CN114689063A

CN114689063A - Map modeling and navigation guiding method, electronic device and computer program product

Info

Publication number: CN114689063A
Application number: CN202210254245.1A
Authority: CN
Inventors: 张建廷
Original assignee: Autonavi Software Co Ltd
Current assignee: Autonavi Software Co Ltd
Priority date: 2022-03-15
Filing date: 2022-03-15
Publication date: 2022-07-01

Abstract

The embodiment of the disclosure discloses a map modeling and navigation guiding method, an electronic device and a computer program product, wherein the method comprises the following steps: acquiring map data of a target area; the map data of the target area comprises road network data of a road map and high-precision road network data; fusing the high-precision road network data and the standard road network data to obtain fused data; establishing a regional map model of the target region based on the fusion data; and providing the regional map model of the target region for the navigation terminal to perform navigation guidance on the navigated object in the target region by the navigation terminal. The technical scheme can realize continuous guidance of a plurality of intersections on the same navigation interface, reduces the yaw risk of the navigated object in the navigation process, and improves the navigation experience of the navigated object.

Description

Map modeling and navigation guiding method, electronic device and computer program product

Technical Field

The present disclosure relates to the field of map modeling technologies, and in particular, to a map modeling and navigation guidance method, an electronic device, and a computer program product.

Background

In a map modeling scene, in the prior art, large map modeling is usually performed on a single intersection or two intersections (generally not more than three) with relatively close distances, and the large map modeling process usually takes the intersection as a center to perform road selection, simplification and modeling, and finally a refined model and a navigation guide line of the intersection are constructed to realize navigation guidance of the intersection. In the prior art, an intersection large graph model is usually rendered in a single canvas, the size of the canvas is less than half of a terminal display screen, the representation form of an intersection is mostly a static mode, roads, intersections, navigation guide lines and road elements are mainly displayed in the canvas area of the intersection large graph model, and other ground feature elements with limited quantity can also be added. However, the prior art is limited by the size of the canvas and the modeling mode, and cannot realize continuous guidance of a plurality of intersections close to each other.

Therefore, a solution that can realize continuous guidance of a plurality of similar intersections and has better modeling effect is needed.

Disclosure of Invention

The embodiment of the disclosure provides a map modeling and navigation guiding method, electronic equipment and a computer program product.

In a first aspect, an embodiment of the present disclosure provides a map modeling method, including:

acquiring map data of a target area; the map data of the target area comprises road network data of a road map and high-precision road network data;

fusing the high-precision road network data and the standard road network data to obtain fused data;

establishing a regional map model of the target region based on the fusion data; and providing the regional map model of the target region for the navigation terminal to perform navigation guidance on the navigated object in the target region by the navigation terminal.

Further, the method further comprises:

acquiring map data of a non-target area; the map data of the non-target area comprises road map data;

establishing a regional map model of the non-target region based on the road map network data; and providing the regional map model of the non-target region for the navigation terminal to perform navigation guidance on the navigated object in the non-target region by the navigation terminal.

Further, the fusing the high-precision road network data with the road network data to obtain fused data, which comprises:

acquiring the attribute and the geometric characteristic of the road in the high-precision road network data;

and mounting the attributes and the geometric characteristics of the roads to corresponding roads in the road network data of the road network to obtain fusion data.

Further, building a regional map model of the target region based on the fused data, including:

modeling by adopting the fusion data for a first area covered by the high-precision road network data in the target area;

modeling by using the standard road network data for a second area which is not covered by the high-precision road network data in the target area;

and correcting the standard road network data by adopting the geometric features of the high-precision road network data at the joint of the first region and the second region.

In a second aspect, an embodiment of the present invention provides a navigation guidance method, where the method includes:

detecting positioning information of a navigated object;

when the positioning information of the navigated object is detected to be matched with a target area, drawing and displaying a navigation map based on an area map model corresponding to the target area; and the regional map model corresponding to the target region is obtained by modeling based on the road network data of the road map and the high-precision road network data in the target region in advance.

Further, wherein, still include:

when the positioning information of the navigated object is detected to be matched with a non-target area, drawing and displaying a navigation map based on an area map model corresponding to the non-target area; and the regional map model corresponding to the non-target region is obtained by modeling based on the road map data in the non-target region in advance.

Further, the target area includes a plurality of contiguous intersections; when the positioning information of the navigated object is detected to be matched with a target area, drawing and displaying a navigation map based on an area map model corresponding to the target area, wherein the drawing and displaying process comprises the following steps:

when the positioning information of the navigated object is detected to be matched with the target area, drawing a navigation map comprising a plurality of continuous intersections based on an area map model corresponding to the target area;

and displaying the navigation map on a display screen in a full screen mode, and displaying navigation guide information of the continuous intersections on the navigation map.

