WO2022228564A1 - 导航方法、装置、计算机设备和存储介质 - Google Patents

导航方法、装置、计算机设备和存储介质 Download PDF

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Publication number
WO2022228564A1
WO2022228564A1 PCT/CN2022/090456 CN2022090456W WO2022228564A1 WO 2022228564 A1 WO2022228564 A1 WO 2022228564A1 CN 2022090456 W CN2022090456 W CN 2022090456W WO 2022228564 A1 WO2022228564 A1 WO 2022228564A1
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WIPO (PCT)
Prior art keywords
map
information
option
parking space
triggered
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PCT/CN2022/090456
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English (en)
French (fr)
Inventor
房颜明
李智
时兵兵
孟令钊
董航
郭虹宇
Original Assignee
北京万集科技股份有限公司
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Publication date
Priority claimed from CN202110481742.0A external-priority patent/CN113340291A/zh
Priority claimed from CN202110483307.1A external-priority patent/CN113313961B/zh
Application filed by 北京万集科技股份有限公司 filed Critical 北京万集科技股份有限公司
Publication of WO2022228564A1 publication Critical patent/WO2022228564A1/zh

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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

Definitions

  • the present disclosure generally relates to the technical field of terminal interaction. More particularly, the present disclosure relates to a navigation method, apparatus, computer device, and storage medium.
  • the map APP Application
  • the map APP can not only plan the driving route, but also inquire about the distribution of service areas and gas stations on the expressway, which brings great benefits to people's work and life. Greatly convenient.
  • the current map APP in the market can only realize the navigation of the vehicle to the service area, and after the vehicle enters the service area, the map APP cannot well assist driving.
  • the map APP Application
  • the map APP is an indispensable tool. It can not only plan the driving route, but also check the distribution of tunnels and bridges on the highway, which brings great benefits to people's work and life. convenient. Since the tunnel is a closed space scene, the GNSS signal in the tunnel is usually weak or disappears, which makes the position of the vehicle entering the tunnel lost, and it is difficult to determine the identity of the vehicle in the tunnel. Based on this, it is difficult to provide personalized service solutions in the tunnel accurately.
  • the solutions of the present disclosure provide a navigation method, device, computer equipment and storage medium that can well assist driving after a vehicle enters a service area.
  • the present disclosure provides a navigation method, the method comprising: if a target vehicle enters a geographic range corresponding to a high-precision map of a target service area, displaying the high-precision map from a bird's-eye view on the map navigation page, and displaying the high-precision map on the map navigation page.
  • the parking space interface of the parking lot is displayed superimposed on the high-precision map; in which, the measurement accuracy of the high-precision map is greater than the preset accuracy threshold, and the parking space interface of the parking lot displays the occupancy information of each parking space in the parking lot in the target service area; the occupancy information is used to indicate Whether there is a vehicle parked in the parking space; the occupancy information is obtained based on the perception information of the roadside base station deployed in the target service area, and the roadside base station is initialized based on the high-precision map.
  • the map navigation page includes a parking lot option
  • the above-mentioned superimposing and displaying the parking lot interface on the high-precision map includes: detecting whether the parking lot option is triggered; The parking lot interface is displayed superimposed on the map.
  • the map navigation page includes a parking space reservation option
  • the method further includes: detecting whether the parking space reservation option is triggered; if the parking space reservation option is triggered, determining the reserved parking space from the vacant parking spaces in the parking lot, and The location of the reserved parking space and the navigation information are displayed on the map navigation page; wherein, the navigation information is determined according to the current position of the target vehicle and the position of the reserved parking space.
  • the above-mentioned displaying the location of the reserved parking space and the navigation information on the map navigation page includes: displaying the location of the reserved parking space on the map navigation page, and displaying the confirmation option; if it is detected that the confirmation option is triggered, then displaying Navigation information.
  • the method further includes: if the user's selection operation is obtained based on the map navigation page, changing the location of the reserved parking space according to the selection operation .
  • the displaying of the navigation information includes: displaying the navigation route of the target vehicle in the parking space interface; and displaying the navigation direction of the target vehicle from the vehicle perspective in the high-precision map.
  • the method further includes: after the target vehicle parks in the parking space of the parking lot, acquiring the position information of the parking space of the target vehicle, and marking the parking space interface of the parking lot and the high-precision map according to the position information. Parking space.
  • the method further includes: after the target vehicle parks in the parking space of the parking lot, if the illegal parking prompt information is received, displaying the illegal parking prompt information on the map navigation page; the illegal parking prompt information is based on the perception The information is obtained after detecting the illegal parking of the target vehicle, and the illegal parking prompt information is used to indicate that the target vehicle has violated the vehicle parking rules.
  • the map navigation page further includes a restaurant queuing option
  • the method further includes: detecting whether the restaurant queuing option is triggered; if the restaurant queuing option is triggered, displaying a restaurant queuing information page; wherein the restaurant queuing information
  • the page displays the queuing information; the queuing information is determined according to the restaurant image collected by the image acquisition device installed in the restaurant of the target service area, and is used to indicate the number of people in line and the congestion situation in the restaurant of the target server.
  • the present disclosure provides a navigation device, the device comprising: a display module for displaying in a bird's-eye view on a map navigation page if a target vehicle enters a geographic range corresponding to a high-precision map of a target service area
  • the high-precision map, and the parking space interface of the parking lot is displayed superimposed on the high-precision map; wherein, the measurement accuracy of the high-precision map is greater than the preset accuracy threshold, and the target service is displayed in the parking space interface of the parking lot
  • the occupancy information of each parking space in the parking lot in the area the occupancy information is used to indicate whether a vehicle is parked in the parking space; the occupancy information is obtained based on the perception information of the roadside base stations arranged in the target service area, and the roadside The base station is initialized based on the high-precision map.
