Navigation method and apparatus, computer device, storage medium, and program product

Abstract

A navigation method, executed by a computer device. The method comprises: in response to a preset trigger operation, displaying a navigation path on a map interface, the navigation path being used for guiding a physical object to move from a navigation start point to a navigation end point, and at least one position point among the navigation start point or the navigation end point being indoors (202); during navigation by means of the navigation path, in response to a located position of the physical object being outdoors, displaying global navigation information on the map interface; in response to the located position of the physical object being indoors, displaying local navigation information comprising an indoor scene plot on the map interface; in the indoor scene plot, at least displaying an indoor virtual scene of an area where the located position is located; and, in the indoor virtual scene, displaying guidance information for guiding a virtual object mapped by the physical object to travel to a target position, the target position representing an indoor position through which navigation to the navigation end point passes by means of the navigation path (204).

Description

Navigation method, device, computer device, storage medium and program product

[0001] Related applications

[0002] The present application claims priority to the Chinese patent application No. 202410740941.2, filed on June 7, 2024, and entitled "Navigation method, device, computer device, storage medium and program product", the contents of which are hereby incorporated by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the field of map technology, in particular to the field of navigation technology, and more particularly to a navigation method, device, computer device, storage medium and computer program product. BACKGROUND

[0004] With the development of computer technology, more and more software applications are developed and applied to provide convenience for users. For example, map applications or navigation applications can provide users with map browsing and route navigation services, greatly facilitating people's daily life.

[0005] In traditional navigation technology, navigation is usually performed for outdoor destinations, and for scenarios with indoor navigation needs, such as navigation in a parking lot, a special terminal, special software or a special guide screen of the parking lot is needed to achieve the navigation. These guide methods often have inconsistent guide contents and inconsistent operation methods, which makes the user use time-consuming and laborious and has the problem of low guide efficiency. SUMMARY

[0006] The present application provides a navigation method, device, computer device, storage medium and program product.

[0007] In a first aspect, the present application provides a navigation method, executed by a computer device, comprising:

[0008] In response to a preset trigger operation, a navigation path is displayed on a map interface; the navigation path is used to guide an entity object to move from a navigation starting point to a navigation ending point, and at least one position point of the navigation starting point or the navigation ending point is located indoors;

[0009] In the process of navigating through the navigation path, in response to the positioning location of the entity object being located outdoors, global navigation information is displayed on the map interface;

[0010] In response to the positioning location of the entity object being located indoors, local navigation information including an indoor scene graph is displayed on the map interface;

[0011] At least an indoor virtual scene of a region where the positioning location is located is displayed in the indoor scene graph; and

[0012] In the indoor virtual scene, display guiding information for guiding a virtual object mapped with the physical object to move to a target position, the target position representing an indoor position passed through when navigating to the navigation end point through the navigation path.

[0013] In a second aspect, the present application provides a navigation device, the device comprising:

[0014] A first display module is configured to display a navigation path on a map interface in response to a preset triggering operation; the navigation path is used to guide a physical object to move from a navigation start point to a navigation end point, at least one of the navigation start point or the navigation end point being an indoor position.

[0015] A second display module is configured to display global navigation information on the map interface in response to the positioning position of the physical object being outdoor during navigation through the navigation path; display local navigation information including an indoor scene map on the map interface in response to the positioning position of the physical object being indoor; display an indoor virtual scene of an area where the positioning position is located in the indoor scene map; and display guiding information for guiding a virtual object mapped with the physical object to move to a target position in the indoor virtual scene, the target position representing an indoor position passed through when navigating to the navigation end point through the navigation path.

[0016] In a third aspect, the present application provides a computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the navigation method provided by the present application when executing the computer program.

[0017] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the navigation method provided by the present application when executed by a processor.

[0018] In a fifth aspect, the present application provides a computer program product comprising a computer program, and the computer program implements the steps of the navigation method provided by the present application when executed by a processor.

[0019] The details of one or more embodiments of the present application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the present application will be apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the following embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of the disclosed drawings.

[0021] Fig. 1 is a schematic diagram of the application environment of the navigation method in an embodiment;

[0022] Fig. 2 is a schematic diagram of the flow of the navigation method in an embodiment;

[0023] Fig. 3 is a schematic diagram of the display of the navigation path in an embodiment;

[0024] Fig. 4 is a schematic diagram of the navigation guidance when the vehicle moves to the indoor entrance in an embodiment;

[0025] Fig. 5 is a schematic diagram of the display of the local navigation information in an embodiment;

[0026] Fig. 6 is a schematic diagram of the guidance effect when the vehicle is about to reach the target parking space in an embodiment;

[0027] Fig. 7 is a schematic diagram of the map effect under different scale levels in an embodiment;

[0028] Fig. 8 is a schematic diagram of the relationship between the pitch angle and the scale in an embodiment;

[0029] Fig. 9 is a schematic diagram of the rendering effect of different pitch angles in an embodiment;

[0030] Fig. 10 is a schematic diagram of the effect of the high-precision map data drawn on the map in an embodiment;

[0031] Fig. 11 is a schematic diagram of the display effect of different precision maps in an embodiment;

[0032] Fig. 12 is a schematic diagram of the application of the scale automatic adjustment strategy in a general scene in an embodiment;

[0033] Fig. 13 is a schematic diagram of the application of the scale automatic adjustment strategy in an indoor and outdoor scene in an embodiment;

[0034] Fig. 14 is a schematic diagram of the parking recommendation service in an embodiment;

[0035] Fig. 15 is a schematic diagram of the general model effect of the outdoor building in an embodiment;

[0036] Fig. 16 is a schematic diagram of the indoor floor selection effect in an embodiment;

[0037] Fig. 17 is a schematic diagram of the effect of the charging station being selected in an embodiment;

[0038] Fig. 18 is a schematic diagram of the effect of a parking space being selected in an embodiment;

[0039] Fig. 19 is a schematic diagram of the activation range of a building block in an embodiment;

[0040] Fig. 20 is a schematic diagram of the range of different floors in an embodiment;

[0041] Fig. 21 is a schematic diagram of the principle of a floor display strategy in an embodiment;

[0042] Fig. 22 is a schematic diagram of the framework of an indoor and outdoor integrated navigation system in an embodiment;

[0043] Fig. 23 is a schematic diagram of the operation flow and service link of an indoor and outdoor integrated navigation in an embodiment;

[0044] Fig. 24 is a block diagram of the structure of a navigation device in an embodiment;

[0045] Fig. 25 is a block diagram of the internal structure of a computer device in an embodiment. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those of ordinary skill in the art without any creative work fall within the scope of the present application.

[0047] The navigation method provided by the embodiments of the present application can be applied to an application environment as shown in FIG. 1. In the application environment, the computer device 102 communicates with the server 104 through a network. A data storage system can store data required to be processed by the server 104. The data storage system can be integrated on the server 104, or placed on a cloud or other network server. For example, the computer device 102 can download an electronic map from the server 104, and display the electronic map through a map application. The computer device 102 displays a navigation path in a map interface in response to a preset triggering operation. The navigation path is used to guide an entity object to move from a navigation starting point to a navigation ending point. At least one of the navigation starting point or the navigation ending point is located indoors. During navigation through the navigation path, global navigation information is displayed in the map interface in response to a positioning location of the entity object being located outdoors. Local navigation information including an indoor scene map is displayed in the map interface in response to the positioning location of the entity object being located indoors. In the indoor scene map, an indoor virtual scene of an area where the positioning location is located is displayed. In the indoor virtual scene, guide information guiding a virtual object mapped from the entity object to move to a target location is displayed. The target location represents an indoor location passed through during navigation to the navigation ending point through the navigation path. The virtual object can be a mapped object of the entity object in the indoor virtual scene, and the target location can be a mapped location of an indoor exit or the navigation ending point in the indoor virtual scene.

[0048] The computer device 102 can include but is not limited to a mobile phone, a computer, a smart voice interaction device, a smart home appliance, a vehicle-mounted terminal, an aircraft, etc. The embodiments of the present application can be applied to various scenarios, including but not limited to cloud technology, artificial intelligence, intelligent transportation, and assisted driving, etc. In some embodiments, the computer device 102 can be loaded with a map application or a navigation application, etc. The server 104 can be a stand-alone physical server, or a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0049] Before introducing the navigation method provided by the present application, related technical terms involved in the navigation method are explained:

[0050] POI: Point Of Interest, a point of interest, also translated as an interest point, in the field of map, is a general term for geographical positions with specific meanings in a map, such as landmark buildings, scenic spots, institutions, departments, or commercial institutions, etc.

[0051] SD Map: SD map, full name Standard Definition Map, standard definition map, which mainly stores road-level elements, the resolution requirement is usually around 5m-10m, and the map content includes road shape, POI, etc.

[0052] HD Map: HD map, full name High Definition Map, high-definition map, which mainly stores lanes, and the data accuracy is usually in decimeter level, and the stored map information is more abundant than the standard definition map.

[0053] GPS: Global Positioning System, Global Positioning System.

[0054] Maneuver point: the position where the vehicle needs to perform lane changing, turning, or U-turn during driving.

[0055] IMU: Inertial Measurement Unit, inertial measurement unit, used to measure the three-axis attitude angle and acceleration of the object.

[0056] In an exemplary embodiment, as shown in FIG. 2, a navigation method is provided, which is applied to the computer device 102 in FIG. 1 as an example, including the following steps 202-204. Among them:

[0057] Step 202, in response to a preset trigger operation, display a navigation path in a map interface; the navigation path is used to guide the entity object to move from a navigation starting point to a navigation ending point, and at least one position point in the navigation starting point or the navigation ending point is indoor.

[0058] It should be noted that the computer device can install software applications, such as map applications or navigation applications, and the present application can be implemented through the software applications installed in the computer device. The entity object can be a vehicle, a user, a robot, or other objects with moving ability. The computer device can be a vehicle terminal or a movable terminal with a display screen that moves with the entity object.

[0059] The map interface is an interface for displaying an electronic map in the display screen of the computer device. The electronic map, also known as a digital map, is a map stored and consulted in digital form using computer technology. The electronic map can be a standard definition map or a high-definition map. The preset trigger operation is a trigger operation preset for displaying a navigation path, and the trigger operation can be a key operation, a voice operation, or a touch operation, etc.

[0060] In some embodiments, the map interface displays a search area, and the computer device can obtain a destination input in the search area as a navigation end point, or a location selected by the user in the map interface as the navigation end point. It can be understood that in some embodiments, the navigation end point can be specifically an outdoor POI or an indoor POI.