In a third aspect, an embodiment of the present invention provides a location-based service providing method, where the method includes: providing a location-based service for the served object using the regional map model of the target region established by the method of the first aspect, the location-based service comprising: one or more of navigation, map rendering, route planning.

In a fourth aspect, an embodiment of the present invention provides a map modeling apparatus, including:

a first acquisition module configured to acquire map data of a target area; the map data of the target area comprises road network data of a road map and high-precision road network data;

the fusion module is configured to fuse the high-precision road network data and the road network data to obtain fusion data;

a first building module configured to build a region map model of the target region based on the fusion data; and providing the regional map model of the target region for the navigation terminal to perform navigation guidance on the navigated object in the target region by the navigation terminal.

In a fifth aspect, an embodiment of the present invention provides a navigation guidance apparatus, including:

a detection module configured to detect positioning information of a navigated object;

the first display module is configured to draw and display a navigation map based on an area map model corresponding to a target area when the positioning information of the navigated object is detected to be matched with the target area; and the regional map model corresponding to the target region is obtained by modeling based on the road network data of the road map and the high-precision road network data in the target region in advance.

In a sixth aspect, an embodiment of the present invention provides a location-based service providing apparatus, including: providing a location-based service for the served object using the regional map model of the target region established by the apparatus of the fourth aspect, the location-based service comprising: one or more of navigation, map rendering, route planning.

The functions can be realized by hardware, and the functions can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the above-described functions.

In one possible design, the apparatus includes a memory configured to store one or more computer instructions that enable the apparatus to perform the corresponding method, and a processor configured to execute the computer instructions stored in the memory. The apparatus may also include a communication interface for the apparatus to communicate with other devices or a communication network.

In a seventh aspect, an embodiment of the present disclosure provides an electronic device, including a memory, a processor, and a computer program stored on the memory, where the processor executes the computer program to implement the method of any one of the above aspects.

In an eighth aspect, the disclosed embodiments provide a computer-readable storage medium for storing computer instructions for any one of the above apparatuses, which when executed by a processor, implement the method of any one of the above aspects.

In a ninth aspect, the disclosed embodiments provide a computer program product comprising computer instructions which, when executed by a processor, are adapted to implement the method of any of the above aspects.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

according to the embodiment of the disclosure, a regional map model of the target area can be established in the server terminal in advance aiming at the target area, the regional map model can be obtained by modeling based on the combination of the road map data of the target area and the high-precision road network data, and the server terminal provides the regional map model of the target area for the navigation terminal. After receiving a navigation request of a navigated object, the navigation terminal may display a map model of an area where the navigated object is currently located based on positioning information of the navigated object, and may perform navigation guidance on the navigated object based on the area map model corresponding to the target area after the navigated object enters the target area. According to the navigation method and the navigation device, the regional map model of the target region uses the high-precision road network data besides the road network data, so that continuous guidance of multiple intersections on the same navigation interface can be realized, the yaw risk of the navigated object in the navigation process is reduced, and the navigation experience of the navigated object is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Other features, objects, and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments when taken in conjunction with the accompanying drawings. In the drawings:

FIG. 1 shows a flow diagram of a map modeling method according to an embodiment of the present disclosure;

FIGS. 2(a) and 2(b) are diagrams illustrating a comparison between a regional map model and an existing navigation page display according to an embodiment of the present disclosure;

FIG. 3 illustrates a flow diagram of a navigation guidance method according to an embodiment of the present disclosure;

FIG. 4 illustrates a schematic diagram of an intersection guidance scenario in accordance with an embodiment of the present disclosure;

FIG. 5 is a block diagram illustrating an implementation structure of the intersection guidance system in a full screen mode according to an embodiment of the present disclosure;

fig. 6 illustrates a block diagram of a structure of a map modeling apparatus according to an embodiment of the present disclosure;

fig. 7 shows a block diagram of a navigation guidance apparatus according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of an electronic device suitable for implementing a map modeling method, a navigation guidance method, and/or a location-based service providing method according to an embodiment of the present disclosure.

Detailed Description

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for the sake of clarity, parts not relevant to the description of the exemplary embodiments are omitted in the drawings.

In the present disclosure, it is to be understood that terms such as "including" or "having," etc., are intended to indicate the presence of the disclosed features, numerals, steps, actions, components, parts, or combinations thereof in the specification, and do not preclude the possibility that one or more other features, numerals, steps, actions, components, parts, or combinations thereof are present or added.

It should also be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

The details of the embodiments of the present disclosure are described in detail below with reference to specific embodiments.

Fig. 1 shows a flowchart of a map modeling method according to an embodiment of the present disclosure. As shown in fig. 1, the map modeling method includes the steps of:

in step S101, map data of a target area is acquired; the map data comprises road network data of road map and high-precision road network data;

in step S102, fusing the high-precision road network data and the road network data to obtain fused data;

in step S103, establishing a regional map model of the target region based on the fusion data; and providing the regional map model of the target region for the navigation terminal to perform navigation guidance on the navigated object in the target region by the navigation terminal.

