Navigation method and apparatus, vehicle, electronic device, and storage medium

Abstract

The present application provides a navigation method and apparatus, a vehicle, an electronic device, and a storage medium. The navigation method comprises: on the basis of error information, correcting a rendered road in a three-dimensional map to be corrected, to obtain a target three-dimensional map, and displaying same; wherein the error information comprises an error between an actual road and the rendered road in the three-dimensional map to be corrected; the actual road is obtained on the basis of sensing information from a navigation object, and the sensing information comprises actual road information sensed by the navigation object; the three-dimensional map to be corrected comprises a three-dimensional map obtained by binding the navigation object with a two-dimensional map on the basis of position information of the navigation object. According to the method, on the basis of an error between an actual road and a rendered road in a three-dimensional map to be corrected, the rendered road is corrected, so that the rendered road can be located at a more realistic position, thereby ensuring the accuracy of the position of the navigation object, and enhancing the navigation display effect.

Description

Navigation method, device, vehicle, electronic device and storage medium Technical Field

[0001] The present application relates to the field of computer application technology, specifically, to navigation technology under the field of computer application technology, and more specifically, to a navigation method, device, vehicle, electronic device and storage medium. Background Art

[0002] With the progress and development of society, driving has become one of the mainstream modes of travel. Many users will check real-time traffic data through map navigation applications before traveling to decide travel time, travel mode or travel route.

[0003] At present, three-dimensional navigation maps are accepted by the majority of users for their more realistic restoration effects. However, the current navigation methods based on three-dimensional navigation maps still have problems such as abnormal display of the location of the navigation object.

[0004] Summary of the Invention

[0005] In order to solve the above technical problems, the embodiments of the present application provide a navigation method, device, vehicle, electronic device and storage medium, which can ensure the accuracy of the location of the navigation object and enhance the navigation display effect.

[0006] A first aspect of the present application provides a navigation method, comprising:

[0007] Correcting the rendered road of the to-be-corrected three-dimensional map based on the error information to obtain and display the target three-dimensional map;

[0008] The error information includes the error between the actual road and the rendered road in the three-dimensional map to be corrected; the actual road is obtained based on the perception information of the navigation object, and the perception information includes the actual road information perceived by the navigation object; the three-dimensional map to be corrected includes a three-dimensional map obtained by binding the navigation object to a two-dimensional map based on the position information of the navigation object.

[0009] Optionally, the error information includes a relative positional relationship between an actual road and a rendered road in the three-dimensional map to be corrected;

[0010] The method of correcting the rendered road of the to-be-corrected three-dimensional map based on the error information to obtain and display the target three-dimensional map includes:

[0011] Based on the relative positional relationship between the actual road and the rendered road in the three-dimensional map to be corrected, performing translation adjustment on the rendered road in the three-dimensional map to be corrected so that the center of gravity of the rendered road and the actual road coincide;

[0012] The three-dimensional map obtained after the translation adjustment is determined as the target three-dimensional map and displayed.

[0013] Optionally, the relative positional relationship between the actual road and the rendered road in the three-dimensional map to be corrected includes the relative positional relationship between the center of gravity of the actual road and the center of gravity of the rendered road corresponding to the position of the navigation object in the three-dimensional map to be corrected;

[0014] The step of performing translation adjustment on the rendered road in the to-be-corrected three-dimensional map based on the relative positional relationship between the actual road and the rendered road so as to make the center of gravity of the rendered road coincide with the center of gravity of the actual road includes:

[0015] Based on the relative positional relationship between the actual road center of gravity position corresponding to the position of the navigation object in the to-be-corrected three-dimensional map and the rendered road center of gravity position, the rendered road is translated and adjusted so that the centers of gravity of the rendered road and the actual road coincide.

[0016] Optionally, before performing translation adjustment on the rendered road based on the relative positional relationship between the actual road center of gravity position corresponding to the position of the navigation object in the to-be-corrected three-dimensional map and the rendered road center of gravity position, the method further comprises:

[0017] Determining a distance between the actual road center of gravity and the rendered road center of gravity corresponding to the location of the navigation object in the to-be-corrected three-dimensional map based on a relative positional relationship between the actual road center of gravity and the rendered road center of gravity, and detecting whether the distance exceeds a preset threshold;

[0018] If the distance exceeds a preset threshold, the step of performing translation adjustment on the rendered road based on the relative position relationship between the actual road center of gravity position and the rendered road center of gravity position corresponding to the position of the navigation object in the three-dimensional map to be corrected is continued.

[0019] Optionally, the error information includes a road width error between an actual road and a rendered road in the three-dimensional map to be corrected;

[0020] The method of correcting the rendered road of the to-be-corrected three-dimensional map based on the error information to obtain and display the target three-dimensional map includes:

[0021] Based on a road width error between an actual road and a rendered road in the three-dimensional map to be corrected, performing a translation adjustment on the rendered road in the three-dimensional map to be corrected so that the width of the rendered road is consistent with that of the actual road;

[0022] The three-dimensional map obtained after the translation adjustment is determined as the target three-dimensional map and displayed.

[0023] Optionally, the performing translation adjustment on the rendered road in the to-be-corrected three-dimensional map based on a road width error between the actual road and the rendered road in the to-be-corrected three-dimensional map so as to make the width of the rendered road consistent with that of the actual road includes:

[0024] determining an adjustment parameter based on a road width error between an actual road and a rendered road in the three-dimensional map to be corrected;

[0025] Based on the adjustment parameter, a boundary of the rendered road is translated and adjusted along an extension direction of the road width of the rendered road, so that the road widths of the rendered road and the actual road are consistent.

[0026] Optionally, the correcting the rendered road of the to-be-corrected three-dimensional map based on the error information includes:

[0027] Optionally, the error information includes a relative angle relationship between an actual road and a rendered road in the three-dimensional map to be corrected;

[0028] The method of correcting the rendered road of the to-be-corrected three-dimensional map based on the error information to obtain and display the target three-dimensional map includes:

[0029] Based on the relative angle between the actual road and the rendered road in the three-dimensional map to be corrected, the rendered road in the three-dimensional map to be corrected is rotated and adjusted so that the road extension direction of the rendered road is consistent with the road extension direction of the actual road;

[0030] The three-dimensional map obtained after the rotation adjustment is determined as the target three-dimensional map and displayed.

[0031] Optionally, before correcting the rendered road of the to-be-corrected three-dimensional map based on the error information to obtain and display the target three-dimensional map, the method further includes:

[0032] Detecting whether an angular deviation between a road extension direction of the rendered road and a traveling direction of the navigation object is less than or equal to a preset angle;

[0033] If the angular deviation between the road extension direction of the rendered road and the travel direction of the navigation object is less than or equal to the preset angle, continue to execute the step of correcting the rendered road of the to-be-corrected three-dimensional map based on the error information to obtain and display the target three-dimensional map.