[0061] In some embodiments, the computer device can obtain a positioning location of the entity object as a navigation start point, or a location input in the search area as the navigation start point, or a location selected by the user in the map interface as the navigation start point. It can be understood that in some embodiments, the navigation start point can be specifically an outdoor POI or an indoor POI.

[0062] In some embodiments, the computer device can determine the navigation path based on the navigation start point and the navigation end point, or send the navigation start point and the navigation end point to a server to determine the navigation path. The determination of the navigation path can follow a certain path planning algorithm, for example, the algorithm can consider the priority of main roads, the shortest time consumption, the shortest distance, etc., and the embodiments of the present application do not limit the same.

[0063] In some embodiments, the preset trigger operation can be a predefined operation for displaying the navigation path, such as a path display operation, a navigation operation, a navigation end point determination operation, etc. When the computer device detects the preset trigger operation, the navigation path from the navigation start point to the navigation end point can be displayed in the map interface.

[0064] For example, the computer device can take the path display operation as the preset trigger operation. For example, after the navigation start point and the navigation end point are confirmed, the map interface can display a related control, such as a control displaying the text “route” or “go here”. When the computer device detects a trigger operation on the related control, it is considered that the preset trigger operation has occurred.

[0065] For example, the computer device can take the navigation operation as the preset trigger operation. For example, after the navigation start point and the navigation end point are confirmed, the map interface can display a related control, such as a control displaying the text “navigation”. When the computer device detects a trigger operation on the related control, it is considered that the preset trigger operation has occurred.

[0066] For example, the computer device can take the navigation end point determination operation as the preset trigger operation. For example, after the computer device detects the navigation end point determination operation, the positioning location can be automatically taken as the navigation start point, and the navigation path can be displayed in the map interface.

[0067] In some embodiments, if the navigation end point is indoor, the navigation path comprises a first path from the navigation start point to an indoor entrance, and a second path from the indoor entrance to the navigation end point; the first path and the second path are displayed differently in the map interface.

[0068] If the navigation end point is indoor, the indoor entrance guides an entrance of a building where the navigation end point is located, i.e., an entrance to the building where the navigation end point is located. At this time, the navigation path comprises a first path from the navigation start point to an indoor entrance, and a second path from the indoor entrance to the navigation end point.

[0069] The first path and the second path are displayed differently in the map interface, which can be different in display color, path width, or path filling pattern. For example, the first path can be displayed in green and the second path can be displayed in blue; or the first path can be wider than the second path; or the first path can be filled with a solid color and the second path can be filled with diagonal lines, etc. The embodiments of the present application are not limited in this regard.

[0070] For example, referring to FIG. 3, which is a display diagram of a navigation path in an embodiment. As shown in FIG. 3, the navigation path comprises a first path (filled with diagonal lines in the figure) from the navigation start point to an indoor entrance, and a second path (filled with white in the figure) from the indoor entrance to the navigation end point. In actual products, the first path can be displayed in green and the second path can be displayed in blue. In addition, the left side of FIG. 3 also shows parking lot recommendation information and charging station recommendation information, etc. It can be understood that more or less information can be displayed in actual product diagrams, and the embodiments of the present application are not limited in this regard.

[0071] In other embodiments, if the navigation start point is indoor, the navigation path comprises a third path from the navigation start point to an indoor exit, and a fourth path from the indoor exit to the navigation end point; the third path and the fourth path are displayed differently in the map interface.

[0072] If the navigation start point is indoor, the indoor exit guides an exit of a building where the navigation start point is located, i.e., an exit from the building where the navigation start point is located. At this time, the navigation path comprises a third path from the navigation start point to an indoor exit, and a fourth path from the indoor exit to the navigation end point.

[0073] The third path and the fourth path in the map interface are displayed differently, specifically, the display colors of the third path and the fourth path can be different, or the path widths are different, or the filling patterns of the paths are different, and the like. For example, the fourth path can be displayed in green and the third path can be displayed in blue; or the path width of the fourth path is wider than that of the third path; or the fourth path is filled with a solid color and the third path is filled with diagonal lines, and the like. The embodiments of the present application do not limit this.

[0074] In the above embodiments, by distinguishing the indoor navigation path and the outdoor navigation path, more information can be shown, and the indoor path and the outdoor path are clearly indicated to the user.

[0075] In step 204, in the process of navigation through the navigation path, in response to the positioning position of the entity object being outdoor, global navigation information is displayed in the map interface; in response to the positioning position of the entity object being indoor, local navigation information including an indoor scene map is displayed in the map interface; in the indoor scene map, at least an indoor virtual scene of the area where the positioning position is located is displayed; and in the indoor virtual scene, guide information guiding a virtual object mapped by the entity object to move to a target position is displayed, the target position representing an indoor position passed through when navigating to a navigation end point through the navigation path.

[0076] Specifically, after the user initiates a navigation operation, the computer device can navigate based on the navigation path to guide the entity object to move from a navigation start point to a navigation end point. It should be noted that the entity object can be a vehicle, a user, a robot, or other objects with moving ability.

[0077] It can be understood that navigation is a continuous behavior, and route guide information is updated as the position of the entity object is updated. The positioning position is the position of the entity object at the current time, and the current time is constantly updated as time passes. The computer device can determine the positioning position of the entity object through inertial navigation technology. In the navigation process, if the computer device detects that the positioning position of the entity object is outdoor, global navigation information can be displayed in the map interface; if the computer device detects that the positioning position of the entity object is indoor, local navigation information can be displayed in the map interface. Inertial navigation technology refers to a technology by which the computer device determines the positioning position of the entity object. In the navigation process, the computer device can determine the position of the entity object at the current time through inertial navigation technology in combination with relevant signals.

[0078] Global Navigation Information refers to information displayed on a map interface when the positioning location of the entity object is outdoors during navigation. Local Navigation Information refers to information displayed on a map interface when the positioning location of the entity object is indoors during navigation.

[0079] The Global Navigation Information and the Local Navigation Information can both include a base map and route guidance information for guiding the entity object to a navigation destination. The Global Navigation Information includes a base map and global route guidance information. The Local Navigation Information includes a base map and fine guidance information for the positioning location. It can be understood that the Global Navigation Information displays less road condition details than the Local Navigation Information, but involves a larger route range than the Local Navigation Information. The base map is a map picture displayed on a map interface.

[0080] The base map is a map picture displayed on a map interface. The Global Navigation Information and the Local Navigation Information both include a base map, which can be displayed by a map of different accuracy in different scenarios.

[0081] In some embodiments, the Global Navigation Information includes at least one of road name, forward turning information, recommended lane, and estimated arrival time of a road where the positioning location is located. The Local Navigation Information includes an indoor scene map, and can further include floor information of a floor where the positioning location is located and floor information of a floor where an indoor exit or a navigation destination is located, so as to provide more accurate indoor information.

[0082] It should be noted that the Local Navigation Information includes an indoor scene map, which displays at least an indoor virtual scene of a region where the positioning location is located and guidance information of a virtual object moving to a target position in the indoor virtual scene. The virtual object is a mapping object of the entity object in the indoor virtual scene, and the target position is a mapping position of an indoor exit or a navigation destination in the indoor virtual scene. The guidance information can be path guidance information, which indicates a forward direction of the entity object.

[0083] The indoor scene map can be provided by a high-definition map or a scene map matching an actual region constructed based on the high-definition map. The indoor scene map displays an indoor virtual scene of a region where the positioning location is located, such as an indoor virtual scene of a floor where the positioning location is located. The indoor virtual scene changes accordingly with the movement of the entity object, reflecting the current environment of the entity object.

[0084] High Definition Map (HD Map), in which the main body stored is a lane, the data accuracy is usually decimeter level, and the map information stored is more abundant than that of a standard definition map, and can be used to provide an indoor scene map and display an indoor virtual scene as a base map when navigating indoors.

[0085] Standard Definition Map (SD Map), also known as Standard Definition Map, in which the main element stored is a road level element, and the resolution requirement is usually about 5m-10m, and the content of the map includes the shape of the road, POI, etc.

[0086] In some embodiments, in an indoor navigation scenario, the computer device displays a high-definition map as a base map, and the picture displayed through the high-definition map is an indoor virtual scene.

[0087] In some embodiments, the computer device can display a virtual object in the indoor virtual scene, and the virtual object is a mapping object of a real object in the indoor virtual scene, such as a vehicle model when the real object is a vehicle, a simulated cartoon character when the real object is a user, etc.

[0088] The indoor virtual scene also displays guiding information for the virtual object to move to a target position. It can be understood that if the navigation starting point is indoors, the route from the navigation starting point to the navigation ending point must go through the process of moving from indoors to outdoors, that is, it will involve moving from the positioning location to the indoor exit, and then the target position is the mapping position of the indoor exit in the indoor virtual scene. If the navigation ending point is indoors, the route from the navigation starting point to the navigation ending point must go through the process of moving from outdoors to indoors, that is, it will involve moving from the positioning location to the navigation ending point, and then the target position is the mapping position of the navigation ending point in the indoor virtual scene.

[0089] Exemplarily, please refer to FIG. 4, which is a navigation guiding schematic diagram of a vehicle moving to an indoor entrance in an embodiment. The indoor entrance can be a parking lot entrance. As shown in FIG. 4, when the vehicle drives to the parking lot entrance, the map interface displays an entrance real scene map 401, a navigation route 402, and parking recommendation information 403, etc.

[0090] Exemplarily, refer to FIG. 5, which is a schematic diagram of display of partial navigation information in an embodiment. As shown in FIG. 5, when the vehicle enters the indoor environment, the map interface is switched to the indoor guiding style. As shown in FIG. 5, the high-precision indoor map displays the front turning information, the floor where the destination is located, the floor where the positioning location is located, and the indoor parking lot. The scene displayed by the high-precision map is the indoor virtual scene, and the path marker starting from the vehicle model is the guiding information. Through the display of the partial navigation information, the vehicle can accurately travel to the destination. The guiding process from the outdoor to the indoor is continuous, the guiding mode is consistent, the guiding effect is from coarse to fine, and the guiding position error is less than one parking space, which can provide the user with an easy-to-operate, easy-to-identify, accurate, and effective navigation mode.