  • the map navigation page includes a parking lot option
  • the device further includes a detection module; the detection module is used to detect whether the parking lot option is triggered; the display module, when the parking lot option is triggered, The parking space interface of the parking lot is displayed superimposed on the high-precision map.
  • the map navigation page includes a parking space reservation option
  • the above-mentioned detection module is used to detect whether the parking space reservation option is triggered; the above-mentioned display module is also used for when the parking space reservation option is triggered.
  • the reserved parking space is determined in the free parking space, and the location of the reserved parking space and the navigation information are displayed on the map navigation page; wherein, the navigation information is determined according to the current position of the target vehicle and the position of the reserved parking space.
  • the above-mentioned display module is specifically configured to display the location of the reserved parking space on the map navigation page, and display the confirmation option; if it is detected that the confirmation option is triggered, the navigation information is displayed.
  • the device further includes: an operation acquisition module, configured to change the position of the reserved parking space according to the selection operation if the user's selection operation is acquired based on the map navigation page.
  • an operation acquisition module configured to change the position of the reserved parking space according to the selection operation if the user's selection operation is acquired based on the map navigation page.
  • the above display module is further configured to display the navigational driving route of the target vehicle in the parking space interface; and display the navigational driving direction of the target vehicle from the vehicle perspective in the high-precision map.
  • the device further includes: a parking space labeling module, configured to acquire the position information of the parking space of the target vehicle after the target vehicle parks in the parking space of the parking lot, and use the position information in the parking space interface of the parking lot and the high-precision parking space according to the position information.
  • the parking space of the target vehicle is marked on the map.
  • the device further includes: a prompt module, configured to display the illegal parking prompt information on the map navigation page if the illegal parking prompt information is received after the target vehicle parks in the parking space of the parking lot;
  • the prompt information is obtained after detecting an illegal parking event of the target vehicle according to the perception information, and the illegal parking prompt information is used to indicate that the target vehicle has violated the vehicle parking rules.
  • the map navigation page further includes a restaurant queuing option; the above-mentioned detection module is used to detect whether the restaurant queuing option is triggered; the above-mentioned display module is used to display the restaurant queuing information when the restaurant queuing option is triggered
  • the restaurant queuing information page displays the queuing information; the queuing information is determined according to the restaurant image collected by the image acquisition device installed in the restaurant of the target service area, and is used to indicate the number of people in line and the congestion situation in the restaurant of the target server.
  • the present disclosure provides a computer device including a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program: if a target vehicle enters a target service area Within the geographic range corresponding to the high-precision map, the high-precision map will be displayed in a bird's-eye view on the map navigation page, and the parking space interface of the parking lot will be displayed superimposed on the high-precision map.
  • the measurement accuracy of the high-precision map is greater than the preset accuracy threshold.
  • the occupancy information of each parking space in the parking lot in the target service area is displayed in the parking space interface; the occupancy information is used to indicate whether there is a vehicle parked in the parking space;
  • the side base station is initialized based on the high-precision map.
  • the present disclosure provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the following steps: if a target vehicle enters a high-precision map corresponding to a target service area Within the geographic range, the high-precision map is displayed in a bird's-eye view on the map navigation page, and the parking space interface of the parking lot is displayed superimposed on the high-precision map; among them, the measurement accuracy of the high-precision map is greater than the preset accuracy threshold, and the parking space interface of the parking lot is displayed.
  • the occupancy information of each parking space in the parking lot in the target service area is displayed; the occupancy information is used to indicate whether a vehicle is parked in the parking space; Map initialization.
  • the target vehicle enters the geographic range corresponding to the high-precision map of the target service area
  • the high-precision map is displayed in the map navigation page from a bird's-eye view
  • the high-precision map is displayed on the map navigation page.
  • the parking lot interface is displayed superimposed on the map.
  • the solution of the present disclosure provides a navigation method, apparatus, computer equipment and storage medium that can well assist driving in a tunnel.
  • the present disclosure provides a navigation method, the method comprising: if a target vehicle enters a geographic range corresponding to a high-precision map of a target tunnel, displaying the high-precision map on a map navigation page, and displaying the high-precision map on the high-precision map
  • the first content element corresponding to the target vehicle and the second content element corresponding to the adjacent vehicle are superimposed and displayed in a bird's-eye view; wherein, the measurement accuracy of the high-precision map is greater than the preset accuracy threshold; the adjacent vehicle is within the preset range around the target vehicle.
  • the vehicle, the first content element and the second content element are acquired based on the perception information of the roadside base station arranged in the target tunnel, and the roadside base station is initialized based on the high-precision map.
  • the map navigation page includes a perception enhancement option
  • the above-mentioned superimposing and displaying the first content element corresponding to the target vehicle and the second content element corresponding to the adjacent vehicle in a bird's eye view on the high-precision map includes: detecting perception Whether the enhancement option is triggered; if the perception enhancement option is triggered, the second content element is displayed in a bird's-eye view on the high-definition map.
  • the map navigation page includes a high-precision positioning option
  • the method further includes: detecting whether the high-precision positioning option is triggered; when the high-precision positioning option is triggered, superimposing on the high-precision map from a bird's-eye view perspective Display the first content element.
  • the map navigation page further includes a driving mode option
  • the method further includes: detecting whether the driving mode option is triggered; when the driving mode option is triggered, superimposing and displaying the vehicle perspective on the high-precision map The third content element corresponding to the surrounding environment of the target vehicle.