[0034] Optionally, it also includes:

[0035] Acquiring multiple pieces of original perception information of the navigation object;

[0036] Eliminating invalid perception information from the plurality of original perception information to obtain perception information of the navigation object;

[0037] The actual road is obtained based on the perception information of the navigation object.

[0038] Based on the error information, the current road section of the three-dimensional map to be corrected is corrected; the current road section includes: a driving section of the rendered road where the navigation object is located and whose distance from the navigation object is less than a preset distance in the direction of travel of the navigation object.

[0039] Optionally, it also includes:

[0040] If a preset event is detected, acquiring perception information of the navigation object in a current state, and updating the error information based on the acquired perception information and the three-dimensional map to be corrected;

[0041] The preset events include: the time difference between the last update time of the error information and the current time exceeds a preset time threshold, the travel distance of the navigation object after the last update time of the error information exceeds a preset distance threshold, the position information of the navigation object in the three-dimensional map to be corrected enters the next road segment, and the navigation object passes through an intersection in the three-dimensional map to be corrected.

[0042] Optionally, the preset time threshold is negatively correlated with the performance of the target device;

[0043] The preset distance threshold is negatively correlated with the performance of the target device; the target device includes a device that executes the navigation method.

[0044] A second aspect of the present application provides a navigation device, comprising:

[0045] A correction module, configured to correct the rendered road of the to-be-corrected three-dimensional map based on the error information, so as to obtain and display a target three-dimensional map;

[0046] The error information includes the error between the actual road and the rendered road in the three-dimensional map to be corrected; the actual road is obtained based on the perception information of the navigation object, and the perception information includes the actual road information perceived by the navigation object; the three-dimensional map to be corrected includes a three-dimensional map obtained by binding the navigation object to a two-dimensional map based on the position information of the navigation object.

[0047] The third aspect of the present application provides a vehicle, comprising: a controller and a display; wherein,

[0048] The controller is used to execute the method according to the first aspect of the present application to obtain a target three-dimensional map and display it on the display.

[0049] A fourth aspect of the present application provides an electronic device, comprising: a processor and a memory;

[0050] The memory is connected to the processor, and is used to store computer programs;

[0051] The processor is configured to implement the navigation method as described in the first aspect of the present application by running the computer program stored in the memory.

[0052] A fifth aspect of the present application provides a computer storage medium storing a computer program, wherein the program, when executed, performs the navigation method as described in the first aspect of the present application.

[0053] Compared with the prior art, this application has the following advantages:

[0054] The present application provides a navigation method, apparatus, vehicle, electronic device, and storage medium. The navigation method includes: correcting rendered roads in a to-be-corrected three-dimensional map based on error information to obtain and display a target three-dimensional map; the error information includes the error between the actual road and the rendered road in the to-be-corrected three-dimensional map; the actual road is obtained based on perception information of a navigation object, the perception information including information about the actual road perceived by the navigation object; and the to-be-corrected three-dimensional map includes a three-dimensional map obtained by binding the navigation object to a two-dimensional map based on the navigation object's position information. The method corrects the rendered road based on the error between the actual road and the rendered road in the to-be-corrected three-dimensional map, thereby placing the rendered road in a more realistic position, ensuring the accuracy of the navigation object's position, and enhancing the navigation display. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely implementation plans of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0056] FIG1 is a schematic diagram of an application scenario of a navigation method provided by one embodiment of the present application;

[0057] FIG2 is a schematic diagram of an in-application scenario of another navigation method provided by one embodiment of the present application;

[0058] FIG3 is a schematic diagram of a flow chart of a navigation method provided in one embodiment of the present application;

[0059] FIG4 is a schematic diagram of a navigation scenario provided by one embodiment of the present application;

[0060] FIG5 is a schematic diagram of a navigation scenario provided by another embodiment of the present application;

[0061] FIG6 is a schematic diagram of a navigation scenario provided by another embodiment of the present application;

[0062] FIG7 is a schematic diagram of a navigation scenario provided by another embodiment of the present application;

[0063] FIG8 is a schematic diagram of a navigation scenario provided by another embodiment of the present application;

[0064] FIG9 is a schematic diagram of a navigation scenario provided by another embodiment of the present application;

[0065] FIG10 is a schematic structural diagram of a navigation device provided in one embodiment of the present application;

[0066] FIG11 is a schematic structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0067] Unless otherwise defined, technical or scientific terms used in the embodiments of this specification should have the same ordinary meaning as those understood by persons of ordinary skill in the art to which this specification pertains. The terms "first," "second," and similar expressions used in the embodiments of this specification do not denote any order, quantity, or importance, but are provided solely to avoid confusion between components.

[0068] Unless the context requires otherwise, throughout this specification, the term "plurality" means "at least two," and "including" is to be interpreted as open and inclusive, meaning "including, but not limited to." Throughout this specification, the terms "one embodiment," "some embodiments," "exemplary embodiments," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with the embodiment or example is included in at least one embodiment or example of this specification. The schematic representations of these terms do not necessarily refer to the same embodiment or example.

[0069] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the embodiments described are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this specification.

[0070] Overview

[0071] In traditional two-dimensional maps, perceptual information is typically presented as simple symbols or markers, such as road names, traffic signs, and point-of-interest icons. However, this approach sometimes struggles to accurately convey perceptual information about the real environment, such as the appearance of buildings, road widths, and traffic conditions. To address this issue, three-dimensional navigation maps have introduced perceptual information rendering technology. By combining perceptual information, geographic information, and three-dimensional models, 3D navigation maps can more accurately represent the real environment and provide a more comprehensive navigation experience.

[0072] Taking the navigation object as an example, the industry currently uses two modes for rendering perception information in 3D navigation maps in areas without HD map data: one uses a fog mode, which eliminates static information around the vehicle, such as traffic signs and buildings; the other binds the vehicle's position to the corresponding area on the 2D navigation map and then displays information such as traffic signs and buildings. The first approach has the disadvantage of only displaying dynamic information perceived by the vehicle, failing to provide the driver with navigation information that can assist in driving decisions using the 3D navigation map. Another disadvantage is that while it can display information such as road networks and buildings, due to the accuracy of 2D navigation maps, such as the road dimensions displayed on the 2D navigation map not matching the actual road dimensions after map scale conversion, binding the vehicle's position to the 2D navigation map's road network can result in incorrectly rendered perception information and inflexible vehicle behavior (e.g., the vehicle may appear to be traveling off-road). This inability to provide accurate navigation information for driver decision-making and achieve assisted driving.

[0073] Therefore, timely correction of the rendered position of navigation objects in a three-dimensional navigation map is of great significance. The navigation method provided in the embodiment of the present application corrects the rendered roads in the three-dimensional map based on the error between the rendered roads in the three-dimensional map and the actual roads to obtain a target three-dimensional map. This can ensure that the rendered roads in the obtained target three-dimensional map are in a more realistic position, ensure the accuracy of the location of the navigation object, and avoid the poor user experience and safety issues that may be caused by the error between the actual position and the rendered position.

[0074] The following will provide an illustrative description of possible application scenarios and implementation methods of the navigation method provided in the embodiments of the present application with reference to the accompanying drawings.