[0091] The navigation method described above, in response to a preset triggering operation, displays a navigation path on the map interface. In the process of navigation through the navigation path, in response to the positioning location of the entity object being outdoor, the global navigation information is displayed on the map interface. In response to the positioning location of the entity object being indoor, the partial navigation information is displayed on the map interface. The global navigation information can guide the entity object to navigate outdoor, and the partial navigation information can seamlessly connect and guide the entity object to navigate indoor. The partial navigation information includes an indoor scene map, the indoor scene map at least displays the indoor virtual scene of the area where the positioning location is located, and the guiding information of the virtual object representing the entity object in the indoor virtual scene moving to the target location representing the indoor exit or the navigation end point, which can accurately guide the entity object to the destination. The present application provides an indoor-outdoor integrated navigation, which provides the user with uninterrupted navigation guiding service, does not need to switch special software, or adapt to guiding information with different styles, and greatly improves the navigation efficiency. Moreover, the indoor-outdoor integrated navigation method of the present application does not need to lay special terminals or special guiding screens in the indoor environment, significantly reduces the laying cost of indoor navigation, solves the problem of poor experience of the last mile of navigation, and improves the driving efficiency and the interactive experience of the whole process.

[0092] In some embodiments, the navigation method further includes: in response to the positioning location being indoor and the distance between the positioning location and the navigation end point being less than a first threshold, highlighting the target range where the target location is located in the indoor scene map; the target range is the mapping range of the preset geographical range including the navigation end point in the indoor virtual scene.

[0093] The first threshold is a distance value. When the positioning location is indoor and the distance between the positioning location and the navigation end point is less than the value, the target range where the target location is located is highlighted in the indoor scene map. The first threshold can be determined based on the conventional distance between the positioning location and the navigation end point in the actual scene.

[0094] Target Range: refers to a preset geographical range of the navigation destination in the mapping range of the indoor virtual scene. When the positioning position is indoors and the distance between the positioning position and the navigation destination is less than a first threshold, the target range is highlighted in the indoor scene map, for example, when the navigation destination is a parking space, the target range can be the mapping range of the area where the parking space is located in the indoor virtual scene.

[0095] The preset geographical range of the navigation destination can be an area around the navigation destination. For example, when the navigation destination is a parking space, the preset geographical range can be the area where the parking space is located; when the navigation destination is a parking area, the preset geographical range can be the area where the parking area is located; when the navigation destination is a store, the preset geographical range can be the area occupied by the store.

[0096] For example, if the navigation destination is a target parking space, the target parking space can be displayed in the map interface in a highlighted form when the entity object is about to reach the target parking space.

[0097] For example, please refer to FIG. 6, which is a guide effect diagram when the vehicle is about to reach the target parking space in an embodiment. When the vehicle is about to reach the target parking space, the map displays the target parking space in a highlighted form. When the vehicle drives to the target parking space, the navigation is normally ended.

[0098] The highlighting can also be a highlighted display, an additional selected box, or an additional indication icon, etc. In addition, on the basis of the highlighting, the computer device can also provide other reminding methods, such as vibrating a certain part, a sound reminder, etc., to remind the user that the destination is about to be reached.

[0099] In the above embodiments, the entity object is highlighted when it is about to reach the destination, which facilitates the user to quickly and accurately identify the navigation destination, and improves the interaction efficiency.

[0100] Before the navigation display is introduced in detail, the map scale is introduced first:

[0101] For example, the map scale level range can be 4-22 levels, and each level corresponds to a different scale and a pitch angle, as shown in Table 1 for the correspondence table of the scale level and the pitch angle. As shown in FIG. 7, the map effect under different scale levels is different, and the map range presented on the same screen is different.

[0102] Table 1: Correspondence between scale level and pitch angle

[0103] As shown in FIG. 8, the pitch angle refers to adjusting the viewing angle of the viewing base map. As shown in FIG. 9, the range of the viewed map is different at different scale levels, and the smaller the scale level is, the larger the range is, and the coarser the map details are, and the larger the scale level is, the smaller the range is, and the more realistic the map details are. At the same scale level, adjusting the pitch angle can adjust the visual range of different orientations. The present application can achieve the purpose of increasing the visual range by adjusting the pitch angle of the driving direction of the vehicle, and even achieve the purpose of displaying the geographic area beyond the line of sight.

[0104] The data of the standard definition map is highly consistent with the data of the high-definition map, and the difference is that the data of the high-definition map is more detailed and has more dimensions. As shown in FIG. 10, the effect of drawing the high-definition map data on the base map. The effect of high-definition map data at different levels of scale is quite different, and when the map scale level is greater than or equal to 20 levels, the purpose of lane-level guidance can be achieved. FIG. 11 is the display effect of SD map, HD map, and indoor HD map in an embodiment. As can be seen from FIG. 11, the HD map and the indoor HD map can achieve lane-level guidance. From FIG. 11, it is also easy to see the SD-HD fusion strategy in the present application. For non-road data, the SD map data is still used, and for road segments with high-definition map data, the HD road style is adopted.

[0105] Next, outdoor navigation and indoor navigation will be introduced in detail:

[0106] In some embodiments, in response to the positioning position of the entity object being outdoors, global navigation information is displayed on the map interface, including: in response to the positioning position of the entity object being outdoors, determining a navigation scene based on the positioning position; determining a target scale level according to the navigation scene, adjusting the level of the map scale to the target scale level; and displaying global navigation information in the map interface based on the target scale level.

[0107] Target scale level: determined according to the navigation scene, used to adjust the level of the map scale. After the computer device determines the navigation scene based on the positioning position of the entity object being outdoors, it determines the target scale level according to the navigation scene, and adjusts the level of the map scale to the target scale level, so as to display global navigation information in the map interface based on it.

[0108] Among them, the navigation scene includes road type and / or driving operation type. The road type includes ordinary, ramp, congestion, roundabout, expressway, city expressway, etc., and the driving operation type includes forward, lane change, turning, or U-turn, etc.

[0109] In response to the positioning position of the entity object being outdoors, the computer device can identify the current navigation scenario, determine the target scale level according to the navigation scenario, and automatically adjust the level of the map scale to the target scale level. Thus, the global navigation information is displayed in the map interface according to the target scale level.

[0110] In some embodiments, the computer device can pre-establish the association between different navigation scenarios and scale levels, so that the level of the map scale can be automatically adjusted based on the association in the case of identifying the current navigation scenario.

[0111] In some embodiments, the computer device can identify the road type of the road segment where the vehicle is currently located based on the visual perception signal, or the road information is recorded in the map data, and the computer device can directly obtain the road type of the road segment where the vehicle is currently located from the map data. Specifically, the computer device can identify the road type of the road in front of the vehicle based on the visual perception signal, that is, perform image recognition on the road image in the visual perception signal to obtain the road type of the road in front of the vehicle.

[0112] The visual perception signal refers to the signal collected by the camera installed on the entity object. The computer device can identify the road type of the road segment where the vehicle is currently located based on the signal, or determine whether there is a maneuver point in front of the vehicle, and can also determine the positioning position of the entity object by fusing the historical position and the pose signal when the satellite signal is not acquired. The pose signal refers to the signal collected by the pose sensor such as IMU (Inertial Measurement Unit). The computer device can determine the positioning position of the entity object based on the signal and other signals, or fuse the historical position and the visual perception signal to determine the positioning position of the entity object when the satellite signal is not acquired.

[0113] The historical position refers to the information used for fusing the pose signal and the visual perception signal of the entity object to determine the positioning position of the entity object when the satellite signal at the current time is not acquired. The computer device can take the position of the entity object at the nearest time before entering the indoor as the historical position for calculation.

[0114] In some embodiments, the computer device can determine the driving operation type based on the driving signals collected from the vehicle. Alternatively, the computer device can identify the driving operation type of the driving operation to be performed by the vehicle based on the visual perception signals or the map data. For example, the computer device can directly obtain the position of the maneuver point in front of the vehicle from the map data, and determine the driving operation type accordingly; or the computer device can perform image recognition on the road image in the visual perception signals to determine whether there is a maneuver point in front of the vehicle, and determine the driving operation type based on the image recognition result.

[0115] For example, for a smooth driving section without any divergence, the user pays more attention to the global route information, such as the distance to the next maneuver point, the distance and time to the destination, the road condition in front, and the like. In this case, the SD map can be used to display the global navigation information. Specifically, the target scale level can be L1 for an ordinary road, and L2 for a highway or an urban expressway. L1>L2, i.e., the map corresponding to L2 is smaller than the map corresponding to L1.

[0116] In some embodiments, the computer device can calculate the distance between the positioning position of the entity object and the maneuver point. If the distance is less than a preset threshold, the driving operation type can be determined as a type of lane changing, turning, or U-turn, and the map scale level can be automatically adjusted to the target scale level based on the driving operation type. If the map corresponding to the target scale level is the first map, the first map can be used as the base map to display the global navigation information. If the map corresponding to the target scale level is the second map, the second map can be used as the base map to display the global navigation information.

[0117] The first map (First Map) is one of the plurality of electronic maps, and has a relatively low precision. Specifically, the first map can be an SD map. The computer device can determine the target map from the plurality of electronic maps based on the target scale level. The target map can be the first map, and used to display the global navigation information in the map interface.

[0118] For example, referring to FIG. 12, the entity object is a vehicle, and the computer device can dynamically adjust the map sheet based on the position of the vehicle and the distance to the maneuver point. When the scale of the map sheet reaches the lower limit of the HD display level, the HD map is displayed. For example, when the vehicle is x meters away from the maneuver point on a highway or an urban expressway, it is determined that the vehicle is entering the turning section at the intersection, and the base map scale can be adjusted to the target scale. When the vehicle is y meters away from the maneuver point on an ordinary road, it is determined that the vehicle is entering the turning section at the intersection, and the base map scale can be adjusted to the target scale.

[0119] In the above embodiment, in response to the positioning position of the entity object being in the outdoor, the navigation scene is determined based on the positioning position, and the target scale level is determined according to the navigation scene, so as to realize automatic switching of the scale, and facilitate flexible display of global navigation information of different maps in different scenes.

[0120] In some embodiments, the global navigation information is displayed in the map interface based on the target scale level, including: determining a target map from a plurality of electronic maps based on the target scale level; and displaying the global navigation information in the map interface based on the target map and the target scale level.

[0121] Specifically, the computer device can determine a target map matched with the target scale level based on a pre-established association relationship between scale levels and electronic maps. The target map can be one of a plurality of electronic maps. The plurality of electronic maps have different accuracies. The plurality of electronic maps can include a first map and a second map, for example. The first map can be a standard definition map, and the second map can be a high-definition map. It can be understood that the plurality of electronic maps can also include other accuracy maps, which are not limited in the embodiments of the present application.

[0122] Second Map: one of a plurality of electronic maps, with relatively high accuracy, which can be a high-definition map (HD Map) in the present document. The computer device can determine a target map from a plurality of electronic maps based on a target scale level, and the target map can be a second map for displaying global navigation information in a map interface.