  • the method further includes: displaying distance information on the map navigation page, where the distance information is used to indicate the distance between the current position of the target vehicle and the tunnel exit of the target tunnel.
  • the method further includes: receiving event reminder information; the event reminder information is generated after detecting a preset safety event according to the perception information; the preset safety event is an event endangering driving safety; in the map navigation page Display event reminder information.
  • the map navigation page further includes a classic map option
  • the method further includes: detecting whether the classic map option is triggered; if the classic map option is triggered, displaying the classic map in the map navigation page; the classic map The measurement accuracy of is below the preset accuracy threshold.
  • the present disclosure provides a navigation device, the device comprising: a display module for displaying the high-precision map on the map navigation page if the target vehicle enters the geographic range corresponding to the high-precision map of the target tunnel, And superimpose the first content element corresponding to the target vehicle and the second content element corresponding to the adjacent vehicle on the high-precision map from a bird's-eye view; wherein, the measurement accuracy of the high-precision map is greater than the preset accuracy threshold; the adjacent vehicle is the target vehicle For vehicles within a preset range around, the first content element and the second content element are acquired based on the perception information of the roadside base station arranged in the target tunnel, and the roadside base station is initialized based on the high-precision map.
  • the map navigation page includes a perceptual enhancement option
  • the above-mentioned display module is specifically used to detect whether the perceptual enhancement option is triggered; in the case where the perceptual enhancement option is triggered, it is displayed on the high-precision map in a bird's-eye view.
  • the second content element is specifically used to detect whether the perceptual enhancement option is triggered; in the case where the perceptual enhancement option is triggered, it is displayed on the high-precision map in a bird's-eye view.
  • the map navigation page includes a high-precision positioning option
  • the device further includes a detection module; the above-mentioned detection module is used to detect whether the high-precision positioning option is triggered; the above-mentioned display module is also used for the high-precision positioning option.
  • the first content element is superimposed and displayed on the high-precision map from a bird's-eye view.
  • the map navigation page further includes a driving mode option; the detection module is further configured to detect whether the driving mode option is triggered; the display module is further configured to detect whether the driving mode option is triggered when the driving mode option is triggered.
  • the third content element corresponding to the surrounding environment of the target vehicle is displayed superimposed on the high-precision map from the vehicle perspective.
  • the above display module is further configured to display distance information on the map navigation page, where the distance information is used to indicate the distance between the current position of the target vehicle and the tunnel exit of the target tunnel.
  • the device further includes a receiving module; the above-mentioned receiving module is configured to receive event reminder information; the event reminder information is generated after detecting a preset safety event according to the perception information; the preset safety event is endangering driving safety
  • the above display module is also used to display the event reminder information on the map navigation page.
  • the map navigation page further includes a classic map option; the above-mentioned detection module is also used to detect whether the classic map option is triggered; the above-mentioned display module is also used to The classic map is displayed on the navigation page; the measurement accuracy of the classic map is lower than the preset accuracy threshold.
  • the present disclosure provides a computer device including a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program: if a target vehicle enters a high level of a target tunnel Within the geographic range corresponding to the precise map, the high-precision map is displayed on the map navigation page, and the first content element corresponding to the target vehicle and the second content element corresponding to the adjacent vehicle are superimposed and displayed on the high-precision map from a bird's-eye view; Among them, the measurement accuracy of the high-precision map is greater than the preset accuracy threshold; the adjacent vehicles are vehicles within a preset range around the target vehicle, and the first content element and the second content element are obtained based on the perception information of the roadside base station arranged in the target tunnel. , the roadside base station is initialized based on the high-precision map.
  • the present disclosure provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the following steps: if the target vehicle enters the geographic location corresponding to the high-precision map of the target tunnel Within the range, the high-precision map is displayed on the map navigation page, and the first content element corresponding to the target vehicle and the second content element corresponding to the adjacent vehicle are displayed superimposed on the high-precision map from a bird's-eye view; The measurement accuracy is greater than the preset accuracy threshold; the adjacent vehicles are vehicles within the preset range around the target vehicle, the first content element and the second content element are obtained based on the perception information of the roadside base station arranged in the target tunnel, and the roadside base station is based on High-precision map initialization.
  • the target vehicle enters the geographic range corresponding to the high-precision map of the target tunnel
  • the high-precision map will be displayed on the map navigation page
  • a bird's-eye view will be displayed on the high-precision map.
  • the perspective overlay displays a first content element corresponding to the target vehicle and a second content element corresponding to an adjacent vehicle.
  • FIG. 1 is an application environment diagram illustrating a navigation method according to an embodiment of the present disclosure
  • FIG. 2 is a schematic flowchart illustrating a navigation method according to an embodiment of the present disclosure
  • FIG. 3 is a schematic diagram illustrating a map navigation page according to an embodiment of the present disclosure
  • FIG. 4 is a schematic flowchart showing steps of superimposing and displaying a parking space interface of a parking lot on a high-precision map according to an embodiment of the present disclosure
  • 5a is a schematic diagram illustrating a map navigation page of an embodiment of the present disclosure
  • 5b is a schematic diagram illustrating a map navigation page of an embodiment of the present disclosure.
  • FIG. 6 is a schematic flowchart illustrating a parking space reservation step according to an embodiment of the present disclosure
  • FIG. 7a is a schematic diagram illustrating a map navigation page of an embodiment of the present disclosure.
  • FIG. 7b is a schematic diagram illustrating a map navigation page of an embodiment of the present disclosure.
  • 7c is a schematic diagram illustrating a map navigation page of an embodiment of the present disclosure.
  • 7d is a schematic diagram illustrating a map navigation page of an embodiment of the present disclosure.
