when the object is located outside the target road section on the road and moves towards the target road section, the switching of the navigation map may be triggered before entering the target road section. Specifically, in response to the distance between the object and the target road section being less than a preset target distance, the terminal switches from the display of the first type of navigation map to the display of the second type of navigation map, that is, starts the display of the second type of navigation map before entering the target road section. The terminal switches from the display of the second type of navigation map to the display of the first type of navigation map in response to the object exiting the target road section. The preset target distance can be determined based on the moving speed of the object. The greater the moving speed of the object, the greater the preset target distance; the smaller the moving speed of the object, the smaller the preset target distance. Taking the example that the first type of navigation map is an SD map and the second type of navigation map is an HD map, as shown in FIG. 8, the target road section may be, for example, the intersection where the direction changes in FIG. 8. The distance between point A and the intersection where the direction changes is the preset target distance. When the object moves to point A, the switching from the display of the SD map to the display of the HD map is triggered. In some other embodiments, the switching of the navigation map may be triggered when entering the target road section. For example, the terminal switches from the display of the first type of navigation map to the display of the second type of navigation map in response to the object entering the target road section.

[0043] In some embodiments, in response to an object moving from outside a target road section to inside the target road section, the terminal switches from displaying a first type of navigation map to displaying a second type of navigation map. The switching of the navigation map may be caused by a change in scale. Specifically, in response to an object moving from outside a target road section to inside the target road section, the terminal increases the scale to the scale within a second scale range, and in response to the scale increasing to the scale within the second scale range, the terminal switches from displaying a first type of navigation map to displaying a second type of navigation map.

[0044] In some embodiments, the object travels in a direction approaching the target road section. When the object is located in a road range outside the target road section on the road, the terminal, in response to the object moving toward the target road section on the road, that is, in response to the distance between the object and the target road section decreasing, reduces the map size of the first type of navigation map displayed on the navigation interface, that is, increases the scale of the first type of navigation map displayed on the navigation interface. When the terminal determines that the object enters the target road section based on the distance between the object and the target road section, the terminal displays a second type of navigation map on the navigation interface. Here, the scale of the second type of navigation map is larger than the scale of the first type of navigation map, that is, the map size of the second type of navigation map is smaller than the map size of the first type of navigation map.

[0045] In some embodiments, the object travels in a direction moving away from the target road section. When the object is located inside the target road section, a second type of navigation map is displayed on the navigation interface. When the terminal determines that the object has moved outside the target road section based on the distance between the object and the target road section, the terminal displays a first type of navigation map on the navigation interface.

[0046] In some embodiments, when only the first type of navigation map and the second type of navigation map exist on the terminal, no matter where the object is located within the road range outside the target road section on the road, the first type of navigation map is displayed on the navigation interface. When the object is located within the target road section, the second type of navigation map is displayed on the navigation interface.

[0047] In some embodiments, when the object is located in the road range outside the target road section on the road and the distance between the object and the target road section is greater than or equal to a second preset distance, the terminal displays the first type of navigation map on the navigation interface. When the object is located in the road range outside the target road section on the road and the distance between the object and the target road section is less than the second preset distance, the terminal displays the third type of navigation map on the navigation interface. When the object is located within the target road section, the terminal displays the second type of navigation map on the navigation interface. Here, the road display accuracy of the third type of navigation map is greater than that of the first type of navigation map, and the authenticity of the road in the second type of navigation map is higher than that of the road in the third type of navigation map. For example, the first type of navigation map is an SD map, the second type of navigation map is an AR map, and the third type of navigation map is an HD map. In the embodiments of the present application, the switching process of the multi-mode base map is actually realized. The multi-mode refers to multiple types, and multiple types refer to at least two.

[0048] In some embodiments, when entering the target road section, it is possible to trigger the switching from the third type of navigation map to the second type of navigation map. It is also possible to switch from the third type of navigation map to the second type of navigation map before entering the target road section. Specifically, when the distance between the object and the target road section is less than a second preset distance and greater than a third preset distance, the terminal can display the third type of navigation map. In response to the distance between the object and the target road section shrinking to the third preset distance, it switches from the third type of navigation map to the second type of navigation map. When the distance between the object and the target road section shrinks to the third preset distance, as the object moves towards the target road section, the display of the second type of navigation map is maintained. When the object exits the target road section or after the object moves out a certain distance from the target road section, the type of the navigation map is switched. Here, the third preset distance is smaller than the second preset distance.

[0049] The first type of navigation map is a navigation map in the form of a standard resolution map, the second type of navigation map is a navigation map in the form of an augmented reality map, and the third type of navigation map is a navigation map in the form of a high-precision map. Taking this as an example, as shown in FIGS. 9A and 9B, the switching process of the multi-mode base map is described by taking the entire process of entering a maneuver point, during the entry into the maneuver point, after the entry into the maneuver point, and exiting from the maneuver point as an example. Before the vehicle enters the maneuver point, it is located in a stable driving road section without branches. The stable driving road section without branches is, for example, the road section before point A in FIG. 9A or FIG. 9B. In the stable driving road section without branches, the requirement for the driver is to maintain driving in the current lane, without excessive guidance requirements. The driver focuses on the overall route information, such as the distance to the next maneuver point, the distance and time to the destination, and the road conditions ahead. In the stable driving road section without branches, an SD base map with large map size characteristics is displayed, and the overall navigation information is displayed using the SD base map. In the stable driving road section without branches, the scale levels displayed vary depending on the type of road. For example, for ordinary roads, an SD base map displayed at scale level L1 is adopted, and for highways or urban expressways, scale level L2 is adopted to display the SD base map. Here, scale level L1 is lower than scale level L2, that is, the map size corresponding to scale level L2 is smaller than the map size corresponding to scale level L1. For example, L1 is level 4 and L2 is level 6.

[0050] When driving to point A in Fig. 9A or Fig. 9B, enter the turning section of the intersection, enter the stage of approaching the maneuvering point. After entering the turning section of the intersection, the driver needs to pay attention to the surrounding road conditions, prepare and start changing lanes to the target lane. During the turning section of the intersection, dynamically adjust the scale of the map size based on the distance between the vehicle's position and the maneuvering point. When the scale of the map size reaches the HD display level, in order to display more details, switch from the display of the SD base map to the display of the HD base map that can display more details. The method of determining whether to enter the turning section of the intersection varies depending on the type of road. For example, on a highway or an urban expressway, when the vehicle is x meters (m) away from the maneuvering point, it is determined to enter the turning section of the intersection. On an ordinary road, when the vehicle is y meters away from the maneuvering point, it is determined to enter the turning section of the intersection. Here, x is greater than y.

[0051] At the turning intersection, that is, immediately before reaching the maneuvering point, in order to require the driver to enter the next road and provide the user with a more realistic guidance, when entering the turning section of the intersection and the distance from the vehicle to the maneuvering point is z meters or less, switch from the display of the HD base map to the display of the AR base map with stronger guidance. The AR base map guides the driver's turning. That is, the premise of displaying the AR base map is that when already entering the turning section of the intersection and the distance from the vehicle to the maneuvering point is z meters or less, it is determined that it is the road section displayed by the AR base map. After passing the route point, that is, the maneuvering point, when receiving the data of the next maneuvering point, end the AR base map. If no new guidance data such as the next maneuvering point is received even after passing m meters from the intersection, adjust the map size of the base map.

[0052] In the above map navigation method, a navigation interface is displayed. The navigation interface is used to perform road navigation for an object. When the object is located in a road range outside the target road section on the road, a first type of navigation map is displayed on the navigation interface. The target road section is a road section with a preset road condition. When the object is located within the target road section, a second type of navigation map is displayed on the navigation interface. The scale of the second type of navigation map is larger than the scale of the first type of navigation map. The authenticity of the road in the second type of navigation map is higher than the authenticity of the road in the first type of navigation map. Therefore, the display of the navigation map can be automatically controlled according to the road condition, giving full play to the advantages of different types of navigation maps and improving the navigation efficiency. Since the scale of the second type of navigation map is larger than the scale of the first type of navigation map, the details of the map presented within the road section are more than the details of the map presented outside the road section. Presenting more details within the road section helps to better present the preset road condition, thus improving the navigation efficiency. Since the scale of the second type of navigation map is larger than the scale of the first type of navigation map, the map size presented outside the road section is larger than the map size presented within the road section. Providing a relatively large map size outside the road section can display more map content, making the presented forward road information richer, thereby improving the navigation efficiency.