[0123] Further, the computer device can display route guidance information on the displayed map by taking the target map as a base map and displaying it according to the target scale level.

[0124] In some embodiments, automatic switching of multi-mode base maps can be realized by an automatic scale strategy, effective scales and pitch angles of each base map are determined, scale levels of the two maps are arranged in order as shown in Table 2 (4-22), and the scale level displayed in the current scene is adjusted according to the automatic scale strategy, and the base map is automatically switched according to the scale level displayed in the current scene.

[0125] Table 2: Correspondence between scale levels and display modes

[0126] By way of example, the present application can use levels 20, 21, 22, and 22+ as display levels of HD maps. The display levels of SD maps can be set to levels 4-21, wherein levels 20 and 21 are used as connection levels of SD maps and HD maps.

[0127] In the above embodiment, the scale level is combined with the multi-mode base map strategy, and the base map can be automatically switched based on the scale level, which can meet the requirements of multiple scenes, and can be adjusted in a timely and flexible manner for different scenes, and can provide navigation guidance more suitable for the current scene.

[0128] In some embodiments, in response to the positioning position of the entity object being in the indoor, the local navigation information is displayed in the map interface, including: in response to the positioning position of the entity object being an indoor entrance, adjusting the level of the map scale to a preset scale level, and when the positioning position is in the indoor, displaying the local navigation information in the map interface based on the high-definition map and the preset scale level.

[0129] Preset scale level: the level to which the map scale needs to be adjusted when the entity object reaches the indoor entrance. The preset scale level has a corresponding relationship with the high-definition map. The computer device displays the high-definition map as the base map according to the preset scale level, and displays the displayed base map as an indoor virtual scene. For example, when the vehicle enters the entrance of the parking lot, it can be automatically adjusted to the preset scale level of level 22 and switched to the HD map display.

[0130] Specifically, when the entity object reaches the indoor entrance, the indoor entrance can be used as a maneuver point, so that the current map scale level can be adjusted to the preset scale level. It can be understood that the preset scale level can be the highest scale level, and has a corresponding relationship with the high-definition map. The computer device can display the high-definition map as the base map according to the preset scale level, and display the displayed base map as an indoor virtual scene.

[0131] By way of example, refer to FIG. 13, which is a schematic diagram of automatic scale adjustment of indoor and outdoor scenes in an embodiment. As shown in FIG. 13, when the vehicle is in the outdoor, the SD map can be used as the base map to display the route guidance information; when the vehicle enters the entrance of the parking lot, it can be automatically adjusted to the preset scale level, such as level 22, and the preset scale level is associated with the HD map, so it can be switched to the HD map for display, and the route guidance information is displayed on the HD map.

[0132] In the above embodiment, when the entity object reaches the indoor entrance, the scale level can be automatically adjusted to the preset scale level, so that when the entity object enters the indoor, it can quickly switch to the high-definition map for navigation, realizing seamless switching of outdoor and indoor navigation.

[0133] In some embodiments, the obtaining of the positioning position comprises: obtaining satellite signals at a current time, and the pose signals and the visual perception signals of the entity object; and if the satellite signals at the current time are not obtained, performing fusion processing based on historical positions at historical times, the pose signals and the visual perception signals of the entity object to obtain the positioning position of the entity object.

[0134] The satellite signals can be GPS signals or Beidou signals, etc. The pose signals are collected by a pose sensor such as an IMU. The visual perception signals are collected by a camera installed on the entity object. In addition, the computer device can also obtain the motion speed of the entity object.

[0135] When navigating outdoors, the above signals can be collected, so that the computer device can determine the positioning position of the entity object based on the satellite signals at the current time, and the pose signals and the visual perception signals of the entity object, or also including the motion speed.

[0136] When navigating indoors, the satellite signals can not be collected, so that the computer device can perform fusion processing based on the historical positions at historical times, the pose signals and the visual perception signals of the entity object, or also including the motion speed to obtain the positioning position of the entity object.

[0137] In some embodiments, the computer device can take the position of the entity object at the nearest time before entering the indoor as the historical position for calculation. Then, based on the historical position, the pose signals and the motion speed, the motion path of the entity object is simulated to obtain the positioning position of the entity object.

[0138] In the above embodiments, in the case where the satellite signals are not obtained, the positioning position of the entity object can be predicted based on the historical positions at historical times, and the pose signals and the visual perception signals of the entity object, which can improve the accuracy of indoor positioning.

[0139] In some embodiments, when the navigation end point is indoors, the method further comprises: if the building where the navigation end point is located does not provide parking services, displaying parking lot recommendation information when the distance between the positioning position and the navigation end point is less than or equal to a second threshold; and if the building where the navigation end point is located provides parking services, displaying parking space recommendation information or parking area recommendation information when the distance between the positioning position and the navigation end point is less than or equal to a third threshold.

[0140] The Second Threshold, a distance value, in the case that the navigation destination is in an indoor place and the building where the navigation destination is located does not provide parking service, when the distance between the positioning location and the navigation destination is less than or equal to the value, the parking lot recommendation information is displayed.

[0141] Parking Lot Recommendation Information: in the case that the navigation destination is in an indoor place and the building where the navigation destination is located does not provide parking service, when the distance between the positioning location and the navigation destination is less than or equal to the second threshold, the information displayed by the computer device after searching for nearby parking lots, including the address of at least one parking lot, and the distance between each parking lot and the positioning location, and possibly including the charging standard of each parking lot, etc.

[0142] Parking Space Recommendation Information: in the case that the navigation destination is in an indoor place and the building where the navigation destination is located provides parking service, when the distance between the positioning location and the navigation destination is less than or equal to the third threshold, the information displayed by the computer device according to the vehicle type, the vehicle brand or the passage information in the building where the navigation destination is located, etc., including the address of at least one idle parking space, and the distance between each idle parking space and the positioning location, etc.

[0143] Parking Area Recommendation Information: in the case that the navigation destination is in an indoor place and the building where the navigation destination is located provides parking service, when the distance between the positioning location and the navigation destination is less than or equal to the third threshold, the information displayed by the computer device according to the vehicle type, the vehicle brand or the passage information in the building where the navigation destination is located, etc., including the address of at least one parking area, and the distance between each parking area and the positioning location, etc.

[0144] The vehicle type includes the classification of vehicles of different energy types, such as electric cars, oil cars, or oil-electric hybrid cars, etc. In the navigation process, for the determination of parking space recommendation information or parking area recommendation information, if the vehicle is an electric car or an oil-electric hybrid car, the computer device can recommend the parking space or parking area of the charging pile.

[0145] The vehicle brand refers to the brand of the vehicle, such as specific car brands such as Tesla, BMW, BYD, etc. In the navigation process, if the vehicle brand of the entity object is obtained, the computer device can determine the parking space recommendation information or the parking area recommendation information according to the brand, for example, recommend the charging pile or charging area corresponding to the vehicle brand.

[0146] Specifically, the application can also provide a parking recommendation service. If the building where the navigation destination is located does not provide parking service, when the distance between the positioning location and the navigation destination is less than or equal to the second threshold value, a nearby parking lot is searched and parking lot recommendation information is displayed. The parking lot recommendation information can include the address of at least one parking lot, and the distance between each parking lot and the positioning location, and can also include the charging standard of each parking lot, etc.

[0147] If the building where the navigation destination is located provides parking service, when the distance between the positioning location and the navigation destination is less than or equal to the third threshold value, parking space recommendation information or parking area recommendation information is displayed. The building that provides parking service is, for example, a gas station, a parking lot, or a car wash, etc. The parking space recommendation information can specifically include the address of at least one idle parking space, and the distance between each idle parking space and the positioning location, etc. The parking area recommendation information can specifically be the address of at least one parking area, and the distance between each parking area and the positioning location, etc.

[0148] The third threshold value is a distance value. In the case that the navigation destination is indoor and the building where the navigation destination is located provides parking service, when the distance between the positioning location and the navigation destination is less than or equal to the value, parking space recommendation information or parking area recommendation information is displayed.

[0149] In some embodiments, when the navigation destination is a POI of non-parking nature, the computer device can recommend a parking lot. When the navigation destination is a parking lot, it can further recommend a parking space or a parking area. For example, referring to FIG. 14, FIG. 14 is a schematic diagram of a parking recommendation service in an embodiment. As shown in FIG. 14, when the destination is not a parking lot, the computer device can calculate the distance between the positioning location and the destination, and when the distance is less than or equal to the second threshold value D, it starts to recommend a parking lot; when the destination is an indoor facility / gas station / parking lot / car wash, etc., it recommends a parking space / parking area (does not recommend a parking lot). The specific logic is that the computer device calculates the distance between the positioning location and the destination, and when the distance is less than or equal to the third threshold value d, it starts to recommend a parking space / parking area. The recommendation information of the parking space / parking area can include the charging standard, the floor, the near elevator label, etc.; for an electric car, the computer device will recommend a parking space / parking area with a charging pile; if the computer device obtains the car model brand, it will recommend a charging pile / charging area of the corresponding brand.

[0150] In some embodiments, the computer device can also access dynamic data provided by the parking lot management party (such as dynamic information of temporary regulations, parking lot failure, etc.) to ensure a more real-time parking lot navigation experience. Furthermore, the computer device can also be connected to a parking lot reservation system to help the user lock a parking space in advance. For example, a reservation request is initiated to the parking lot reservation system based on the parking space information of the selected parking space to lock the parking space and avoid vacancy.

[0151] In the above embodiments, if the navigation end point is a general POI, the computer device can recommend a parking lot to the user, and if the navigation end point is a place providing parking service, the computer device can further recommend a parking space and a parking area to the user. Thus, a flexible parking recommendation service is achieved.

[0152] In some embodiments, before displaying the parking space recommendation information or the parking area recommendation information, the method further includes: determining a vehicle type to which the entity object belongs, and determining the parking space recommendation information or the parking area recommendation information according to the vehicle type; or if a vehicle model brand to which the entity object belongs is obtained, determining the parking space recommendation information or the parking area recommendation information according to the vehicle model brand.

[0153] The vehicle type includes an electric vehicle, a gasoline vehicle, or a hybrid vehicle. If the vehicle is an electric vehicle or a hybrid vehicle, the computer device can recommend a parking space or a parking area of a charging pile. The parking area can include a plurality of parking spaces. If the user inputs a vehicle model brand to the computer device, the computer device can recommend a charging pile or a charging area corresponding to the vehicle model brand.