In this embodiment, the target area may include a more complex navigation guidance area, for example, an intersection area, such as a three-way intersection, a roundabout intersection, a plurality of continuous multiple intersections, and the like.

When the object to be navigated is approaching the intersection area, the navigation system usually displays an enlarged intersection view for navigation guidance of the operation such as turning the object to be navigated.

The intersection enlarged image is an intersection indicating image which is comprehensively displayed by combining a navigation guide line and other road elements after an intersection area is enlarged, and is obtained by generating a three-dimensional model of the intersection area in the modes of selecting, simplifying, modeling and the like through road network data of the intersection area and then rendering the three-dimensional model at a navigation terminal. The intersection enlarged images can be divided into grid images and vector images according to the organization form, and can be divided into single intersection enlarged images and multi-intersection enlarged images according to the number of contained intersections.

Usually, the canvas of the enlarged intersection image in the navigation system only occupies a part of the display screen of the navigation terminal. And limited by the size of the canvas and the modeling mode, the vector intersection enlargement image can only cover a single intersection or two intersections with closer distances, so that only the single intersection or the two intersections with closer distances can be presented, and the continuous guidance of a plurality of intersections cannot be realized.

Therefore, the embodiment of the present disclosure pre-establishes an area map model of the target area for the target area including a plurality of continuous intersections or other complicated navigation guidance target areas, and provides the area map model to the navigation terminal, so that the navigation terminal draws the area map model on the display screen of the navigation terminal in the navigation process, and then performs navigation guidance on the navigated object by combining navigation guidance lines and other road elements on the basis of the drawn area map model.

In this embodiment, in the modeling process, corresponding map data is obtained for the target area, and the map data may include, but is not limited to, road map data and high-precision road map data corresponding to the target area. It should be noted that the road network data of the road network of the navigation system of the road network of the road.

Compared with the standard road network data, the high-precision road network data has higher precision and more detailed ground object expression. The high-precision road network data not only has high-precision coordinates, but also comprises accurate lane shapes, and more detailed data of the gradient, curvature, heading, elevation, roll and the like of each lane.

Because the high-precision road network has more data information, difficult data acquisition, more occupied storage space, more occupied bandwidth resources during transmission and the like, the navigation system establishes a map model by using the road network data of the road map and performs navigation guidance based on the map model established by the road network data of the road map under the normal condition; in addition, in the existing intersection large map guiding service in the navigation system, the navigation guiding is performed on the navigated object by using the intersection large map established by the road network data based on the road network data aiming at one intersection or two intersections with close distance.

In the embodiment of the disclosure, in order to solve the problem that a large intersection graph established by using road map data cannot realize continuous guidance of a plurality of intersections with small distances in the prior art, a modeling mode of combining the road map data and high-precision network data for a target area is provided. In the modeling mode, high-precision road network data in a target area are fused into standard road network data to form fused data, and then an area map model of the target area is built by utilizing the fused data.

The regional map model can be provided for the navigation terminal, and after the navigated object enters the target region, the navigation terminal can draw the regional map model on the display screen, so that the navigated object can intuitively know a subsequent series of driving actions based on the display image of the regional map model, and the yaw condition is not easy to occur.

Compared with the prior art, the method has the advantages that the method of combining the road network data of the road network of; the problem that in the prior art, because the intersection large map can only cover one intersection or two intersections with similar distances, after a navigated object passes through a first intersection under the guidance of the intersection large map, if a plurality of other intersections exist immediately, the navigated object cannot correctly drive under the guidance of the intersection large map, and the risk of yaw easily exists is solved.

In addition, after the high-precision road network data and the fine road network data are fused, an area map model of a target area is established by utilizing the fused data, the area map model does not need to be drawn by using a separate canvas, but can be directly connected with the map model established by the fine road network data of the non-target area, and then is displayed on a display screen of the navigation terminal in a full screen manner; therefore, the navigation target can see the front lane information and the navigation guide line through the display diagram of the regional map model, and can also see the road information and the like at a far front position.

Fig. 2(a) and 2(b) illustrate a comparison between a regional map model and an existing navigation page display effect according to an embodiment of the present disclosure. As shown in fig. 2(a), the regional map model created by using the high-precision road network data and the refined road network data can display more navigation information, including information on lanes in front of the road, lanes corresponding to the navigation guidance lines, and other road elements. However, in the map model established by the road network data of the road map shown in fig. 2(b), the lane information cannot be seen, it cannot be determined in which lane the navigated object should travel, and only when the road network is close to the intersection area, the information such as the turning action of the current intersection can be known through the intersection large map automatically popped up by the navigation system, but a series of subsequent travel actions after the current intersection is passed still cannot be known.