[0075] Example scenarios

[0076] Referring to FIG1 , FIG1 shows a feasible application scenario of a navigation device. In FIG1 , a navigation device 20 is mounted on a navigation object 10. The navigation device 20 may include a display module for displaying information such as a three-dimensional navigation map, and may also include a processing module for processing data and information. The display module may be a device with a display function such as a liquid crystal display (LCD), an organic light-emitting diode (OLED) display, or a quantum dot light-emitting diode (QLED) display. The processing module may be a separate processor, which may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, or discrete hardware components. The processing module may also be a device with data computing capabilities such as a vehicle control unit (VCU) of the target object 10.

[0077] Refer to Figure 2, which shows another feasible application scenario of the navigation device. In Figure 2, the navigation device can be integrated into a removable device separately. The navigation device may include a display module for display and a processing module communicatively connected to the display module. The display module can be used to display information such as a three-dimensional navigation map (for example, the navigation object 10 equipped with a navigation device shown in Figure 2 is about to pass under an overpass), and the processing module can be a processor of the above type.

[0078] Exemplary Methods

[0079] The embodiment of the present application provides a navigation method, as shown in FIG3 , which may include at least the following steps:

[0080] S301: Correcting rendered roads in the to-be-corrected 3D map based on error information to obtain and display a target 3D map. The error information may include errors between actual roads and rendered roads in the to-be-corrected 3D map. The actual roads may be obtained based on perception information of a navigation object, which may include actual road information perceived by the navigation object. The to-be-corrected 3D map may include a 3D map obtained by binding the navigation object to a 2D map based on the navigation object's position information.

[0081] Taking the navigation object as an example, the actual road in the 3D map to be corrected refers to the standard road that should be presented after being associated with the 3D map to be corrected, based on the actual road information perceived by the vehicle. This road more realistically reflects the vehicle's position and the actual road information on which the vehicle is located. The rendered road in the 3D map to be corrected refers to the road presented in the current 3D map. In the 3D map obtained by binding the vehicle to the 2D map, due to the binding accuracy, there may be an error between the vehicle's position on the actual road and the vehicle's displayed position in the 3D map, making it impossible for the 3D map to accurately reflect the vehicle's actual position. Similarly, there will be a mismatch between the perception information obtained by the vehicle and the rendered information around the vehicle presented in the 3D map. As a result, the 3D map cannot provide accurate navigation information for the driver. The driver's lack of knowledge of the route may even cause psychological panic, leading to driving errors and safety accidents.

[0082] The rendered road of the to-be-corrected three-dimensional map is corrected based on the error information. That is, the rendered road is corrected based on the error surface between the actual road and the rendered road in the to-be-corrected three-dimensional map, so that the rendered road in the obtained target three-dimensional map is closer to the actual road, ensuring the accuracy of the position of the navigation object in the target three-dimensional map and enhancing the navigation display effect.

[0083] In some embodiments, to improve the accuracy of the correction, the error information may include the relative positional relationship between the actual road and the rendered road in the 3D map to be corrected. As shown in FIG4 , in the direction of travel of the navigation object 10, solid lines c and d represent the first and second boundary lines of the rendered road, and dashed lines j and k represent the third and fourth boundary lines of the actual road. The relative positional relationship between the actual road and the rendered road in the 3D map to be corrected is the relative positional relationship between the road within the dashed lines j and k and the road within the solid lines c and d.

[0084] Correspondingly, when the rendered roads in the three-dimensional map to be corrected are corrected based on the error information to obtain and display the target three-dimensional map, the rendered roads in the three-dimensional map to be corrected can be translated based on the relative positional relationship between the actual roads and the rendered roads in the three-dimensional map to be corrected so that the centers of gravity of the rendered roads and the actual roads coincide; and then the three-dimensional map obtained after the translation adjustment is determined as the target three-dimensional map and displayed.

[0085] Specifically, based on the perceived information of the navigation object and its position in the 3D map to be corrected, actual road information and rendered road information in the 3D map to be corrected can be determined. The actual road information can include its position information, and similarly, the rendered road information can include its position information. Based on this, the relative positional relationship between the actual and rendered roads in the 3D map to be corrected can be determined based on the actual and rendered road position information.

[0086] After determining the relative position relationship between the actual road and the rendered road in the three-dimensional map to be corrected, the rendered road in the three-dimensional map to be corrected can be translated and adjusted according to the relative position relationship between the actual road and the rendered road, so that the center of gravity of the rendered road coincides with the center of gravity of the actual road, thereby achieving matching between the rendered road and the actual road, thereby ensuring the accuracy of the position of the navigation object in the target three-dimensional map.

[0087] The relative position relationship between the actual road and the rendered road in the to-be-corrected 3D map may include the relative position relationship between the center of gravity of the actual road and the center of gravity of the rendered road corresponding to the position of the navigation object in the to-be-corrected 3D map.

[0088] In this way, when the rendered road in the three-dimensional map to be corrected is translated and adjusted based on the relative position relationship between the actual road and the rendered road in the three-dimensional map to be corrected so that the centers of gravity of the rendered road and the actual road coincide with each other, the rendered road can be translated and adjusted based on the relative position relationship between the center of gravity position of the actual road and the center of gravity position of the rendered road corresponding to the position of the navigation object in the three-dimensional map to be corrected so that the centers of gravity of the rendered road and the actual road coincide with each other.

[0089] During implementation, as shown in Figures 5 and 6, the position of the navigation object 10 can be used as the origin O, and a first ray r and a second ray t can be drawn in directions perpendicular to the direction of travel of the navigation object. The extension direction of the first ray r and the extension direction of the second ray t are opposite. Among them, the first ray r intersects with one boundary of the actual road at point V1 and intersects with one boundary of the rendered road at point S1. The second ray intersects with another boundary of the actual road at point V2 and intersects with another boundary of the rendered road at point S2. Connecting points V1 and V2 forms a line segment VL; connecting points S1 and S2 forms a line segment SL. Calculating the center of gravity of VL, recorded as point VC, it can be determined that the center of gravity position of the actual road corresponding to the position of the navigation object in the three-dimensional map to be corrected is the position of point VC. Calculating the center of gravity of SL, recorded as point SC, it can be determined that the center of gravity position of the actual rendered road corresponding to the position of the navigation object in the three-dimensional map to be corrected is the position of point SC. Accordingly, the relative positional relationship between the center of gravity of the actual road corresponding to the location of the navigation object in the to-be-corrected 3D map and the center of gravity of the rendered road is the relative positional relationship between points VC and SC. Based on the relative positional relationship between points VC and SC, the rendered road is shifted so that the position of point SC coincides with that of point VC, thereby achieving coincidence of the center of gravity of the rendered road and the actual road. In this way, by shifting the rendered road corresponding to the location of the navigation object to a more realistic position, a basis for displaying a more realistic navigation map background surface within the 3D model is provided.