[0053] Currently, the navigation map has multiple presentation modes including, but not limited to, SD mode, AR mode, and HD mode. Different presentation modes are distinguished by product strategies. As shown in FIGS. 10A, 10B, and 10C, they are AR and SD split-screen effects presented on screens of different sizes. FIG. 10A shows the AR and SD split-screen effects presented on a screen with a resolution of 1280×720, FIG. 10B shows the AR and SD split-screen effects presented on a screen with a resolution of 1920×720, and FIG. 10C shows the AR and SD split-screen effects presented on a screen with a resolution of 1920×1080. The SD drawing size and the AR drawing size on different screens are different. FIG. 10D shows the effect of HD and SD split-screen displays, and FIG. 10E shows the effect of HD and AR split-screen displays. The HD and SD split-screens are not at all the same as the solutions of the AR and SD split-screens. As can be seen from FIGS. 10D and 10E, since the forms of the base maps of the products are different and the split-screen strategies are different, the fusion effect of the multi-mode map is inferior and there is an obvious split-screen effect. From the perspective of the product form, the requirements for the user's comprehension are relatively high and the comprehension cost is also relatively high. From a technical perspective, it is necessary to realize the effects of different forms with different technical stacks, and the realization cost and operation and maintenance cost are relatively high. The map navigation method provided by this application comprehensively considers the product form and technical realization, realizes a unified, highly efficient, and stable multi-mode fusion solution with a high degree of fusion, and improves the navigation efficiency. In some embodiments, the first type of navigation map is displayed using a scale in the first scale range, the second type of navigation map is displayed using a scale in the second scale range, and the scale in the second scale range is larger than the scale in the first scale range.

[0054] Here, the first scale range and the second scale range are preset. The scale in the second scale range is larger than the scale in the first scale range. When the scale in the first scale range is used, a first type of navigation map is displayed on the navigation interface, and when the scale in the second scale range is used, a second type of navigation map is displayed.

[0055] Specifically, when the object is located in a road range outside the target road section on the road, the scale in the first scale range is used to display a first type of navigation map on the navigation interface. When the object is located within the target road section, the scale in the second scale range is used to display a second type of navigation map on the navigation interface, and the scale in the second scale range is larger than the scale in the first scale range.

[0056] In some embodiments, the first type of navigation map is a navigation map in the form of a standard resolution map, and the second type of navigation map is a navigation map in the form of an augmented reality map. When the object is located in a road range outside the target road section on the road, the scale in the first scale range is used to display a navigation map in the form of a standard resolution map on the navigation interface. When the object is located within the target road section, the scale in the second scale range is used to display a navigation map in the form of an augmented reality map on the navigation interface.

[0057] In some embodiments, the first type of navigation map is a navigation map in the form of a high-precision map, and the second type of navigation map is a navigation map in the form of an augmented reality map. When the object is located in a road range outside the target road section on the road, the scale in the first scale range is used to display a navigation map in the form of a high-precision map on the navigation interface. When the object is located within the target road section, the scale in the second scale range is used to display a navigation map in the form of an augmented reality map on the navigation interface.

[0058] In this embodiment, since the scale in the second scale range is larger than the scale in the first scale range, different types of navigation maps can be displayed in different second scale ranges, and a larger scale can be used in the target road section to display more details on the map. Therefore, it becomes easier to grasp the road conditions of the target road section, thereby improving the navigation efficiency. For roads far from the target road section, that is, stable road sections without branches, a small scale is used, and a larger map size can be used to display a larger range of the map. Therefore, the position where the object exists can be grasped globally, meeting the navigation needs, and thereby improving the navigation efficiency.

[0059] In some embodiments, when a road section on a road is in any preset road condition and the object is located in a road range outside the road section on the road, the step of displaying a first type of navigation map on the navigation interface includes: when a road section on a road is in any preset road condition and the object is located in a road range outside the road section on the road, in response to the object moving towards the road section on the road, using a scale that gradually increases within the first scale range to gradually reduce the map size displayed on the first type of navigation map on the navigation interface.

[0060] Specifically, when the object is located in a road range outside the target road section on the road, the terminal gradually reduces the map size of the first type of navigation map on the navigation interface in response to the object moving towards the target road section on the road. The scale corresponding to the map size of the first type of navigation map belongs to the first scale range.

[0061] In some embodiments, when the object is located in a road range outside the target road section on the road, the terminal, in response to the object moving towards the target road section on the road, that is, as the distance between the object and the target road section decreases, gradually increases the scale of the first type of navigation map displayed on the navigation interface, thereby gradually decreasing the map size of the first type of navigation map within the navigation interface.

[0062] In some embodiments, the object is the target vehicle, and the terminal can determine the speed at which the scale increases based on the driving state, where the driving state includes but is not limited to at least one of the driving speed, manual driving, automatic driving, or road conditions. For example, the terminal detects the driving speed of the target vehicle and determines the speed at which the scale increases based on the driving speed. For example, the higher the driving speed, the greater the speed at which the scale increases.

[0063] In this embodiment, in response to the object moving towards the road section on the road, a gradually increasing scale within the first scale range is used to gradually decrease the map size displayed on the first type of navigation map on the navigation interface, so that when the object moves towards the target road section on the road, the map size is gradually decreased, that is, the scale is gradually increased, so that the scale gradually approaches the scale in the second scale range, thereby smoothly switching the scale when the object moves from outside the target road section to inside the target road section, reducing the visual discomfort caused by a large change in the scale, reducing the interference occurring during navigation, and improving the navigation efficiency.

[0064] In some embodiments, when the road section is in a preset road condition and an object is located within the road section, the step of displaying a second type of navigation map on the navigation interface includes, in response to the object moving from outside the road section to inside the road section on the road, switching from the scale in the first scale range to the scale in the second scale range, and switching the first type of navigation map displayed on the navigation interface to the second type of navigation map.

[0065] Specifically, in response to the object moving from outside the target road section to inside the target road section, the terminal uses the scale in the second scale range to display a second type of navigation map on the navigation interface.

[0066] In some embodiments, in response to the object moving from outside the target road section to inside the target road section, the terminal switches from using the scale in the first scale range to display a first type of navigation map on the navigation interface to using the scale in the second scale range to display a second type of navigation map on the navigation interface.

[0067] In this embodiment, in response to the object moving from outside the road section to inside the road section on the road, the scale in the first scale range is switched to the scale in the second scale range, and the first type of navigation map displayed on the navigation interface is switched to the second type of navigation map, thereby being able to present more road details within the road, reducing the interference existing in the road section, and improving the navigation efficiency.

[0068] In some embodiments, in response to an object moving from outside a road section to inside the road section on a road, the step of switching from the scale in the first scale range to the scale in the second scale range and switching the first type of navigation map displayed on the navigation interface to the second type of navigation map includes, in response to the object moving from outside the road section to inside the road section on the road, playing a first transition animation on the navigation interface that transitions from the first type of navigation map to the second type of navigation map, and as the first transition animation is played, the visibility of the first type of navigation map gradually decreases and the visibility of the second type of navigation map gradually increases; and after the first transition animation ends, switching from the scale in the first scale range to the scale in the second scale range and displaying the second type of navigation map on the navigation interface.

[0069] Here, the first transition animation is used to present the process of switching from the first type of navigation map to the second type of navigation map. For example, when the first type of navigation map is an SD map and the second type of navigation map is an AR map, the first transition animation is used to present the process of switching from the SD map to the AR map. When the first type of navigation map is an HD map and the second type of navigation map is an AR map, the first transition animation is used to present the process of switching from the HD map to the AR map. As the first transition animation is played, the visibility of the first type of navigation map gradually decreases and the visibility of the second type of navigation map gradually increases.

[0070] Specifically, the first transition animation can be obtained by fusing an image of a first type of navigation map and an image of a second type of navigation map. For example, for multiple time instants during the switching, the terminal uses the Alpha blending method to blend the image of the first type of navigation map at each time instant with the image of the second type of navigation map at that time instant, obtains the blended image at that time instant, and can generate the first transition animation from the blended images at each time instant. The Alpha blending method refers to a method of blending two images using a transparency image. The terminal can determine the transparency image at each time instant. The pixel value of each pixel point in the transparency image represents the transparency. The pixel values of each pixel point in the transparency image are the same. The pixel value, that is, the transparency, increases as time increases. Since the pixel value represents the transparency, the range of values that the pixel value can take is 0 to 1. The terminal can obtain the image of the first type of navigation map at each time instant as the first image, obtain the image of the second type of navigation map at that time instant as the second image, determine the transparency image at that time instant, and use the transparency image to blend the first image and the second image to obtain the blended image at that time instant. The scales of the first image, the second image, and the transparency image are the same. For each pixel position, the terminal uses the pixel value of that pixel position in the transparency image as the weighting factor for the pixel value of that pixel position in the second image, and uses the difference between 1 and the pixel value of that pixel position in the transparency image as the weighting factor for the pixel value of that pixel position in the first image. Based on the weighting factors of the two pixel values at that pixel position, weighted calculation is performed on the two pixel values to obtain the blended pixel value at that pixel position. Based on the blended pixel values at each pixel position at that time instant, the blended image at that time instant can be generated. Since the pixel value in the transparency image, that is, the transparency, increases as time increases, in the blended image, the content in the first image becomes less and less, and the content in the second image becomes more and more. Accordingly, as the first transition animation is played, the visibility of the first type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases.