In an optional implementation manner of this embodiment, the method further includes:

In this alternative implementation, regions in which the navigated object is prone to yaw during navigation may be statistically analyzed based on historical navigation data, and these regions may be determined as target regions. When modeling is performed on the target area, an area map model of the target area can be generated based on the combination of the label road network data and the high-precision road network data mentioned above.

Because the high-precision road network data contains more information, occupies more storage space, transmission bandwidth resources and the like, and has higher acquisition cost, if all areas are modeled by combining the standard road network data and the high-precision road network data, more data need to be transmitted in the navigation process can be caused, more storage space of a navigation terminal can be occupied, and the data acquisition cost is also very high. Therefore, for a common region, that is, a non-target region, modeling can be performed only by using the road network data without using high-precision road network data. The regional map model obtained by modeling aiming at the non-target region can be provided for the navigation terminal, and when the navigated object is in the non-target region, the regional map model of the non-target region is used for navigation guidance of the navigated object.

It should be noted that, in the existing navigation system, the map model established by using the road map data covers substantially all areas. Therefore, in order to save the cost and accelerate the service online process, when the embodiment of the disclosure is realized, the regional map model corresponding to the target region can be established only for the target region on the basis of the existing navigation system, and the regional map model corresponding to the target region is connected with the existing regional map model of the non-target region, so that the complete map model is finally obtained.

In an optional implementation manner of this embodiment, in step S102, that is, the step of fusing the high-precision road network data and the road network data to obtain fused data further includes the following steps:

acquiring the attribute and the geometric feature of the road in the high-precision road network data;

In this alternative implementation, the fine road network data may include, but is not limited to, data of center lines of roads, number of lanes, background lanes, foreground lanes, and the like, and the high-precision road network data may further include, but is not limited to, boundary lines of roads, lane lines, lane connection relationships, and the like.

In the practical application process, because the high-precision road network data is large in data volume and difficult to collect, all areas cannot be covered, the high-precision road network data can be collected only aiming at a part of areas such as a target area, and most areas are mainly the standard road network data. Therefore, when modeling is carried out on the target area, the high-precision road network data can be mounted on the corresponding road in the standard road network data, for example, the attributes (e.g. connection relation between lanes, road elements on roads, etc.) and geometric features (e.g. road boundary lines, lane lines, etc.) of the roads in the high-precision road network data may be mounted on the corresponding roads in the road network data, therefore, the standard road network data can be enriched by the high-precision road network data on the basis of the standard road network data, during modeling, the fusion data loaded with high-precision road network data can be used in the target area, while other areas can directly use the road network data of the road network, and in the finally obtained model, the regional map model corresponding to the target area can have rich information, for example, lane-level display data may be included, and the navigation guidance lines may correspond to lanes on the road, etc.

In an optional implementation manner of this embodiment, in step S103, that is, the step of building an area map model of the target area based on the fusion data further includes the following steps:

In this alternative implementation, it is contemplated that the high-precision network data may not necessarily cover all of the target region when modeling the target region. Therefore, the high-precision network data mounted on the road corresponding to the standard road network data can be used for modeling for the first area in the target area covered by the high-precision network data, and the standard road network data in the second area can be used for modeling for the second area uncovered by the high-precision network data. And at the joint of the first region and the second region, geometric features of the high-precision road network data can be adopted to correct the normalized road network data, so that smooth transition can be realized between the first region and the second region displayed after modeling. For example, since there may be a discrepancy in accuracy between the latitude and longitude information of the high-precision road network data and the landmark road network data, the landmark road network data may be corrected using the high-precision road network data for geometric features such as lane lines and road boundary lines.

Fig. 3 shows a flow chart of a navigation guidance method according to an embodiment of the present disclosure. As shown in fig. 3, the navigation guidance method includes the steps of:

in step S301, positioning information of the navigated object is detected;

in step S302, when it is detected that the positioning information of the navigated object matches with a target area, drawing and displaying a navigation map based on an area map model corresponding to the target area; and the regional map model corresponding to the target region is obtained by modeling based on the road network data of the road map and the high-precision road network data in the target region in advance.

In this embodiment, the navigation guidance method is executed on a navigation terminal. The navigation terminal may include, but is not limited to, a car navigation terminal, a mobile phone, a tablet computer, a notebook computer, a palm computer, a robot, a wearable device, and the like. The navigated object can be a user using the navigation terminal, and the positioning information of the navigated object can be acquired by the navigation terminal or a positioning module arranged together with the navigation terminal. The positioning module provides the acquired positioning information to the navigation terminal, and the navigation terminal can determine the current position of the navigated object based on the positioning information acquired by the positioning module in real time.