[0090] The relative positional relationship between points VC and SC can include the translation angle and length of point SC from point VC. As shown in Figure 6, a rectangular coordinate system X-SC-Y can be constructed with point SC as the origin. The translation angle θ is the angle between the line connecting points SC and VC and the Y-axis, and the translation length VCSC is the line connecting points SC and VC. In this way, the rendered road can be adjusted based on the translation angle θ and the translation length VCSC from point SC to point VC, so that point SC is translated to point VC, achieving center overlap between the rendered road and the actual road.

[0091] It should be understood that when the rendered road is translated so that the center of gravity of the rendered road coincides with the center of gravity of the actual road, the rendered road is translated as a whole, that is, the relative positional relationship between the center of gravity of the rendered road and the boundary of the rendered road remains unchanged.

[0092] In some embodiments, in order to improve navigation efficiency, before performing a translation adjustment on the rendered road based on the relative position relationship between the actual road center of gravity position and the rendered road center of gravity position corresponding to the position of the navigation object in the three-dimensional map to be corrected, the navigation method may also include: determining the distance between the actual road center of gravity position corresponding to the position of the navigation object and the rendered road center of gravity according to the relative position relationship between the actual road center of gravity position and the rendered road center of gravity position corresponding to the position of the navigation object in the three-dimensional map to be corrected, and detecting whether the distance exceeds a preset threshold; if the distance exceeds the preset threshold, continuing to execute the step of performing a translation adjustment on the rendered road based on the relative position relationship between the actual road center of gravity position and the rendered road center of gravity position corresponding to the position of the navigation object in the three-dimensional map to be corrected.

[0093] Specifically, as shown in FIG6 , the distance between the center of gravity of the actual road corresponding to the position of the navigation object and the center of gravity of the rendered road, that is, the distance VCSC between point VC and point SC. If the length L of VCSC exceeds the preset threshold, it means that the error between the actual road and the rendered road in the three-dimensional map to be corrected is large, and translation adjustment is required. Then, the step of performing translation adjustment on the rendered road based on the relative position relationship between the center of gravity position of the actual road and the center of gravity position of the rendered road corresponding to the position of the navigation object in the three-dimensional map to be corrected can be continued. If the length of VCSC does not exceed the preset threshold, it means that the error between the actual road and the rendered road in the three-dimensional map to be corrected is small or no error, and will not cause a substantial impact on navigation, and no translation adjustment is required. Then, there is no need to perform the subsequent step of performing translation adjustment on the rendered road based on the relative position relationship between the center of gravity position of the actual road and the center of gravity position of the rendered road corresponding to the position of the navigation object in the three-dimensional map to be corrected.

[0094] The preset threshold can be set according to actual needs and is not specifically limited here.

[0095] In some embodiments, the error information may include a road width error between an actual road and a rendered road in the to-be-corrected three-dimensional map.

[0096] The road width error between the actual road and the rendered road in the to-be-corrected 3D map refers to the difference between the road width of the actual road where the navigation object is located and the road width of the rendered road where the navigation object is located in the to-be-corrected 3D map.

[0097] As shown in Figure 7, the width of the actual road on which the vehicle is located is VL, and the width of the rendered road on which the vehicle is located is SL. The road width error between the actual road in the 3D map to be corrected and the rendered road is VL - SL. For example, if the width of the actual road in the 3D map to be corrected is 10 meters and the width of the rendered road is 8 meters, the road width error is 2 meters.

[0098] Accordingly, when correcting the rendered roads in the 3D map to be corrected based on the error information to obtain and display the target 3D map, the rendered roads in the 3D map to be corrected can be translated based on the road width error between the actual roads in the 3D map to align the widths of the rendered and actual roads. The resulting 3D map after translation adjustment is then determined as the target 3D map and displayed. This allows the rendered road widths to be adjusted to more closely match the width of the actual roads, thereby improving navigation accuracy.

[0099] Among them, when the rendered road in the three-dimensional map to be corrected is translated and adjusted based on the road width error between the actual road and the rendered road in the three-dimensional map to be corrected so that the road width of the rendered road is consistent with that of the actual road, the adjustment parameters can be first determined based on the road width error between the actual road in the three-dimensional map to be corrected and the rendered road; and then, based on the adjustment parameters, the boundary of the rendered road is translated and adjusted along the extension direction of the road width of the rendered road so that the road width of the rendered road is consistent with that of the actual road.

[0100] During implementation, the calculation formula for adjusting the parameter may include: Δ=(VL-SL) / 2

[0101] In the calculation formula of the adjustment parameters, VL is the road width of the actual road in the three-dimensional map to be corrected, and SL is the road width of the rendered road in the three-dimensional map to be corrected.

[0102] Still as shown in FIG7 , in the three-dimensional map to be corrected, the width VL of the actual road where the navigation object 10 is located is 10 meters, and the width SL of the rendered road where the navigation object is located is 8 meters. The extension directions of the road width are respectively m and n directions. The road width error is 2 meters, and the adjustment parameter Δ is 1 meter. Based on the adjustment parameter, when the boundary of the rendered road is translated along the extension direction of the road width of the rendered road to make the width of the rendered road consistent with that of the actual road, the first boundary c of the rendered road can be translated along the m direction by an adjustment distance of 1 meter, and the second boundary d of the rendered road can be translated along the n direction by an adjustment distance of 1 meter, thereby adjusting the width of the rendered road from 8 meters to 10 meters. Such an adjustment can make the width of the rendered road after adjustment consistent with the width of the actual road, thereby improving the accuracy of the three-dimensional map and ensuring the accuracy of navigation.

[0103] It should be noted that when adjusting the width of the rendered road, the adjustment direction of the rendered road boundary is the extension direction of the road width, wherein the extension direction of the road width corresponding to each boundary is the same as the direction of the boundary away from the center of the road.

[0104] In some embodiments, the error information may also include: a relative positional relationship between the actual road and the rendered road in the three-dimensional map to be corrected, and a road width error between the actual road and the rendered road in the three-dimensional map to be corrected.

[0105] Accordingly, when the rendered road of the three-dimensional map to be corrected is corrected based on the error information to obtain the target three-dimensional map and display it, the rendered road in the three-dimensional map to be corrected can be translated and adjusted based on the relative position relationship between the actual road and the rendered road in the three-dimensional map to be corrected so that the center of gravity of the rendered road and the actual road coincide with each other, and, based on the road width error between the actual road and the rendered road in the three-dimensional map to be corrected, the rendered road in the three-dimensional map to be corrected can be translated and adjusted so that the road width of the rendered road and the actual road are consistent; and then the three-dimensional map obtained after the translation adjustment is determined as the target three-dimensional map and displayed.

[0106] Taking the actual road in the 3D map to be corrected as the standard, by adjusting the center of gravity and road width of the rendered road in the 3D map to be corrected, the center of gravity of the rendered road and the road width are made to coincide with those of the actual road. This can further make the road conditions reflected by the rendered road in the target 3D map closer to the actual road conditions, ensuring the accuracy of the position of the navigation object in the target 3D map and providing a guarantee for precise navigation.

