CN104075719A - Three-dimensional navigation method and three-dimensional navigation device - Google Patents
Three-dimensional navigation method and three-dimensional navigation device Download PDFInfo
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- CN104075719A CN104075719A CN201310099904.XA CN201310099904A CN104075719A CN 104075719 A CN104075719 A CN 104075719A CN 201310099904 A CN201310099904 A CN 201310099904A CN 104075719 A CN104075719 A CN 104075719A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3635—Guidance using 3D or perspective road maps
- G01C21/3638—Guidance using 3D or perspective road maps including 3D objects and buildings
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The embodiment of the invention discloses a three-dimensional navigation method and a three-dimensional navigation device. The method comprises the following steps that: according to the running direction of a navigated vehicle, a target building behind the navigated vehicle is screened out from a current navigation display interface; whether the bottom surface of the target building and the navigated vehicle meet a preset relationship or not is judged; and when the preset relationship is met, the height of the target building is set to be 0 or the target building is subjected to transparentizing treatment. Therefore through judging whether the navigated vehicle and the target building behind the navigated vehicle meet the preset relationship or not and setting the height of the building meeting the preset relationship to be 0, the problem that the navigated vehicle is shielded by the building can be effectively solved, so a user can clearly see navigation scenes in front of the vehicle, and the experience feeling of the user is greatly improved.
Description
Technical field
The present invention relates to three-dimensional navigation field, particularly relate to a kind of three-dimensional navigation method and device.
Background technology
Three-dimensional navigation is the air navigation aid of a kind of simcity scene, in three-dimensional navigation, adopt the block true city of the digital simulation scene of taking photo by plane, according to buildings bottom surface polygon with and elevation information lift and play up, again according to the classification information of this buildings, stick different texture and material, thereby obtain good simulated effect, simultaneously, in three-dimensional navigation, generally represent and be navigated vehicle with the parking stall icon of general 40 pixel left and right sizes in the position that is navigated vehicle place, this parking stall icon moves at navigation interface along with being navigated the movement of vehicle.But, for further improving the authenticity of three-dimensional navigation, in the use procedure of three-dimensional navigation reality, the parking stall icon that representative is navigated vehicle is positioned at the fixed position of the lower middle of three-dimensional navigation display interface, in the time being navigated vehicle change travel direction, the visual angle of three-dimensional navigation is by changing along with being navigated the travel direction of vehicle, so that the travel direction that is navigated vehicle is kept directly over three-dimensional navigation display interface always.
But, as shown in Figure 1, in the time that T junction turns round, can shelter from the vehicle that is navigated in three-dimensional navigation display interface in being navigated the higher buildings of rear view of vehicle, and, because three-dimensional navigation is to have certain judgement buffering range and reaction velocity to the turning judgement of vehicle, when vehicle has just started to turn or turning speed when very fast, the visual angle of three-dimensional navigation is not also followed in time the travel direction of vehicle and is adjusted, as shown in Figure 2, equally also can cause in three-dimensional navigation display interface, there is being navigated the problem that vehicle is sheltered from by the buildings of periphery, cause thus user's experience sense poor.
Summary of the invention
Block in order to solve above-mentioned buildings the technical matters that is navigated vehicle, the invention provides a kind of three-dimensional navigation method and device.
The embodiment of the invention discloses following technical scheme:
A method for three-dimensional navigation, comprising:
According to the travel direction that is navigated vehicle, from current navigation display interface, filter out and be positioned at the target buildings that is navigated rear view of vehicle;
Judge target buildings bottom surface and described in be navigated between vehicle, whether to meet predetermined relationship;
In the time meeting predetermined relationship, the height of described target buildings is set to 0 or to the processing of described target transparent building.