In the navigation process, the navigation terminal can request to obtain map data in advance, the map data can include information such as a base map, an area map model and a navigation route, the navigation terminal can obtain positioning information acquired by the positioning module in real time in the navigation process, the navigation terminal can display a corresponding navigation map on a navigation interface based on the positioning information, and information such as a navigation guide line and a road surface element can be displayed on the navigation map. The navigation map can be drawn based on the base map and the regional map model.

After the positioning information indicates that the navigated terminal is located in the target area, the navigation terminal can draw a navigation map of the target area based on an area map model corresponding to the target area and the base map data, and can display lane-level navigation guide lines, traffic lights and other road surface elements on the navigation map.

In some embodiments, the regional map model of the target region may be obtained based on the map modeling method described above, and the regional map model may be provided to the navigation terminal based on the navigation request after being previously established by the server. The target area may include more complex navigational guidance areas, such as intersection areas, such as a junction, a roundabout, a continuous plurality of multiple junctions, and the like.

The regional map model of the target region can be obtained by modeling based on the target road network data and the high-precision road network data of the target region. And the area map model of the target area can be displayed on the navigation interface of the navigation terminal in a full screen mode. During navigation, the area map model displayed in the target area of the navigation interface may include continuous guidance information of a plurality of intersections, for example, guidance information of a first intersection and guidance information of one or more second intersections behind the first intersection may be simultaneously displayed.

The modeling process of the area map model of the target area can be referred to the description of the map modeling method above, and is not described herein again.

According to the embodiment of the disclosure, a regional map model of the target area can be established in the server terminal in advance aiming at the target area, the regional map model can be obtained by modeling based on the combination of the road map data of the target area and the high-precision road network data, and the server terminal provides the regional map model of the target area for the navigation terminal. After receiving a navigation request of a navigated object, the navigation terminal may display a map model of an area where the navigated object is currently located based on positioning information of the navigated object, and may perform navigation guidance on the navigated object based on an area map model corresponding to a target area after the navigated object enters the target area. According to the navigation method and the navigation device, the regional map model of the target region uses the high-precision road network data besides the road network data, so that continuous guidance of multiple intersections on the same navigation interface can be realized, the yaw risk of the navigated object in the navigation process is reduced, and the navigation experience of the navigated object is improved.

In this alternative implementation, regions in which the navigated object is prone to yaw during navigation may be statistically analyzed based on historical navigation data, and these regions may be determined as target regions. When modeling the target area, the server may generate an area map model of the target area based on the combination of the label road network data and the high-precision road network data mentioned above.

Because the high-precision road network data contains more information, occupies more storage space, transmission bandwidth resources and the like, and has higher acquisition cost, if all areas are modeled by combining the standard road network data and the high-precision road network data, more data need to be transmitted in the navigation process can be caused, more storage space of a navigation terminal can be occupied, and the data acquisition cost is also very high. Therefore, for a common region, namely a non-target region, the server side can only adopt the standard road network data for modeling, and does not need to use the high-precision road network data. The regional map model obtained by modeling aiming at the non-target region can be provided for the navigation terminal, and when the navigated object is in the non-target region, the regional map model of the non-target region is used for navigation guidance of the navigated object.

In an optional implementation manner of this embodiment, the target area includes a plurality of continuous intersections; step S502, namely when it is detected that the positioning information of the navigated object matches the target area, the step of drawing and displaying the navigation map based on the area map model corresponding to the target area further includes the following steps:

In the optional implementation manner, in the process of establishing the regional map model of the target region, fusion data is obtained by means of mounting the high-precision road network data to the road network data of the road network, and then modeling is performed on the target region based on the fusion data to obtain the regional map model. Therefore, in the navigation process, after the navigation terminal detects that the navigated object is about to enter or has entered the target area based on the positioning information, the navigation map of the target area can be drawn based on the area map model, the navigation map can include map information of a plurality of continuous intersections in the target area, the navigation map can be displayed on a full screen on a navigation interface of the navigation terminal, and navigation guide information of the plurality of continuous intersections is also displayed on the navigation map.

A location-based service providing method according to an embodiment of the present disclosure includes: the regional map model of the target region established by the map modeling method is used for providing the service based on the position for the served object, and the service based on the position comprises the following steps: one or more of navigation, map rendering, route planning.

In this embodiment, the location-based service providing method may be executed on a terminal, where the terminal is a mobile phone, an ipad, a computer, a smart watch, a vehicle, or the like. According to the embodiment of the disclosure, for the target area on the electronic map, the area map model of the target area is obtained by using the above-mentioned map modeling method, and the area map model can be provided for the navigation terminal so as to provide location-based services, such as navigation service, map rendering, route planning and the like, for the served object.

The served object can be a mobile phone, ipad, computer, smart watch, vehicle, robot, etc. In the process of performing navigation guidance on the served object, if the served object enters the target area, the navigation map to be displayed may be rendered based on the area map model of the target area, and the served object is guided to travel on the correct navigation route by displaying navigation guidance information and the like on the navigation map, for specific details, reference may be made to the description of the map modeling method and the navigation guidance method, which is not described herein again.