[0107] Since the rendering angle may deviate during the road rendering process, in order to further improve the accuracy of navigation, in some embodiments, the error information may include the relative angle relationship between the actual road in the to-be-corrected three-dimensional map and the rendered road.

[0108] When determining the relative angular relationship between the actual road and the rendered road in the to-be-corrected three-dimensional map, the relative angular relationship may be determined based on the extension direction of the actual road and the extension direction of the rendered road.

[0109] Specifically, the angle between the extension direction of the actual road and the extension direction of the rendered road in the current road section where the navigation object is located can be determined, and the angle can be determined as the relative angle relationship between the actual road and the rendered road, thereby providing a reference basis for subsequent correction of the angle of the rendered road to make the rendered road more realistic.

[0110] During implementation, as shown in Figure 8 , a ray e can be drawn with the location of the navigation object 10 as the origin O and in the direction of travel of the navigation object 10. Ray e can be considered the extension direction of the actual road (a boundary k of the actual road is parallel to OW). Ray e intersects a boundary d of the rendered road at point W. The angle β between OW and d is the angle between the extension directions of the actual road and the rendered road. To calculate angle β, a perpendicular line f can be drawn through the origin O to ray e. Perpendicular line f intersects boundary d at point Z. Based on OZ and OW, angle β can be determined.

[0111] In this way, when the rendered roads in the three-dimensional map to be corrected are corrected based on the error information to obtain the target three-dimensional map and display it, the rendered roads in the three-dimensional map to be corrected can be rotated and adjusted based on the relative angle relationship between the actual roads and the rendered roads in the three-dimensional map to be corrected so that the road extension direction of the rendered roads is consistent with the road extension direction of the actual roads; the three-dimensional map obtained after the rotation adjustment is determined as the target three-dimensional map and displayed.

[0112] During the driving process of the navigation object, there may be changes in the direction of travel, such as changing lanes and turning. When the direction of travel changes, the direction of travel will be inconsistent with the extension direction of the rendered road, which may cause the actual road obtained to have a direction deviation. However, the lane change, turning, etc. will not last. In order to avoid the impact of such short-term changes in the direction of travel on the correction of the rendered road, in some embodiments, before correcting the rendered road of the three-dimensional map to be corrected based on the error information to obtain the target three-dimensional map and display it, the navigation method may also include: detecting whether the angular deviation between the road extension direction of the rendered road and the direction of travel of the navigation object is less than or equal to a preset angle; if the angular deviation between the road extension direction of the rendered road and the direction of travel of the navigation object is less than or equal to the preset angle, continuing to execute the step of correcting the rendered road of the three-dimensional map to be corrected based on the error information to obtain the target three-dimensional map and display it.

[0113] The preset angle can be set according to actual needs. The extension direction of the rendered road refers to the extension direction of a section of the rendered road corresponding to the location of the navigation object on the map.

[0114] For example, in order to avoid the angular deviation between the road extension direction of the rendered road and the traveling direction of the navigation object from being too large and affecting the correction of the rendered road, the preset angle can be set to 15°. In this way, if the angular deviation between the road extension direction of the rendered road and the traveling direction of the navigation object is less than or equal to 15°, it can be considered that this deviation is small and has little effect on the correction of the rendered road, and can be ignored. Then, the step of correcting the rendered road of the three-dimensional map to be corrected based on the error information can be continued to obtain the target three-dimensional map and display it. Similarly, if the angular deviation between the road extension direction of the rendered road and the traveling direction of the navigation object is greater than 15°, it can be considered that the current traveling direction of the navigation object is not conducive to correcting the rendered road. Then, the step of detecting whether the angular deviation between the road extension direction of the rendered road and the traveling direction of the navigation object is less than or equal to 15° can be continued, or based on the preset time interval, the step of detecting whether the angular deviation between the road extension direction of the rendered road and the traveling direction of the navigation object is less than or equal to 15° can be continued.

[0115] It should be noted that the corrections made to the rendered roads in the 3D map to be corrected based on the error information may include one or more of the following: correction of the center of gravity, correction of the road width, and correction of the angle. For example, in some embodiments, the center of gravity and angle corrections may be performed simultaneously, or the center of gravity, road width, and angle corrections may be performed simultaneously, thereby making the rendered roads more closely aligned with the actual roads and improving navigation quality.

[0116] In some embodiments, the navigation method may further include: acquiring multiple original perception information of the navigation object; eliminating invalid perception information from the multiple original perception information to obtain perception information of the navigation object; and obtaining an actual road based on the perception information of the navigation object.

[0117] Invalid perception information refers to perception information that is not helpful in determining the actual road, for example, erroneous perception information, thereby improving navigation efficiency while reducing the interference of erroneous information.

[0118] Specifically, perception information refers to the actual road information perceived by the navigation subject. However, the navigation subject typically relies on sensors and other sensing devices to obtain this actual road information. The actual road information obtained by these sensing devices may contain significant errors. To prevent significant errors from interfering with the determination of the actual road, after obtaining multiple pieces of raw perception information, the raw perception information can be filtered to remove any obviously erroneous information. This results in more accurate perception information for the navigation subject, providing assurance and a basis for determining the actual road.

[0119] Among them, obviously erroneous original perception information can be perception information that has a large error compared with most other original perception information in the same scene, or it can be original perception information that violates the actual road settings (for example, the original perception information perceives that the boundaries on both sides of the actual road are not parallel), etc.

[0120] In some embodiments, correcting the rendered road in the 3D map to be corrected based on the error information may include correcting a current road segment in the 3D map to be corrected based on the error information. The current road segment may include a driving segment of the rendered road in which the navigation object is located and whose distance from the navigation object is less than a preset distance in the direction of travel of the navigation object.

[0121] The preset distance can be set according to actual needs and is not specifically limited here.

[0122] As shown in Figure 9, the preset distance is h, the location of the navigation object is point O, and in the direction of travel of the navigation object, the road background surface within the range of h from point O is the current road section, that is, the quadrilateral abuv is the current road section.

[0123] During the navigation process, the position of the navigation object changes in real time. In order to ensure that the accuracy of the position of the navigation object in the three-dimensional map will not be affected by factors such as time and changes in the position of the navigation object, in some embodiments, the navigation method may also include: if a preset event is detected, obtaining perception information of the navigation object in the current state, and updating error information based on the obtained perception information and the three-dimensional map to be corrected.

[0124] During implementation, if a preset event is detected, the perception information of the navigation object in the current state can be obtained. At the same time, it can be confirmed that the current three-dimensional map is the three-dimensional map to be corrected. Through the perception information in the current state and the three-dimensional map to be corrected, the error between the actual road and the rendered road in the three-dimensional map to be corrected can be determined and updated to the current error information.

[0125] Among them, the preset events may include: the time difference between the last update time of the error information and the current time exceeds the preset time threshold, the driving distance of the navigation object after the last update time of the error information exceeds the preset distance threshold, the position information of the navigation object in the three-dimensional map to be corrected enters the next road section, and the navigation object passes through the intersection in the three-dimensional map to be corrected.

