Map navigation methods and devices, computer equipment and computer programs

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 an application number of 2022112069661 and an application title of "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 a map navigation method and apparatus, a computer device, and a storage medium.

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 the navigation software on the in - vehicle terminal, and during walking on the road, online navigation can be performed using the navigation software on the mobile terminal. The 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 accuracies easier to view, maps with different accuracies 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 accuracies 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

[0006] Based on this, it is necessary to provide map navigation methods and devices, computer equipment, computer-readable storage media, and computer program products to address the above technical problems.

[0007] In one embodiment, the present application provides a map navigation method performed by a computer device, the map navigation method comprising: displaying a navigation interface, the navigation interface being used to navigate an object moving on a road; displaying a first type of navigation map on the navigation interface if a section of the road is in one of the predefined road conditions and the object is located outside the road range of the road; and displaying a second type of navigation map on the navigation interface if the section of road is in one of the predefined road conditions and the object is located within the section of road, the scale used for the second type of navigation map being greater than the scale used for the first type of navigation map.

[0008] In another embodiment, the present application further provides a map navigation device, the map navigation device comprising: 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 section of road on the road is in one of the predefined road conditions and the object is located in a road area outside the section of road on the road; and a second map display module used to display a second type of navigation map on the navigation interface when the section of road is in the predefined road condition and the object is located within the section of road, the second map display module wherein the scale used for the second type of navigation map is greater than the scale used for the first type of navigation map.

[0009] In another embodiment, the present application further provides a computer device comprising memory and one or more processors, wherein the memory stores computer-readable instructions, and the computer-readable instructions, when executed by the processors, cause the one or more processors to perform the steps in the map navigation method described above.

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

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

[0012] Details of one or more embodiments of this application are described in the accompanying drawings and description below. Other features, purposes and advantages of this application will become apparent from the specification, drawings and claims. [Brief explanation of the drawing]

[0013] [Figure 1] This is an application environment diagram of a map navigation method in several embodiments. [Figure 2] This is a schematic flowchart of map navigation methods in several embodiments. [Figure 3] These are schematic diagrams of navigation maps in several embodiments. [Figure 4] These are schematic diagrams of navigation maps in several embodiments. [Figure 5] This diagram shows the relationship between scale and pitch angle in several embodiments. [Figure 6] These are schematic diagrams of navigation maps at different pitch angles in several embodiments. [Figure 7] These are schematic diagrams of navigation maps at different scales in several examples. [Figure 8] These are scenario diagrams of map navigation methods in several embodiments. [Figure 9A] These are scenario diagrams of map navigation methods in several embodiments. [Figure 9B] These are scenario diagrams of map navigation methods in several embodiments. [Figure 10A] These are diagrams illustrating the effects of split-screen display of AR and SD in several embodiments. [Figure 10B]It is an effect diagram of split screen display of AR and SD in some embodiments. [Figure 10C] It is an effect diagram of split screen display of AR and SD in some embodiments. [Figure 10D] It is an effect diagram of split screen display of HD (high definition) and SD in some embodiments. [Figure 10E] It is an effect diagram of split screen display of HD and AR in some embodiments. [Figure 11A] It is a schematic diagram of switching from an SD base map to an AR base map in some embodiments. [Figure 11B] It is a schematic diagram of switching from an AR base map to an HD base map in some embodiments. [Figure 12A] It is a scenario diagram of a map navigation method in some embodiments. [Figure 12B] It is a schematic diagram of different types of navigation maps in some embodiments. [Figure 13] It is a principle diagram of a map navigation method in some embodiments. [Figure 14A] It is a schematic diagram of a navigation mode in some embodiments. [Figure 14B] It is a schematic diagram of displaying a second navigation mode in some embodiments. [Figure 15A] It is a schematic diagram of the equipment installation of an AR system in some embodiments. [Figure 15B] It is a top view diagram of the equipment installation of an AR system in some embodiments. [Figure 16] It is a principle diagram of calculating a target pitch angle in some embodiments. [Figure 17] It is a principle diagram of extracting lanes in some embodiments. [Figure 18] It is a schematic diagram of the extracted drivable area in some embodiments. [Figure 19]This is a schematic diagram illustrating the principle of calculating the drivable area in several embodiments. [Figure 20] This is a schematic diagram illustrating the principle for calculating the map scale in several embodiments. [Figure 21] This is a schematic flowchart of map navigation methods in several embodiments. [Figure 22] This is a structural block diagram of a map navigation device in several embodiments. [Figure 23] These are internal structure diagrams of computer equipment in several embodiments. [Figure 24] These are internal structure diagrams of computer equipment in several embodiments. [Modes for carrying out the invention]

[0014] To more clearly explain the technical concepts in the embodiments of this application, a brief introduction of the drawings necessary for describing the embodiments is provided. Clearly, the drawings described represent only a portion of the embodiments of this application, and those skilled in the art can obtain further drawings based on these without expending any creative effort.

[0015] To further clarify the purpose, technical proposal, and advantages of this application, the application will be described in more detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are used solely for the purpose of interpreting this application and are not intended to limit it.

[0016] The map navigation method provided by the embodiment of this application can be applied to the application environment shown in Figure 1. Here, terminal 102 communicates with server 104 via a network. A data storage system can store data that server 104 needs to process. The data storage system may be integrated with server 104, or it may be located in the cloud or on another server. Server 104 may be a server that provides map services, which include, but are not limited to, at least one of positioning services or navigation services. Server 104 can receive positioning data about vehicles or pedestrians, sensing data about the environment in which vehicles or pedestrians are located, and based on the positioning data or sensing data, server 104 can determine the navigation map to be displayed on the navigation interface and display the navigation map on the navigation interface via terminal 102. Of course, terminal 102 can also receive positioning data, sensing data, etc. about vehicles or pedestrians, and generate and display a navigation map on the navigation interface based on the positioning data or sensing data.

[0017] Specifically, terminal 102 displays a navigation interface, which is used to navigate an object moving on a road. If a section of road is in one of the pre-defined road conditions and the object is located outside that section, terminal 102 displays a first type of navigation map on the navigation interface. If a section of road is in one of the pre-defined road conditions and the object is located within that section, terminal 102 displays a second type of navigation map on the navigation interface. Here, a section of road in which a pre-defined road condition exists can be called a target road section, and the scale used for the second type of navigation map is larger than the scale used for the first type of navigation map.

[0018] Here, terminal 102 may be, but is not limited to, various desktop computers, notebook computers, smartphones, tablets, intelligent voice interaction devices, smart home appliances, in-car terminals, aircraft, and portable wearable devices. Portable wearable devices may include smartwatches, smart bracelets, head-mounted devices, etc. Server 104 may be implemented by an independent server or a server cluster consisting of multiple servers.

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

[0020] In some embodiments, a map navigation method is provided, as shown in Figure 2, which may be performed by a terminal or jointly by a terminal and a server. The method is described as being applied to terminal 102 in Figure 1, and includes the following steps.

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

[0022] Here, objects include, but are not limited to, pedestrians or vehicles. Vehicles may be human-driven or vehicle-driven, where human-driven means the driving is controlled by the driver, and vehicle-driven means the vehicle's driving is controlled by an onboard autonomous driving system. Roads may be any type of road, including, but are not limited to, at least one of a motorway, non-motorway, or sidewalk. The navigation interface is displayed via a screen on the terminal and is used to provide road navigation to objects.

[0023] Specifically, the terminal can display a navigation portal, which is used to trigger the display of the navigation interface. For example, in response to a trigger operation on the navigation portal, the terminal displays the navigation interface and shows 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, carriageway, and directional markers on the carriageway of the target roadway where the vehicle is located. The navigation map may include at least one of the following maps: a standard definition map (SD map), a high definition map (HD map), or an augmented reality map (AR map). The ground image within the navigation map can be abbreviated as the base map.

[0024] Here, SD maps have the advantage of wide coverage but are weak in detail representation. AR maps have a significant advantage in detail and provide the highest sense of realism, but have the disadvantages of a single viewing angle and a limited visible range. HD maps have comparable detail representation capabilities to AR maps and a variable viewing angle, but have the disadvantages of a narrower data coverage range and a less realistic sense of realism than AR but stronger than SD. Therefore, the display ratio is adjusted in different scenarios to highlight different guidance information. The viewing angle of SD maps is controlled by the normal navigation auto-scaling policy, the viewing angle of AR maps is determined by the mounting angle of the AR camera, and the viewing angle of HD maps is controlled by the human-driving auto-scaling policy in human-driving scenarios and by the vehicle-driving auto-scaling policy in vehicle-driving scenarios. The SD map is shown in Figure 3(a), the AR map is shown in Figure 3(b), and the HD map is shown in Figure 3(c).