[0071] In some embodiments, in response to an object moving from within a target road section to outside the target road section, the terminal plays a transition animation that transitions from a second type of navigation map to a first type of navigation map. Here, as the transition animation is played, the visibility of the second type of navigation map gradually decreases, and the visibility of the first type of navigation map gradually increases.

[0072] In this embodiment, as the first transition animation is played, the visibility of the first type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases. Therefore, an overlay capping effect is generated in the animation, seamlessly linking during the switching process, and improving the stability of the drawing change. As shown in FIG. 11A, the process of switching from an SD base map to an AR base map is shown. In FIG. 11A, (a) is the SD base map, (c) is the AR base map, and (b) exhibits the overlay capping effect that occurs during the process of switching from the SD base map to the AR base map. As shown in FIG. 11B, the process of switching from an AR base map to an HD base map is shown. In FIG. 11B, (a) is the AR base map, (c) is the HD base map, and (b) exhibits the overlay capping effect that occurs during the process of switching from the AR base map to the HD base map.

[0073] In some embodiments, the method further includes, in response to an object moving from within a target road section to outside the target road section, when the object moves towards the next target road section, when the object is located in a road range outside the target road section on the road, returning to the step of displaying the first type of navigation map on the navigation interface.

[0074] Here, the next target road section and the passed target road section may be road sections with the same preset road conditions or road sections with different preset road conditions. For example, the passed target road section is a road section of a direction-changing intersection, and the next target road section is a congested road section, or both the passed target road section and the next target road section are road sections of direction-changing intersections.

[0075] Specifically, in response to the object moving from within the target road section to outside the target road section, when the object moves towards the next target road section, or when the object is located in the road range outside the target road section on the location road, the terminal returns to the step of displaying the first type of navigation map on the navigation interface. Accordingly, when the object is located in the road range outside the target road section on the location road, the terminal displays the first type of navigation map on the navigation interface, and when the object is located within the target road section, the terminal displays the second type of navigation map on the navigation interface. In some embodiments, in response to the object moving from within the target road section to outside the target road section, when the terminal receives the data of the next target road section, the terminal determines that the object moves towards the next target road section. As shown in FIG. 9A or FIG. 9B, after passing through the path point, i.e., the maneuvering point, when receiving the data of the next maneuvering point, the AR base map ends, and a navigation map displayed based on the distance between the object and the next target road section is determined.

[0076] In this embodiment, timely switching of the navigation map is realized based on the target road section on the road, and the navigation efficiency is improved.

[0077] In some embodiments, the method further includes, in response to an object moving from within a road section to outside the road section, when the object is at a first preset distance from the road section, switching a second type of navigation map in the navigation interface to a first type of navigation map.

[0078] The first preset distance is a preset distance and may be, for example, 50 meters or 100 meters.

[0079] Specifically, in response to an object moving from within a target road section to outside the target road section, when the object is at a first preset distance from the target road section, the terminal switches from displaying a first type of navigation map on the navigation interface using the scale in a first scale range to displaying a second type of navigation map on the navigation interface using the scale in a second scale range. Since the scale in the second scale range is larger than the scale in the first scale range, the map size of the switched navigation map becomes larger.

[0080] In some embodiments, in response to an object moving from within a target road section to outside the target road section, when no next target road section is received and the object is at a first preset distance from the target road section, the terminal switches from displaying a first type of navigation map on the navigation interface using the scale in a first scale range to displaying a second type of navigation map on the navigation interface using the scale in a second scale range. As shown in FIG. 9A or FIG. 9B, if no new guidance data such as data of the next maneuvering point is received even after passing m meters from a turning intersection, the scale is adjusted, that is, the map size is adjusted. For example, a first type of navigation map is displayed on the navigation interface and the image size is increased.

[0081] In this embodiment, when the object is at a first preset distance from the target road section, in order to display a first type of navigation map on the navigation interface, a navigation map with a larger image size can be displayed, making it easier to intuitively observe the position where the object is located, which is convenient for determining the next travel route.

[0082] In some embodiments, when a road section on a road is in any preset road condition and the object is located in a road range outside the road section on the road, the step of displaying a first type of navigation map on the navigation interface includes: when a road section on a road is in any preset road condition, the object is located in a road range outside the road section on the road, and the distance between the object and the road section is equal to or greater than a second preset distance, the step of displaying a first type of navigation map on the navigation interface.

[0083] Here, the second preset distance may be determined based on the type of the road. The greater the driving speed specified for the road, the greater the second preset distance. For example, for ordinary roads and urban expressways, the second preset distance set for ordinary roads is relatively small, and the second preset distance set for urban expressways is relatively large.

[0084] The road display accuracy refers to the accuracy used when displaying the road. The greater the road display accuracy, the more details of the presented road there are. The road display accuracy of the third type of navigation map is greater than that of the first type of navigation map, and the authenticity of the road in the second type of navigation map is higher than that of the road in the third type of navigation map. For example, the second type of navigation map is an augmented reality map, and the third type of navigation map is a high-precision map.

[0085] Specifically, when the terminal supports the first type of navigation map, the second type of navigation map, and the third type of navigation map, in the scenario of switching between the first type of navigation map and the second type of navigation map, the third type of navigation map can be added as a transition to make the process of switching from the first type of navigation map to the second type of navigation map smoother. For example, in the scenario of switching from the first type of navigation map to the second type of navigation map, first switch from the first type of navigation map to the third type of navigation map, and then switch from the third type of navigation map to the second type of navigation map.

[0086] In some embodiments, in the scenario of switching between the first type of navigation map and the second type of navigation map, the third type of navigation map can be added as a transition to make the process of switching from the first type of navigation map to the second type of navigation map smoother. Accordingly, the method further includes, when the object is located in a road range outside the road section on the road and the distance between the object and the road section is less than a second preset distance, displaying the third type of navigation map on the navigation interface, where the display accuracy of the road in the third type of navigation map is greater than the display accuracy of the road in the first type of navigation map, and the authenticity of the road in the second type of navigation map is higher than the authenticity of the road in the third type of navigation map. In this embodiment, the visual effect of the navigation interface is improved, the map on the navigation interface is easier to understand, and thereby the navigation efficiency is improved.

[0087] In some embodiments, when the object is located in a road range outside the target road section on the road and the distance between the object and the target road section is greater than or equal to a second preset distance, the terminal displays a first type of navigation map on the navigation interface. When the object is located in a road range outside the target road section on the road and the distance between the object and the target road section is less than the second preset distance, the terminal displays a third type of navigation map on the navigation interface and displays a second type of navigation map within the target road section. For example, the second preset distance is the distance between point D and the turning intersection in FIG. 12A, that is, the road section AB. Before driving to point D in FIG. 12A, a first type of navigation map is displayed on the navigation interface. In the road section between point D and point A, a third type of navigation map is displayed on the navigation interface. In the road section AB of the turning intersection, a second type of navigation map is displayed on the navigation interface.

[0088] In some embodiments, the switching of the navigation map may be triggered when entering the target road section. For example, in response to the object entering the target road section, the terminal switches the display of the third type of navigation map to the display of the second type of navigation map. Of course, the terminal can also switch the third type of navigation map to the second type of navigation map before entering the target road section. For example, when the distance between the object and the target road section is less than a second preset distance and greater than a third preset distance, the terminal can display the third type of navigation map. In response to the distance between the object and the target road section being reduced to the third preset distance, the terminal switches from the third type of navigation map to the second type of navigation map. When the distance between the object and the target road section is reduced to the third preset distance, as the object moves towards the target road section, the display of the second type of navigation map is maintained, and when the object exits the target road section or after the object is a certain distance away from the target road section, the type of the navigation map is switched.

[0089] In this embodiment, in the scenario of switching between the first type of navigation map and the second type of navigation map, the third type of navigation map can be added as a transition, so that the process of switching the first type of navigation map to the second type of navigation map becomes smoother, the visual effect of the navigation interface is improved, the map in the navigation interface is easier to understand, and thereby the navigation efficiency is improved.

[0090] In some embodiments, the step of displaying a third type of navigation map on the navigation interface includes using a scale within a third scale range to display the third type of navigation map on the navigation interface, where the scale within the second scale range is larger than the scale within the third scale range, and the scale within the third scale range is larger than the scale within the first scale range. Therefore, during the process of an object moving from outside the target road section to inside the target road section, the scale of the navigation map gradually increases, the map size gradually decreases, the navigation map is adjusted according to actual needs, and the navigation efficiency is improved.