[0126] During implementation, the specific values ​​of the preset time threshold and the preset distance threshold can be set according to actual needs and are not specifically limited here.

[0127] For example, the preset event is that the time between the last update of the error information and the current time exceeds a preset time threshold, and the preset time threshold is 15 minutes. Then, when the time between the last update and the current time reaches 15 minutes, the perception information of the navigation object in the current state can be re-acquired, and the error information is updated based on the acquired perception information and the three-dimensional map to be corrected. The rendered road of the three-dimensional map to be corrected is corrected again based on the error information, thereby ensuring that the three-dimensional map is updated as the navigation object moves every 15 minutes, and the target three-dimensional map obtained after the update can more accurately reflect the position of the navigation object, thereby ensuring the accuracy of the navigation behavior.

[0128] Of course, the present application is not limited to this. In some other implementations, the preset event may also include other events, such as receiving a three-dimensional map update request instruction sent by a smart device, etc.

[0129] In some embodiments, the preset time threshold may be negatively correlated with the performance of the target device; the preset distance threshold may also be negatively correlated with the performance of the target device; and the target device may include a device that executes the navigation method.

[0130] The preset time threshold is negatively correlated with the performance of the target device. That is, as the performance of the target device improves, the preset time threshold can be gradually reduced, resulting in a higher refresh rate for the three-dimensional map as the performance of the target device increases. This ensures that executing the navigation method does not impose an operational burden on the target device, while also providing a better user experience for users equipped with high-performance target devices.

[0131] The preset distance threshold is negatively correlated with the performance of the target device. That is, the higher the performance of the target device, the lower the preset distance threshold can be. This setting balances the relationship between the performance of the target device and the refresh rate of the three-dimensional map. It can also ensure that the execution of the navigation method will not bring operating burden to the target device, and can provide a better user experience for users equipped with high-performance target devices.

[0132] Exemplary devices

[0133] An embodiment of the present application provides a navigation device, as shown in Figure 10, which includes at least: a correction module 1001, which is used to correct the rendered road of the three-dimensional map to be corrected based on error information to obtain and display a target three-dimensional map; the error information includes the error between the actual road and the rendered road in the three-dimensional map to be corrected; the actual road is obtained based on the perception information of the navigation object, and the perception information includes the actual road information perceived by the navigation object; the three-dimensional map to be corrected includes a three-dimensional map obtained by binding the navigation object to the two-dimensional map based on the position information of the navigation object.

[0134] Optionally, the error information includes the relative positional relationship between the actual road and the rendered road in the three-dimensional map to be corrected; accordingly, when the rendered road of the three-dimensional map to be corrected is corrected based on the error information to obtain and display a target three-dimensional map, the correction module 1001 can be used to: based on the relative positional relationship between the actual road and the rendered road in the three-dimensional map to be corrected, perform a translation adjustment on the rendered road in the three-dimensional map to be corrected so that the center of gravity of the rendered road and the actual road coincide; and determine the three-dimensional map obtained after the translation adjustment as the target three-dimensional map and display it.

[0135] Optionally, the relative position relationship between the actual road and the rendered road in the three-dimensional map to be corrected includes the relative position relationship between the center-of-gravity position of the actual road corresponding to the position of the navigation object in the three-dimensional map to be corrected and the center-of-gravity position of the rendered road; accordingly, when the rendered road in the three-dimensional map to be corrected is translated and adjusted based on the relative position relationship between the actual road and the rendered road in the three-dimensional map to be corrected so that the centers of gravity of the rendered road and the actual road coincide, the correction module 1001 can be specifically used to: based on the relative position relationship between the center-of-gravity position of the actual road corresponding to the position of the navigation object in the three-dimensional map to be corrected and the center-of-gravity position of the rendered road, translate and adjust the rendered road so that the centers of gravity of the rendered road and the actual road coincide.

[0136] Optionally, the navigation device may further include a first detection module, which may be used to: determine the distance between the actual road center of gravity corresponding to the position of the navigation object and the rendered road center of gravity based on the relative positional relationship between the actual road center of gravity position and the rendered road center of gravity position corresponding to the position of the navigation object in the three-dimensional map to be corrected, and detect whether the distance exceeds a preset threshold; if the distance exceeds the preset threshold, continue to execute the step of translating the rendered road based on the relative positional relationship between the actual road center of gravity position and the rendered road center of gravity position corresponding to the position of the navigation object in the three-dimensional map to be corrected.

[0137] Optionally, the error information may include a road width error between the actual road and the rendered road in the three-dimensional map to be corrected; accordingly, when the rendered road in the three-dimensional map to be corrected is corrected based on the error information to obtain and display a target three-dimensional map, the correction module 1001 may be used to: based on the road width error between the actual road and the rendered road in the three-dimensional map to be corrected, perform a translation adjustment on the rendered road in the three-dimensional map to be corrected so that the road widths of the rendered road and the actual road are consistent; and determine the three-dimensional map obtained after the translation adjustment as the target three-dimensional map and display it.

[0138] Optionally, when the rendered road in the three-dimensional map to be corrected is translated and adjusted based on the road width error between the actual road and the rendered road in the three-dimensional map to be corrected so that the road widths of the rendered road and the actual road are consistent, the correction module 1001 can be specifically used to: determine an adjustment parameter based on the road width error between the actual road in the three-dimensional map to be corrected and the rendered road; and based on the adjustment parameter, translate and adjust the boundary of the rendered road along the extension direction of the road width of the rendered road so that the road widths of the rendered road and the actual road are consistent.

[0139] Optionally, the error information may include the relative angular relationship between the actual road and the rendered road in the three-dimensional map to be corrected; accordingly, when the rendered road of the three-dimensional map to be corrected is corrected based on the error information to obtain and display the target three-dimensional map, the correction module 1001 can be specifically used to: based on the relative angular relationship between the actual road and the rendered road in the three-dimensional map to be corrected, rotate and adjust the rendered road in the three-dimensional map to be corrected so that the road extension direction of the rendered road is consistent with the road extension direction of the actual road; determine the three-dimensional map obtained after the rotation adjustment as the target three-dimensional map and display it.

[0140] Optionally, the navigation device may further include a second detection module, which may be specifically used to: detect whether the angular deviation between the road extension direction of the rendered road and the travel direction of the navigation object is less than or equal to a preset angle; if the angular deviation between the road extension direction of the rendered road and the travel direction of the navigation object is less than or equal to a preset angle, then continue to execute the step of correcting the rendered road of the three-dimensional map to be corrected based on the error information to obtain the target three-dimensional map and display it.

[0141] Optionally, the navigation device may further include an acquisition and elimination module, which may be used to: acquire multiple original perception information of the navigation object; eliminate invalid perception information from the multiple original perception information to obtain perception information of the navigation object; and obtain the actual road based on the perception information of the navigation object.