Fig. 4 shows a schematic diagram of an intersection guidance scenario according to an embodiment of the present disclosure. As shown in fig. 4, the navigation server determines an intersection region where yaw still easily occurs in a scene of navigation guidance in a certain city based on statistical analysis of historical navigation data. The method comprises the steps of collecting high-precision road network data and obtaining existing road map data for the intersection area, fusing the high-precision road network data to the road map data to obtain fused data, further building an intersection map model of the intersection area based on the fused data, and pushing the intersection map model to a navigation terminal.

The navigation terminal requests to obtain a navigation route from a navigation server based on a request of a user; the navigation terminal monitors the current position of the user in real time, draws a navigation map at the current position based on map data obtained in advance and a navigation route of the navigation request, and displays the navigation map on a navigation interface. After a user enters an intersection area with an intersection map model, an intersection navigation map can be drawn based on the intersection map model of the intersection area, and the navigation map is displayed on the full screen on the navigation decoding of the navigation terminal. After the user drives out of the intersection area, the intersection map model of the intersection area can be replaced by a map model outside the intersection area; or the navigation map of other areas is displayed in a mode of directly displaying guiding information such as navigation guiding lines and the like on the base map outside the intersection area.

Fig. 5 shows a block diagram of an implementation structure of the intersection guidance system in full screen mode according to an embodiment of the present disclosure. As shown in FIG. 5, the intersection guidance system can comprise three parts, namely a data engine, a server and a client. The data engine and the server may be located at a server, and the client may be located at a navigation terminal. The data engine fuses SD (Standard refinement) road network data and HD (high precision) road network data, then selects roads and models based on the fused data, and finally generates three-dimensional model data; after the client initiates navigation, the client requests intersection large map service through the guide service, the intersection large map service requests model data to the base map data service according to the navigation path, and then the model data is issued to the client through the guide service; when the map data is moved by the client, the client can also directly initiate a model data request to the base map data service.

The data engine can comprise four modules of data reading, fusion, path selection and modeling. The data reading module is responsible for loading SD road network data and HD road network data, wherein the SD road network data and the HD road network data comprise SD attributes such as road center lines, the number of lanes, background lanes, foreground lanes and the like required by intersection large map modeling, and HD attributes such as road boundary lines, lane connection relations and the like; the fusion module is responsible for mounting the attributes and geometric features of the HD road on the SD road, and mainly solves the problem of matching failure caused by SD and HD process difference, precision difference, road shape difference and the like; the road selection module is used for screening roads at the intersections of each scene according to a road selection strategy, and the road selection strategy can be formulated according to the grade, the composition, the rights, the connection type and the like of the roads and finally converted into programmable rules; the modeling module adopts a regional high-precision modeling mode, namely, the characteristics of high-precision road network data are preferentially adopted in a modeling range to construct a large intersection graph model, the SD road network is still adopted to construct the large intersection graph model for the region uncovered by HD, and the HD road and the SD road are connected by adopting the HD geometric characteristics to correct the SD road shape so as to realize smooth transition.

The server side can comprise a base map data service, an intersection map service and a guide service. The method comprises the steps that a request on a client side is sent to a guiding service firstly, the guiding service determines an intersection scene and requests intersection large map service in navigation sections; the intersection big picture service responds to the request of the guide service and requests the base picture data service according to the navigation path; the base map data service is responsible for loading the data engine to produce a full-screen big map data model.

And the client receives and draws a full-screen intersection model issued by the base map data service or the guide service.

The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods.

Fig. 6 shows a block diagram of a map modeling apparatus according to an embodiment of the present disclosure. The apparatus may be implemented as part or all of an electronic device through software, hardware, or a combination of both. As shown in fig. 6, the map modeling apparatus includes:

a first obtaining module 601 configured to obtain map data of a target area; the map data of the target area comprises road network data of a road map and high-precision road network data;

a fusion module 602 configured to fuse the high-precision road network data and the road network data to obtain fusion data;

a first building module 603 configured to build a regional map model of the target region based on the fusion data; and providing the regional map model of the target region for the navigation terminal to perform navigation guidance on the navigated object in the target region by the navigation terminal.

When a navigation target approaches an intersection area, a navigation system usually displays an enlarged intersection view for navigation guidance of a movement such as steering of the navigation target.

The enlarged intersection map is an intersection instruction map which is obtained by amplifying an intersection region, then comprehensively presenting the amplified intersection region by combining navigation guide lines and other road elements, and is obtained by generating a three-dimensional model of the intersection region in the modes of road selection, simplification, modeling and the like of road network data of the intersection region and then rendering the three-dimensional model at a navigation terminal. The intersection enlarged images can be divided into grid images and vector images according to the organization form, and can be divided into single intersection enlarged images and multi-intersection enlarged images according to the number of contained intersections.