Preferably, describedly from current navigation display interface, filter out and be positioned at the target buildings that is navigated rear view of vehicle, be specially:
Set up rectangular coordinate system, this rectangular coordinate system comprises orthogonal the first coordinate axis, the second coordinate axis and three axes, wherein, described the first coordinate axis positive dirction is consistent with the travel direction that is navigated vehicle, and the second coordinate axis is the height coordinate axle of buildings in navigation display interface;
Judge in current navigation display interface the maximal value of buildings bottom surface in the first coordinate axis is navigated the maximal value of vehicle in the first coordinate axis described in whether being less than;
If so, judge that described buildings is as the target buildings that is navigated rear view of vehicle described in being positioned at.
Preferably, described predetermined relationship is for intersecting.
Preferably, judge target buildings bottom surface with described in be navigated vehicle and whether meet crossingly, be specially:
The minimum boundary rectangle of the bottom surface of render target buildings;
Described in drafting, be navigated the boundary rectangle in the plane that vehicle forms at the first coordinate axis and three axes;
Whether the minimum boundary rectangle that judges described target buildings bottom surface is partly or entirely overlapping with the described boundary rectangle that is navigated vehicle, if, determine target buildings bottom surface with described in be navigated vehicle and meet overlapping relation, if not, determine target buildings bottom surface with described in be navigated vehicle and do not meet overlapping relation.
Preferably, the size that is navigated the boundary rectangle of vehicle described in becomes to be greater than 1 proportionate relationship with the size that is navigated vehicle.
A device for three-dimensional navigation, comprising:
Screening unit for according to the travel direction that is navigated vehicle, filters out and is positioned at the target buildings that is navigated rear view of vehicle from current navigation display interface;
Judging unit, for judge target buildings bottom surface and described in be navigated between vehicle, whether to meet predetermined relationship;
Setting unit, while meeting subscription relationship for judging unit judgement, the height of described target buildings is set to 0 or to the processing of described target transparent building.
Preferably, described screening unit comprises:
Coordinate system is set up subelement, be used for setting up rectangular coordinate system, this rectangular coordinate system comprises orthogonal the first coordinate axis, the second coordinate axis and three axes, wherein, described the first coordinate axis positive dirction is consistent with the travel direction that is navigated vehicle, and the second coordinate axis is the height coordinate axle of buildings in navigation display interface;
Judgment sub-unit, for judging the maximal value of current navigation display interface buildings bottom surface in the first coordinate axis is navigated the maximal value of vehicle in the first coordinate axis described in whether being less than;
Judge subelement, in the time that described judgment sub-unit is judged as YES, judge that described buildings is as the target buildings that is navigated rear view of vehicle described in being positioned at.
Preferably, described predetermined relationship is for intersecting.
Preferably, described judging unit comprises:
First draws subelement, for the minimum boundary rectangle of the bottom surface of render target buildings;
Second draws subelement, for being navigated the boundary rectangle in the plane that vehicle forms at the first coordinate axis and three axes described in drawing;
Determine subelement, whether partly or entirely overlapping with the described boundary rectangle that is navigated vehicle for the minimum boundary rectangle that judges described target buildings bottom surface, if, determine target buildings bottom surface with described in be navigated vehicle and meet overlapping relation, if not, determine target buildings bottom surface with described in be navigated vehicle and do not meet overlapping relation.
Can be found out by technique scheme, be navigated vehicle and be navigated between rear view of vehicle buildings, whether to meet predetermined relationship by judgement, and the height that meets the buildings of described predetermined relationship is set to zero, thereby effectively solve buildings and block the problem that is navigated vehicle, allow user know the scene of seeing vehicle front navigation, greatly improved user's experience sense.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is that in three-dimensional navigation, the design sketch that buildings blocks appears in T junction;
Fig. 2 is navigated the design sketch that Ackermann steer angle occurs that buildings blocks in three-dimensional navigation;
Fig. 3 is the method flow diagram of a kind of three-dimensional navigation method of the present invention;
Fig. 4 is the coordinate diagram of a kind of judgement two relative front and back positions of target unit in the present invention;
Fig. 5 is the crossing coordinate diagram of a kind of judgement two target units in the present invention;
Fig. 6 is the structure drawing of device of a kind of three-dimensional navigation device of the present invention;
Fig. 7 is another structure drawing of device of a kind of three-dimensional navigation device of the present invention;
Fig. 8 is another structure drawing of device of a kind of three-dimensional navigation device of the present invention;
Fig. 9, Figure 10 are that the present invention solves the design sketch after building occlusion issue.