[0154] In the above embodiments, when recommending a parking space / parking area, the computer device can recommend a parking space / parking area that is more suitable for the user according to the vehicle type or the vehicle model brand, thereby improving the effectiveness of the parking service.

[0155] In some embodiments, before displaying the parking space recommendation information or the parking area recommendation information, the method further includes: determining passage information in a building where the navigation end point is located, and determining the parking space recommendation information or the parking area recommendation information according to the passage information.

[0156] The passage information in the building can be, for example, an elevator position, a stair position, or a gate orientation in the building. Thus, the computer device can recommend a parking space / parking area that is closer to the elevator, closer to the stair, or closer to the gate to the user according to the passage information. That is, a parking space / parking area closest to the elevator, the stair, or the gate is selected according to the elevator position, the stair position, or the gate orientation in the building.

[0157] In the above embodiments, the parking space / parking area is recommended according to the passage information in the building where the navigation end point is located, which takes into account the actual needs of the user and provides convenience for travel.

[0158] In some embodiments, the computer device can also collect historical parking information of the physical object, and recommend a parking lot, a parking area, or a parking spot based on the historical parking preferences. In some embodiments, the computer device can also calculate a remaining drivable distance of the vehicle based on an energy consumption model of the vehicle and a current remaining amount of electricity or fuel, and recommend a parking lot or a gas station that is within the remaining drivable distance from the location of the vehicle.

[0159] In some embodiments, the method further comprises: displaying a map interface; displaying a general model of a building in the map interface in an outdoor scene mode; displaying an indoor map of a specified floor of the selected building in the map interface in an indoor scene mode.

[0160] Specifically, the map application or the navigation application can display a map interface through which a user can browse a map. Referring to FIG. 15, a general model of a building is displayed in the map interface in an outdoor scene mode; and referring to FIG. 16, an indoor map of a specified floor of the selected building is displayed in the map interface in an indoor scene mode.

[0161] The general model refers to a general display model of a building displayed in the map interface in the outdoor scene mode, which is used to generally indicate the building on the map, and is in contrast to the indoor map displayed in the indoor scene mode, thereby providing the user with an overall view of the outdoor building.

[0162] In some embodiments, the user can view the outdoor map and the indoor map on the map through dragging, zooming, rotating, and the like. The outdoor map displays a general model of a building block; and the indoor map is presented according to floor information of the POI, and the user can select a floor through a button on the map. As shown in FIG. 15, a general model of an outdoor building is displayed; and as shown in FIG. 16, an indoor map of a specified floor is displayed. Information of each floor in the map is presented in accordance with real positions of stores, parking lots, car washes, elevators, and the like in reality. Reading of the indoor map is consistent with that of the outdoor map, and supports operations such as dragging, zooming, rotating, and clicking.

[0163] In some embodiments, the user can select a destination through the map interface. The destination can serve as a subsequent navigation end point. Illustratively, when the user needs to select an indoor POI as a destination, the user can directly click an icon or a text label on the map to select the indoor POI. For example, the user can click a text and an icon of a charging station area, or click a number of a parking spot. As shown in FIG. 17, an effect of the user selecting a charging station area of a certain brand is shown, and an icon indicating the selection is displayed around the charging station. As shown in FIG. 18, an effect of the user selecting a parking spot is shown, and an icon indicating the selection is displayed around the parking spot.

[0164] Further, after determining the destination, a "go here" button of the detail page is clicked or a parking space is clicked to initiate route planning from the current location to the destination, and a route planning result is provided, which includes outdoor and indoor route planning results from the current location to the destination. If the destination is not a parking space or a charging station, the route planning result can recommend a parking area, a parking space, and a brand charging station near the destination.

[0165] Further, the computer device can implement indoor and outdoor integrated navigation by performing the steps introduced in the foregoing embodiments. Outdoor navigation can display global navigation information, including road name at the current location, turning information ahead, recommended lane, estimated time of arrival, and the like. When driving to the entrance of a parking lot, the map can display an entrance real scene, a navigation route, recommended parking information, and the like. When entering the indoor parking lot, the indoor guiding style is switched to. Local navigation information is displayed on a high-precision map, including turning information ahead, floor of the destination, floor of the current location, and indoor virtual scene of the indoor parking lot. When reaching the target parking space, the map is highlighted on the map. The navigation is normally ended when the vehicle reaches the target parking space. The guiding process from outdoor to indoor is continuous, the guiding mode is consistent, the guiding effect is from coarse to fine, and the guiding position error is less than one parking space. The indoor and outdoor integrated navigation provides an easy-to-operate, easy-to-recognize, accurate, and effective navigation mode for users.

[0166] In the above embodiments, different display effects are provided for indoor and outdoor scenes, and more map information can be provided.

[0167] In some embodiments, in the indoor scene mode, an indoor map of a specified floor of a selected building is displayed in a map interface, including: determining a display area of the specified floor in a general model of the selected building in the map interface; if the selected building contains an indoor map and the display area of the specified floor meets a building block activation condition, switching from the outdoor scene mode to the indoor scene mode, and displaying the indoor map of the specified floor of the selected building in the map interface.

[0168] The selected building can be a building currently displayed in the map interface, or a building selected by a selection operation. The specified floor is a pre-set floor, such as the first floor or the negative first floor. The building block activation condition refers to a condition that needs to be met by the display area of the specified floor when the selected building contains an indoor map. If the condition is met, the indoor scene mode is switched from the outdoor scene mode, and the indoor map of the specified floor of the selected building is displayed in the map interface. Specifically, the area of the display area of the specified floor can be greater than a pre-set area, or the overlapping area of the display area of the specified floor and an activation range can be greater than a threshold.

[0169] Specifically, the computer device can determine a display area of a specified floor in a general model of a selected building in the map interface. The display area is an indoor range of the specified floor of the selected building displayed in the map interface. If the selected building contains an indoor map and the display area of the specified floor satisfies a building activation condition, the computer device switches from the outdoor scene mode to the indoor scene mode and displays the indoor map of the specified floor of the selected building in the map interface.

[0170] The building activation condition can be satisfied when the display area of the specified floor has an area greater than a preset area or when an overlapping area of the display area of the specified floor and the activation range is greater than a threshold.

[0171] Activation Range: A range (less than or equal to the screen range) that is preset by the computer device and used to determine whether the indoor map display condition is satisfied. After the map is dragged, zoomed, or rotated, the computer device can calculate an overlapping area of the building range (i.e., the display area of a floor) containing the indoor map and the activation range. When the overlapping area reaches a threshold or when the indoor range (i.e., the display area of a floor) in the activation range satisfies a certain proportion, it can be considered that the building activation condition is satisfied and the indoor map is displayed.

[0172] In some embodiments, the computer device can preset an activation range (less than or equal to the screen range). After the map is dragged, zoomed, or rotated, the computer device can calculate an overlapping area of the building range (i.e., the display area of a floor) containing the indoor map and the activation range. When the overlapping area reaches a threshold S, the indoor map is displayed. Alternatively, when the indoor range (i.e., the display area of a floor) Si in the activation range is greater than k*Si, it can also be considered that the activation condition is satisfied, where k can be a coefficient greater than 0.5 and less than 1.

[0173] For example, referring to FIG. 19, the activation range and the display area of the B2 floor are shown.

[0174] In the above embodiments, the indoor map display function is provided. When the selected building contains an indoor map and the display area of the specified floor satisfies the building activation condition, the indoor scene mode can be switched to and the indoor map can be displayed, so as to provide more abundant map information and facilitate the user to select the indoor POI as the navigation starting point or the navigation ending point.

[0175] In some embodiments, the method further includes: in the indoor scene mode, the map interface further displays a floor switching control; and in response to a triggering operation on the floor switching control, switching from the currently displayed indoor map to the indoor map of the floor pointed to by the triggering operation.

[0176] Exemplarily, please continue to refer to FIG. 19, which also shows a floor switching control 1901. The computer device switches from the currently displayed indoor map to the indoor map display of the floor pointed to by the triggering operation in response to the triggering operation on the floor switching control.

[0177] In some embodiments, switching from the currently displayed indoor map to the indoor map display of the floor pointed to by the triggering operation comprises: if the display area of the floor pointed to by the triggering operation meets the building block activation condition, switching from the currently displayed indoor map to the indoor map display of the floor pointed to by the triggering operation.

[0178] Specifically, after switching the floor, the computer device can confirm whether the display area of the floor pointed to by the triggering operation meets the building block activation condition, and if so, switch from the currently displayed indoor map to the indoor map display of the floor pointed to by the triggering operation; if not, display an outdoor map, i.e., display a general model of the building.

[0179] It should be noted that, as shown in FIG. 20, the display range of different floors of the same building block is different in some cases. Therefore, when a floor switching operation occurs, the computer device can recalculate whether the display area of the currently selected floor shown on the screen meets the building block activation condition.

[0180] In one exemplary embodiment, please refer to FIG. 21, the floor display strategy is as follows:

[0181] The display condition of the indoor map can be pre-set, which can be that the map displayed in the map interface is zoomed to a designated scale level and above, and the display of the indoor map is supported. For example, when the scale level is less than the designated scale level, the indoor map is not displayed regardless of whether the field of view range contains the indoor map; when the scale level is greater than or equal to the designated scale level, and the overlapping area of the display area and the activation area of the indoor map reaches a preset area threshold, the indoor map of the floor is displayed. The designated scale level is, for example, level 17.

[0182] Designated scale level: a scale level pre-set to limit the display condition of the indoor map. When the map displayed in the map interface is zoomed to the designated scale level and above, the display of the indoor map is supported, for example, as mentioned herein, when the scale level is greater than or equal to level 17, the indoor map can be displayed under other conditions.

[0183] When the scale level is greater than the designated scale level, the control will be performed before the line (i.e., before the movement) and in the line (during the movement), respectively.

[0184] If in the row, in the home page browsing, the floor block activation strategy is followed; in the search process, the floor block activation strategy is also followed, for the current floor block POI, the POI floor can be highlighted, for the non-current floor block POI, the default floor can be displayed, and at this time, the positioning change is not responded. In the route display process, the floor block activation strategy is also followed, for the starting point in the indoor case, if the activated is the starting point floor block, the route starting point floor block and floor are displayed, if the activated is not the starting point floor block, the default floor is displayed. For the starting point in the outdoor case, it is consistent with the home page logic.

[0185] If in the row, the outdoor navigation is consistent with the home page, and the indoor navigation distinguishes whether the positioning position is indoor. If the positioning position is indoor, the positioning change is responded. If the activated floor block is the positioning position floor block, the floor block is displayed; if the activated floor block is not the positioning position floor block, the default floor is displayed. If the positioning position is outdoor, it is consistent with the home page.