[0091] In some embodiments, when the object is located in a road range outside the road section on the road and the distance between the object and the road section is less than a second preset distance, the step of displaying a third type of navigation map on the navigation interface includes, when the object is located in a road range outside the road section on the road and the distance between the object and the road section is less than the second preset distance, in response to the object moving towards the road section on the road, using a scale that gradually increases within the third scale range to gradually decrease the map size displayed on the third type of navigation map on the navigation interface.

[0092] Here, the scale of the first type of navigation map belongs to the first scale range, the scale corresponding to the map size of the third type of navigation map belongs to the third scale range, and the scale within the third scale range is larger than the scale within the first scale range. The scale of the second type of navigation map belongs to the second scale range, and the scale within the second scale range is larger than the scale within the first scale range. For example, the first scale range is a scale range composed of scales from level 4 to 19, the third scale range is a scale range composed of scales from level 20 to 21, and the second scale range is a scale range composed of scales of level 22 or higher.

[0093] Specifically, when the object is located in a road range outside the target road section on the road and the distance between the object and the target road section is less than a second preset distance, the terminal, in response to the object moving towards the target road section on the road, gradually reduces the map size of the third type of navigation map on the navigation interface, that is, gradually increases the scale of the third type of navigation map on the navigation interface. When it is determined that the object has moved into the target road section, the navigation interface displays the second type of navigation map using the scale within the second scale range.

[0094] In this embodiment, in response to the object moving towards the road section on the road, the map size displayed on the third type of navigation map on the navigation interface is gradually reduced using a scale that gradually increases within the third scale range, so that more details can be displayed, improving the navigation efficiency.

[0095] In some embodiments, when the road section is in a preset road condition and the object is located within the road section, the step of displaying the second type of navigation map on the navigation interface includes, when the road section is in a preset road condition, in response to the object moving from outside the road section to inside the road section on the road, playing a second transition animation on the navigation interface that transitions from the third type of navigation map to the second type of navigation map. Along with the playback of the second transition animation, the visibility of the third type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases, and after the second transition animation ends, the step of displaying the second type of navigation map on the navigation interface.

[0096] Here, the second transition animation is used to present the process of switching from the third type of navigation map to the second type of navigation map. As the second transition animation is played, the visibility of the third type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases. For example, if the third type of navigation map is an HD map and the second type of navigation map is an AR map, the second transition animation is used to present the process of switching from the HD map to the AR map.

[0097] Specifically, the second transition animation can be obtained by fusing the image of the third type of navigation map and the image of the second type of navigation map. For the specific process of generating the second transition animation, refer to the process of generating the first transition animation, and detailed description is omitted here.

[0098] In some embodiments, when the object is located in a road range outside the target road section on the road and the distance between the object and the target road section is less than a second preset distance, the step of displaying a third type of navigation map on the navigation interface includes, during the process of the object moving towards the target road section, in response to the distance between the object and the target road section being less than the second preset distance, playing a third transition animation that transitions from the first type of navigation map to the third type of navigation map on the navigation interface. Here, with the playback of the third transition animation, the visibility of the first type of navigation map gradually decreases, and the visibility of the third type of navigation map gradually increases. The third transition animation is used to present the process of switching from the first type of navigation map to the third type of navigation map. For example, when the first type of navigation map is an SD map and the third type of navigation map is an HD map, the third transition animation is used to present the process of switching from the SD map to the HD map. The third transition animation can be obtained by fusing the image of the third type of navigation map and the image of the first type of navigation map. For the specific process of generating the third transition animation, refer to the process of generating the first transition animation, which will not be described here. Of course, in the scenario of switching from an AR map to an HD map, there is an animation that presents the process of switching from the AR map to the HD map.

[0099] As shown in Table 2, the correspondence between the map type and the scale level is shown. The scale level may also be referred to as the scale level. In the embodiments of the present application, different scale ranges correspond to different types of navigation maps. Therefore, in order to uniformly manage different types of maps using the scale, it is possible to automatically trigger the switching of the map type based on the change of the scale, and a solution for automatically fusing (switching) the multi-mode base map using the scale is realized. The multi-mode base map includes at least two of, but is not limited to, the SD base map, the HD base map, or the AR base map. As shown in FIG. 12B, three base maps are shown. From FIG. 12B, the strategy of SD and HD fusion becomes relatively clear. In the HD base map, for data other than roads, the SD map data is still used, and for road sections with high-precision map data, the HD road style is used. Since the advantage of the HD effect at scale levels below level 20 is not obvious, only three scale levels of 20, 21, and 22 are used as the display levels of the HD base map. That is, the HD map is only displayed at three scale levels of 20, 21, and 22, and the HD base map cannot be seen at other scale levels. The display level of the SD base map is defined as level 4 to 20. Level 20 is the connection level (transition level) between SD and HD, and level 22 is the connection level between HD and AR. The scale level may also be referred to as the scale level. The scale of each map in the transition animation (for example, the first transition animation, the second transition animation, and the third transition animation) may all be the scale of the connection level.

[0100]

Table 2

[0101] When the scale level belongs to the range of 4 to 19, the SD base map is displayed; when the scale level belongs to the range of 20 to 21, the HD base map is displayed; when the scale level is 22 or above, the AR base map is displayed. During the process of switching from the SD base map to the HD base map, there is an overlay capping effect between the HD base map and the SD base map, that is, there is an effect where the HD base map and the SD base map are displayed simultaneously. During the process of switching from the HD base map to the AR base map, there is an overlay capping effect between the HD base map and the AR base map, that is, there is an effect where the HD base map and the AR base map are displayed simultaneously. It should be noted that in Table 2, the scale levels are represented by positive integers. Of course, there are also scale levels represented by decimals. For example, multiple scale levels can be obtained by interpolation between scale levels represented by positive integers. For example, 4.5 can be obtained by interpolation between 4 and 5, and 1500,000 can be obtained by interpolation between 2000,000 and 1000,000. In this case, 4.5 represents a scale level with a physical size of 1500,000 meters.

[0102] As shown in FIG. 13, the flowcharts of multi-mode base map fusion in some embodiments are shown. In multi-mode base map fusion, the optimal display grade and viewing angle are determined based on the unique characteristics of the SD base map, HD base map, and AR base map respectively, and each grade and viewing angle are fused into the base map grade system to form one complete base map grade system. Furthermore, by adopting a unified automatic scaling policy, the goal of automatic switching of multi-mode base maps can be achieved. As shown in FIG. 13, it is a fusion process of multi-modal base maps. First, the multi-modal base maps are incorporated into the scale level management system by the method of scale level fusion. Next, the map size is adjusted based on the guidance information or the automatic driving state information. Finally, the scale and pitch angle of the base map are switched based on the grade calculated by the automatic scaling adjustment policy, and the switching between grades is realized using the Alpha fusion method to achieve the effect of seamless connection. As shown in FIG. 13, the fusion image 1 in the animation for presenting the process of switching from the SD map to the AR map and the fusion image 2 in the animation for presenting the process of switching from the AR map to the HD map are displayed.

[0103] In this embodiment, as the second transition animation is played, the visibility of the third type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases, thereby generating an overlay capping effect within the animation, seamlessly linking during the switching, and improving the stability of the drawing change.

[0104] In some embodiments, the method further includes the steps of displaying a navigation mode setting page, displaying a first navigation mode option and a second navigation mode option on the navigation mode setting page, entering the first navigation mode and displaying a navigation interface in response to a trigger operation on the first navigation mode option, and entering the second navigation mode and displaying the first type of navigation map and the second type of navigation map in a split screen in response to a trigger operation on the second navigation mode option.

[0105] Here, the navigation mode includes a first navigation mode and a second navigation mode. The first navigation mode option is used to select the first navigation mode as the current navigation mode, and the second navigation mode option is used to select the second navigation mode as the current navigation mode. In the first navigation mode, the navigation map in the navigation interface is displayed in a switching manner, for example, switching from the first type of navigation map to the second type of navigation map. In the second navigation mode, the navigation map in the navigation interface is displayed in a split screen manner. For example, the navigation screen displaying the navigation interface is divided into two screen areas, the first type of navigation map is displayed in one screen area, and the second type of navigation map is displayed in another screen area.

[0106] Specifically, the terminal can display a navigation mode setting page, and the terminal can display a first navigation mode option and a second navigation mode option on the navigation mode setting page. When the terminal receives a selection operation for the first navigation mode option, it updates the state of the first navigation mode option to the selected state and determines the first navigation mode as the current navigation mode of the object. As shown in FIG. 14A, a first navigation mode option 1402 and a second navigation mode option 1404 are displayed on the navigation mode setting page.