Embodiment
The embodiment of the present invention provides a kind of three-dimensional navigation method and device.First, filter out in current display interface in being navigated the buildings of rear view of vehicle, and whether the relation being navigated between vehicle in the target buildings that filters out of judgement and navigation map meets predefined predetermined relationship, in the time meeting this predetermined relationship, the height of target setting buildings is 0, thereby effectively solve buildings and block the problem that is navigated vehicle, allow user know the scene of seeing vehicle front navigation, greatly improved user's experience sense.
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, below in conjunction with accompanying drawing, the embodiment of the present invention is described in detail.
Embodiment mono-
Refer to Fig. 3, its method flow diagram that is a kind of three-dimensional navigation method of the present invention, the method comprises the following steps:
S301: according to the travel direction that is navigated vehicle, filter out from current navigation display interface and be positioned at the target buildings that is navigated rear view of vehicle;
Preferably, set up rectangular coordinate system, this rectangular coordinate system comprises orthogonal the first coordinate axis, the second coordinate axis and three axes, wherein, described the first coordinate axis positive dirction is consistent with the travel direction that is navigated vehicle, and the second coordinate axis is the height coordinate axle of buildings in navigation display interface;
Judge in current navigation display interface the maximal value of buildings bottom surface in the first coordinate axis is navigated the maximal value of vehicle in the first coordinate axis described in whether being less than; In the embodiment of the present invention, buildings bottom surface refers to the face that buildings contacts with ground;
If so, judge that described buildings is as the target buildings that is navigated rear view of vehicle described in being positioned at.
Above-mentioned preferred screening technique refers to Fig. 4, and it is the coordinate diagram of a kind of judgement two relative front and back positions of target unit in the present invention.
First, for setting up rectangular coordinate system, the direction of the first coordinate axis has been determined, because the direction of lifting that the position of the second coordinate axis is buildings is also determined, is also well-determined perpendicular to the three axes of the first and second coordinate axis so simultaneously.Need to further illustrate for the position of this coordinate system origin so, described in being set in, coordinate system origin in Fig. 4 is navigated the point midway of vehicle, it is the convenience based on calculating and marking, also coordinate system origin can be set in to lower left corner of three-dimensional navigation display interface etc., the position of the present invention to coordinate system origin also limits.
Secondly,, from this Fig. 4, by the first coordinate axis called after z axle, three axes called after x axle, certainly, because the second coordinate axis is not used in each judgement of the present invention, conceals the second coordinate axis and does not draw.The described vehicle 401 that is navigated is z1 in the z of its direction of traffic axle maximum coordinates, the z axle maximum coordinates of target unit 402 is z2, due in the time carrying out three-dimensional navigation, the direction of traffic that is navigated vehicle 401 keeps pointing to directly over display interface always, hence one can see that, in the time of z1 > z2, be navigated vehicle 401 and be front in target unit 402 on direction of traffic, in the time of z1 < z2, be navigated vehicle 401 and be rear in target unit 402 on direction of traffic.
Certainly, above-mentioned screening technique is only a method for optimizing, and the present invention is not positioned at the target building that is navigated rear view of vehicle method to which kind of adopts filter out limits.
S302: judge target building bottom surface and described in be navigated between vehicle, whether to meet predetermined relationship;
Preferably, described predetermined relationship comprises crossing.
Here it should be noted that, described for the predetermined relationship that judges except intersecting, can also be other feasible judgment modes, the present invention does not limit this.