Compared with the prior art, the method has the advantages that the method of combining the road network data of the road network of; the problem that in the prior art, because the intersection big map can only cover one intersection or two intersections with similar distances, after a navigated object passes through a first intersection under the guidance of the intersection big map, if other intersections exist immediately, the navigated object cannot drive correctly under the guidance of the intersection big map, and the risk of yaw easily exists.

In an optional implementation manner of this embodiment, the apparatus further includes:

a second acquisition module configured to acquire map data of a non-target area; the map data of the non-target area comprises road map data;

a second building module configured to build a regional map model of the non-target region based on the road network data; and providing the regional map model of the non-target region for the navigation terminal to perform navigation guidance on the navigated object in the non-target region by the navigation terminal.

Because the high-precision road network data contains more information, occupies more storage space, transmission bandwidth resources and the like, and has higher acquisition cost, if all areas are modeled by combining the standard road network data and the high-precision road network data, more data need to be transmitted in the navigation process can be caused, more storage space of a navigation terminal can be occupied, and the data acquisition cost is also very high. Therefore, for a common region, namely a non-target region, modeling can be performed by only adopting standard road network data, and high-precision road network data is not needed. The regional map model obtained by modeling aiming at the non-target region can be provided for the navigation terminal, and when the navigated object is in the non-target region, the regional map model of the non-target region is used for navigation guidance of the navigated object.

In an optional implementation manner of this embodiment, the fusion module includes:

the first acquisition submodule is configured to acquire attributes and geometric features of roads in the high-precision road network data;

and the mounting sub-module is configured to mount the attributes and the geometric features of the roads to corresponding roads in the road network data of the road map to obtain fused data.

In the practical application process, due to the fact that the high-precision road network data is large in data volume and difficult to collect, all areas cannot be covered, the high-precision road network data can be collected only for a part of areas such as target areas, and most areas are mainly standard road network data. Therefore, when modeling is carried out on the target area, the high-precision road network data can be mounted on the corresponding road in the standard road network data, for example, the attributes (e.g. connection relation between lanes, road elements on roads, etc.) and geometric features (e.g. road boundary lines, lane lines, etc.) of the roads in the high-precision road network data may be mounted on the corresponding roads in the road network data, therefore, the standard road network data can be enriched by the high-precision road network data on the basis of the standard road network data, during modeling, the fusion data loaded with high-precision road network data can be used in the target area, while other areas can directly use the road network data of the road network, and in the finally obtained model, the regional map model corresponding to the target area can have rich information, for example, lane-level display data may be included, and the navigation guidance lines may correspond to lanes on the road, etc.

In an optional implementation manner of this embodiment, the first establishing module includes:

a first modeling submodule configured to perform modeling with the fusion data for a first area covered by the high-precision road network data in the target area;

a second modeling submodule configured to model with the road network data for a second region not covered by the high-precision road network data in the target region;

and the correction submodule is configured to correct the standard road network data by using the geometric features of the high-precision road network data at the joint of the first region and the second region.

Fig. 7 shows a block diagram of a navigation guidance apparatus according to an embodiment of the present disclosure. The apparatus may be implemented as part or all of an electronic device through software, hardware, or a combination of both. As shown in fig. 7, the navigation guidance apparatus includes:

a detection module 701 configured to detect positioning information of a navigated object;

a first presentation module 702, configured to draw and present a navigation map based on an area map model corresponding to a target area when it is detected that the positioning information of the navigated object matches the target area; and the regional map model corresponding to the target region is obtained by modeling based on the road network data of the road map and the high-precision road network data in the target region in advance.

In this embodiment, the navigation guidance apparatus is executed on a navigation terminal. The navigation terminal may include, but is not limited to, a car navigation terminal, a mobile phone, a tablet computer, a notebook computer, a palm computer, a robot, a wearable device, and the like. The navigated object can be a user using the navigation terminal, and the positioning information of the navigated object can be acquired by the navigation terminal or a positioning module arranged together with the navigation terminal. The positioning module provides the acquired positioning information to the navigation terminal, and the navigation terminal can determine the current position of the navigated object based on the positioning information acquired by the positioning module in real time.

In some embodiments, the area map model of the target area may be obtained based on the map modeling apparatus described above, and the area map model may be provided to the navigation terminal based on the navigation request after being previously established by the server. The target area may include more complex navigational guidance areas, such as intersection areas, such as a three-way intersection, a roundabout intersection, a continuous plurality of multiple intersections, and the like.

The regional map model of the target region may be modeled based on the road network data for the target region and the high-precision road network data. And the area map model of the target area can be displayed on the navigation interface of the navigation terminal in a full screen mode. During navigation, the area map model displayed in the target area of the navigation interface may include continuous guidance information of a plurality of intersections, for example, guidance information of a first intersection and guidance information of one or more second intersections behind the first intersection may be simultaneously displayed.