[0025] In step 204, if a section of road is in one of the predefined road conditions and an object is located outside the road section of the road, the navigation interface displays a first type of navigation map.

[0026] Here, a road section with pre-defined road conditions can be called a target road section. Pre-defined road conditions are road conditions that have been set in advance and have a certain complexity or require attention to more road details. Pre-defined road conditions include, but are not limited to, at least one of the following: lane changes, U-turns, congestion, ramps, roundabouts, escort routes, endpoints, evacuations, autonomous driving handover, and maneuver points. Here, if the object is a vehicle, it may be either manually driven or autonomously driven, so an evacuation may be an evacuation in a manually driven scenario or an evacuation in an autonomous driving scenario. An evacuation refers to a scenario in which, when the current road conditions on the road deteriorate due to an overtaking vehicle on the side, a vehicle in front slowing down, or a vehicle in front changing lanes, the vehicle automatically avoids a dangerous situation by taking action such as slowing down or changing lanes. Autonomous driving handover refers to a scenario in which the vehicle leaves an area supported by the autonomous driving function and attempts to transition to manual driving. A turning point may also be a turning point in a human driving scenario, for example, a location in map navigation that guides the driver to perform maneuvers such as changing direction, decelerating, merging, or exiting, and is usually a location such as a turning point at an intersection, a branching point at an intersection, or a merging point at an intersection. A turning point may also be an automated driving turning point, which refers to a location for an automated maneuver such as an automatic turning point or U-turn during automated driving. A section of road with pre-defined road conditions can be called a target road section, for example, a target road section may be a road section at a turning intersection, a congested road section, a road section where passing measures are taken, or a road section where a lane change is performed.

[0027] Navigation maps are used to provide navigation functionality to objects, and they describe the actual road environment at the actual geographical location where the object is located, and may include roads, carriageways, or indicator markers on carriageways where the object is located. The first type of navigation map may be either a standard-resolution map or a high-resolution map. The road range outside the target road section includes at least one of the road ranges ahead 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 maneuver point, where a maneuver point refers to a location where the driver needs to perform an operation such as changing lanes, turning around, or making a U-turn while driving.

[0028] Specifically, if an object is located within a road area outside the target road section on the road where it is located, the terminal can display a first type of navigation map on the navigation interface. For example, the terminal can display a standard-resolution navigation map on the navigation interface, or a high-resolution navigation map on the navigation interface.

[0029] In some embodiments, if an object is located within a road area outside a target road section on a road, the terminal can display a first type of navigation map on the navigation interface, the first type of navigation map matching the driver's driving skill level, and if the driver's driving skill level reaches a driving skill level threshold, the first type of navigation map is a standard resolution map navigation map, and if the driver's driving skill level does not reach a driving skill level threshold, the first type of navigation map is a high-precision map navigation map.

[0030] In some embodiments, if an object is located within a road area outside a target road section, the terminal can display a first type of navigation map with a specific scale and pitch angle on the navigation interface. If the object is a vehicle, the terminal can determine the scale according to the driving conditions. Here, the pitch angle refers to the viewing angle when the base map is adjusted. The scale represents the ratio of the distance on the displayed navigation map to the actual geographical distance. For example, if 1 centimeter (cm) on the navigation map represents 10,000 centimeters in actual geography, the scale is 1:10000. There is a negative correlation between the map size and scale of the navigation map; the smaller the scale, the larger the map size, i.e., the larger the geographical area represented by the navigation map, and the larger the scale, i.e., the smaller the map size, i.e., the smaller the geographical area represented by the navigation map. The map size can be understood as the size of the portion of the map displayed on the navigation interface. If the screen is constant, increasing the scale is equivalent to enlarging the content displayed on the screen, so less content can be displayed on the screen, and thus the map size decreases. 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, with scale levels 4 to 22 shown, and each level corresponding to one different scale and pitch angle. The correspondence between scale level and map size in Table 1 is merely illustrative; the scale level may be a decimal number, for example, a scale level of 4.5 corresponds to a map size of 1,500,000 meters.

[0031] [Table 1]

[0032] Different scale levels result in different map size ranges appearing on the same screen. As shown in Figure 4, the effect of map size at different scale levels is displayed. Figure 4(a) shows the effect of map size at scale level 19, Figure 4(b) shows the effect of map size at scale level 18, Figure 4(c) shows the effect of map size at scale level 17, Figure 4(d) shows the effect of map size at scale level 16, and Figure 4(e) shows the effect of map size at scale level 15. From Figure 4, it can be seen that different scale levels result in different map size ranges appearing on the same screen. The range of the map seen differs at different scale levels; the smaller the scale level, the larger the visible area and the coarser the map details become, while the larger the scale level, the smaller the visible area and the more realistic the map details become. As shown in Figure 5, adjusting the pitch angle at the same scale level allows for adjustment of the visible range in different orientations. The automatic map size adjustment strategy achieves the objective of expanding the visible range by adjusting the pitch angle of the object's movement direction, such as the vehicle's direction of travel, and further, the objective of displaying geographical areas beyond the visible range. The vehicle refers to an autonomous vehicle. As shown in Figure 6, the rendering effect of the base map at different pitch angles is displayed, with a pitch angle of 40 degrees in Figure 6(a), 50 degrees in Figure 6(b), and 65 degrees in Figure 6(c). The high-precision map data closely matches the standard-resolution map data; the difference is that the high-precision map data is finer and has more data dimensions, as shown in Figure 7, which is the effect of the high-precision map data drawn on the SD base map. As can be seen from Figure 7, the effect of the high-precision map data when displayed at different scale levels varies greatly, and when the base map scale level is 20 levels or higher, it has a relatively high guidance effect and achieves the purpose of road level guidance.

[0033] In step 206, if the road section is in a predefined road condition and the object is located within the road section, a second type of navigation map is displayed in 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.

[0034] In some implementations, the road realism in a second-type navigation map is higher than that in a first-type navigation map. The road realism in a navigation map is used to reflect the proximity (similarity) between the roads on the navigation map and the actual roads. The greater the proximity between the roads on the navigation map and the actual roads, the higher the road realism in the navigation map. Because the road realism in a second-type navigation map is higher than that in a first-type navigation map, the road realism in a navigation map used within a target road section is higher than that in a navigation map used outside the target road section, thereby providing more road detail within the target road section and improving navigation efficiency.

[0035] To make the concept of road realism easier to understand, let's explain with an example. For instance, a navigation map that includes real-world scenery is generated by capturing images of the actual road ahead in real time using a camera. Therefore, the navigation map includes the actual road scene. However, an electronic map is not generated by capturing images of the actual road ahead in real time using a camera. Therefore, it does not include the actual road scene. Compared to an electronic map, the roads in a real-world navigation map are closer to the actual roads, meaning they have a higher degree of realism. A real-world navigation map is, for example, an AR map, while an electronic map is, for example, an SD map or an HD map. An AR map is generated by capturing images of the actual road ahead in real time using a camera. SD and HD maps are electronic maps and are not generated by collecting images of real scenes. Clearly, compared to SD and HD maps, the roads in an AR map are closer to the actual roads. Therefore, the road realism in an AR map is greater than that in an SD map, and the road realism in an AR map is greater than that in an HD map.

[0036] Furthermore, even with the same type of digital map, the accuracy of road display differs, resulting in variations in the richness of the road details depicted and the degree of proximity to the actual road. Understandably, digital maps with higher road display accuracy show richer road details and a higher degree of proximity to the actual road; therefore, even digital maps with different road display accuracy have differences in the realism of the roads. For example, the details of roads displayed on HD maps are richer than those displayed on SD maps, so the realism of roads on HD maps is greater than that on SD maps.

[0037] Since the realism of roads in the second type of navigation map is higher than that in the first type of navigation map, the second type of navigation map may be a real-world 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 road realism in the second type of navigation map is higher than that in the first type of navigation map. The second type of navigation map is a map that can represent 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 belongs 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 differs from the second scale range in that 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 consisting of scale levels 4 to 21, and the second scale range is a scale range consisting of scale levels 22 and above.

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

[0040] In some embodiments, both the first and second type navigation maps are electronic maps, and the road realism in the second type navigation map is higher than that in the first type navigation map. For example, the first type navigation map is an SD map and the second type navigation map is an HD map, and the navigation interface displays the SD map when the object is located outside the target road section, and the navigation interface displays the HD map when the object is located within the target road section.