Preferably, described judge target building bottom surface with described in whether be navigated between vehicle satisfied crossing being specially:
The minimum boundary rectangle of the bottom surface of render target buildings;
Described in drafting, be navigated the boundary rectangle in the plane that vehicle forms at the first coordinate axis and three axes;
Whether the minimum boundary rectangle that judges described target buildings bottom surface is partly or entirely overlapping with the described boundary rectangle that is navigated vehicle, if, determine target buildings bottom surface with described in be navigated vehicle and meet overlapping relation, if not, determine target buildings bottom surface with described in be navigated vehicle and do not meet overlapping relation.
Refer to Fig. 5, it is the crossing coordinate diagram of a kind of judgement two target units in the present invention, coordinate system origin in Fig. 5 is set in the point midway that is navigated vehicle, it is the convenience based on calculating and marking, also coordinate system origin can be set in to lower left corner of three-dimensional navigation display interface etc., the position of the present invention to coordinate system origin also limits.
Also it should be noted that, the minimum boundary rectangle of the target building bottom surface of drawing according to the described rectangular coordinate system of setting up is the parallel z axle in one side, the rectangle of parallel x axle on one side, according to the feature of minimum boundary rectangle, with respect to described rectangular coordinate system, the coordinate in the upper left corner of described minimum boundary rectangle 502 is (x1, z1) and lower right corner coordinate be (x2, z2), z1 is the z axle maximal value of described target building bottom surface, z2 is the z axle minimum value of described target building bottom surface, x1 is the x axle minimum value of described target building bottom surface, x2 is the x axle maximal value of described target building bottom surface.
According to the analysis of the minimum boundary rectangle of target building bottom surface, described in like manner can obtaining, be navigated boundary rectangle upper left corner coordinate (x3, z3) and the lower right corner coordinate (x4, z4) of vehicle.Here use a kind of preferred method, sentence to be navigated between the boundary rectangle 501 of vehicle and minimum boundary rectangle 502 whether crossing situation occurs according to coordinate obtained above.The coordinate relatively obtaining, Rule of judgment is respectively:
(1)x1＞x4；
(2)x2＜x3；
(3)z1＜z4；
(4)z2＞z3；
In the time that in above-mentioned Rule of judgment (1), (2), (3) and (4), any one is set up, the boundary rectangle 501 that is navigated vehicle is so non-intersect with target building bottom surface boundary rectangle 502, if are all false in above-mentioned Rule of judgment (1), (2), (3) and (4), the boundary rectangle 501 that is navigated vehicle described in is crossing with target building bottom surface boundary rectangle 502.
Certainly, it should be noted that, the crossing method of above-mentioned judgement is only a preferred embodiment, and the present invention does not limit how judging the crossing method of two target objects.
Preferably, the size that is navigated the boundary rectangle of vehicle described in becomes to be greater than 1 proportionate relationship with the size that is navigated vehicle.
Size for the described boundary rectangle 501 that is navigated vehicle it should be noted that to have following qualifications, but is not limited to following qualifications:
Initial point taking the mid point that is navigated vehicle as described rectangular coordinate system is as example, and direction of traffic is z axle positive dirction;
The size of the described boundary rectangle 501 that is navigated vehicle is that one side is 20 meters of physical length, the rectangle of 40 meters that another length of side is physical length.Corresponding latitude and longitude coordinates and the conversion of distance are according to following computing formula, and establishing lon is longitude unit, and lat is latitude unit, and w is that (m), l is that (m), rate is a scale-up factor to length in unit to width in unit.
Longitude: lon=w*rate
Latitude: lat=l*rate
Wherein rate=11.73.Note: 11.73 is empirical values, and the present invention does not limit this.
S303: in the time meeting predetermined relationship, the height of described target buildings is set to 0 or to the processing of described target transparent building.
Above two kinds of processing form are all to solve the problem that vehicle is blocked by target buildings that is navigated, and highly establish the bottom profile that this is 0 map on display-object buildings.Transparent processing, target buildings only shows a transparent profile.