The modeling process of the area map model of the target area can be referred to the above description of the map modeling apparatus, and is not described herein again.

In the embodiment of the disclosure, a regional map model of a target region can be established in advance at a server terminal aiming at the target region, the regional map model can be obtained by modeling based on a combination mode of the road map data of the target region and the high-precision road network data, and the server terminal provides the regional map model of the target region for a navigation terminal. After receiving a navigation request of a navigated object, the navigation terminal may display a map model of an area where the navigated object is currently located based on positioning information of the navigated object, and may perform navigation guidance on the navigated object based on an area map model corresponding to a target area after the navigated object enters the target area. According to the navigation method and the navigation device, the regional map model of the target region uses the high-precision road network data besides the road network data, so that continuous guidance of multiple intersections can be realized, the yaw risk of the navigated object in the navigation process is reduced, and the navigation experience of the navigated object is improved.

A location-based service providing apparatus according to an embodiment of the present disclosure includes: providing a location-based service for the served object by using the regional map model of the target region established by the map modeling device, wherein the location-based service comprises: one or more of navigation, map rendering, route planning.

In this embodiment, the location-based service providing apparatus may be implemented on a terminal, where the terminal is a mobile phone, an ipad, a computer, a smart watch, a vehicle, or the like. According to the embodiment of the disclosure, for the target area on the electronic map, the map modeling device mentioned above is utilized to obtain the area map model of the target area, and the area map model can be provided for the navigation terminal so as to provide location-based services, such as navigation service, map rendering, route planning and the like, for the served object.

The served object can be a mobile phone, ipad, computer, smart watch, vehicle, robot, etc. In the process of performing navigation guidance on the served object, if the served object enters the target area, the navigation map to be displayed may be rendered based on the area map model of the target area, and the served object is guided to travel on the correct navigation route by displaying navigation guidance information and the like on the navigation map, for specific details, reference may be made to the above description of the map modeling device and the navigation guidance device, which is not described herein again.

As shown in fig. 8, electronic device 800 includes a processing unit 801, which may be implemented as a CPU, GPU, FPGA, NPU, or like processing unit. The processing unit 801 may execute various processes in the embodiment of any one of the above-described methods of the present disclosure according to a program stored in a Read Only Memory (ROM)802 or a program loaded from a storage section 808 into a Random Access Memory (RAM) 803. In the RAM803, various programs and data necessary for the operation of the electronic apparatus 800 are also stored. The processing unit 801, the ROM802, and the RAM803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.

The following components are connected to the I/O interface 805: an input portion 806 including a keyboard, a mouse, and the like; an output section 807 including components such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage portion 808 including a hard disk and the like; and a communication section 809 including a network interface card such as a LAN card, a modem, or the like. The communication section 809 performs communication processing via a network such as the internet. A drive 810 is also connected to the I/O interface 805 as needed. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 810 as necessary, so that a computer program read out therefrom is mounted on the storage section 808 as necessary.

In particular, according to embodiments of the present disclosure, any of the methods described above with reference to embodiments of the present disclosure may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for performing any of the methods of embodiments of the present disclosure. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section 809 and/or installed from the removable medium 811.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowcharts or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units or modules described in the embodiments of the present disclosure may be implemented by software or hardware. The units or modules described may also be provided in a processor, and the names of the units or modules do not in some cases constitute a limitation of the units or modules themselves.

As another aspect, the present disclosure also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the apparatus in the above embodiment; or it may be a separate computer readable storage medium not incorporated into the device. The computer readable storage medium stores one or more programs for use by one or more processors in performing the methods described in the present disclosure.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is possible without departing from the inventive concept. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Claims

1. A map modeling method, comprising:

acquiring map data of a target area; the map data of the target area comprises road map data of a road map and high-precision road map data;

2. The method of claim 1, wherein the method further comprises:

3. The method according to claim 1 or 2, wherein fusing said high precision road network data with said road network data to obtain fused data comprises:

4. The method of claim 3, wherein building a regional map model of the target region based on the fused data comprises:

5. A navigation guidance method, comprising:

detecting positioning information of a navigated object;

6. The method of claim 5, further comprising:

7. The method of claim 5, wherein the target area comprises a plurality of contiguous intersections; when the positioning information of the navigated object is detected to be matched with a target area, drawing and displaying a navigation map based on an area map model corresponding to the target area, wherein the drawing and displaying process comprises the following steps:

8. A location-based service providing method, comprising: providing a location-based service for a served object using a regional map model of a target region established by the method of any of claims 1-4, the location-based service comprising: one or more of navigation, map rendering, route planning.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the method of any of claims 1-8.

10. A computer program product comprising computer instructions, wherein the computer instructions, when executed by a processor, implement the method of any one of claims 1-8.