[0107] In some embodiments, when the current navigation mode of the object is the first navigation mode, if the terminal determines that the object is located in a road range outside the target road section on the road, the terminal displays a first type of navigation map on the navigation interface. If the terminal determines that the object is located within the target road section, the terminal displays a second type of navigation map on the navigation interface.

[0108] In this embodiment, since the first navigation mode option and the second navigation mode option are displayed on the navigation mode setting page, the navigation mode can be flexibly selected, improving the flexibility of navigation.

[0109] In some embodiments, the method further includes displaying a second navigation mode option on the navigation interface in the first navigation mode, and in response to a trigger operation for the second navigation mode option, entering the second navigation mode and displaying the first type of navigation map and the second type of navigation map in a split screen.

[0110] Here, in the second navigation mode, the navigation map in the navigation interface is displayed in a split-screen manner. For example, the navigation screen that displays the navigation interface is divided into two screen areas, with the first type of navigation map displayed in one screen area and the second type of navigation map displayed in another screen area. The trigger operation for the second navigation mode option is used to trigger a switch from the current navigation mode from the first navigation mode to the second navigation mode.

[0111] Specifically, when the current navigation mode of the object is the first navigation mode, the terminal can display the second navigation mode option of the first navigation mode while displaying the navigation map. As shown in FIG. 14B, the second navigation mode option 1406 of the first navigation mode is displayed while the AR map is displayed. In response to the trigger operation for the second navigation mode option, the terminal displays the first type of navigation map and the second type of navigation map in the navigation interface in a split screen, for example, displays the SD map and the AR map in the navigation interface in a split screen, or displays the HD map and the AR map in the navigation interface in a split screen.

[0112] In some embodiments, when the current navigation mode of the object is the first navigation mode and the navigation map displayed on the navigation interface is the third type of navigation map, the terminal responds to the trigger operation for the second navigation mode option, and displays the first type of navigation map and the third type of navigation map on the navigation interface in a split screen. For example, when the object moves away from the target road section, the first type of navigation map and the third type of navigation map can be displayed on the navigation interface in a split screen. Of course, the terminal can also display the second type of navigation map and the third type of navigation map on the navigation interface in a split screen. For example, when the object moves towards the target road section, the second type of navigation map and the third type of navigation map can be displayed on the navigation interface in a split screen.

[0113] In this embodiment, the second navigation mode option of the second navigation mode is displayed on the navigation interface in the first navigation mode. In response to the trigger operation for the second navigation mode option, the first type of navigation map and the second type of navigation map are displayed on the navigation interface in a split screen, thereby realizing a quick switch of the navigation mode and improving the navigation efficiency.

[0114] In some embodiments, the navigation interface is displayed on the navigation screen, and the method further includes determining the screen size of the navigation screen in response to the trigger operation for the second navigation mode option, and when the screen size is smaller than a preset screen size threshold, entering the first navigation mode and executing the step of displaying the navigation interface.

[0115] Here, the size of the navigation screen includes the length and width of the navigation screen, and the unit is pixels. The preset screen size threshold is preset. When the size of the navigation screen reaches the preset screen size threshold, the split screen display effect is better.

[0116] Specifically, when the current navigation mode is the first navigation mode, the terminal determines the size of the navigation screen in response to a trigger operation for the second navigation mode option. When the size of the navigation screen is greater than or equal to the preset screen size threshold, the terminal displays the first type of navigation map and the second type of navigation map on the navigation interface in a split screen. When the screen size is smaller than the preset screen size threshold, the step of entering the first navigation mode and displaying the navigation interface is executed.

[0117] In some embodiments, when the size of the navigation screen is smaller than the preset screen size threshold, hint information and the second navigation mode option of the second navigation mode are displayed. The hint information is used to draw attention to the fact that the navigation screen is not suitable for split screen display. The terminal displays the first type of navigation map and the second type of navigation map on the navigation interface in a split screen in response to a trigger operation for the second navigation mode option of the second navigation mode.

[0118] In this embodiment, when the size of the navigation screen is smaller than a preset screen size threshold, the first navigation mode is entered. As a result, when the size of the navigation screen is small, a method of switching the navigation map is used, so that the navigation map on the small navigation screen can be large enough, thereby guaranteeing the quality of navigation. When the size of the navigation screen is equal to or greater than the preset screen size threshold, the first type of navigation map and the second type of navigation map are displayed on the navigation interface in a split screen, so that the effect of split screen display can be improved. Therefore, multiple types of navigation maps can be displayed on a large navigation screen, thereby enriching the navigation method.

[0119] In some embodiments, the object is equipped with a navigation camera, and the road section is in a preset road condition. When the object is located within the road section, the step of displaying the second type of navigation map on the navigation interface includes determining a pitch angle of viewing the road from the angle of the object when the road section is in the preset road condition and the object is located within the road section, where the pitch angle matches the viewing angle of the navigation camera, and displaying on the navigation interface a second type of navigation map having the pitch angle.

[0120] Here, the pitch angle of viewing the road from the angle of the object can be called the target pitch angle. The navigation camera is used to collect and obtain the data of the second type of navigation map. For example, the navigation camera can collect images for the scenario where the object is located and obtain the data of the second type of navigation map. When the second type of navigation map is an AR map, the navigation camera is an AR camera. The screen presented by the second type of navigation map with the target pitch angle belongs to the screen observed from the viewing angle of the navigation camera. The matching of the target pitch angle with the viewing angle of the navigation camera means that the target pitch angle changes with the change of the viewing angle of the navigation camera, and the target pitch angle can be calculated based on the viewing angle of the navigation camera. When the object is a pedestrian, the AR camera may be worn by the pedestrian. When the object is a vehicle, the AR camera may be installed on the vehicle.

[0121] Taking the object being a vehicle as an example, Fig. 15A shows a schematic diagram of the equipment installation of the AR system, and Fig. 15B shows a top view diagram of the equipment installation of the AR system. Theoretically, the camera is installed horizontally and centrally. However, due to the limitations of the production process, it cannot be installed horizontally, so the camera forms a certain angle with the horizontal line. Therefore, the installation angle and visible range of the camera are calculated from two dimensions in the horizontal and vertical directions respectively. As shown in Fig. 16, assuming that point O is the position of the camera and O’ is the foot of the perpendicular drawn from point O to the horizontal ground. The height h of OO’ is determined by the installation of the camera. α is the viewing angle of the camera lens, A represents the starting point in the camera screen, and the part of O’A is not visible in the camera. OB is the angular bisector of the camera viewing angle, and O’OB is the installation angle of the AR camera. The installation angle O’OB corresponds to the pitch angle size pitch in the SD map, that is, the installation angle O’OB is the pitch angle of the AR map. Although it is relatively difficult to measure the length of AB, it is relatively easy to measure the length of O’A. By measurement, the length of O’O is h and the length of O’A is W 1It can be required to be. The angle α is provided by the camera lens supplier or measured by oneself. The SD-AR fusion solution calculates the installation angle and sensing range of the AR camera based on the physical attributes of the camera to determine the reference angle and scale for multi-mode switching.

[0122] Specifically, the terminal can calculate and obtain the target pitch angle based on the viewing angle of the navigation camera, and display a second type of navigation map with the target pitch angle on the navigation interface. For example, the terminal can obtain the vertical distance between the navigation camera of the object and the horizontal ground, and calculate and obtain the target pitch angle based on the viewing angle of the navigation camera and the vertical distance. Here, the vertical distance is the length h of O’O above, and the viewing angle of the navigation camera is α above.

[0123] In this embodiment, the pitch angle for viewing the road from the angle of the object is determined, and the pitch angle matches the viewing angle of the navigation camera. A second type of navigation map with the pitch angle is displayed on the navigation interface, so that the screen presented by the second type of navigation map can accurately present the scenario where the object is located, and the reliability of the screen presented by the navigation map is improved.

[0124] In some embodiments, the pitch angle is determined by a pitch angle determination step, and the pitch angle determination step includes a step of obtaining the vertical distance between the navigation camera and the horizontal ground, and a step of calculating and obtaining the pitch angle based on the viewing angle and vertical distance of the navigation camera.

[0125] Specifically, the target pitch angle is the pitch angle O’OB above, and the terminal can calculate and obtain the target pitch angle using W 1 , h and α. For example, the target pitch angle = arctan(W 1 / h) + α / 2.

[0126] In this embodiment, a target pitch angle is obtained by calculating based on the viewing angle and vertical distance of the navigation camera, thereby improving the accuracy of the target pitch angle.

[0127] In some embodiments, when the object is a vehicle, the navigation interface is displayed via a navigation screen, the road section is in a preset road condition, and the object is located within the road section, the step of displaying a second type of navigation map on the navigation interface includes: when the road section is in a preset road condition and the object is located within the road section, determining a drivable area of the vehicle on the road, and determining a map scale based on the drivable area and the screen size of the navigation screen; and using the map scale to display a second type of navigation map on the navigation interface.