[0041] In some embodiments, the first type of navigation map is an electronic map, and the second type of navigation map is a real-world navigation map, where the realism of the roads in the second type of navigation map is higher than that 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, where the SD map is displayed on the navigation interface when the object is located outside the target road section, and the AR map is displayed on the navigation interface when the object is located within the target road section. Alternatively, the first type of navigation map is an HD map, and the second type of navigation map is an AR map, where the HD map is displayed on the navigation interface when the object is located outside the target road section, and the AR map is displayed on the navigation interface when the object is located within the target road section.

[0042] In some embodiments, if an object is located outside a target road section on a road and is moving toward the target road section, a switch in the navigation map may be triggered before it enters the target road section. Specifically, the terminal switches from displaying a first type of navigation map to displaying a second type of navigation map in response to the distance between the object and the target road section being less than a preset target distance, i.e., it starts displaying a second type of navigation map before entering the target road section, and the terminal switches from displaying a second type of navigation map to displaying a first type of navigation map in response to the object leaving the target road section. The preset target distance may be determined based on the object's movement speed, with a larger preset target distance for faster movement speeds and a smaller preset target distance for slower movement speeds. As an example, as shown in Figure 8, where the first type of navigation map is an SD map and the second type of navigation map is an HD map, the target road section may be, for example, a turnaround intersection in Figure 8, and the distance between point A and the turnaround intersection is the preset target distance, and when the object moves to point A, a switch from displaying an SD map to displaying an HD map is triggered. In some other embodiments, the navigation map switch may be triggered when entering a target road section, for example, the terminal switches from displaying a first type of navigation map to displaying a second type of navigation map in response to the object entering a target road section.

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

[0044] In some embodiments, when an object is traveling toward a target road section and the object is located outside the target road section on the road, the terminal, in response to the object moving toward the target road section on the road, i.e., in response to the decreasing distance between the object and the target road section, reduces the map size of the first type of navigation map displayed on the navigation interface, i.e., increases the scale of the first type of navigation map displayed on the navigation interface. If the terminal determines, based on the distance between the object and the target road section, that the object is entering 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 greater than the scale of the first type of navigation map, i.e., 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, when an object is traveling away from a target road section and the object is located within the target road section, a second type of navigation map is displayed on the navigation interface. If the terminal determines, based on the distance between the object and the target road section, that the object has moved outside the target road section, the terminal displays a first type of navigation map on the navigation interface.

[0046] In some embodiments, if only a first type of navigation map and a second type of navigation map are present on the terminal, the navigation interface displays the first type of navigation map when an object is located anywhere within the road boundaries outside the target road section, and displays the second type of navigation map when the object is located within the target road section.

[0047] In some embodiments, if an object is located 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; if the object is located 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 if the object is located within the target road section, the navigation interface displays a second type of navigation map. 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 road realism of the second type of navigation map is higher than that of 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. Embodiments of the present application actually implement a multimode base map switching process. Multimode refers to multiple types, and multiple types refers to at least two.

[0048] In some embodiments, a switch from a third-type navigation map to a second-type navigation map can be triggered when entering a target road section. It is also possible to switch from a third-type navigation map to a second-type navigation map before entering a target road section. Specifically, if the distance between an object and the target road section is less than a second preset distance and greater than a third preset distance, the terminal can display a third-type navigation map. In response to the distance between the object and the target road section decreasing to the third preset distance, the terminal switches from a third-type navigation map to a second-type navigation map. As the distance between the object and the target road section decreases to the third preset distance, the display of the second-type navigation map is maintained as the object moves toward the target road section. The navigation map type is switched when the object leaves the target road section or after the object has moved a certain distance away from the target road section. Here, the third preset distance is smaller than the second preset distance.

[0049] The first type of navigation map is a standard-resolution map, the second type is an augmented reality map, and the third type is a high-resolution map. These are used as examples to illustrate the switching process of multimode base maps, using the entire process of entering, entering, entering, and exiting a turning point as shown in Figures 9A and 9B. The vehicle is located on a stable, unbranched road section before entering the turning point. This section is, for example, the road section before point A in Figure 9A or 9B. In this section, the driver is only required to maintain their current route, without excessive guidance requests. The driver focuses more on overall route information, such as the distance to the next turning point, the distance and time to the destination, and the road conditions ahead. In this section, an SD base map with large map size characteristics is displayed, and overall navigation information is displayed using the SD base map. In sections of stable roads without branches, the displayed scale level differs depending on the type of road. For example, for ordinary roads, an SD base map is used, displayed at scale level L1, while for expressways or urban expressways, an SD base map is displayed at scale level L2. 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 Figure 9A or Figure 9B, the vehicle enters the intersection's turning zone and enters the phase of approaching the turning point. After entering the intersection's turning zone, the driver needs to pay attention to the surrounding road conditions, prepare and begin changing lanes to the target lane, and during the turning zone, dynamically adjust the map size scale based on the distance between the vehicle's position and the turning point. When the map size scale reaches HD display level, switch from SD base map display to HD base map display, which can display more detail. The method for determining whether to enter the intersection's turning zone differs depending on the type of road. For example, on expressways or urban expressways, the vehicle enters the turning zone when it is x meters (m) away from the turning point. On ordinary roads, the vehicle enters the turning zone when it is y meters away from the turning point. Here, x is greater than y.

[0051] Just before reaching a turning point intersection, i.e., a maneuvering point, the system prompts the driver to enter the next road and provides more realistic guidance to the user. When the vehicle enters the turning point section of an intersection and the distance from the vehicle to the maneuvering point is less than or equal to z meters, the system switches from the HD base map display to the AR base map display, which has stronger guidance capabilities. The premise for displaying the AR base map is that if the vehicle has already entered the turning point section of an intersection and the distance from the vehicle to the maneuvering point is less than or equal to z meters, it is determined that this is an AR base map display road section. After passing a route point, i.e., a maneuvering point, if data for the next maneuvering point is received, the AR base map display is terminated. If no new guidance data, such as the next maneuvering point, is received even after passing m meters from the intersection, the map size of the base map is adjusted.

[0052] In the map navigation method described above, a navigation interface is displayed and used to provide road navigation to an object. If the object is located outside the target road section, a first-type navigation map is displayed in the navigation interface. The target road section is a road section with predefined road conditions. If the object is located within the target road section, a second-type navigation map is displayed in the navigation interface. The scale of the second-type navigation map is larger than that of the first-type navigation map, and the road realism in the second-type navigation map is higher than that in the first-type navigation map. Therefore, the display of the navigation map is automatically controlled according to the road conditions, fully utilizing the advantages of different types of navigation maps and improving navigation efficiency. Because the scale of the second-type navigation map is larger than that of the first-type navigation map, the map details displayed within the road section are greater than the map details displayed outside the road section. Displaying more details within the road section helps to better represent the predefined road conditions, thus improving navigation efficiency. Because the scale of the second type of navigation map is larger than that of the first type of navigation map, the map size displayed outside the road section is larger than the map size displayed within the road section. Providing a relatively larger map size outside the road section allows for the display of more map content, resulting in richer information about the road ahead and thus improving navigation efficiency.

[0053] Currently, navigation maps have multiple presentation modes, including but not limited to SD mode, AR mode, and HD mode. Different presentation modes are distinguished by product strategy. As shown in Figures 10A, 10B, and 10C, these are AR and SD split-screen effects presented on screens of different sizes. Figure 10A shows the AR and SD split-screen effect on a screen with a resolution of 1280×720, Figure 10B shows the AR and SD split-screen effect on a screen with a resolution of 1920×720, and Figure 10C shows the AR and SD split-screen effect on a screen with a resolution of 1920×1080. The SD drawing size and AR drawing size differ on different screens. Figure 10D shows the effect of HD and SD split-screen display, and Figure 10E shows the effect of HD and AR split-screen display. HD and SD split-screen is not exactly the same as the AR and SD split-screen solution. As can be seen from Figures 10D and 10E, the base map product forms are different, and the split-screen strategies are different, resulting in inferior multi-mode map fusion effects and a clear split-screen effect. From a product form perspective, the demands on user comprehension are relatively high, and the cost of understanding is also relatively high. From a technical perspective, different forms of effects need to be realized using different technology stacks, resulting in relatively high implementation and maintenance costs. The map navigation method provided in this application comprehensively considers product form and technical implementation to realize a unified, highly efficient, stable, and highly fused multi-mode fusion solution, thereby improving navigation efficiency. In some embodiments, the first type of navigation map is displayed using a scale in the first scale range, and the second type of navigation map is displayed using a scale in the second scale range, where the scale in the second scale range is larger than the scale in the first scale range.