  • FIG. 8a is a schematic diagram illustrating a map navigation page of an embodiment of the present disclosure.
  • 8b is a schematic diagram illustrating a map navigation page of an embodiment of the present disclosure.
  • 8c is a schematic diagram illustrating a map navigation page of an embodiment of the present disclosure.
  • FIG. 9 is a schematic flowchart illustrating steps of displaying a restaurant queuing information page according to an embodiment of the present disclosure.
  • FIG. 10 is a schematic diagram illustrating a restaurant queuing information page in an embodiment of the present disclosure
  • FIG. 11 is a schematic flowchart illustrating another navigation method according to an embodiment of the present disclosure.
  • FIG. 12a is a schematic diagram illustrating another map navigation page according to an embodiment of the present disclosure.
  • FIG. 12b is a schematic diagram illustrating another map navigation page according to an embodiment of the present disclosure.
  • 12c is a schematic diagram illustrating another map navigation page according to an embodiment of the present disclosure.
  • 12d is a schematic diagram illustrating another map navigation page according to an embodiment of the present disclosure.
  • FIG. 12e is a schematic diagram illustrating another map navigation page according to an embodiment of the present disclosure.
  • 12f is a schematic diagram illustrating another map navigation page according to an embodiment of the present disclosure.
  • FIG. 13 is a schematic flowchart illustrating steps of superimposing and displaying a first content element and a second content element on a high-precision map from a bird's-eye view according to an embodiment of the present disclosure
  • FIG. 14 is a schematic flowchart illustrating an embodiment of the present disclosure for superimposing and displaying a first content element on a high-precision map from a bird’s-eye view;
  • FIG. 15 is a schematic flowchart illustrating steps of overlaying and displaying a third content element from a vehicle perspective on a high-precision map according to an embodiment of the present disclosure
  • 16a is a schematic diagram illustrating another map navigation page according to an embodiment of the present disclosure.
  • 16b is a schematic diagram illustrating another map navigation page according to an embodiment of the present disclosure.
  • Figure 16c is a schematic diagram illustrating another map navigation page according to an embodiment of the present disclosure.
  • 16d is a schematic diagram illustrating another map navigation page according to an embodiment of the present disclosure.
  • 17 is a schematic flowchart illustrating steps of displaying event reminder information in a map navigation page according to an embodiment of the present disclosure
  • 18a is a schematic diagram illustrating another map navigation page according to an embodiment of the present disclosure.
  • 18b is a schematic diagram illustrating another map navigation page according to an embodiment of the present disclosure.
  • 18c is a schematic diagram illustrating another map navigation page according to an embodiment of the present disclosure.
  • 18d is a schematic diagram illustrating another map navigation page according to an embodiment of the present disclosure.
  • 19 is a schematic flowchart of steps for displaying a classic map in a map navigation page in one embodiment
  • FIG. 20 is a structural block diagram illustrating a navigation device according to another embodiment of the present disclosure.
  • FIG. 21 is an internal structure diagram of a computer device showing another embodiment of the present disclosure.
  • the navigation method provided by the present disclosure can be applied to the application environment shown in FIG. 1 .
  • the application environment may include a client 101, a server 102, and a roadside base station 103, wherein both the client 101 and the roadside base station 103 may communicate with the server 102 through a network.
  • the above-mentioned client 101 may be an electronic device such as a mobile phone, a tablet computer, an IPAD, and a vehicle controller, or may be an APP software installed on the electronic device.
  • the above server 102 may be implemented by an independent server or a server cluster composed of multiple servers.
  • the above-mentioned roadside base station 103 may be provided with multiple sensors (such as cameras, lidars, etc.) and data processing chips; each sensor is used to acquire perception information, and the data processing information is used to process the perception information.
  • the server 102 and the roadside base station 103 may be integrated together as an information server.
  • a navigation method that can assist driving well after the vehicle enters the service area is provided, and the method is applied to the client in FIG. 1 as an example to illustrate, including the following step:
  • Step 201 if the target vehicle enters the geographic range corresponding to the high-precision map of the target service area, the high-precision map is displayed in a bird's eye view on the map navigation page, and the parking lot interface is displayed superimposed on the high-precision map.
  • the measurement accuracy of the high-precision map is greater than the preset accuracy threshold
  • the parking space interface displays the occupancy information of each parking space in the parking lot in the target service area, and the occupancy information is used to indicate whether there is a vehicle parked in the parking space, as shown in Figure 3 .
  • the occupancy information is acquired based on the perception information of the roadside base stations deployed in the target service area.
  • the roadside base station is initialized based on the above-mentioned high-precision map, that is, the position information of the target in the perception information of the roadside base station is the position information in the coordinate system of the above-mentioned high-precision map.
  • the target service area is measured by measuring equipment, and the measurement accuracy is greater than the preset accuracy threshold; then the server draws a high-precision map of the target service area according to the measurement data. After that, the client downloads the high-precision map of the target service area from the server.
  • the client is located on the target vehicle, and sends the GPS (Global Positioning System, global positioning) information of the target vehicle to the server in real time or periodically.
  • the server detects whether the target vehicle enters the geographic range corresponding to the high-precision map of the target service area according to the GPS information of the target vehicle.
  • the server obtains perception information from the roadside base stations arranged in the target service area, and determines each parking lot in the target service area according to the perception information. Whether there is a vehicle parked in the parking space, the occupancy information, the total number of parking spaces in the target service area and the remaining vacant parking spaces are obtained according to the determination result. Next, the server sends the occupancy information, the total number of parking spaces in the parking lot, and the remaining empty spaces to the client.