[0142] Optionally, when correcting the road of the three-dimensional map to be corrected based on the error information, the correction module 1001 can be specifically used to: correct the current road section of the three-dimensional map to be corrected based on the error information; the current road section includes: the driving section of the navigation object rendering road whose distance from the navigation object is less than a preset distance in the direction of travel of the navigation object.

[0143] Optionally, the navigation device may further include an update module, which may be specifically used to: if a preset event is detected, obtain perception information of the navigation object in the current state, and update the error information based on the acquired perception information and the three-dimensional map to be corrected; the preset events include: the time from the last update time of the error information to the current time exceeds a preset time threshold, the driving distance of the navigation object after the last update time of the error information exceeds a preset distance threshold, the position information of the navigation object in the three-dimensional map to be corrected enters the next road section, and the navigation object passes through an intersection in the three-dimensional map to be corrected.

[0144] The preset time threshold is negatively correlated with the performance of the target device; the preset distance threshold is negatively correlated with the performance of the target device; and the target device includes a device that executes the navigation method.

[0145] The navigation device provided in the embodiments of this application is based on the same concept as the navigation method provided in the above-mentioned embodiments of this application. It can execute the navigation method provided in any of the above-mentioned embodiments of this application and has the corresponding functional modules and beneficial effects of executing the navigation method. For technical details not fully described in the embodiments of this application, please refer to the specific processing content of the navigation method provided in the above-mentioned embodiments of this application and will not be repeated here.

[0146] Example Vehicle

[0147] An embodiment of the present application provides a vehicle, comprising: a controller and a display; wherein the controller is configured to execute the navigation method as described in any of the above embodiments to obtain a target three-dimensional map and display it on the display.

[0148] The controller may include at least one of a navigation control unit, a vehicle controller, and the like.

[0149] Of course, the present application is not limited to this. In some other embodiments, the vehicle may also include multiple sensors, which are distributed at different positions of the vehicle to obtain perception information around the vehicle position.

[0150] Specifically, the distribution positions of the multiple sensors can be set according to actual needs and are not specifically limited here.

[0151] Taking the application scenario shown in Figure 1 as an example, the controller and display can be integrated into the vehicle, with the display reusing the vehicle's central control screen and / or instrument panel. The controller can also be reused as some control units within the vehicle's controller (e.g., vehicle controller). This controller and display configuration saves space within the vehicle and reduces hardware costs.

[0152] Of course, in the application scenario shown in FIG1 , the display may also be another screen embedded in the vehicle's center console, rather than being reused with the central control screen or instrument panel. The controller may also be a separate controller configured solely for implementing the navigation method described above, thereby improving the processing performance of the navigation method.

[0153] Exemplary electronic devices

[0154] Another embodiment of the present application further proposes an electronic device, as shown in Figure 11, the electronic device may include: a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, it executes the steps of the navigation method according to various embodiments of the present application described in the above embodiments of this specification.

[0155] The internal structure of the electronic device can be shown in Figure 11. The electronic device includes a processor, a memory, a network interface and an input device connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the steps in the navigation method according to various embodiments of the present application described in the above embodiments of this specification are performed.

[0156] The processor may include a main processor, and may also include a baseband chip, a modem, etc.

[0157] The memory stores a computer program that executes the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the computer program may include program code, which includes computer operating instructions. More specifically, the memory may include read-only memory (ROM), other types of static storage devices that can store static information and instructions, random access memory (RAM), other types of dynamic storage devices that can store information and instructions, disk storage, flash memory, etc.

[0158] The processor may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, or an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components.

[0159] Input devices may include devices that receive data and information input by a user, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer, or gravity sensor.

[0160] Output devices may include means that allow information to be output to a user, such as display screens, printers, speakers, and the like.

[0161] The communication interface may include any device such as a transceiver to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0162] The processor executes the computer program stored in the memory and calls other devices, which can be used to implement each step of any navigation method provided in the above embodiments of the present application.

[0163] The electronic device may further include a display component and a voice component. The display component may be a liquid crystal display or an electronic ink display. The input device of the electronic device may be a touch layer covering the display component, or a button, trackball or touchpad provided on the housing of the electronic device, or an external keyboard, touchpad or mouse.

[0164] Those skilled in the art will understand that the structure shown in Figure 11 is merely a block diagram of a portion of the structure related to the scheme of this specification, and does not constitute a limitation on the electronic device to which the scheme of this specification is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0165] Exemplary computer program products and computer-readable storage media

[0166] In addition to the above-mentioned methods and devices, the navigation method provided in the embodiments of this specification may also be a computer program product, which includes a computer program, which, when executed by a processor, enables the processor to execute the steps of the navigation method according to various embodiments of this specification described in the above-mentioned "Exemplary Method" section of this specification.

[0167] The computer program product may be written in any combination of one or more programming languages ​​to implement the operations of the embodiments of this specification, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0168] In addition, an embodiment of this specification also provides a computer-readable storage medium on which a computer program is stored, and the computer program is used by a processor to execute the steps of the navigation method according to various embodiments of this specification described in the above "Exemplary Method" section of this specification.

[0169] It should be understood that the specific examples in this document are only intended to help those skilled in the art better understand the implementation methods of this specification, rather than to limit the scope of this specification.

[0170] It can be understood that in the various implementations of this specification, the size of the serial number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the implementation methods of this specification.

[0171] It can be understood that the various embodiments described in this specification can be implemented individually or in combination, and the embodiments in this specification are not limited to this.

[0172] Unless otherwise indicated, all technical and scientific terms used in the embodiments of this specification have the same meaning as those commonly understood by those skilled in the art in the technical field of this specification. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the scope of this specification. The term "and / or" used in this specification includes any and all combinations of one or more related listed items. The singular forms "a", "above", and "the" used in the embodiments of this specification and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0173] It is understood that the processor in the embodiments of this specification can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method embodiment can be completed by hardware integrated logic circuits in the processor or software instructions. The above processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The various methods, steps, and logic block diagrams disclosed in the embodiments of this specification can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this specification can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method.

[0174] It will be understood that the memory in the embodiments of this specification may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (Programmable ROM, PROM), an erasable programmable read-only memory (Erasable PROM, EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. The volatile memory may be a random access memory (RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0175] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this specification.

[0176] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems, devices and units can refer to the corresponding processes in the aforementioned method implementation methods and will not be repeated here.

[0177] In the several embodiments provided in this specification, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0178] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of this embodiment.

[0179] In addition, each functional unit in each embodiment of this specification may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0180] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this specification, or the part that contributes to the prior art, or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of this specification. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0181] The above description is merely a specific embodiment of this specification, but the scope of protection of this specification is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this specification should be included in the scope of protection of this specification. Therefore, the scope of protection of this specification should be based on the scope of protection of the claims.

Claims

1. A navigation method, characterized in that: include: Correcting the rendered road of the to-be-corrected three-dimensional map based on the error information to obtain and display the target three-dimensional map; The error information includes an error between an actual road and a rendered road in the three-dimensional map to be corrected; the actual road is obtained based on the perception information of the navigation object, and the perception information includes the actual road information perceived by the navigation object; The three-dimensional map to be corrected includes a three-dimensional map obtained by binding the navigation object with a two-dimensional map based on the position information of the navigation object.