[0054] Here, the first and second scale ranges are predetermined. 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, the first type of navigation map is displayed; when the scale in the second scale range is used, the second type of navigation map is displayed.

[0055] Specifically, if an object is located outside the target road section on a road, the navigation interface displays a first type of navigation map using the scale in the first scale range; if the object is located within the target road section, the navigation interface displays a second type of navigation map using the scale in the second scale range, the scale in the second scale range being larger than the scale in the first scale range.

[0056] In some embodiments, the first type of navigation map is a standard-resolution map, and the second type of navigation map is an augmented reality map. When an object is located outside the road range of a target road section, the navigation interface displays a standard-resolution map using the scale in the first scale range, and when an object is located within the target road section, the navigation interface displays an augmented reality map using the scale in the second scale range.

[0057] In some embodiments, the first type of navigation map is a high-resolution map, and the second type of navigation map is an augmented reality map. When an object is located outside the road range of a target road section, the navigation interface displays the high-resolution map using the scale in the first scale range, and when an object is located within the target road section, the navigation interface displays the augmented reality map using the scale in the second scale range.

[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 detail on the map, making it easier to understand the road conditions in the target road section and thereby improving navigation efficiency. A smaller scale can be used on roads far from the target road section, i.e., stable road sections without branches, and a larger map size can be used to display a wider area of ​​the map, allowing for a global understanding of the location of objects, adapting to navigation needs and thereby improving navigation efficiency.

[0059] In some embodiments, when a section of road is in one of the predefined road conditions and an object is located in a road area outside the section of road, the step of displaying a first type of navigation map on the navigation interface includes, when a section of road is in one of the predefined road conditions and an object is located in a road area outside the section of road, the step of gradually decreasing the size of the map displayed on the first type of navigation map on the navigation interface using a scale that gradually increases within a first scale range in response to the object moving toward the section of road.

[0060] Specifically, if an object is located outside the road range of the target road section on the road, the terminal gradually reduces the map size of the first type of navigation map in the navigation interface in response to the object moving toward 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, if an object is located outside the road range of a target road section on a road, the terminal gradually increases the scale of the first type of navigation map displayed in the navigation interface in response to the object moving toward the target road section on the road, i.e., as the distance between the object and the target road section decreases, thereby gradually decreasing the map size of the first type of navigation map in the navigation interface.

[0062] In some embodiments, the object is a target vehicle, and the terminal can determine the speed at which the scale increases based on the driving conditions, which include, but are not limited to, at least one of the following: driving speed, manual driving, automated 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 an object moving toward a road section on a road, the map size displayed on the navigation interface using a first type of navigation map is gradually reduced using a scale that gradually increases within a first scale range. As the object moves toward a target road section on a road, the map size is gradually reduced, i.e., the scale is gradually increased, so that the scale gradually approaches the scale in a second scale range. This allows for a smooth transition of scale when the object moves from outside to inside the target road section, reducing visual maladjustment caused by large changes in scale, thereby reducing interference during navigation and improving navigation efficiency.

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

[0065] Specifically, in response to an object moving from outside the target road section into the target road section, the terminal displays a second type of navigation map in the navigation interface using a scale within a second scale range.

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

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

[0068] In some embodiments, the step of switching from a scale in a first scale range to a scale in a second scale range and switching a first type of navigation map displayed on the navigation interface to a second type of navigation map in response to an object moving from outside a road section to inside a road section includes the step of playing a first transition animation on the navigation interface that transitions from a first type of navigation map to a second type of navigation map in response to an object moving from outside a road section to inside a road section, wherein 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 has finished, the step of switching from a scale in a first scale range to a scale in a second scale range and displaying a second type of navigation map on the navigation interface.

[0069] Here, the first transition animation is used to demonstrate the process of switching from the first type of navigation map to the second type of navigation map. For example, if 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 demonstrate the process of switching from the SD map to the AR map. If 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 demonstrate the process of switching from the HD map to the AR map. As the first transition animation plays, 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 navigation map with an image of a second type navigation map. For example, for multiple time points during a transition, the terminal can use the Alpha fusing method to fuse the image of the first type navigation map at each time point with the image of the second type navigation map at that time point to obtain a fusing image for that time point, and generate the first transition animation from the fusing image for each time point. The Alpha fusing method refers to a method of fusing two images using a transparency image. The terminal can determine a transparency image for each time point, where the pixel value of each pixel point in the transparency image represents transparency, and the pixel value of each pixel point in the transparency image is the same. The pixel value, i.e., transparency, increases with increasing time, and since the pixel value represents transparency, the range of possible values ​​for the pixel value is 0 to 1. The terminal can obtain the image of the first type navigation map at each time point as the first image, the image of the second type navigation map at that time point as the second image, determine the transparency image for that time point, and use the transparency image to fuse the first and second images to obtain a fusing image for that time point. 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 a weighted weight of the pixel value of that pixel position in the second image, and the difference between 1 and the pixel value of that pixel position in the transparency image as a weighted weight of the pixel value of that pixel position in the first image. Based on the respective weighted weights of the two pixel values ​​for that pixel position, the terminal performs a weighted calculation on the two pixel values ​​to obtain the fused pixel value of that pixel position, and generates a fused image at that time based on the fused pixel value of each pixel position at that time. As the pixel value in the transparency image, i.e., transparency, increases with time, the content in the first image becomes smaller and smaller in the fused image, and the content in the second image becomes larger and larger. As a result, 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, the terminal plays a transition animation in which it transitions from a second type of navigation map to a first type of navigation map in response to an object moving from within a target road section to outside of the target road section, where, as the transition animation plays, 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 plays, the visibility of the first type of navigation map gradually decreases and the visibility of the second type of navigation map gradually increases, so that an overlay capping effect is generated in the animation, which links seamlessly during the switch and improves the stability of the drawing change. As shown in Figure 11A, the process of switching from an SD base map to an AR base map is shown, in Figure 11A, (a) is the SD base map, (c) is the AR base map, and (b) shows the overlay capping effect that occurs in the process of switching from an SD base map to an AR base map. As shown in Figure 11B, the process of switching from an AR base map to an HD base map is shown, in Figure 11B, (a) is the AR base map, (c) is the HD base map, and (b) shows the overlay capping effect that occurs in the process of switching from an AR base map to an HD base map.

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

[0074] Here, the next target road section and the previously passed target road section may be road sections with the same predetermined road conditions, or they may be road sections with different predetermined road conditions. For example, the previously passed target road section may be a road section with a turnaround intersection, and the next target road section may be a congested road section, or both the previously passed target road section and the next target road section may be road sections with turnaround intersections.

[0075] Specifically, in response to an object moving from within a target road section to outside of it, the terminal returns to the step of displaying a first type of navigation map on the navigation interface if the object moves toward the next target road section, or if the object is located in the road area outside the target road section on the current road, thereby displaying a first type of navigation map on the navigation interface if the object is located in the road area outside the target road section on the current road, and if the object is located within the target road section, the terminal displays a second type of navigation map on the navigation interface. In some embodiments, in response to an object moving from within a target road section to outside of it, if the terminal receives data for the next target road section, it decides that the object moves toward the next target road section. As shown in Figure 9A or Figure 9B, after passing a route point, i.e., a turn point, if data for the next turn point is received, the AR base map is terminated and a navigation map to be displayed is determined based on the distance between the object and the next target road section.

[0076] In this embodiment, timely switching of navigation maps based on the target road section is achieved, improving navigation efficiency.

[0077] In some embodiments, the method further includes the step of switching a second type of navigation map in the navigation interface to a first type of navigation map if the object is a first predetermined distance away from the road section, in response to the object moving from inside the road section to outside the road section.

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

[0079] Specifically, in response to an object moving from within the target road section to outside of it, the terminal switches from displaying a second type of navigation map on the navigation interface using the scale of the second scale range to displaying a first type of navigation map on the navigation interface using the scale of the first scale range, if the object is a first preset distance away from the target road section. Since the scale in the second scale range is larger than the scale in the first scale range, the map size of the navigation map after the switch will be larger.

[0080] In some embodiments, in response to an object moving from within a target road section to outside of it, the terminal switches from displaying a second type of navigation map on the navigation interface using a scale in a second scale range to displaying a first type of navigation map on the navigation interface using a scale in a first scale range if the next target road section is not received and the object is a first preset distance away from the target road section. As shown in Figure 9A or Figure 9B, if no new guidance data, such as data for the next turning point, is received after passing m meters from a turning point intersection, the scale is adjusted, i.e., the map size is adjusted, for example, to display a first type of navigation map on the navigation interface and increase the image size.