  • the client receives the occupancy information, the total number of parking spaces in the parking lot and the remaining vacant parking spaces, and displays the parking space interface of the parking lot on the high-precision map, as shown in Figure 3.
  • the zoom degree of the high-precision map can be controlled by the user.
  • the target vehicle enters the geographic range corresponding to the high-precision map of the target service area
  • the high-precision map is displayed in a bird's-eye view on the map navigation page
  • the parking space interface of the parking lot is displayed superimposed on the high-precision map.
  • the above-mentioned step of superimposing and displaying the parking space interface of the parking lot on the high-precision map may include:
  • Step 301 detecting whether the parking lot option is triggered.
  • the map navigation page includes a parking lot option.
  • the client can detect whether the perception option is triggered by detecting whether the parking option is clicked. If the client detects that the user clicks on the parking lot option, it determines that the parking lot option is triggered. In practical applications, it is also possible to detect whether the parking lot option is triggered in other ways, which is not limited in this embodiment of the present disclosure.
  • Step 302 in the case that the parking lot option is triggered, the parking space interface of the parking lot is displayed superimposed on the high-precision map.
  • the client When the parking lot option is not triggered, the client does not enable the parking lot function, and only the high-precision map is displayed on the map navigation page, as shown in Figure 5a.
  • the map navigation page in the embodiment of the present disclosure may be a page of an in-vehicle device, or a page of a roadside display screen arranged at a preset position of the parking lot.
  • the triggering of the function in the page may be triggered by touching a corresponding virtual button, or it may be triggered by a command corresponding to voice input, and of course, it may be that the vehicle executes the interface.
  • the behavior of the boot related to the corresponding function is triggered. For example, when the target vehicle enters the geographic range corresponding to the high-precision map, it can be considered as a behavior trigger.
  • the triggering method of the functions in the page may also be a combination of behavior triggering and user input instructions.
  • triggering the function of displaying free parking spaces in the parking lot in the embodiment of the present disclosure may be triggered by the target vehicle entering the geographic range (behavior) corresponding to the high-precision map and receiving the user inputting the parking space information acquisition instruction through the in-vehicle device.
  • the triggering of the corresponding function in the page may be the triggering of vehicle behavior. For example, when the target vehicle enters a specific area, the function of displaying the vacant parking spaces in the parking lot on the roadside display is triggered. For example, in a specific area, the prompt: "Drive to the XX position, then obtain the parking space information of the parking lot ahead" is displayed. If the target vehicle drives to the XX position, the parking lot information of the parking lot will be displayed on the roadside display screen.
  • This solution can realize this function through multiple roadside display screens arranged on the line of the vehicle from a specific area to a parking lot (or even a parking space).
  • the embodiments of the present disclosure are intended to provide a solution for performing information service through a roadside base station, and the specific implementation form is not specifically limited herein.
  • the server will, based on the positioning information of each vehicle entering the underground parking lot and the roadside positioning information of the vehicle perceived by the roadside base station (the matching of positioning information is to determine is the same car) to construct a search term.
  • the search entry includes detection features (obtained based on perception information) and identification (which may be provided by the vehicle through communication, or issued by a server/edge node); the search entry is stored in a preset space, and the search entry is stored in a preset space.
  • the preset space can be read by a processor (the processor can be a server or an edge node, and the server or edge node is used to process the perception information of the deployed roadside base station).
  • the processor can match the target search entry according to the detection feature obtained by the processor based on the perception information, and obtain the positioning information in the perception information of the roadside base station based on the target search entry, that is, the target The location information of the vehicle.
  • the server may send the content element to the client according to the positioning information of the target vehicle in the target service area.
  • the client receives the content elements corresponding to the target vehicle, displays the high-precision map from a bird's-eye view on the map navigation page, and superimposes the content elements corresponding to the target vehicle on the high-precision map, as shown in Figure 5b.
  • a roadside base station is arranged in the center of the multiple circles.
  • the content elements may include vehicle location, vehicle shape, vehicle color, and the like.
  • the above matching process can select the GPS positioning of the client and the perception and positioning of the roadside base station to obtain the perception information of each vehicle. Serve.
  • the positioning information can be used for fast and efficient matching.
  • part or all of the detection features of the vehicle can also be introduced for the accuracy of the result matching, which is not specifically limited in the implementation of the present disclosure.
  • the client when the parking lot option is triggered, the client enables the parking lot function, and sends a request for obtaining occupancy information to the server.
  • the server receives the occupancy information acquisition request; acquires the perception information measured by the roadside base stations deployed in the target service area according to the occupancy information acquisition request; determines whether there are vehicles parked in each parking space in the parking lot according to the perception information; Occupancy information, get the total number of parking spaces and the remaining number of parking spaces in the parking lot.
  • the server then sends the occupancy information, the total number of parking spaces in the parking lot, and the number of remaining spaces to the client.
  • the client receives the occupancy information, the total number of parking spaces and the remaining number of parking spaces in the parking lot, and displays the parking space interface of the parking lot by superimposing it on the high-precision map.
  • the client detects whether the parking lot option is triggered; if the parking lot option is triggered, the parking space interface of the parking lot is displayed superimposed on the high-precision map.
  • the user can control whether the client terminal displays the parking lot interface through the parking lot option, so as to facilitate the user to know the relevant situation of the parking lot in the target service area, so as to better assist the user in driving.
  • the embodiment of the present disclosure may further include the following steps:
  • Step 401 detecting whether the parking space reservation option is triggered.
  • the map navigation page also includes a parking space reservation option.
  • a roadside base station is arranged at the center of the circle in FIG. 7 .