As can be seen from the above-described embodiment, boundary rectangle by being navigated vehicle described in judging be navigated between rear view of vehicle buildings whether occur that position is crossing, and the height of the crossing buildings of occurrence positions is set to zero, thereby effectively solve buildings and block the problem that is navigated vehicle, allow user know the scene of seeing vehicle front navigation, greatly improve user's experience sense, refer to Fig. 9, Figure 10, wherein Fig. 9, Figure 10 are respectively the buildings that is navigated vehicle to blocking in Fig. 1, Fig. 2 and carry out design sketch after treatment.
Embodiment bis-
Refer to Fig. 6, its structure drawing of device that is a kind of three-dimensional navigation device of the present invention, comprising:
Screening unit 601 for according to the travel direction that is navigated vehicle, filters out and is positioned at the target buildings that is navigated rear view of vehicle from current navigation display interface;
Judging unit 602, for judge target buildings bottom surface and described in be navigated between vehicle, whether to meet predetermined relationship;
Setting unit 603, while meeting subscription relationship for judging unit 602 judgement, the height of described target buildings is set to 0 or to the processing of described target transparent building.
Preferably, refer to Fig. 7, its another structure drawing of device that is a kind of three-dimensional navigation device of the present invention.Described screening unit 601 comprises:
Coordinate system is set up subelement 701, be used for setting up rectangular coordinate system, this coordinate system comprises orthogonal the first coordinate axis, the second coordinate axis and three axes, wherein, described the first coordinate axis positive dirction is consistent with the travel direction that is navigated vehicle, and the second coordinate axis is the height coordinate axle of buildings in navigation display interface;
Judgment sub-unit 702, for judging the maximal value of current navigation display interface buildings bottom surface in the first coordinate axis is navigated the maximal value of vehicle in the first coordinate axis described in whether being less than;
Judge subelement 703, in the time that described judgment sub-unit is judged as YES, judge that described buildings is as the target buildings that is navigated rear view of vehicle described in being positioned at.
Preferably, refer to Fig. 8, its another structure drawing of device that is a kind of three-dimensional navigation device of the present invention.Described judging unit 602 comprises:
First draws subelement 801, for the minimum boundary rectangle of the bottom surface of render target buildings;
Second draws subelement 802, for being navigated the boundary rectangle in the plane that vehicle forms at the first coordinate axis and three axes described in drawing;
Determine subelement 803, whether partly or entirely overlapping with the described boundary rectangle that is navigated vehicle for the minimum boundary rectangle that judges described target buildings bottom surface, if, determine target buildings bottom surface with described in be navigated vehicle and meet overlapping relation, if not, determine target buildings bottom surface with described in be navigated vehicle and do not meet overlapping relation.
As can be seen from the above-described embodiment, boundary rectangle by being navigated vehicle described in judging be navigated between rear view of vehicle buildings whether occur that position is crossing, and the height of the crossing buildings of occurrence positions is set to zero, thereby effectively solve buildings and block the problem that is navigated vehicle, allow user know the scene of seeing vehicle front navigation, greatly improved user's experience sense.
It should be noted that, one of ordinary skill in the art will appreciate that all or part of flow process realizing in above-described embodiment method, can carry out the hardware that instruction is relevant by computer program to complete, described program can be stored in a computer read/write memory medium, this program, in the time carrying out, can comprise as the flow process of the embodiment of above-mentioned each side method.Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (Random Access Memory, RAM) etc.
Above a kind of three-dimensional navigation method provided by the present invention and device are described in detail, applied specific embodiment herein principle of the present invention and embodiment are set forth, the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof; , for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention meanwhile.
Claims (9)
1. a method for three-dimensional navigation, is characterized in that, comprising:
According to the travel direction that is navigated vehicle, from current navigation display interface, filter out and be positioned at the target buildings that is navigated rear view of vehicle;
Judge target buildings bottom surface and described in be navigated between vehicle, whether to meet predetermined relationship;
In the time meeting predetermined relationship, the height of described target buildings is set to 0 or to the processing of described target transparent building.