[0081] In this embodiment, when an object is located a first preset distance from the target road section, a first type of navigation map is displayed in the navigation interface. This allows for the display of a navigation map with a larger image size, making it easier to intuitively observe the location of the object and convenient for determining the next travel route.

[0082] In some embodiments, the step of displaying a first type of navigation map on the navigation interface when a road section is in one of the predefined road conditions and an object is located in a road area outside the road section on the road includes the step of displaying a first type of navigation map on the navigation interface when a road section is in one of the predefined road conditions and an object is located in a road area outside the road section on the road and the distance between the object and the road section is greater than or equal to a second predefined distance.

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

[0084] Road display accuracy refers to the precision used when displaying roads; the higher the road display accuracy, the more detail of the road is displayed. The road display accuracy of a third-type navigation map is higher than that of a first-type navigation map, and the road realism of a second-type navigation map is higher than that of a third-type navigation map. For example, a second-type navigation map is an augmented reality map, while a third-type navigation map is a high-precision map.

[0085] Specifically, if a device supports Type 1, Type 2, and Type 3 navigation maps, in a scenario where switching between Type 1 and Type 2 navigation maps, the Type 3 navigation map can be added as a transition, making the process of switching from Type 1 to Type 2 navigation maps smoother. For example, in a scenario where switching from Type 1 to Type 2 navigation maps, the user can first switch from Type 1 to Type 3 navigation maps, and then switch from Type 3 to Type 2 navigation maps.

[0086] In some embodiments, in a scenario where a first type of navigation map is switched between a second type of navigation map, a third type of navigation map is added as a transition, making the process of switching from the first type of navigation map to the second type of navigation map smoother. The method further includes the step of displaying the third type of navigation map in the navigation interface if an object is located outside the road range of a road section and the distance between the object and the road section is less than a second preset distance, where the road display accuracy in the third type of navigation map is greater than that in the first type of navigation map, and the road truthfulness in the second type of navigation map is greater than that in the third type of navigation map. In this embodiment, the visual effect of the navigation interface is improved, the map in the navigation interface is easier to understand, and thus navigation efficiency is improved.

[0087] In some embodiments, if an object is located 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. If an object is located 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 a second type of navigation map within the target road section. For example, the second preset distance is the distance between point D in Figure 12A and the turnaround intersection, i.e., road section AB. Before driving to point D in Figure 12A, the first type of navigation map is displayed on the navigation interface, the third type of navigation map is displayed on the navigation interface in the road section between point D and point A, and the second type of navigation map is displayed on the navigation interface in the road section AB of the turnaround intersection.

[0088] In some embodiments, the navigation map switch may be triggered when entering a target road section, for example, the terminal switches the display of a third type navigation map to a second type navigation map in response to the object entering a target road section. Of course, the terminal can also switch the navigation map from a third type to a second type before entering a target road section, for example, if 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 a third type navigation map, and in response to the distance between the object and the target road section decreasing to a third preset distance, it switches from a third type navigation map to a second type navigation map, and as the object moves toward the target road section, the display of a second type navigation map is maintained, and the navigation map type is switched when the object leaves the target road section or after the object has moved a certain distance away from the target road section.

[0089] In this embodiment, in a scenario where a first type of navigation map is switched between a second type of navigation map, a third type of navigation map can be added as a transition. This makes the process of switching from the first type of navigation map to the second type of navigation map smoother, improves the visual effect of the navigation interface, makes the map in the navigation interface easier to understand, and thereby improves navigation efficiency.

[0090] In some embodiments, the step of displaying a third type of navigation map on the navigation interface includes the step of displaying a third type of navigation map on the navigation interface using a scale in a third scale range, where 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. Thus, during the process in which an object moves from outside the target road section to inside the target road section, the scale of the navigation map gradually increases and the map size gradually decreases, thereby adapting the navigation map to the actual demand and improving navigation efficiency.

[0091] In some embodiments, if an object is located in a road area outside a road section on a 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, in response to the object moving toward the road section on the road, gradually decreasing the map size displayed on the third type of navigation map on the navigation interface using a scale that gradually increases within a third scale range.

[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 in the third scale range is larger than the scale in the first scale range. The scale of the second type of navigation map belongs to the second scale range, and the scale in the second scale range is larger than the scale in the first scale range. For example, the first scale range is a scale range consisting of scales from level 4 to 19, the third scale range is a scale range consisting of scales from level 20 to 21, and the second scale range is a scale range consisting of scales of level 22 and above.

[0093] Specifically, if an object is located outside the road range of a target road section on a 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 toward the target road section on the road, gradually decreases the map size of the third type of navigation map on the navigation interface, i.e., gradually increases the scale of the third type of navigation map on the navigation interface, and when it determines that the object has moved into the target road section, it displays the second type of navigation map on the navigation interface using the scale in the second scale range.

[0094] In this embodiment, in response to an object moving toward a road section on a road, the map size displayed on the navigation interface of the third type of navigation map is gradually reduced by using a scale that gradually increases within a third scale range, thereby allowing more detail to be displayed and improving navigation efficiency.

[0095] In some embodiments, when a road section is in a predefined 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, when the road section is in a predefined road condition, playing a second transition animation on the navigation interface that transitions from a third type of navigation map to a second type of navigation map in response to an object moving from outside the road section into the road section, wherein, 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, and after the second transition animation has finished, displaying the second type of navigation map on the navigation interface.

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

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

[0098] In some embodiments, if an object is located in a road area outside a target road section on a 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 in the navigation interface includes playing a third transition animation in the navigation interface that transitions from a first type of navigation map to a third type of navigation map in response to the distance between the object and the target road section being less than a second preset distance during the process of the object moving toward the target road section, where, as the third transition animation 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 third transition animation is used to represent the process of switching from a first type of navigation map to a third type of navigation map. For example, if 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 represent the process of switching from an SD map to an HD map. The third transition animation may be obtained by fusing an image of the third type of navigation map with an image of the first type of navigation map. The specific process for generating the third transition animation is omitted here, as it refers to the process for generating the first transition animation. Of course, in the scenario of switching from an AR map to an HD map, there is an animation that represents the process of switching from an AR map to an HD map.

[0099] As shown in Table 2, the correspondence between map types and scale levels is shown, and the scale levels may also be called scale levels. In the embodiments of this application, different scale ranges correspond to different types of navigation maps, thereby enabling unified management of different types of maps using scale. This allows for automatic triggering of map type switching based on scale changes, and a solution is realized that automatically merges (switches) multimode base maps using scale. The multimode base maps include, but are not limited to, at least two of SD base maps, HD base maps, or AR base maps. Three base maps are shown as shown in Figure 12B. Figure 12B makes the strategy for SD and HD fusion relatively clear. In the HD base map, SD map data is still used for non-road data, and HD road styles are used for road sections with high-precision map data. Since the superiority of HD effects at scale levels below level 20 is not clear, only three scale levels, 20, 21, and 22, are used as display levels for the HD base map. That is, HD maps are displayed only at these three scale levels, and the HD base map is not visible at other scale levels. The display levels for the SD base map are defined as levels 4 to 20, with level 20 being the connection level (transition level) between SD and HD, and level 22 being the connection level between HD and AR. Scale levels may also be called scale grades. The scale of each map in the transition animation (e.g., 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 falls within the range of 4 to 19, the SD base map is displayed; when the scale level falls within the range of 20 to 21, the HD base map is displayed; and when the scale level is 22 or higher, the AR base map is displayed. During the process of switching from the SD base map to the HD base map, an overlay capping effect exists between the HD base map and the SD base map, meaning that 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, an overlay capping effect exists between the HD base map and the AR base map, meaning that the HD base map and the AR base map are displayed simultaneously. It should be explained that while Table 2 shows scale levels represented by positive integers, 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 instance, interpolation between 4 and 5 yields 4.5, and interpolation between 2,000,000 and 1,000,000 yields 1,500,000. In this case, 4.5 represents a scale level where the physical size is 1,500,000 meters.

[0102] As shown in Figure 13, flowcharts of multimode base map fusion in several embodiments are shown. In multimode 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, and these grades and viewing angles are fused into a 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 multimode base maps can be achieved. As shown in Figure 13, the multimodal base map fusion process is shown, first incorporating the multimodal base map into the scale level management system using the scale level fusion method, then adjusting the map size based on guidance information or automated driving status information, and finally switching the scale and pitch angle of the base map based on the grade calculated by the automatic scaling adjustment policy, and switching between grades using the Alpha fusion method to achieve a seamless connection effect. As shown in Figure 13, fusion image 1 in the animation showing the process of switching from an SD map to an AR map and fusion image 2 in the animation showing the process of switching from an AR map to an HD map are shown.