2. The method according to claim 1, characterized in that The error information includes the relative position relationship between the actual road and the rendered road in the three-dimensional map to be corrected; The method of correcting the rendered road of the to-be-corrected three-dimensional map based on the error information to obtain and display the target three-dimensional map includes: Based on the relative position relationship between the actual road and the rendered road in the three-dimensional map to be corrected, performing translation adjustment on the rendered road in the three-dimensional map to be corrected so that the center of gravity of the rendered road and the actual road coincide; The three-dimensional map obtained after the translation adjustment is determined as the target three-dimensional map and displayed.

3. The method according to claim 2, characterized in that The relative position relationship between the actual road and the rendered road in the three-dimensional map to be corrected includes the relative position relationship between the center of gravity position of the actual road and the center of gravity position of the rendered road corresponding to the position of the navigation object in the three-dimensional map to be corrected; The step of performing translation adjustment on the rendered road in the to-be-corrected three-dimensional map based on the relative position relationship between the actual road and the rendered road in the to-be-corrected three-dimensional map so as to make the center of gravity of the rendered road coincide with the center of gravity of the actual road includes: Based on the relative positional relationship between the center of gravity of the actual road and the center of gravity of the rendered road corresponding to the position of the navigation object in the three-dimensional map to be corrected, the rendered road is translated to make the centers of gravity of the rendered road and the actual road coincide.

4. The method according to claim 3, characterized in that Before performing translation adjustment on the rendered road based on the relative position relationship between the actual road center of gravity position corresponding to the position of the navigation object in the to-be-corrected three-dimensional map and the rendered road center of gravity position, the method further includes: Determine the distance between the actual road center of gravity corresponding to the position of the navigation object and the rendered road center of gravity according to the relative position relationship between the actual road center of gravity corresponding to the position of the navigation object in the three-dimensional map to be corrected and detect whether the distance exceeds a preset threshold; If the distance exceeds a preset threshold, the step of performing translation adjustment on the rendered road based on the relative position relationship between the actual road center of gravity position corresponding to the position of the navigation object in the three-dimensional map to be corrected and the rendered road center of gravity position is continued.

5. The method according to claim 1, characterized in that The error information includes a road width error between an actual road and a rendered road in the three-dimensional map to be corrected; The method of correcting the rendered road of the to-be-corrected three-dimensional map based on the error information to obtain and display the target three-dimensional map includes: Based on a road width error between an actual road in the to-be-corrected three-dimensional map and a rendered road, performing a translation adjustment on the rendered road in the to-be-corrected three-dimensional map so that the road widths of the rendered road and the actual road are consistent; The three-dimensional map obtained after the translation adjustment is determined as the target three-dimensional map and displayed.

6. The method according to claim 5, characterized in that: The step of performing translation adjustment on the rendered road in the to-be-corrected three-dimensional map based on the road width error between the actual road and the rendered road in the to-be-corrected three-dimensional map so as to make the road width of the rendered road consistent with that of the actual road includes: Determining an adjustment parameter based on a road width error between an actual road and a rendered road in the three-dimensional map to be corrected; Based on the adjustment parameter, the boundary of the rendered road is translated and adjusted along the extension direction of the road width of the rendered road, so that the road widths of the rendered road and the actual road are consistent.

7. The method according to claim 1, characterized in that The error information includes a relative angle relationship between the actual road and the rendered road in the three-dimensional map to be corrected; The method of correcting the rendered road of the to-be-corrected three-dimensional map based on the error information to obtain and display the target three-dimensional map includes: Based on the relative angle relationship between the actual road and the rendered road in the three-dimensional map to be corrected, the rendered road in the three-dimensional map to be corrected is rotated and adjusted so that the road extension direction of the rendered road is consistent with the road extension direction of the actual road; The three-dimensional map obtained after the rotation adjustment is determined as the target three-dimensional map and displayed.

8. The method according to claim 1, characterized in that Before correcting the rendered road of the to-be-corrected three-dimensional map based on the error information to obtain and display the target three-dimensional map, the method further includes: Detecting whether an angle deviation between a road extension direction of the rendered road and a traveling direction of the navigation object is less than or equal to a preset angle; If the angle deviation between the road extension direction of the rendered road and the travel direction of the navigation object is less than or equal to the preset angle, continue to execute the step of correcting the rendered road of the to-be-corrected three-dimensional map based on the error information to obtain and display the target three-dimensional map.

9. The method according to claim 1, characterized in that: Also includes: Acquire multiple original perception information of the navigation object; Eliminating invalid perception information from the plurality of original perception information to obtain perception information of the navigation object; The actual road is obtained based on the perception information of the navigation object.

10. The method according to any one of claims 1 to 9, characterized in that: The step of correcting the rendered road of the three-dimensional map to be corrected based on the error information includes: Based on the error information, the current section of the three-dimensional map to be corrected is corrected; the current section includes: a driving section of the rendered road where the navigation object is located and whose distance from the navigation object is less than a preset distance in the direction of travel of the navigation object.

11. The method according to claim 1, characterized in that: Also includes: If a preset event is detected, the perception information of the navigation object in the current state is obtained, and the error information is updated based on the acquired perception information and the three-dimensional map to be corrected; The preset events include: the time distance between the last update time of the error information and the current time exceeds a preset time threshold, the travel distance of the navigation object after the last update time of the error information exceeds a preset distance threshold, the position information of the navigation object in the three-dimensional map to be corrected enters the next road section, and the navigation object passes through an intersection in the three-dimensional map to be corrected.

12. The method according to claim 11, characterized in that The preset time threshold is negatively correlated with the performance of the target device; The preset distance threshold is negatively correlated with the performance of the target device; the target device includes a device that executes the navigation method.

13. A navigation device, characterized in that: include: A correction module, used for correcting the rendered road of the to-be-corrected three-dimensional map based on the error information, so as to obtain and display the target three-dimensional map; The error information includes an error between an actual road and a rendered road in the three-dimensional map to be corrected; the actual road is obtained based on the perception information of the navigation object, and the perception information includes the actual road information perceived by the navigation object; The three-dimensional map to be corrected includes a three-dimensional map obtained by binding the navigation object with a two-dimensional map based on the position information of the navigation object.

14. A vehicle, characterized in that: include: A controller and a display; wherein, The controller is used to execute the method described in any one of claims 1 to 12 to obtain a target three-dimensional map and display it on the display.

15. An electronic device, characterized in that: include: Processor and memory; Wherein, the memory is connected to the processor, and the memory is used to store a computer program; The processor is used to implement the navigation method according to any one of claims 1 to 12 by running the computer program stored in the memory.

16. A computer storage medium, characterized in that: The computer storage medium stores a computer program, and when the program is executed, the navigation method according to any one of claims 1 to 12 is performed.

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