2. method according to claim 1, is characterized in that, describedly from current navigation display interface, filters out and is positioned at the target buildings that is navigated rear view of vehicle, is specially:
Set up rectangular coordinate system, this rectangular coordinate system comprises orthogonal the first coordinate axis, the second coordinate axis and three axes, wherein, described the first coordinate axis positive dirction is consistent with the travel direction that is navigated vehicle, and the second coordinate axis is the height coordinate axle of buildings in navigation display interface;
Judge in current navigation display interface the maximal value of buildings bottom surface in the first coordinate axis is navigated the maximal value of vehicle in the first coordinate axis described in whether being less than;
If so, judge that described buildings is as the target buildings that is navigated rear view of vehicle described in being positioned at.
3. method according to claim 2, is characterized in that, described predetermined relationship is for intersecting.
4. method according to claim 3, is characterized in that, judge target buildings bottom surface with described in be navigated vehicle and whether meet crossingly, be specially:
The minimum boundary rectangle of the bottom surface of render target buildings;
Described in drafting, be navigated the boundary rectangle in the plane that vehicle forms at the first coordinate axis and three axes;
Whether the minimum boundary rectangle that judges described target buildings bottom surface is partly or entirely overlapping with the described boundary rectangle that is navigated vehicle, if, determine target buildings bottom surface with described in be navigated vehicle and meet overlapping relation, if not, determine target buildings bottom surface with described in be navigated vehicle and do not meet overlapping relation.
5. method according to claim 4, is characterized in that, described in be navigated the boundary rectangle of vehicle size become to be greater than 1 proportionate relationship with the size that is navigated vehicle.
6. a device for three-dimensional navigation, is characterized in that, comprising:
Screening unit for according to the travel direction that is navigated vehicle, filters out and is positioned at the target buildings that is navigated rear view of vehicle from current navigation display interface;
Judging unit, for judge target buildings bottom surface and described in be navigated between vehicle, whether to meet predetermined relationship;
Setting unit, while meeting subscription relationship for judging unit judgement, the height of described target buildings is set to 0 or to the processing of described target transparent building.
7. device according to claim 6, is characterized in that, described screening unit comprises:
Coordinate system is set up subelement, be used for setting up rectangular coordinate system, this rectangular coordinate system comprises orthogonal the first coordinate axis, the second coordinate axis and three axes, wherein, described the first coordinate axis positive dirction is consistent with the travel direction that is navigated vehicle, and the second coordinate axis is the height coordinate axle of buildings in navigation display interface;
Judgment sub-unit, for judging the maximal value of current navigation display interface buildings bottom surface in the first coordinate axis is navigated the maximal value of vehicle in the first coordinate axis described in whether being less than;
Judge subelement, in the time that described judgment sub-unit is judged as YES, judge that described buildings is as the target buildings that is navigated rear view of vehicle described in being positioned at.
8. device according to claim 7, is characterized in that, described predetermined relationship is for intersecting.
9. device according to claim 8, is characterized in that, described judging unit comprises:
First draws subelement, for the minimum boundary rectangle of the bottom surface of render target buildings;
Second draws subelement, for being navigated the boundary rectangle in the plane that vehicle forms at the first coordinate axis and three axes described in drawing;
Determine subelement, whether partly or entirely overlapping with the described boundary rectangle that is navigated vehicle for the minimum boundary rectangle that judges described target buildings bottom surface, if, determine target buildings bottom surface with described in be navigated vehicle and meet overlapping relation, if not, determine target buildings bottom surface with described in be navigated vehicle and do not meet overlapping relation.
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| CN201310099904.XA CN104075719A (en) | 2013-03-26 | 2013-03-26 | Three-dimensional navigation method and three-dimensional navigation device |
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| WO2020098465A1 (en) * | 2018-11-12 | 2020-05-22 | 腾讯科技（深圳）有限公司 | Method and device for image display, storage medium and electronic device |
| US11158291B2 (en) | 2018-11-12 | 2021-10-26 | Tencent Technology (Shenzhen) Company Limited | Image display method and apparatus, storage medium, and electronic device |
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