[0103] In this embodiment, as the second transition animation plays, the visibility of the third type navigation map gradually decreases and the visibility of the second type navigation map gradually increases, thereby creating an overlay capping effect within the animation, which links seamlessly during the transition and improves the stability of the drawing change.

[0104] In some embodiments, the method further includes the steps of: 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; entering a first navigation mode and displaying a navigation interface in response to a trigger operation for the first navigation mode option; and entering a second navigation mode and displaying a first type of navigation map and a second type of navigation map in a split screen in response to a trigger operation for 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 a first type of navigation map to a 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, with the first type of navigation map displayed in one screen area and the second type of navigation map displayed in the other screen area.

[0106] Specifically, the terminal can display a navigation mode settings page, which can display a first navigation mode option and a second navigation mode option. When the terminal receives a selection operation for the first navigation mode option, it updates the state of the first navigation mode option to a selected state and determines the first navigation mode as the object's current navigation mode. As shown in Figure 14A, the navigation mode settings page displays the first navigation mode option 1402 and the second navigation mode option 1404.

[0107] In some embodiments, if the object's current navigation mode is a first navigation mode, and the terminal determines that the object is located outside the target road section on the road, the terminal displays a first type of navigation map on the navigation interface; and 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, the navigation mode settings page displays both a first navigation mode option and a second navigation mode option, allowing for flexible selection of the navigation mode and improving the flexibility of navigation.

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

[0110] 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, with the first type of navigation map displayed in one screen area and the second type of navigation map displayed in the other. The trigger operation for the second navigation mode option is used to trigger a switch in the current navigation mode from the first navigation mode to the second navigation mode.

[0111] Specifically, if the object's current navigation mode is the first navigation mode, the terminal can display the navigation map and simultaneously display the second navigation mode option for the first navigation mode, and as shown in Figure 14B, it can display the AR map and simultaneously display the second navigation mode option 1406 for the first navigation mode. In response to a 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 a split screen on the navigation interface, for example, displaying the SD map and AR map in a split screen on the navigation interface, or displaying the HD map and AR map in a split screen on the navigation interface.

[0112] In some embodiments, if the object's current navigation mode is the first navigation mode and the navigation map displayed on the navigation interface is the third type of navigation map, the terminal may, in response to a trigger operation for the second navigation mode option, display the first type of navigation map and the third type of navigation map in a split-screen manner on the navigation interface. For example, if the object is moving away from the target road section, the terminal may display the first type of navigation map and the third type of navigation map in a split-screen manner on the navigation interface. Of course, the terminal may also display the second type of navigation map and the third type of navigation map in a split-screen manner on the navigation interface. For example, if the object is moving towards the target road section, the terminal may display the second type of navigation map and the third type of navigation map in a split-screen manner on the navigation interface.

[0113] In this embodiment, the navigation interface in the first navigation mode displays the second navigation mode option for the second navigation mode. In response to a trigger operation for the second navigation mode option, the navigation interface displays the first type of navigation map and the second type of navigation map in a split-screen view, thereby enabling rapid switching between navigation modes and improving navigation efficiency.

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

[0115] Here, the size of the navigation screen includes its length and width, and the unit is pixels. The preset screen size threshold is predetermined. When the size of the navigation screen reaches the preset screen size threshold, the split-screen display is more effective.

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

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

[0118] In this embodiment, if the size of the navigation screen is smaller than a preset screen size threshold, the system enters a first navigation mode. This method switches the navigation map when the navigation screen is small, ensuring that the navigation map is not too small on a small navigation screen, thereby guaranteeing navigation quality. If the size of the navigation screen is greater than or equal to the preset screen size threshold, the navigation interface displays a first type of navigation map and a second type of navigation map in a split-screen format. This improves the effectiveness of the split-screen display, allowing multiple types of navigation maps to be displayed on a large navigation screen, thereby enriching the navigation options.

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

[0120] Here, the pitch angle from which the road is viewed from the object's angle can be called the target pitch angle. The navigation camera is used to collect and obtain data for a second type of navigation map. For example, the navigation camera can collect images for a scenario in which an object is located and obtain data for a second type of navigation map. If the second type of navigation map is an AR map, then the navigation camera is an AR camera. The screen presented by the second type of navigation map with a target pitch angle belongs to the screen observed by the navigation camera's viewing angle. Matching the target pitch angle with the navigation camera's viewing angle means that the target pitch angle changes with changes in the navigation camera's viewing angle, and the target pitch angle can be calculated and obtained based on the navigation camera's viewing angle. If the object is a pedestrian, the AR camera may be mounted on the pedestrian; if the object is a vehicle, the AR camera may be mounted on the vehicle.

[0121] Using a vehicle as an example object, Figure 15A shows a schematic diagram of the AR system equipment installation, and Figure 15B shows a top view of the AR system equipment installation. Theoretically, the camera is installed horizontally and centrally, but due to limitations in the production process, it cannot be installed horizontally, so the camera is at a certain angle to the horizontal line. For this reason, the camera installation angle and visible range are calculated from two dimensions, horizontal and vertical, respectively. As shown in Figure 16, assume that point O is the position of the camera, and O' is the vertical foot drawn from point O to the horizontal ground. The height h of OO' is determined by the camera installation. α is the viewing angle of the camera lens, A represents the starting point in the camera image, and the part O'A is not visible in the camera. OB is the angle bisector of the camera's viewing angle, O'OB is the mounting angle of the AR camera, and the mounting angle O'OB corresponds to the pitch angle size pitch in the SD map, i.e., the mounting angle O'OB is the pitch angle of the AR map. Measuring the length of AB is relatively difficult, but measuring the length of O'A is relatively easy, and by measurement, it can be determined that the length of O'O is h and the length of O'A is W1. The angle α is provided by the camera lens supplier or measured by the user. The SD-AR fusion solution calculates the mounting 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 a 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 an 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 is matched with the viewing angle of the navigation camera. A second type of navigation map with a pitch angle is displayed on the navigation interface, so that the screen presented by the second type of navigation map can accurately represent the scenario in which 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, which includes the steps of obtaining the vertical distance between the navigation camera and the horizontal ground, and 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 mentioned above, and the terminal can be obtained by calculating the target pitch angle using W1, h, and α, for example, target pitch angle = arctan(W1 / h) + α / 2.

[0126] In this embodiment, the target pitch angle is calculated 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 predefined 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 the steps of determining the area on the road that the vehicle can travel, determining the map scale based on the area that can travel and the screen size of the navigation screen, and displaying the second type of navigation map on the navigation interface using the map scale.

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

[0129] Specifically, the terminal can determine the drivable area by extracting lanes and road surfaces. After the lanes on the road surface are identified, the road surface and roadway are determined based on the lanes, and the road surface currently being traveled on, i.e., the drivable area, is determined by the intersection of the lane closures and the edges of the image. As shown in Figure 17, a flowchart for lane extraction is displayed, where the lane extraction model is a neural network model equipped with the function of extracting lanes. The lane extraction model may also be a segmentation network employing an "upsampling + downsampling" structural paradigm. The identification principle is to output a binary feature diagram of the same scale as the image input to the model, and the segmentation model determines which pixels in the image belong to the lanes and which belong to the background. As shown in Figure 18, the extracted road surface, i.e., the drivable area, is displayed. Of course, the lane extraction model may be a neural network using other structures, for example, a neural network that includes upsampling but does not include downsampling. By setting several equal division lines in the height direction of the lower half of the road image, identifying the position of lanes on each equal division line, and obtaining the lane polynomial equation by fitting several position points, while simultaneously establishing lane confidence to determine whether lanes exist, establishing confidence in lane position points to determine whether they are valid position points, and after downsampling, directly outputting a vector with length 4 × 61, as shown in Figure 19, it is possible to save computational power consumption in the "upsampling" part and improve the performance of the model. After the above extraction of drivable areas and roadways, the number of roadways included in the current AR drawing can be calculated, thereby calculating the width of the drivable area.

[0130] In this embodiment, the map scale is matched to the drivable area of ​​the vehicle and the size of the navigation screen, so the map scale is used to display a second type of navigation map on the navigation interface, improving the accuracy of navigation.

[0131] In some embodiments, the step of determining the map scale based on the drivable area and the screen size of the navigation screen includes the steps of obtaining the physical area width of the drivable area and 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, physical size refers to geographical distance, that is, actual distance. The physical size corresponding to a single pixel point refers to the actual geographical distance covered by that single pixel point.