[0128] Here, the drivable area refers to the area where the vehicle can drive in the scene. The map scale belongs to a second scale range, and the map scale correlates with the drivable area of the vehicle and the size of the navigation screen.

[0129] Specifically, the terminal can determine the drivable area by extracting the lanes and the road surface. After the lanes on the road surface are identified, the road surface and the lanes are determined based on the lanes, and the current driving lane surface, that is, the drivable area, is determined by the intersection of the lane occlusion and the edge of the image. As shown in FIG. 17, a flowchart for extracting lanes is displayed. Here, the lane extraction model is a neural network model with the function of extracting lanes. The lane extraction model may be a segmentation network adopting the structural paradigm of "upsampling + downsampling". The identification principle is to output a binary feature map of the same scale as the image input to the model, and the segmentation model determines which pixels in the image belong to the lane and which pixels belong to the background. As shown in FIG. 18, the extracted road surface, that is, the drivable area, is displayed. Of course, the lane extraction model may be a neural network using other structures. For example, it may be a neural network that includes upsampling but does not include downsampling. Several equally divided lines are set in the height direction of the lower half of the road image, the positions of the lanes on each equally divided line are identified, and the lane polynomial equation is obtained by fitting several position points. At the same time, the lane reliability is established to determine whether a lane exists, and the reliability of the lane position points is established to determine whether they are valid position points. After downsampling, a vector with a length of 4×61 is directly output. As shown in FIG. 19, the calculation power consumption of the "upsampling" part can be saved, and the performance of the model can be improved. After the above-mentioned drivable area and lane extraction, the number of lanes included in the current AR drawing can be calculated, and thereby the width of the drivable area can be calculated.

[0130] In this embodiment, since the map scale matches the drivable area of the vehicle and the size of the navigation screen, the second type of navigation map is displayed on the navigation interface using the map scale, and the accuracy of the navigation is improved.

[0131] In some embodiments, based on the drivable area and the screen size of the navigation screen, the step of determining the map scale includes obtaining the physical area width of the drivable area, obtaining the screen width of the navigation screen, determining the physical size of a single pixel point on the navigation screen based on the physical area width and the screen width, and determining the map scale based on the physical size.

[0132] Here, the physical size refers to the geographical distance, that is, the actual distance. The physical size corresponding to a single pixel point refers to the actual geographical distance covered by one pixel point.

[0133] Specifically, the scales corresponding to different physical sizes are different. The map sizes in Table 1 can be understood as physical sizes. As can be seen from Table 1, the physical sizes corresponding to different scale levels are different. Since the scale levels are different and the scales are also different, when the scales are different, the physical sizes are also different. The terminal can determine the scale corresponding to the physical size of a single pixel point based on the correspondence between the physical size and the scale, for example, the correspondence in Table 1, and obtain the map scale. Taking the second type of navigation map as an AR map as an example, in the AR map, the scale level of the AR map can be calculated based on the visible range of the camera. The visible range can be determined by detecting the drivable area and measuring the width of the drivable area. The correspondence between the AR and SD levels can be calculated based on the actual width and the scale level. As shown in FIG. 20, after obtaining the drivable area, the longest horizontal distance AB within the drivable area can be calculated. W in FIG. 20 refers to the distance between A and B. The distance between A and B may also be represented by AB. When the AR drawing is displayed on a screen with a screen size of W スクリーン ×H, the physical size represented by each pixel on the screen is d ar =AB / W スクリーン is. In the SD base map level, the physical size represented by each pixel corresponding to each scale level is dn, where n represents each scale level, and the value range of n is 4 to 22. d arBy comparing with dn, the scale level corresponding to the AR drawing can be determined, and thereby the map scale can be determined.

[0134] In this embodiment, based on the physical area width of the drivable area of the vehicle and the screen width of the navigation screen, the physical size corresponding to a single pixel point on the navigation screen is determined, and based on the physical size, the map scale is determined, improving the accuracy of the map scale.

[0135] In some embodiments, as shown in FIG. 21, a map navigation method is provided, which may be executed by a terminal or jointly executed by a terminal and a server. Taking the application of the method to a terminal as an example, the following steps are included.

[0136] In step 2102, a navigation interface is displayed.

[0137] Here, the navigation interface is used to perform road navigation for an object.

[0138] In step 2104, while the object is moving towards the target road section on the current road, if the object is located in a road range outside the target road section on the road and the distance between the object and the target road section is greater than or equal to a second preset distance, a first type of navigation map is displayed on the navigation interface.

[0139] In step 2106, in response to the distance between the object and the target road section being less than the second preset distance, a transition animation from the first type of navigation map to the third type of navigation map is played on the navigation interface.

[0140] Here, as the transition animation for transitioning to the third type of navigation map is played, the visibility of the first type of navigation map gradually decreases, and the visibility of the third type of navigation map gradually increases. The scale of the first type of navigation map belongs to the first scale range, the scale corresponding to the map size of the third type of navigation map belongs to the third scale range, and the scale in the third scale range is larger than the scale in the first scale range.

[0141] In step 2108, after the playback of the transition animation for transitioning to the third type of navigation map is completed, the third type of navigation map is displayed on the navigation interface.

[0142] In step 2110, in response to an object moving from outside the target road section to inside the target road section, a transition animation for transitioning from the third type of navigation map to the second type of navigation map is played on the navigation interface.

[0143] In step 2112, after the playback of the transition animation for transitioning to the second type of navigation map is completed, the second type of navigation map is displayed on the navigation interface.

[0144] In this embodiment, different types of navigation maps are displayed within different scale ranges, thereby realizing the fusion of multiple types of navigation maps using the scale, and the navigation map is automatically switched to the navigation map and scale that match the scenario, thereby improving the navigation efficiency.

[0145] The map navigation method provided by this application can be applied to pedestrians, vehicle driving scenarios, and human driving scenarios. Assume that the first type of navigation map is a standard resolution map, the second type of navigation map is an augmented reality map, the third type of navigation map is a high-precision map, and the target road section is a turning intersection. For the target vehicle in the vehicle driving scenario, during the process of the target vehicle moving on the road, a navigation interface is displayed. During the process of the target vehicle moving towards the turning intersection on the current road, when the target vehicle is located in the road range outside the turning intersection on the road and the distance between the target vehicle and the turning intersection is greater than or equal to a second preset distance, a standard resolution map is displayed on the navigation interface. In response to the distance between the target vehicle and the turning intersection being less than the second preset distance, a transition animation from the standard resolution map to the high-precision map is played on the navigation interface, and after the playback of the transition animation to the high-precision map is completed, a high-precision map is displayed on the navigation interface. In response to the target vehicle moving from outside the turning intersection to inside the turning intersection, a transition animation from the high-precision map to the augmented reality map is played on the navigation interface, and after the playback of the transition animation to the augmented reality map is completed, an augmented reality map is displayed on the navigation interface. Here, with the playback of the transition animation to the high-precision map, the visibility of the standard resolution map gradually decreases, and the visibility of the high-precision map gradually increases. The scale of the standard resolution map belongs to the first scale range, the scale corresponding to the map size of the high-precision map belongs to the third scale range, the scale in the third scale range is larger than the scale in the first scale range, the scale of the augmented reality map belongs to the second scale range, and the scale in the second scale range is larger than the scale in the third scale range.

[0146] It should be understood that each step in the flowchart according to each of the above embodiments is sequentially displayed according to the indication of the arrow, but these steps are not necessarily sequentially executed according to the order indicated by the arrow. Unless explicitly described in this specification, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. And at least a part of the steps in the flowchart according to each of the above embodiments can include a plurality of steps or a plurality of stages, and these steps or stages are not necessarily executed and completed at the same time, and can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, and can also be executed in order or alternately with at least a part of the steps or stages in other steps or other steps.

[0147] Based on the same inventive concept, the embodiments of the present application further provide a map navigation device for realizing the map navigation method according to the above. Since the implementation solutions for solving the problems provided by the device are the same as the implementation solutions described in the above method, for the specific limitations in one or more embodiments of the map navigation device provided below, reference can be made to the limitations on the above map navigation method, and detailed descriptions are omitted here.

[0148] In some embodiments, as shown in FIG. 22, a map navigation device is provided, and the map navigation device includes a navigation interface display module 2202, a first map display module 2204, and a second map display module 2206.

[0149] The navigation interface display module 2202 is used to display a navigation interface, and the navigation interface is used to navigate an object moving on a road.

[0150] The first map display module 2204 is used to display a first type of navigation map on the navigation interface when a road section on the road is in any preset road condition and an object is located in a road range outside the road section on the road.