  • the client can detect whether the parking space reservation option is triggered by detecting whether the parking space reservation option is clicked. If the client detects that the user clicks the parking space reservation option, it is determined that the parking space reservation option is triggered. In practical applications, it is also possible to detect whether the parking space reservation option is triggered in other ways, which is not limited in this embodiment of the present disclosure.
  • Step 402 when the parking space reservation option is triggered, determine the reserved parking space from the vacant parking spaces in the parking lot, and display the location and navigation information of the reserved parking space on the map navigation page.
  • the navigation information is determined according to the current position of the target vehicle and the position of the reserved parking space.
  • the client does not activate the parking space reservation function, and the map navigation page displays the high-precision map from a bird's-eye view, and displays the parking space interface on the high-precision map, as shown in Figure 3.
  • the client starts the parking space reservation function and sends a parking space reservation request to the server.
  • the server receives the parking space reservation request, and obtains the perception information measured by the roadside base station deployed in the target service area according to the parking space reservation request; the parking space reservation request carries the identity information of the target vehicle.
  • the server obtains the target search entry according to the identity information carried in the parking space reservation request, obtains the target detection feature based on the target search entry, and determines the current position of the target vehicle from the perception information based on the target detection feature.
  • the server determines one of the vacant parking spaces in the parking lot as a reserved parking space according to the current position of the target vehicle, and generates navigation information according to the position of the reserved parking space and the position of the target vehicle.
  • the server sends the location and navigation information of the reserved parking space to the client.
  • the client receives the location and navigation information of the reserved parking space, and displays the location and navigation information of the reserved parking space on the map navigation page, as shown in Figure 7b.
  • the process of displaying the location of the reserved parking space and the navigation information on the map navigation page may include: displaying the location of the reserved parking space on the map navigation page, and displaying a confirmation option; if it is detected that the confirmation option is triggered, then Display navigation information.
  • the server After determining the location of the reserved parking space, the server first sends the location of the reserved parking space to the client.
  • the client receives the location of the reserved parking space, displays the location of the reserved parking space on the map navigation page, and displays the confirmation option, as shown in Figure 7c. If the user agrees to park the target vehicle in the reserved parking space, the client will detect that the user clicks the confirmation option, so that the client will send the confirmation information to the server.
  • the server receives the confirmation information, generates navigation information according to the position of the reserved parking space and the position of the target vehicle, and sends the navigation information to the client.
  • the client receives the navigation information and displays the navigation information on the map navigation page.
  • the method may further include: if the user's selection operation is acquired based on the map navigation page, changing the position of the reserved parking space according to the selection operation.
  • the client If the client shows the location of the reserved parking space, the user does not want to park the target vehicle in the reserved parking space, but wants to park the target vehicle in another free parking space, then the client will detect that the user clicks the selection of another free parking space operate. After that, the client generates a request for changing the parking space according to the selection operation, and sends the request for changing the parking space to the server.
  • the server receives the request for changing the parking space, changes the position of the reserved parking space according to the position of the free parking space carried in the request for changing the parking space, and sends the changed position of the reserved parking space to the client.
  • the client receives the changed location of the reserved parking space, and displays the changed location of the reserved parking space on the map navigation page.
  • the client will also display the confirmation option in the map navigation page.
  • the client detects that the user clicks the confirmation option and generates a confirmation message, and sends the confirmation message to the server.
  • the server receives the confirmation information, generates navigation information according to the changed position of the reserved parking space and the current position of the target vehicle, and then sends the navigation information to the client.
  • the client receives the navigation information and displays the navigation information on the map navigation page.
  • the above step of displaying navigation information may include: displaying the navigation route of the target vehicle in the parking space interface; and displaying the navigation direction of the target vehicle from the vehicle perspective in the high-precision map.
  • the map navigation page also includes an option to enter driving mode. If the client detects that the driving mode option is triggered, it displays the navigational driving direction of the target vehicle from the vehicle perspective in the high-precision map, as shown in Figure 7d. In Figure 7d, the map navigation page also includes an option to enter map mode. If the client detects that the option to enter the map mode is triggered, the client returns to the map navigation page as shown in FIG. 7b.
  • the parking space reservation option it is detected whether the parking space reservation option is triggered; when the parking space reservation option is triggered, the reserved parking space is determined from the vacant parking spaces in the parking lot, and the location and navigation information of the reserved parking space are displayed on the map navigation page.
  • the user can make a parking space reservation through the parking space reservation option, and the client terminal provides navigation information during the parking space reservation process, which facilitates the user to drive the target vehicle to the reserved parking space.
  • the client not only provides the navigation driving route in the parking space interface of the parking lot, but also provides the navigation driving direction from the vehicle perspective in the map, so as to well assist the user in driving.
  • it may further include: after the target vehicle parks in the parking space of the parking lot, acquiring the location information of the parking space of the target vehicle, and marking the parking space of the target vehicle in the parking space interface of the parking lot and the high-precision map according to the location information .
  • the server determines the location information of the parking space of the target vehicle from the perception information measured by the roadside base station deployed in the target service area, and sends the location information of the parking space of the target vehicle to the client .
  • the client receives the location information of the parking space of the target vehicle, and marks the parking space of the target vehicle in both the parking space interface and the high-precision map according to the location information, as shown in Figure 8a.
  • the client obtains the location information of the parking space of the target vehicle, and marks the parking space of the target vehicle in the parking space interface and the high-precision map according to the location information.
  • the user can search for the target vehicle according to the labeling in the parking space interface and the high-precision map, avoiding the problem that the target vehicle cannot be found due to the user's forgetting.