[0133] Specifically, different physical sizes correspond to different scales. The map size in Table 1 can be understood as a physical size. As can be seen from Table 1, different scale levels correspond to different physical sizes, and since the scale levels and scales are different, different scales result in different physical sizes. The terminal can determine the scale corresponding to the physical size corresponding to a single pixel point based on the correspondence between physical size and 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 an AR map, the scale level of the AR map can be calculated based on the camera's visible range. The visible range can be determined by detecting the drivable area and measuring the width of the drivable area. The correspondence between AR and SD levels can be calculated based on the actual width and scale level. As shown in Figure 20, after obtaining the drivable area, the longest lateral distance AB within the drivable area can be calculated. In Figure 20, W refers to the distance between A and B, and the distance between A and B may also be represented by AB. スクリーンWhen displayed on a screen of ×H, the physical size represented by each pixel on that screen is d ar =AB / W スクリーン In SD base plotting, the physical size represented by each pixel corresponding to each scale grade is dn, where n represents each scale grade, and the range of n values ​​is 4 to 22. ar By comparing dn with the AR drawing, the corresponding scale grade can be determined, and thereby the map scale can be determined.

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

[0135] In some embodiments, a map navigation method is provided, as shown in Figure 21, which may be performed by a terminal or jointly by a terminal and a server. The method will be described as being applied to a terminal, and will include the following steps.

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

[0137] Here, the navigation interface is used to provide road navigation to objects.

[0138] In step 2104, if, while the object is moving toward the target road section on the road it is located on, the object is located outside the road area of ​​the road and the distance between the object and the target road section is greater than or equal to a second preset distance, the navigation interface displays a first type of navigation map.

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

[0140] Here, as the transition animation to the third type of navigation map plays, 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 transition animation for transitioning to the third type of navigation map has finished playing, the third type of navigation map is displayed in the navigation interface.

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

[0143] In step 2112, after the transition animation for transitioning to the second type of navigation map has finished playing, the second type of navigation map is displayed in the navigation interface.

[0144] In this embodiment, different types of navigation maps are displayed within different scale ranges, thereby enabling the fusion of multiple types of navigation maps using scale. The navigation map automatically switches to the navigation map and scale that best matches the scenario, thereby improving navigation efficiency.

[0145] The map navigation method provided in this application can be applied to pedestrian, vehicle driving, and human driving scenarios. For example, the first type of navigation map is a standard-resolution map, the second type of navigation map is an augmented reality map, and the third type of navigation map is a high-resolution map, with the target road section being a turnaround intersection. For a target vehicle in a vehicle driving scenario, the navigation interface is displayed during the process of the target vehicle moving along the road. During the process of the target vehicle moving toward a turnaround intersection on the road, if the target vehicle is located outside the road area of ​​the road and the distance between the target vehicle and the turnaround intersection is greater than or equal to a second preset distance, the standard-resolution map is displayed on the navigation interface. In response to the distance between the target vehicle and the turnaround intersection being less than the second preset distance, a transition animation is played on the navigation interface to transition from the standard-resolution map to the high-resolution map, and after the playback of the transition animation to the high-resolution map is completed, the high-resolution map is displayed on the navigation interface. In response to the target vehicle moving from outside the intersection to inside it, a transition animation is played on the navigation interface that transitions from a high-resolution map to an augmented reality map. After the transition animation to the augmented reality map finishes playing, the augmented reality map is displayed on the navigation interface. As the transition animation to the high-resolution map plays, the visibility of the standard-resolution map gradually decreases, and the visibility of the high-resolution 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-resolution 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. 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 while the steps in the flowcharts for each embodiment described above are shown sequentially according to the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise explicitly stated herein, there are no strict order restrictions on the execution of these steps, and they may be executed in other orders. Furthermore, at least some of the steps in the flowcharts for each embodiment described above may include multiple steps or stages, and these steps or stages do not necessarily have to be executed and completed at the same time, but may be executed at different times, and the execution order of these steps or stages does not necessarily have to be sequential, but may be executed sequentially or alternately with other steps or at least some of the steps or stages in other steps.

[0147] Based on the same inventive concept, embodiments of this application further provide a map navigation device for realizing the map navigation method described above. Since the solutions to the problems provided by the device are the same as those described in the above method, specific limitations in the embodiments of one or more map navigation devices provided below can be referenced to the limitations on the map navigation method described above, and a detailed explanation is omitted here.

[0148] In some embodiments, as shown in Figure 22, a map navigation device is provided, which 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 the navigation interface, which is used to navigate objects moving on the 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 is in one of the predefined road conditions and an object is located 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 the road section is in a pre-defined road condition and an object is located within the road section, and 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 examples, the road accuracy in the second type of navigation map is higher than that 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 in 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 in a second scale range, where the scale in the second scale range is larger than the scale in 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 navigation interface to a first type of navigation map, using a scale that gradually increases within a first scale range, in response to an object moving toward a road section on a road, when a road section on a road is in any of the predefined road conditions and an object is located within the 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 a scale in a first scale range to a scale in a second scale range in response to an object moving from outside a road section to inside a road section on a road, and to switch the first type of navigation map displayed in the navigation interface to a 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 a first type of navigation map to a second type of navigation map in response to an object moving from outside a road section to inside a road section on a road, and as the first transition animation plays, 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 finishes, it switches from the scale in the first scale range to the scale in the second scale range and is used to display the second type of navigation map on the navigation interface.

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

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

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

[0161] In some embodiments, the third map display module is further used to gradually decrease the map size displayed on the navigation interface using a scale that gradually increases within the third scale range, in response to an object moving toward a road section on a road, when the object is located outside the road range on the road and the distance between the object and the road section is less than a second preset distance. In some embodiments, the second map display module 2206 is further used to play a second transition animation on the navigation interface that transitions from a third type of navigation map to a second type of navigation map in response to an object moving from outside the road section to inside the road section on a road, when the road section is in a preset road condition, and as the second transition animation plays, 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 finishes, the second type of navigation map is displayed on the navigation interface.

[0162] In some embodiments, the device is further used to display a navigation mode setting page, display a first navigation mode option and a second navigation mode option on the navigation mode setting page, perform the step of entering the first navigation mode and displaying the navigation interface in response to a trigger operation for the first navigation mode option, and enter 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 for the second navigation mode option.

[0163] In some embodiments, the device is further used to display 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, enter the second navigation mode and display the first type of navigation map and the second type of navigation map in a split screen.

[0164] In some embodiments, the navigation interface is displayed on a navigation screen, and the device is further used to determine the screen size of the navigation screen in response to a trigger operation for a second navigation mode option, and if the screen size is smaller than a preset screen size threshold, to enter a first navigation mode and display the navigation interface.

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

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

[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 is further used to determine the area on the road that a vehicle can travel in, if the road section is in a predetermined road condition and the object is located within the road section, to determine the map scale based on the area that can travel in and the screen size of the navigation screen, and to display a second type of navigation map on the navigation interface using the map scale.

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

[0169] Each module in the map navigation device described above can be implemented in whole or in part by software, hardware, or a combination thereof. Each module may be incorporated into the processor of the computer device in hardware form, or it may be independent, or it may be stored in the memory of the computer device in software form, and it is convenient for the processor to call it and perform the operations corresponding to each module.

[0170] In some embodiments, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in Figure 23. The computer device includes a processor, memory, an input / output interface (abbreviated as I / O), and a communication interface. Here, the processor, memory, and I / O interface are connected via a system bus, and the communication interface is connected to the system bus via the I / O 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 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 computer-readable instructions in the non-volatile storage medium. The database of the computer device is used to store data relating to a map navigation method. The I / O 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 connect and communicate with external terminals via a network. The computer-readable instructions, when executed by the processor, realize a map navigation method.

[0171] In some embodiments, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in Figure 24. The computer device includes a processor, memory, an input / output interface, a communication interface, a display unit, and an input device. Here, the processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and 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 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 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 by wired or wireless means, and the wireless means may be implemented by Wi-Fi, a mobile cellular network, NFC (Near Field Communication), or other technology. The computer-readable instructions, when executed by the processor, implement a map navigation method. The display unit of the computer equipment 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, and the input device of the computer equipment may be a touch layer covering the display screen, a button, a trackball, or a touchpad installed on the shell of the computer equipment, or an external keyboard, touchpad, or mouse.

[0172] Those skilled in the art will understand that the structures shown in Figures 23 and 24 are merely block diagrams of substructures relating to the solutions of this application and do not constitute a limitation on the computer equipment to which the solutions of this application apply. Specific computer equipment may include more or fewer components than those shown in the figures, or may combine several components or have a different component arrangement.