[0186] It should be noted that the floor automatic switching method is switched according to the positioning result returned by the positioning SDK. The positioning position information (including position, floor block, floor, etc.) is received from the high-precision positioning module, when the user is in the route planning, the floor block and floor of the positioning position are displayed by default, at this time, the floor can also be manually switched through the floor switching control; when the user is in the navigation, the floor block and floor of the positioning position are displayed by default, at this time, there is no entrance to manually adjust the floor display.

[0187] In the above embodiment, under the indoor scene model, the function of floor switching display is provided, different floor indoor POI can be displayed, and rich map information is provided.

[0188] In some embodiments, the method further includes the step of POI search, which includes: in response to the search operation generated in the map interface, displaying the address of the target interest point pointed by the search operation, the distance between the target interest point and the positioning position, and the service information related to the target interest point; in the case that the target interest point is an indoor interest point, the floor information of the target interest point is also displayed.

[0189] Exemplarily, the user can input a destination in an input box for retrieval, or directly click an indoor or outdoor POI label or an indoor POI label on a base map for retrieval. The computer device initiates a request to a retrieval service according to the input information or the click information, and the retrieval service returns detail data containing indoor building block and floor information. The retrieval detail page displays two basic information of the POI, i.e., an address and a distance from the positioning position. Different types of POIs carry different types of service information, such as an oil station containing business hours, refueling types, oil price information, and discount information; a charging station containing idle charging position quantity, fast charging pile quantity, slow charging pile quantity, and charging information; and an indoor POI carrying floor information, such as the floor of a restaurant.

[0190] In the above embodiment, the retrieval capability of indoor POIs and outdoor POIs is provided, and the use convenience of a map application / navigational application is improved.

[0191] It should be noted that an early navigation system performs navigation based on GPS positioning and an outdoor map, and the positioning accuracy is limited by the GPS signal, and the navigation is limited by the map data accuracy. With the development of technology and the improvement of data collection accuracy, the data coverage and data accuracy are also rapidly improved. Based on this situation, the present application provides an indoor-outdoor integrated navigation method, and the positioning accuracy can even reach lane-level positioning (error less than 1 meter) under the assistance of visual perception signals. When navigating indoors, the high-precision map is used, so that the navigation accuracy, guiding ability, and response speed are also improved.

[0192] The present application provides a complete, efficient, and accurate navigation experience for users, and improves the consistency and continuity of indoor and outdoor navigation experience from the aspects of browsing, retrieval, route, navigation, and the like. Meanwhile, in the process of building the indoor-outdoor integrated navigation function, the navigation, parking, charging, and other derivative demands caused by the electric vehicle are also considered, which greatly improves the navigation interaction efficiency and navigation effect.

[0193] In a specific embodiment, the navigation method includes the following steps:

[0194] displaying a map interface; in an outdoor scene mode, displaying a general model of a building in the map interface; in an indoor scene mode, determining a display area of a specified floor in the general model of the selected building in the map interface; if the selected building contains an indoor map and the display area of the specified floor meets a building block activation condition, switching from the outdoor scene mode to the indoor scene mode, and displaying the indoor map of the specified floor of the selected building in the map interface.

[0195] In the indoor scene mode, a floor switching control is further displayed in the map interface; in response to a triggering operation on the floor switching control, if a display region of a floor pointed by the triggering operation meets a building activation condition, the indoor map of the floor pointed by the triggering operation is displayed instead of the currently displayed indoor map.

[0196] In response to a search operation generated in the map interface, address of a target point of interest pointed by the search operation, distance between the target point of interest and the positioning position, and service information related to the target point of interest are displayed; in a case where the target point of interest is an indoor point of interest, floor information of the target point of interest is further displayed.

[0197] In response to a preset triggering operation, a navigation path is displayed in the map interface; the navigation path is used to guide the entity object to move from a navigation starting point to a navigation ending point, and at least one position point of the navigation starting point or the navigation ending point is indoor; if the navigation ending point is indoor, the navigation path includes a first path from the navigation starting point to an indoor entrance and a second path from the indoor entrance to the navigation ending point; the first path and the second path are distinguished and displayed in the map interface; if the navigation starting point is indoor, the navigation path includes a third path from the navigation starting point to an indoor exit and a fourth path from the indoor exit to the navigation ending point; the third path and the fourth path are distinguished and displayed in the map interface.

[0198] In the process of navigation through the navigation path, satellite signals of a current time, and pose signals and visual perception signals of the entity object are acquired; if the satellite signals of the current time are not acquired, the historical position of the historical time, the pose signals and the visual perception signals of the entity object are fused to obtain the positioning position of the entity object.

[0199] In response to the positioning position of the entity object being outdoor, a navigation scene is determined based on the positioning position; a target scale level is determined according to the navigation scene, and a level of a map scale is adjusted to the target scale level; a target map is determined based on the target scale level; the target map is the first map or the second map, and the accuracy of the second map is higher than that of the first map; global navigation information is displayed in the map interface based on the target map and the target scale level.

[0200] In response to the positioning position of the entity object being an indoor entrance, a level of a map scale is adjusted to a preset scale level, and when the positioning position is indoors, local navigation information is displayed in a map interface based on a high-definition map and the preset scale level. The local navigation information includes an indoor scene map, at least an indoor virtual scene of a region where the positioning position is located in the indoor scene map, and guidance information of a virtual object moving to a target position in the indoor virtual scene. The virtual object is a mapping object of the entity object in the indoor virtual scene, and the target position is a mapping position of an indoor exit or a navigation end point in the indoor virtual scene. The local navigation information further includes floor information of a floor where the positioning position is located and floor information of a floor where the indoor exit or the navigation end point is located.

[0201] In response to the positioning position being indoors and a distance between the positioning position and the navigation end point being less than a first threshold value, a target range where the target position is located is highlighted in the indoor scene map. The target range is a mapping range of a preset geographical range including the navigation end point in the indoor virtual scene.

[0202] In a case where the navigation end point is indoors, if a building where the navigation end point is located does not provide parking services, when the distance between the positioning position and the navigation end point is less than or equal to a second threshold value, parking lot recommendation information is displayed.

[0203] If the building where the navigation end point is located provides parking services, when the distance between the positioning position and the navigation end point is less than or equal to a third threshold value, a vehicle type to which the entity object belongs is determined, parking space recommendation information or parking area recommendation information is determined according to the vehicle type. Alternatively, if a vehicle brand to which the entity object belongs is obtained, the parking space recommendation information or the parking area recommendation information is determined according to the vehicle brand. Alternatively, passage information in the building where the navigation end point is located is determined, and the parking space recommendation information or the parking area recommendation information is determined according to the passage information. The parking space recommendation information or the parking area recommendation information is displayed.

[0204] In one specific scenario, please refer to FIG. 22, which is a framework of an indoor-outdoor integrated navigation system in one embodiment. The data required for indoor integrated navigation (SD map, HD map, indoor data, etc.) can be deployed in cloud services. The computer device is deployed with a retrieval engine, a rendering engine, a route engine, a positioning engine, and a guidance engine. Among them, the retrieval engine provides retrieval access to the outside, and provides POI detailed data (such as location, distance, business hours, charging information, etc.) according to user input. The rendering engine provides the ability to mark the selected POI. The route engine calculates the indoor-outdoor navigation path according to the destination and outputs it to the rendering engine for rendering. At the same time, the positioning engine receives the pose signal, satellite signal and visual signal (i.e. visual perception signal) of the real vehicle, combines the existing road network data and route planning results of the service to output the fusion positioning result (up to centimeter positioning in the case of complete signal, and less than vehicle position level error in the case of indoor scene with satellite signal loss). The guidance engine outputs guidance information according to the fusion positioning result, which triggers the parking recommendation strategy and the scale switching strategy. The final presentation to the user is a consistent operation, consistent guidance effect and efficient and accurate navigation experience in the retrieval, route calculation and navigation scenarios.

[0205] According to the home page, retrieval, route calculation, navigation and other scenarios of the map application / navigation application, the application unifies the indoor and outdoor interaction mode and service link. The indoor and outdoor scenarios are consistent when reading the map on the home page, supporting operations such as dragging, zooming, rotating, long pressing and point selecting. When retrieving POI, the floor switching control can be displayed for indoor POI, and the floor switching function is added. When planning a route, whether the destination is indoors or not is used to identify whether the planned result needs an indoor route. When navigating, whether the vehicle is indoors or outdoors is used to present more rich guidance information when guiding indoors.

[0206] Exemplarily, as shown in FIG. 23, the operation flow and service link of indoor-outdoor integrated navigation.

[0207] The home page reads the map, the computer device obtains indoor map data from the indoor map service, and the base map engine draws the indoor map according to the building block information and floor information; the indoor floor switching button is provided on the page; and the display strategy on the map is controlled by the “building block activation” strategy.

[0208] Retrieving POI, the user can retrieve by inputting the destination in the input box or directly selecting the indoor and outdoor POI mark on the base map. The computer device initiates a request to the retrieval service according to the input information or the selection information, and the retrieval service returns the detail data containing indoor building blocks and floor information. The retrieval detail page displays the address and distance of the POI from the positioning location.

[0209] Route planning, after the computer device obtains the positioning location and the destination, a route calculation service initiates a request for calculating the optimal route from the positioning location to the destination. Whether the route calculation result contains an indoor navigation route depends on whether the indoor floor information is contained in the destination POI. If the destination is a POI of parking nature such as a parking lot, a parking space, a parking area, etc., the route calculation service will also request the parking recommendation information near the destination from the recommendation service. The parking recommendation information is delivered together with the route data provided by the route service to the base map terminal.

[0210] Outdoor navigation, when the destination has no indoor information, the navigation terminal is the optimal outdoor location away from the destination; in this scenario, when the destination is about to be reached, the computer device will request the parking recommendation information near the destination from the recommendation service. The user selects the parking lot / parking space according to the actual needs. When the user selects to change the destination, a new route calculation request (route from the positioning location to the new destination) will be initiated to the route service.

[0211] Indoor navigation, after the foregoing process plans the route to the indoor destination, the route from the positioning location to the indoor POI will be received from the route service. When the vehicle position enters from outdoor to indoor, the destination floor information and the positioning location floor will be added to the induction panel, and the base map will also present the indoor high-precision road information.

[0212] It can be understood that the navigation method provided in the present application can be applied to the map navigation scene. In the case of an entity object being a vehicle, an indoor-outdoor integrated navigation solution can be provided for the driver. In addition, the navigation method provided in the present application can also be provided to an automatic driving system to realize the automatic driving function in an indoor scene.