  • it may further include: after the target vehicle parks in the parking space of the parking lot, if the illegal parking prompt information is received, displaying the illegal parking prompt information on the map navigation page.
  • the illegal parking prompt information is obtained after detecting that the target vehicle has an illegal parking event according to the perception information, and the illegal parking prompt information is used to indicate that the target vehicle has violated vehicle parking rules.
  • the server After the target vehicle is parked in a certain parking space, if the server detects that the target vehicle has parked illegally according to the perception information measured by the roadside base station deployed in the target service area, it will generate illegal parking reminder information and send a warning of illegal parking. information is sent to the client.
  • the client receives the illegal parking prompt information sent by the server, and displays the illegal parking prompt information on the map navigation page. As shown in Figure 8b, the map navigation page displays the illegal parking prompt information of the target vehicle parked across the parking space.
  • the server may also send a short message of a parking violation reminder message to the client, and after receiving the short message, the client displays the short message, as shown in FIG. 8c .
  • the embodiment of the present disclosure does not limit the display manner of the parking violation prompt information.
  • the client terminal displays the illegal parking prompt information on the map navigation page.
  • the embodiment of the present disclosure may further include:
  • Step 501 detecting whether the restaurant queuing option is triggered.
  • the map navigation page also includes restaurant queuing options.
  • the client can detect whether the restaurant queuing option is triggered by detecting whether the restaurant queuing option is clicked. If the client detects that the user clicks on the restaurant queuing option, it determines that the restaurant queuing option is triggered. In practical applications, it is also possible to detect whether the restaurant queuing option is triggered in other ways, which is not limited in this embodiment of the present disclosure.
  • Step 502 in the case that the restaurant queuing option is triggered, the restaurant queuing information page is displayed.
  • the restaurant queuing information page displays the queuing information; the queuing information is determined according to the restaurant image collected by the image acquisition device installed in the restaurant of the target service area, and is used to indicate the number of people in line and the congestion situation in the restaurant of the target server.
  • the client When the restaurant queuing option is not triggered, the client displays the map navigation page, as shown in Figure 3.
  • the client sends a request for queuing information to the server.
  • the server receives the queuing information acquisition request; acquires the restaurant image from the image acquisition device in the restaurant in the target service area according to the queuing information acquisition request; performs image recognition on the restaurant image to obtain the number of people in line and the congestion situation in the restaurant in the target service area, and according to the number of people in the queue and congestion conditions to generate queuing information; after that, the server sends the queuing information to the client.
  • the client receives the queuing information sent by the server, displays the restaurant queuing information page, and displays the received queuing information on the restaurant queuing information page, as shown in Figure 10.
  • the restaurant queuing option it is detected whether the restaurant queuing option is triggered; if the restaurant queuing option is triggered, the restaurant queuing information page is displayed.
  • the user can control whether the client terminal displays the restaurant queuing information page through the restaurant queuing option, so as to know the number of people queuing and the congestion situation in the restaurant in the target service area, and then determine the meal plan.
  • the client also provides users with other services, improving the user experience.
  • steps in the flowcharts of FIG. 2 to FIG. 9 are shown in sequence according to the arrows, these steps are not necessarily executed in the sequence shown by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in FIG. 2 to FIG. 9 may include multiple steps or multiple stages. These steps or stages are not necessarily executed and completed at the same time, but may be executed at different times. The order of execution is also not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the steps or stages within the other steps.
  • a navigation method capable of assisting driving in a tunnel is provided, and the method is applied to the client in FIG. 1 as an example to illustrate, including the following steps:
  • Step 601 if the target vehicle enters the geographic range corresponding to the high-precision map of the target tunnel, the high-precision map is displayed on the map navigation page, and the first content element corresponding to the target vehicle is superimposed on the high-precision map from a bird's-eye view. and a second content element corresponding to an adjacent vehicle.
  • the measurement accuracy of the high-precision map is greater than the preset accuracy threshold; the adjacent vehicles are vehicles within a preset range around the target vehicle, and the first content element and the second content element are obtained based on the perception information of the roadside base station arranged in the target tunnel.
  • the roadside base station is initialized based on the above-mentioned high-precision map, that is, the position information of the target in the perception information of the roadside base station is the position information in the coordinate system of the above-mentioned high-precision map.
  • the content elements may include vehicle location, vehicle shape, vehicle color, and the like.
  • the sensors of the roadside base station include sensors that can be used for positioning.
  • the sensor that can be used for positioning can be a lidar.
  • the map navigation page in the embodiment of the present disclosure may be a page of an in-vehicle device, or may be a page of a roadside display screen arranged at a preset position in the target tunnel.
  • the triggering of the functions in the page may be triggered by touching a corresponding virtual button, or it may be triggered by a command corresponding to voice input, and of course, it may be that the vehicle executes the page.
  • the behavior of the boot related to the corresponding function is triggered. For example, when a vehicle enters the geographic range corresponding to the high-precision map, it can be considered as a behavior trigger.
  • the triggering method of the functions in the page may also be a combination of behavior triggering and user input instructions.
  • triggering the function of displaying the first content element and the second content element in the embodiment of the present disclosure may be triggered by the vehicle entering the geographic range (behavior) corresponding to the high-precision map and receiving the user's input of the tunnel information acquisition instruction through the in-vehicle device.
  • the target tunnel is firstly measured by a measuring device, and the measurement accuracy is greater than the preset accuracy threshold; then the server draws a high-precision map of the target tunnel according to the measurement data. After that, the client downloads the high-definition map of the target tunnel from the server.
  • the client is located on the target vehicle, and sends the GPS (Global Positioning System, global positioning) information of the target vehicle to the server in real time or periodically.