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

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

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

[0176] It should be explained that the user information (including, but not limited to, user device information and user personal information) and data (including, but not limited to, data used for analysis, stored data, and display data) related to this appearance are all information and data authorized by the user or fully authorized by all parties involved, and the collection, use, and processing of the relevant data must comply with the relevant laws, regulations, and standards of the relevant countries and regions.

[0177] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be completed by instructing the relevant hardware with computer-readable instructions, which may be stored in a non-volatile computer-readable storage medium, and when such computer-readable instructions are executed, the processes of each embodiment of the above embodiments may be included. Any reference to memory, database or other medium used in each embodiment provided in this application may include at least one of non-volatile memory and volatile memory. Non-volatile memory may 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 may include random access memory (RAM) or external high-speed cache memory, etc. For illustrative purposes only, rather than being limited, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases relating to each embodiment provided in this application may include at least one of relational and non-relational databases. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors relating to each embodiment provided in this application may include, but are not limited to, general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, and the like.

[0178] The technical features of the above embodiments can be combined in any way, but for the sake of simplicity, not all possible combinations of the technical features in the above embodiments will be described. However, as long as these combinations of technical features are inconsistent, they should be considered to fall within the scope described herein.

[0179] The embodiments described above represent only a few embodiments of this application, and while their descriptions are relatively specific and detailed, they should not be understood as limitations on the scope of this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concepts of this application, all of which fall within the scope of protection. Therefore, the scope of protection of this application should be in accordance with the attached claims. [Explanation of Symbols]

[0180] 102 terminals 104 Servers 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 performed by a computer device, A step of displaying a navigation interface, wherein the navigation interface is used to navigate an object moving on a road, If a section of the road is in any of the pre-defined road conditions, and the object is located outside the road section of the road, the steps include displaying a first type of navigation map on the navigation interface, If the road section is in the predetermined road conditions and the object is located within the road section, the step is to display a second type of navigation map on the navigation interface, The scale used in the second type of navigation map is larger than the scale used in the first type of navigation map. The object is equipped with a navigation camera, and the road section is in the predetermined road conditions, and the object is located within the road section, If the road section is in the predetermined road conditions and the object is located within the road section, the step is to determine the pitch angle from which the road is viewed from the angle of the object, wherein the pitch angle matches the viewing angle of the navigation camera. The steps include displaying a second type of navigation map having the aforementioned pitch angle on the navigation interface, A map navigation method that includes steps.

2. The accuracy of roads in the second type of navigation map is higher than the accuracy of roads 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 in a first scale range, and the second type of navigation map is displayed using a scale in a second scale range, wherein the scale in the second scale range is larger than the scale in the first scale range. The map navigation method according to claim 1.

4. If a section of the road is in one of the predetermined road conditions and the object is located outside the road section of the road, the step of displaying a first type of navigation map on the navigation interface is: If a section of the road is in any of the predetermined road conditions, and the object is located outside the road section of the road, the navigation interface includes the step of gradually decreasing the map size displayed on a first type of navigation map using a scale that gradually increases within a first scale range, in response to the object moving toward the road section of the road. The map navigation method according to claim 3.

5. If the road section is in the predetermined road conditions and the object is located within the road section, the step of displaying a second type of navigation map on the navigation interface is: The process includes the steps of switching from a scale in a first scale range to a scale in a second scale range in response to the object moving from outside the road section to inside the road section on the road, and switching the first type of navigation map displayed on the navigation interface to a 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 steps of switching from a scale in a first scale range to a scale in a second scale range, and switching the first type of navigation map displayed on the navigation interface to a second type of navigation map are: A step of playing a first transition animation on the navigation interface in response to the object moving from outside the road section to inside the road section on the road, wherein, 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. The process includes the step of, after the first transition animation has finished, switching from the scale in the first scale range to the scale in the second scale range, and displaying a second type of navigation map on the navigation interface. The map navigation method according to claim 5.

7. The aforementioned map navigation method is In response to the object moving from within the road section to outside the road section, the further step includes switching the second type of navigation map in the navigation interface to the first type of navigation map if the object is at a first predetermined distance from the road section, The map navigation method according to claim 5.

8. If a section of the road is in one of the predetermined road conditions and the object is located outside the road section of the road, the step of displaying a first type of navigation map on the navigation interface is: The steps include displaying a first type of navigation map on the navigation interface if a section of the road is in one of the predetermined road conditions, the object is located in the road area outside the section of the road, and the distance between the object and the section of the road is greater than or equal to a second predetermined distance. The map navigation method according to claim 1.

9. The aforementioned map navigation method is If the object is located in the road area 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 further step includes displaying a third type of navigation map on the navigation interface. The accuracy of road display in the third type of navigation map is greater than that of the first type of navigation map, and the accuracy of roads in the second type of navigation map is higher than that of the third type of navigation map. The map navigation method according to claim 8.

10. The step of displaying a third type of navigation map on the aforementioned navigation interface is: The process includes the step of displaying a third type of navigation map on the navigation interface using a scale within a third scale range, The scale in the second scale range used in the second type of navigation map 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 used in the first type of navigation map. The map navigation method according to claim 9.

11. If the object is located 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 of navigation map on the navigation interface is: If the object is located in the road area 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 navigation interface includes the step of gradually decreasing the map size displayed on the third type of navigation map using a scale that gradually increases within a third scale range in response to the object moving toward the road section on the road. The map navigation method according to claim 10.

12. If the road section is in the predetermined road conditions and the object is located within the road section, the step of displaying a second type of navigation map on the navigation interface is: If the road section is in the predetermined road conditions, the navigation interface plays a second transition animation in which it 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, wherein, 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. The process includes the step of displaying a second type of navigation map on the navigation interface after the second transition animation has finished, The map navigation method according to claim 11.

13. The aforementioned map navigation method is The steps include: displaying the navigation mode settings page, and displaying a first navigation mode option and a second navigation mode option on the navigation mode settings page; In response to a trigger operation for the first navigation mode option, the system performs the steps of entering the first navigation mode and displaying the navigation interface. The further steps include: 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; A map navigation method according to any one of claims 1 to 12.

14. The aforementioned map navigation method is The steps include displaying a second navigation mode option on the navigation interface in the first navigation mode, The further step includes, 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, The map navigation method according to claim 13.

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

16. The aforementioned pitch angle is determined by a pitch angle determination step, and the pitch angle determination step is The steps include obtaining the vertical distance between the navigation camera and the horizontal ground, The step of calculating the pitch angle based on the viewing angle of the navigation camera and the vertical distance is included, The map navigation method according to claim 1.

17. The object is a vehicle, and the navigation interface is displayed via a navigation screen. If the road section is in the predetermined road conditions and the object is located within the road section, the step of displaying a second type of navigation map on the navigation interface is: If the road section is in the predetermined road conditions and the object is located within the road section, the steps include determining the area on the road where the vehicle can travel, and determining the map scale based on the area where the vehicle can travel and the screen size of the navigation screen, The steps include displaying a second type of navigation map on the navigation interface using the aforementioned map scale, A map navigation method according to any one of claims 1 to 12.

18. The step of determining the map scale based on the drivable area and the screen size of the navigation screen is: The steps include obtaining the physical width of the drivable area and obtaining the screen width of the navigation screen, A step of determining the physical size of a single pixel point on the navigation screen based on the physical area width and the screen width, The steps include determining the map scale based on the aforementioned physical size, The map navigation method according to claim 17.

19. A map navigation device, A navigation interface display module used to display a navigation interface, wherein the navigation interface is used to navigate objects moving on a road, and the navigation interface display module is used to navigate objects moving on a road. A first map display module used to display a first type of navigation map on the navigation interface when a section of the road is in any of the predetermined road conditions and the object is located outside the road area of ​​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 predetermined road conditions and the object is located within the road section, wherein the scale used for the second type of navigation map is greater than the scale used for the first type of navigation map. The object is equipped with a navigation camera, and the road section is in the predetermined road conditions, and the object is located within the road section, If the road section is in the predetermined road conditions and the object is located within the road section, the step is to determine the pitch angle from which the road is viewed from the angle of the object, wherein the pitch angle is matched with the viewing angle of the navigation camera. A second type of navigation map having the aforementioned pitch angle is displayed on the navigation interface. A map navigation device including a second map display module.

20. Computer equipment comprising memory and one or more processors, wherein the memory stores computer-readable instructions, and the processors, when executing the computer-readable instructions, execute the map navigation method according to any one of claims 1 to 12.

21. A computer program that causes a computer to execute the map navigation method described in any one of claims 1 to 12.

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