[0151] The second map display module 2206 is used to display a second type of navigation map on the navigation interface when a road section is in a preset road condition and an object is located within the road section. The scale used for the second type of navigation map is larger than the scale used for the first type of navigation map.

[0152] In some embodiments, the authenticity of the road in the second type of navigation map is higher than the authenticity of the road in the first type of navigation map.

[0153] In some embodiments, the first map display module 2204 is further used to display a first type of navigation map using a scale within a first scale range, and the second map display module 2206 is further used to display a second type of navigation map using a scale within a second scale range. The scale within the second scale range is larger than the scale within the first scale range.

[0154] In some embodiments, the first map display module 2204 is further used to gradually decrease the map size displayed on the first type of navigation map on the navigation interface by using a scale that gradually increases within the first scale range in response to an object moving towards the road section on the road when a road section on the road is in any preset road condition and the object is located in a road range outside the road section on the road.

[0155] In some embodiments, the second map display module 2206 is further used to switch from the scale in the first scale range to the scale in the second scale range in response to an object moving from outside a road section to inside the road section on a road, and to switch the first type of navigation map displayed on the navigation interface to the second type of navigation map.

[0156] In some embodiments, the second map display module 2206 is further used to play a first transition animation on the navigation interface that transitions from the first type of navigation map to the second type of navigation map in response to an object moving from outside a road section to inside the road section on a road. As the first transition animation is played, the visibility of the first type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases. After the first transition animation ends, it is used to switch from the scale in the first scale range to the scale in the second scale range and display the second type of navigation map on the navigation interface.

[0157] In some embodiments, the apparatus is further used to switch the second type of navigation map on the navigation interface to the first type of navigation map in response to an object moving from inside a road section to outside the road section, when the object is at a first preset distance away from the road section.

[0158] In some embodiments, the first map display module 2204 is further used to display the first type of navigation map on the navigation interface when a road section on a road is in any preset road condition, the object is located in a road range outside the road section on the road, and the distance between the object and the road section is equal to or greater than a second preset distance.

[0159] In some embodiments, the apparatus further includes a third map display module, which is used to display a third type of navigation map on the navigation interface when the object is located in a road range outside the road section on the road and the distance between the object and the road section is less than a second preset distance. Here, the display accuracy of the road in the third type of navigation map is greater than that of the road in the first type of navigation map, and the authenticity of the road in the second type of navigation map is higher than that of the road in the third type of navigation map.

[0160] In some embodiments, the third map display module is further used to display a third type of navigation map on the navigation interface by using a scale in a third scale range. Here, the scale in the second scale range is larger than the scale in the third scale range, and the scale in the third scale range is larger than the scale in the first scale range.

[0161] In some embodiments, when the object is located in a road range outside a road section on a road and the distance between the object and the road section is less than a second preset distance, and in response to the object moving towards the road section on the road, the third map display module further uses a scale that gradually increases within a third scale range to gradually decrease the map size displayed on the third type of navigation map on the navigation interface. In some embodiments, when the road section is in a preset road condition, the second map display module 2206 further plays a second transition animation on the navigation interface that transitions from the third type of navigation map to the second type of navigation map in response to the object moving from outside the road section to inside the road section on the road. Along with the playback of the second transition animation, the visibility of the third type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases. After the second transition animation ends, it is used to display the second type of navigation map on the navigation interface.

[0162] In some embodiments, the apparatus further displays a navigation mode setting page, displays a first navigation mode option and a second navigation mode option on the navigation mode setting page, and in response to a trigger operation for the first navigation mode option, enters the first navigation mode and executes steps to display the navigation interface, and in response to a trigger operation for the second navigation mode option, enters the second navigation mode and is used to display the first type of navigation map and the second type of navigation map in a split screen.

[0163] In some embodiments, the apparatus is further configured to display second navigation mode options on a navigation interface in a first navigation mode, enter a second navigation mode in response to a trigger operation on the second navigation mode options, and is used to display a first type of navigation map and a second type of navigation map in a split screen.

[0164] In some embodiments, the navigation interface is displayed on a navigation screen, and the apparatus is further configured to determine a screen size of the navigation screen in response to a trigger operation on the second navigation mode options, and if the screen size is smaller than a preset screen size threshold, enter the first navigation mode and execute a step of displaying the navigation interface.

[0165] In some embodiments, the object is equipped with a navigation camera, and the second map display module 2206 is further configured to determine a pitch angle that matches the viewing angle of the navigation camera, which is the pitch angle of viewing the road from the angle of the object when the road section is in a preset road condition and the object is located within the road section, and is used to display a second type of navigation map having the pitch angle on the navigation interface.

[0166] In some embodiments, the apparatus further includes a pitch angle determination module, and the pitch angle determination module is used to obtain a vertical distance between the navigation camera and a horizontal ground and calculate a pitch angle based on the viewing angle and the vertical distance of the navigation camera.

[0167] In some embodiments, the object is a vehicle, the navigation interface is displayed via a navigation screen, and the second map display module 2206 further determines a drivable area of the vehicle on the road when the road section is in a preset road condition and the object is located within the road section, determines a map scale based on the drivable area and the screen size of the navigation screen, and uses the map scale to display a second type of navigation map on the navigation interface.

[0168] In some embodiments, the apparatus further includes a scale determination module, which obtains the physical area width of the drivable area, obtains the screen width of the navigation screen, determines the physical size of a single pixel point on the navigation screen based on the physical area width and the screen width, and is used to determine the map scale based on the physical size.

[0169] Each module in the above map navigation apparatus can be implemented in whole or in part by software, hardware, and combinations thereof. Each of the above modules may be incorporated into the processor of the computer device in hardware form or may be independent, and may be stored in the memory of the computer device in software form, and is convenient for being called by the processor to execute operations corresponding to each of the above modules.

[0170] In some embodiments, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in FIG. 23. The computer device includes a processor, a memory, an input / output interface (abbreviated as Input / Output: I / O), and a communication interface. Here, the processor, the memory, and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. Here, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer-readable instructions, and a database. The internal memory provides an environment for the execution of the operating system and the computer-readable instructions in the non-volatile storage medium. The database of the computer device is used to store data related to the map navigation method. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to connect and communicate with an external terminal via a network. The computer-readable instructions, when executed by the processor, implement the map navigation method.

[0171] In some embodiments, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be the one shown in FIG. 24. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Here, the processor, the memory, and the input / output interface are connected via a system bus, and the communication interface, the display unit, and the input device are connected to the system bus via the input / output interface. Here, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer-readable instructions. The internal memory provides an environment for the execution of the operating system and the computer-readable instructions in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner may be implemented by WIFI, a mobile cellular network, NFC (Near Field Communication), or other technologies. The computer-readable instructions, when executed by the processor, implement a map navigation method. The display unit of the computer device is used to form a visually visible screen, and may be a display screen, a projection device, or a virtual reality imaging device. The display screen may be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device may be a touch layer covering the display screen, buttons installed on the shell of the computer device, a trackball, or a touchpad, or an external keyboard, touchpad, mouse, etc.

[0172] A person skilled in the art can understand that the structures shown in FIGS. 23 and 24 are only block diagrams of partial structures related to the solution of this application, and do not constitute limitations on the computer devices to which the solution of this application is applied. Specific computer devices can include more or fewer components than those shown in the figures, or can combine some components, or have different component arrangements.

[0173] In some embodiments, a computer device is provided, which includes a memory and one or more processors. Computer-readable instructions are stored in the memory, and when the processor executes the computer-readable instructions, the steps in the above map navigation method are realized.

[0174] In some embodiments, one or more readable storage media are provided, and computer-readable instructions are stored on the one or more readable storage media. When the computer-readable instructions are executed by a processor, the steps in the above map navigation method are realized.

[0175] In some embodiments, a computer program product is provided, which includes computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the steps in the above map navigation method are realized.

[0176] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) related to this application are all information and data permitted by the user or fully permitted by all relevant parties. The collection, use, and processing of related data need to comply with the relevant laws, regulations, and standards of the relevant countries and regions.

[0177] A person skilled in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing related hardware with computer-readable instructions, and the computer-readable instructions may be stored in a non-volatile computer-readable storage medium. When the computer-readable instructions are executed, they can include the processes of the embodiments of the above methods. Here, any reference to the memory, database, or other media used in each embodiment provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external high-speed cache memory, etc. By way of illustration and not limitation, RAM can be in various forms such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database according to each embodiment provided in this application can include at least one of a relational database and a non-relational database. Non-relational databases can include, but are not limited to, distributed databases based on blockchain. The processor according to each embodiment provided in this application can be a general-purpose processor, a central processor, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., and is not limited thereto.