[0213] The present application plans the driving route based on indoor-outdoor maps, inertial navigation, and POI floor information, provides a destination-based parking lot / parking area / parking space recommendation capability, and presents an integrated navigation guide map and guide broadcast from outdoor to indoor. The destination parking recommendation capability takes the vehicle model, brand, energy consumption model, destination floor information, etc. as parameters to request the route calculation service and the parking recommendation service. The seamless switching between indoor and outdoor navigation is to automatically switch the indoor and outdoor guide information based on the indoor and outdoor route attributes, and to realize the smooth switching of the map in combination with the automatic scale strategy. The indoor-outdoor integrated navigation provides point-to-point uninterrupted navigation guide service for the user, solves the problem of poor experience in the last mile of navigation (difficulty in parking, early end of guide, inaccurate indoor positioning, etc.), improves the driving efficiency and the interactive experience of the whole process, and greatly relieves the indoor driving anxiety of the driver.

[0214] It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in sequence, and the steps can be executed in other sequences. Moreover, at least some of the steps in the flowcharts involved in the above embodiments can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of the steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0215] Based on the same inventive concept, the embodiments of the present application also provide a navigation device for implementing the above-mentioned navigation method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more navigation device embodiments provided below can refer to the limitations of the navigation method in the above text, which will not be repeated here.

[0216] In one exemplary embodiment, as shown in FIG. 24, a navigation device 2400 is provided, comprising: a first display module 2401 and a second display module 2402, wherein:

[0217] The first display module 2401 is configured to display a navigation path on a map interface in response to a preset trigger operation; the navigation path is used to guide the movement of the entity object from a navigation starting point to a navigation ending point, and at least one of the navigation starting point or the navigation ending point is located indoors.

[0218] The second display module 2402 is configured to display global navigation information on the map interface in response to the positioning location of the entity object being outdoors during navigation through the navigation path, and display local navigation information on the map interface in response to the positioning location of the entity object being indoors.

[0219] The local navigation information includes an indoor scene graph, the indoor scene graph at least displays an indoor virtual scene of a region where the positioning location is located, and guidance information of a virtual object in the indoor virtual scene moving to a target location; the virtual object is a mapping object of the entity object in the indoor virtual scene, and the target location is a mapping location of the indoor exit or the navigation ending point in the indoor virtual scene.

[0220] In some embodiments, the local navigation information further includes floor information of a floor where the positioning location is located, and floor information of a floor where the indoor exit or the navigation ending point is located.

[0221] In some embodiments, if the navigation end point is indoors, the navigation path comprises a first path from the navigation start point to an indoor entrance and a second path from the indoor entrance to the navigation end point; the first path and the second path are displayed differently in the map interface; if the navigation start point is indoors, the navigation path comprises a third path from the navigation start point to an indoor exit and a fourth path from the indoor exit to the navigation end point; the third path and the fourth path are displayed differently in the map interface.

[0222] In some embodiments, the second display module is further configured to: in response to the positioning position of the entity object being outdoors, determine a navigation scene based on the positioning position; determine a target scale level according to the navigation scene, adjust the level of the map scale to the target scale level; and display the global navigation information in the map interface based on the target scale level.

[0223] In some embodiments, the second display module is further configured to: determine a target map from the plurality of electronic maps based on the target scale level; and display the global navigation information in the map interface based on the target map and the target scale level.

[0224] In some embodiments, the second display module is further configured to: in response to the positioning position of the entity object being an indoor entrance, adjust the level of the map scale to a preset scale level, and display the local navigation information in the map interface based on the high-definition map and the preset scale level when the positioning position is indoors.

[0225] In some embodiments, the second display module is further configured to: in response to the positioning position being indoors and the distance between the positioning position and the navigation end point being less than a first threshold, highlight a target range in which the target position is located in the indoor scene graph; the target range is a mapping range of a preset geographical range including the navigation end point in the indoor virtual scene.

[0226] In some embodiments, the apparatus further comprises a determination module configured to: acquire satellite signals at a current time, and a pose signal and a visual perception signal of the entity object; and if the satellite signals at the current time are not acquired, perform fusion processing based on a historical position at a historical time, the pose signal and the visual perception signal of the entity object to obtain a positioning position of the entity object.

[0227] In some embodiments, the apparatus further comprises a recommendation module configured to: if the building in which the navigation end point is located does not provide parking services, display parking lot recommendation information when the distance between the positioning position and the navigation end point is less than or equal to a second threshold; and if the building in which the navigation end point is located provides parking services, display parking space recommendation information or parking area recommendation information when the distance between the positioning position and the navigation end point is less than or equal to a third threshold.

[0228] In some embodiments, the recommendation module is further configured to: determine a vehicle type to which the entity object belongs, and determine the parking space recommendation information or the parking area recommendation information according to the vehicle type; or, if a vehicle brand to which the entity object belongs is obtained, determine the parking space recommendation information or the parking area recommendation information according to the vehicle brand.

[0229] In some embodiments, the recommendation module is further configured to: determine passage information in a building where the navigation destination is located, and determine the parking space recommendation information or the parking area recommendation information according to the passage information.

[0230] In some embodiments, the apparatus further comprises a third display module configured to: display a map interface; in the outdoor scene mode, display a general model of a building in the map interface; and in the indoor scene mode, display an indoor map of a specified floor of a selected building in the map interface.

[0231] In some embodiments, the third display module is further configured to: determine a display area of the specified floor in the general model of the selected building in the map interface; if the selected building contains the indoor map and the display area of the specified floor satisfies a floor block activation condition, switch from the outdoor scene mode to the indoor scene mode, and display the indoor map of the specified floor of the selected building in the map interface.

[0232] In some embodiments, the third display module is further configured to: in the indoor scene mode, display a floor switching control in the map interface; and in response to a triggering operation on the floor switching control, switch from the currently displayed indoor map to an indoor map of a floor pointed to by the triggering operation.

[0233] In some embodiments, the third display module is further configured to: if a display area of a floor pointed to by the triggering operation satisfies the floor block activation condition, switch from the currently displayed indoor map to an indoor map of the floor pointed to by the triggering operation.

[0234] In some embodiments, the third display module is further configured to: in response to a search operation generated in the map interface, display an address of a target point of interest pointed to by the search operation, a distance between the target point of interest and a positioning location, and service information related to the target point of interest; and if the target point of interest is an indoor point of interest, further display floor information of the target point of interest.

[0235] Each of the above modules in the navigation apparatus can be implemented wholly or partially by software, hardware, and combinations thereof. Each of the above modules can be embedded in or independent of a processor in the computer device in hardware form, or stored in a memory in the computer device in software form, so as to be called and executed by the processor to perform operations corresponding to each of the above modules.

[0236] In an example embodiment, a computer device is provided, which can be a vehicle terminal or a mobile terminal, and an internal structure diagram of the computer device can be as shown in FIG. 25. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. 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 external terminals in a wired or wireless manner, and the wireless manner can be achieved through WIFI, mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by the processor to implement a navigation method. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

[0237] Those skilled in the art can understand that the structure shown in FIG. 25 is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0238] In an example embodiment, a computer device is provided, which can be a vehicle terminal or a mobile terminal, and an internal structure diagram of the computer device can be as shown in FIG. 25. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. 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 external terminals in a wired or wireless manner, and the wireless manner can be achieved through WIFI, mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by the processor to implement a navigation method. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

[0239] In an example embodiment, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the steps in each method embodiment.

[0240] In an example embodiment, a computer program product is provided, which includes a computer program, and the computer program is executed by a processor to implement the steps in each method embodiment.

[0241] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations.

[0242] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. Any reference to memory, database or other medium used in the embodiments provided by the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided by the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided by the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0243] In summary, the application provides a navigation method and device, computer equipment, computer readable storage medium and computer program product. By responding to a preset trigger operation, a navigation path for guiding an entity object from a navigation starting point to a navigation ending point (at least one of the positions of the navigation starting point or ending point is indoor) is displayed on a map interface. During navigation, according to whether the positioning position of the entity object is outdoor or indoor, global navigation information or local navigation information including an indoor scene map is displayed on the map interface, respectively. The indoor scene map displays an indoor virtual scene of the area where the positioning position is located and guiding information for guiding a virtual object to move to a target position (representing an indoor position on the way to the ending point). The indoor and outdoor integrated navigation is realized, the user is provided with uninterrupted navigation guidance service, and there is no need to switch between special software or adapt to different guiding information. The navigation efficiency is improved, the cost of indoor navigation is reduced, the problem of poor experience of the last mile of navigation is solved, and the driving efficiency and interactive experience are improved.

[0244] Further, the virtual object is a mapping object of the entity object in the indoor virtual scene, and the target position is a mapping position of the indoor exit or the navigation ending point in the indoor virtual scene. The mapping relationship between the virtual object and the target position is determined, so that the navigation guidance is more targeted and accurate.

[0245] Further, the local navigation information further includes floor information of the floor where the positioning position is located and floor information of the floor where the indoor exit or the navigation ending point is located. More accurate indoor position information is provided for the user, the user can understand the self position and the floor of the destination, and the accuracy and practicality of the navigation are enhanced.

[0246] Further, if the navigation ending point is indoor, the navigation path includes a first path from the navigation starting point to an indoor entrance and a second path from the indoor entrance to the navigation ending point, and the first and second paths are displayed differently in the map interface. If the navigation starting point is indoor, the navigation path includes a third path from the navigation starting point to an indoor exit and a fourth path from the indoor exit to the navigation ending point, and the third and fourth paths are displayed differently in the map interface. By distinguishing and displaying the indoor and outdoor paths, the user is clearly indicated the indoor and outdoor paths, more information is provided, and the navigation path is clearer and more obvious.

[0247] Further, in response to the positioning position of the entity object being outdoor, a navigation scene is determined based on the positioning position, a target scale level is determined according to the navigation scene, and the map scale level is adjusted. Then, the global navigation information is displayed on the map interface based on this, so as to realize automatic switching of the scale, facilitate flexible display of the global navigation information with a suitable map in different outdoor scenes, and meet the needs of the user for map information display in different scenes.

[0248] Further, the target map is determined from a plurality of electronic maps based on a target scale level, and the global navigation information is displayed on the map interface based on the target map and the target scale level, the scale level is fused with the multi-mode base map strategy, and the base map is automatically switched based on the scale level, which can meet the needs of multiple scenes and timely and flexibly adjust to different scenes to provide more suitable navigation guidance for the current scene.

[0249] Further, in response to the entity object positioning location being an indoor entrance, the map scale level is adjusted to a preset scale level, and when the positioning location is indoors, the local navigation information is displayed on the map interface based on the high-precision map and the preset scale level, the scale level is automatically adjusted when the entity object moves to the indoor entrance, and the high-precision map is quickly switched to for indoor navigation, thereby realizing seamless switching of outdoor and indoor navigation.

[0250] Further, in response to the positioning location being indoors and the distance between the positioning location and the navigation end point being less than a first threshold value, a target range (including a mapping range of a preset geographic range of the navigation end point in the indoor virtual scene) where the target location is located in the indoor scene graph is highlighted, and the target range is highlighted when the entity object is about to reach the destination, thereby facilitating the user to quickly and accurately identify the navigation end point and improving the interaction efficiency.

[0251] Further, the satellite signal, the pose signal and the visual perception signal of the entity object at the current time are obtained, if the satellite signal at the current time is not obtained, the positioning location of the entity object is obtained by fusion processing based on the historical position at the historical time, the pose signal and the visual perception signal of the entity object, and in the case that the satellite signal is not obtained, the positioning location is predicted by multi-signal fusion, thereby improving the indoor positioning accuracy.

[0252] Further, in the case that the navigation end point is indoors, if the building where the navigation end point is located does not provide parking service, the parking lot recommendation information is displayed when the distance between the positioning location and the navigation end point is less than or equal to a second threshold value, and if the building where the navigation end point is located provides parking service, the parking space recommendation information or the parking area recommendation information is displayed when the distance between the positioning location and the navigation end point is less than or equal to a third threshold value, thereby realizing flexible parking recommendation service and meeting the different parking scene needs of the user.

[0253] Further, the vehicle type to which the entity object belongs is determined, and the parking space recommendation information or the parking area recommendation information is determined according to the vehicle type; or if the vehicle model brand to which the entity object belongs is obtained, the parking space recommendation information or the parking area recommendation information is determined according to the vehicle model brand, and in the case of recommending the parking space / parking area, the user is recommended the parking space / parking area that is more suitable for the needs according to the vehicle type or the vehicle model brand, thereby improving the effectiveness of the parking service.

[0254] Further, the passage information in the building where the navigation destination is located is determined, the parking space recommendation information or the parking area recommendation information is determined according to the passage information, and the parking space / parking area is recommended according to the passage information in the building, so as to consider the actual demand of the user and provide convenience for travel.

[0255] Further, the map interface is displayed, the general model of the building is displayed in the outdoor scene mode, and the indoor map of the specified floor of the selected building is displayed in the indoor scene mode, so that different display effects of indoor and outdoor are provided, and more map information is provided for the user, and the user is facilitated to browse the map and select a destination.

[0256] Further, in the indoor scene mode, the display area of the specified floor in the general model of the selected building in the map interface is determined, if the selected building contains the indoor map and the display area of the specified floor meets the building activation condition, the outdoor scene mode is switched to the indoor scene mode and the indoor map of the specified floor of the selected building is displayed, the indoor map display function is provided, the indoor map is displayed when a specific condition is met, the map information is enriched, and the user is facilitated to select an indoor POI as a navigation starting point or a navigation destination.

[0257] Further, in the indoor scene mode, a floor switching control is displayed in the map interface, and a triggering operation on the floor switching control is responded to, so as to switch from the currently displayed indoor map to the indoor map display of the floor pointed to by the triggering operation, a floor switching display function is provided, indoor POIs of different floors can be displayed, and the map information is enriched.

[0258] Further, when switching from the currently displayed indoor map to the indoor map display of the floor pointed to by the triggering operation, if the display area of the floor pointed to by the triggering operation meets the building activation condition, the switching is performed, so as to ensure that the indoor map displayed when the floor is switched meets the condition, and the rationality of the map information display is ensured.

[0259] Further, in response to a search operation generated in the map interface, the address of a target point of interest pointed to by the search operation, the distance between the target point of interest and the positioning position, and the service information related to the target point of interest are displayed, and in the case that the target point of interest is an indoor point of interest, the floor information of the target point of interest is also displayed, the search capability of indoor POIs and outdoor POIs is provided, and the use convenience of the map application / navigation application is improved.

[0260] The technical features of the above embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

[0261] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific manner, but should not be construed as limiting the scope of the patent. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A navigation method performed by a computer device, the method comprising: displaying a navigation path in a map interface in response to a preset triggering operation; the navigation path is used to guide a physical object to move from a navigation start point to a navigation end point, at least one of the navigation start point or the navigation end point is located indoors; in a process of navigating through the navigation path, in response to a positioning location of the physical object being outdoors, displaying global navigation information in the map interface; in response to the positioning location of the physical object being indoors, displaying local navigation information including an indoor scene graph in the map interface; displaying at least an indoor virtual scene of an area where the positioning location is located in the indoor scene graph; and displaying, in the indoor virtual scene, guidance information guiding a virtual object mapped by the physical object to move to a target location, the target location representing an indoor location passed through when navigating to the navigation end point through the navigation path. 2.The method of claim 1, wherein the virtual object is a mapped object of the physical object in the indoor virtual scene, and the target location is a mapped location of an indoor exit or the navigation end point in the indoor virtual scene. 3.The method of claim 1 or 2, wherein the local navigation information further comprises floor information of a floor where the positioning location is located, and floor information of a floor where the indoor exit or the navigation end point is located. 4.The method of any one of claims 1 to 3, in response to the navigation end point being indoors, the navigation path comprises a first path from the navigation start point to an indoor entrance, and a second path from the indoor entrance to the navigation end point; the first path and the second path are displayed differently in the map interface; in response to the navigation start point being indoors, the navigation path comprises a third path from the navigation start point to an indoor exit, and a fourth path from the indoor exit to the navigation end point; the third path and the fourth path are displayed differently in the map interface. 5.The method of any one of claims 1 to 4, in response to the positioning location of the physical object being outdoors, displaying global navigation information in the map interface comprises: in response to the positioning location of the physical object being outdoors, determining a navigation scene based on the positioning location; determining a target scale level according to the navigation scene, and adjusting a level of a map scale to the target scale level; displaying the global navigation information in the map interface based on the target scale level. 6.The method of claim 5, wherein displaying the global navigation information in the map interface based on the target scale level comprises: determining a target map from a plurality of electronic maps based on the target scale level; and displaying the global navigation information in the map interface based on the target map and the target scale level. 7.The method of any one of claims 1 to 4, in response to the positioning location of the physical object being indoors, displaying local navigation information in the map interface comprises: ​ ​ In response to the positioning location of the entity object being an indoor entrance, a level of a map scale is adjusted to a preset scale level, and when the positioning location is indoors, local navigation information is displayed in the map interface based on the high-definition map and the preset scale level.

8. The method of any one of claims 1-7, further comprising: In response to the positioning location being indoors and a distance between the positioning location and the navigation destination being less than a first threshold, a target range in which the target location is located is highlighted in the indoor scene map; the target range being a mapped range of a preset geographical range including the navigation destination in the indoor virtual scene.

9. The method of any one of claims 1-8, further comprising: acquiring satellite signals at a current time, and pose signals and visual perception signals of the entity object; In response to not acquiring the satellite signals at the current time, performing fusion processing based on historical positions at historical times, the pose signals and the visual perception signals of the entity object to obtain the positioning location of the entity object.

10. The method of any one of claims 1-9, in a case where the navigation destination is indoors, further comprising: In response to the building in which the navigation destination is located not providing parking services, when the distance between the positioning location and the navigation destination is less than or equal to a second threshold, displaying parking lot recommendation information; In response to the building in which the navigation destination is located providing parking services, when the distance between the positioning location and the navigation destination is less than or equal to a third threshold, displaying parking space recommendation information or parking area recommendation information.

11. The method of claim 10, further comprising: determining a vehicle type to which the entity object belongs, and determining the parking space recommendation information or the parking area recommendation information according to the vehicle type; or, In response to acquiring a vehicle brand to which the entity object belongs, determining the parking space recommendation information or the parking area recommendation information according to the vehicle brand.

12. The method of claim 10, further comprising: determining passage information in the building in which the navigation destination is located, and determining the parking space recommendation information or the parking area recommendation information according to the passage information.

13. The method of any one of claims 1-12, further comprising: displaying a map interface; in an outdoor scene mode, displaying a general model of a building in the map interface; in an indoor scene mode, displaying an indoor map of a specified floor of a selected building in the map interface.

14. The method of claim 13, wherein displaying the indoor map of the specified floor of the selected building in the map interface in the indoor scene mode comprises: determining a display area of the specified floor in the general model of the selected building in the map interface; in response to the selected building containing an indoor map and the display area of the specified floor satisfying a floor block activation condition, switching from the outdoor scene mode to the indoor scene mode, and displaying the indoor map of the specified floor of the selected building in the map interface.

15. The method of claim 13 or 14, further comprising: In the indoor scene mode, a floor switching control is further displayed in the map interface; In response to a triggering operation on the floor switching control, switching from the currently displayed indoor map to the indoor map of the floor pointed by the triggering operation.

16. The method of claim 15, wherein the switching from the currently displayed indoor map to the indoor map of the floor pointed by the triggering operation comprises: In response to the display area of the floor pointed by the triggering operation satisfying a building block activation condition, switching from the currently displayed indoor map to the indoor map of the floor pointed by the triggering operation.

17. The method of any one of claims 13 to 16, further comprising: In response to a search operation generated in the map interface, displaying the address of a target point of interest pointed by the search operation, the distance between the target point of interest and the positioning location, and the service information related to the target point of interest; In the case that the target point of interest is an indoor point of interest, displaying the floor information of the target point of interest.

18. A navigation device, the device comprising: a first display module configured to display a navigation path in a map interface in response to a preset triggering operation; the navigation path is configured to guide a physical object to move from a navigation starting point to a navigation ending point, at least one of the navigation starting point or the navigation ending point being located indoors; a second display module configured to, during the navigation by the navigation path, display global navigation information in the map interface in response to the positioning location of the physical object being located outdoors; in response to the positioning location of the physical object being located indoors, display local navigation information including an indoor scene map in the map interface, wherein the indoor scene map displays at least an indoor virtual scene of the area where the positioning location is located; and in the indoor virtual scene, display guidance information guiding a virtual object representing the physical object to move to a target location, the target location representing an indoor location to be passed through in the navigation to the navigation ending point. 19.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-18. The processor implements the steps of the method of any one of claims 1 to 17 when executing the computer program.

20. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 17.

21. A computer program product comprising a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 17.

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