[0178] Each technical feature of the above embodiments can be arbitrarily combined. However, for the sake of simplicity of description, not all possible combinations of the technical features in the above embodiments are described. As long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0179] The above embodiments only represent some embodiments of the present application, and their descriptions are relatively specific and detailed, but should not be understood as a limitation to the patent scope of the present application. It should be pointed out that those skilled in the art can make some modifications and improvements without departing from the concept of the present application, and all of these belong to the protection scope of the present application. Therefore, the protection scope of the present application should be in accordance with the appended claims.

Explanation of Reference Signs

[0180] 102 Terminal 104 Server 1280 Resolution 1402 First Navigation Mode Option 1404 Second Navigation Mode Option 1406 Second Navigation Mode Option 1920 Resolution 2202 Navigation Interface Display Module 2204 First Map Display Module 2206 Second Map Display Module

Claims

1. A map navigation method executed by a computer device, comprising: displaying a navigation interface, wherein the navigation interface is used to navigate an object moving on a road; when a road section on the road is in any preset road condition and the object is located in a road range outside the road section on the road, displaying a first type of navigation map on the navigation interface; when the road section is in the preset road condition and the object is located within the road section, displaying a second type of navigation map on the navigation interface, wherein a scale used for the second type of navigation map is larger than a scale used for the first type of navigation map.

2. The authenticity of the road in the second type of navigation map is higher than the authenticity of the road in the first type of navigation map. The map navigation method according to Claim 1.

3. The first type of navigation map is displayed using a scale within a first scale range, the second type of navigation map is displayed using a scale within a second scale range, and the scale within the second scale range is larger than the scale within the first scale range. The map navigation method according to Claim 1 or 2.

4. When a road section on the road is in any preset road condition and the object is located in a road range outside the road section on the road, the step of displaying a first type of navigation map on the navigation interface comprises, in response to the object moving towards the road section on the road, gradually decreasing the map size displayed on the first type of navigation map on the navigation interface using a scale that gradually increases within the first scale range. The map navigation method according to Claim 3.

5. When the road section is in the preset road condition and the object is located within the road section, the step of displaying a second type of navigation map on the navigation interface is as follows: In response to the object moving from outside the road section to inside the road section on the road, it includes the step of switching from the scale in the first scale range to the scale in the second scale range, and switching the first type of navigation map displayed on the navigation interface to the second type of navigation map. The map navigation method according to claim 4.

6. In response to the object moving from outside the road section to inside the road section on the road, the step of switching from the scale in the first scale range to the scale in the second scale range, and switching the first type of navigation map displayed on the navigation interface to the second type of navigation map is as follows: In response to the object moving from outside the road section to inside the road section on the road, it is the step of playing a first transition animation that transitions from the first type of navigation map to the second type of navigation map on the navigation interface. Along with the playback of the first transition animation, the visibility of the first type of navigation map gradually decreases, and the visibility of the second type of navigation map gradually increases. After the first transition animation ends, it includes the step of switching from the scale in the first scale range to the scale in the second scale range, and displaying the second type of navigation map on the navigation interface. The map navigation method according to claim 5.

7. The map navigation method is as follows: In response to the object moving from inside the road section to outside the road section, when the object is at a first preset distance away from the road section, it further includes the step of switching the second type of navigation map on the navigation interface to the first type of navigation map. The map navigation method according to claim 5.

8. When a road section on the road is in any preset road condition and the object is located in a road range outside the road section on the road, the step of displaying a first-type navigation map on the navigation interface is as follows: When a road section on the road is in any preset road condition, the object is located in a road range outside the road section on the road, and the distance between the object and the road section is equal to or greater than a second preset distance, the method includes the step of displaying a first-type navigation map on the navigation interface. The map navigation method according to any one of claims 1 to 7.

9. The map navigation method is as follows: When the object is located in a road range outside the road section on the road and the distance between the object and the road section is less than the second preset distance, the method further includes the step of displaying a third-type navigation map on the navigation interface. The display accuracy of the road in the third-type navigation map is greater than that of the road in the first-type navigation map, and the authenticity of the road in the second-type navigation map is higher than that of the road in the third-type navigation map. The map navigation method according to claim 8.

10. The step of displaying a third-type navigation map on the navigation interface is as follows: The method includes the step of displaying a third-type navigation map on the navigation interface using a scale in a third scale range. The scale in the second scale range is greater than the scale in the third scale range, and the scale in the third scale range is greater than the scale in the first scale range. The map navigation method according to claim 9.

11. When the object is located in a road range outside the road section on the road and the distance between the object and the road section is less than the second preset distance, the step of displaying a third-type navigation map on the navigation interface is as follows: When the object is located in a road range outside the road section on the road and the distance between the object and the road section is less than the second preset distance, in response to the object moving toward the road section on the road, a scale that gradually increases within a third scale range is used to gradually decrease the map size displayed on the navigation interface in a third type of navigation map, including the step of The map navigation method according to claim 10.

12. When the road section is in the preset road condition and the object is located within the road section, the step of displaying a second type of navigation map on the navigation interface is When the road section is in the preset road condition, in response to the object moving from outside the road section to within the road section on the road, a second transition animation that transitions from the third type of navigation map to the second type of navigation map is played on the navigation interface, and with the playback of the second transition animation, the visibility of the third type of navigation map gradually decreases and the visibility of the second type of navigation map gradually increases, the step of After the second transition animation ends, the step of displaying a second type of navigation map on the navigation interface, including The map navigation method according to claim 11.

13. The map navigation method is displaying a navigation mode setting page and displaying a first navigation mode option and a second navigation mode option on the navigation mode setting page, and executing the step of entering the first navigation mode and displaying the navigation interface in response to a trigger operation on the first navigation mode option, and further including the step of entering the second navigation mode and displaying the first type of navigation map and the second type of navigation map in a split screen in response to a trigger operation on the second navigation mode option. The map navigation method according to any one of claims 1 to 12.

14. The map navigation method includes the steps of displaying a second navigation mode option on the navigation interface in the first navigation mode, and responding to a trigger operation on the second navigation mode option to enter the second navigation mode and displaying the first type of navigation map and the second type of navigation map in a split screen, The map navigation method according to claim 13.

15. The navigation interface is displayed on a navigation screen, and the map navigation method includes the steps of determining the screen size of the navigation screen in response to a trigger operation on the second navigation mode option, and when the screen size is smaller than a preset screen size threshold, entering the first navigation mode and executing the step of displaying the navigation interface, The map navigation method according to claim 13.

16. The object is equipped with a navigation camera, the road section is in the preset road condition, and when the object is located within the road section, the step of displaying a second type of navigation map on the navigation interface is a step of determining a pitch angle for viewing the road from the angle of the object when the road section is in the preset road condition and the object is located within the road section, the pitch angle matching the viewing angle of the navigation camera, and the step of displaying on the navigation interface a second type of navigation map having the pitch angle, The map navigation method according to any one of claims 1 to 15.

17. The pitch angle is determined by a pitch angle determination step, and the pitch angle determination step includes the steps of obtaining a vertical distance between the navigation camera and a horizontal ground, and calculating and obtaining the pitch angle based on the viewing angle of the navigation camera and the vertical distance, The map navigation method according to claim 16.

18. The object is a vehicle, and the navigation interface is displayed via a navigation screen. When the road section is in the preset road condition and the object is located within the road section, the step of displaying a second type of navigation map on the navigation interface includes: When the road section is in the preset road condition and the object is located within the road section, determining a drivable area of the vehicle on the road, and determining a map scale based on the drivable area and the screen size of the navigation screen; Using the map scale to display a second type of navigation map on the navigation interface. The map navigation method according to any one of claims 1 to 17.

19. The step of determining a map scale based on the drivable area and the screen size of the navigation screen includes: Obtaining a physical area width of the drivable area and obtaining a screen width of the navigation screen; Determining a physical size of a single pixel point on the navigation screen based on the physical area width and the screen width; Determining a map scale based on the physical size. The map navigation method according to claim 18.

20. A map navigation device, comprising: A navigation interface display module used to display a navigation interface, where the navigation interface is used to navigate an object moving on a road; A first map display module used to display a first type of navigation map on the navigation interface when a road section on the road is in any preset road condition and the object is located in a road range outside the road section on the road; A second map display module used to display a second type of navigation map on the navigation interface when the road section is in the preset road condition and the object is located within the road section, wherein the scale used for the second type of navigation map is larger than the scale used for the first type of navigation map, and a map navigation device including the second map display module.

21. A computer device including a memory and one or more processors, wherein the memory stores computer-readable instructions, and the processor, when executing the computer-readable instructions, executes the map navigation method according to any one of claims 1 to 19.

22. One or more readable storage media storing computer-readable instructions that, when executed by a processor, execute the map navigation method according to any one of claims 1 to 19.

23. A computer program product including computer-readable instructions that, when executed by one or more processors, execute the map navigation method according to any one of claims 1 to 19.

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