  • the server detects whether the target vehicle enters the geographic range corresponding to the high-precision map of the target tunnel according to the GPS information of the target vehicle.
  • the server will construct a search entry based on the positioning information of each vehicle and the positioning information of the vehicle perceived by the roadside base station (the matching of the positioning information is to determine the same vehicle).
  • the search entry includes detection features (obtained based on perception information) and identity identification (which may be provided by the vehicle through communication, or issued by a server/edge node); the search entry is stored in a preset space, The preset space can be read by a processor (the processor can be a server or an edge node, and the server or edge node is used to process the perception information of the deployed roadside base station).
  • the processor can match the target search entry according to the detection feature obtained by the processor based on the perception information, and obtain the perception information of the roadside base station based on the target search entry.
  • the positioning information in , that is, the positioning information of the target vehicle.
  • the server can correspondingly send the first content element and the second content element corresponding to the adjacent vehicle to the client according to the positioning information of the target vehicle in the target tunnel.
  • the client receives the first content element corresponding to the target vehicle and the second content element corresponding to the adjacent vehicle, displays the high-precision map on the map navigation page, and superimposes the first content corresponding to the target vehicle on the high-precision map from a bird's-eye view. element and a second content element corresponding to an adjacent vehicle.
  • the zoom level of the HD map can be controlled by the user.
  • the trigger of the function in the page may be the trigger of the vehicle behavior. For example, when the vehicle enters a specific area and is at a preset distance from the target roadside display, the function of displaying the information in the tunnel ahead is triggered on the target roadside display; when the vehicle reaches the position of the target roadside display, the Information in the tunnel ahead is shown on the side display.
  • This solution can achieve this function through multiple roadside display screens arranged on the route of the vehicle from a specific area to the tunnel exit (even the parking space).
  • the roadside display screen in the embodiment of the present disclosure displays the first content element corresponding to the target vehicle and the second content element corresponding to the adjacent vehicle in a bird's-eye view superimposed, and at the same time, the identity of the target vehicle is marked on the high-precision map (for example, license plate information).
  • the high-precision map for example, license plate information
  • the embodiments of the present disclosure aim to provide a solution for providing information services to vehicles in a tunnel through a roadside base station, and the specific implementation form is not specifically limited herein.
  • the black vehicle in the circle is the target vehicle, and the other white vehicles are adjacent vehicles.
  • the user can view the position of himself and the adjacent vehicles from the map navigation page.
  • the roadside base station is located at the center of the multiple circles.
  • the user can be provided with the perception information of the roadside base stations arranged in the tunnel, so that the user can still obtain the environmental information (positioning and surrounding vehicles) that is highly relevant to their own driving even when the GPS signal is weak or lost. ), in this way, it can assist the safe driving in the tunnel, and improve the safety of the user when driving in special road conditions.
  • the above-mentioned step of superimposing and displaying the first content element corresponding to the target vehicle and the second content element corresponding to the adjacent vehicle in a bird's eye view on the high-precision map may include:
  • Step 701 detecting whether the perceptual enhancement option is triggered.
  • the map navigation page includes perception enhancement options.
  • the current position of the target vehicle is outside the geographic range corresponding to the high-precision map, or there is no position information of the target vehicle.
  • the client can detect whether the sense enhancement option is triggered by detecting whether the sense enhancement option is clicked. If the client detects that the user clicks the sense enhancement option, it determines that the sense enhancement option is triggered. In practical applications, whether the perception enhancement option is triggered may also be detected in other manners, which is not limited in this embodiment of the present disclosure.
  • Step 702 when the perception enhancement option is triggered, superimpose and display the second content element on the high-precision map from a bird's-eye view.
  • the client does not enable the perception enhancement function, and the map navigation page can display the superimposed image of the high-precision map and the first content element corresponding to the target vehicle.
  • the target vehicle is outside the target tunnel; as shown in Figure 12d, the target vehicle is inside the target tunnel.
  • the client When the sense enhancement option is triggered, the client enables the sense enhancement function and sends a sense request to the server. After receiving the sensing request, the server obtains the sensing information measured by the roadside base station deployed in the target tunnel according to the sensing request; determines the driving state of the adjacent vehicle according to the sensing information; obtains the second content element of the adjacent vehicle according to the driving state of the adjacent vehicle. Afterwards, the server sends the second content element of the adjacent vehicle to the client.
  • the client receives the second content element of the adjacent vehicle sent by the server, and superimposes and displays the second content element on the high-precision map from a bird's-eye view, as shown in Figure 12a.
  • the client detects whether the perceptual enhancement option is triggered; in the case where the perceptual enhancement option is triggered, the second content element is superimposed and displayed on the high-precision map from a bird's-eye view.
  • the user can control whether the client can enable the perception enhancement function through the perception enhancement option.
  • the client can display the neighboring vehicles of the target vehicle on the map navigation page, assisting the user to update the vehicle in the tunnel. Good perception of nearby vehicles, thereby reducing vehicle driving risks.
  • the embodiment of the present disclosure may further include the following steps:
  • Step 801 detecting whether the high-precision positioning option is triggered.
  • the map navigation page includes a high-precision positioning option.
  • the client can detect whether the high-precision positioning option is triggered by detecting whether the high-precision positioning option is clicked. If the client detects that the user clicks the high-precision positioning button, it is determined that the high-precision positioning option is triggered. In practical applications, other methods may also be used to detect whether the high-precision positioning option is triggered, which is not limited in this embodiment of the present disclosure.
  • Step 802 when the high-precision positioning option is triggered, superimpose and display the first content element on the high-precision map from a bird's-eye view.
  • the client When the high-precision positioning option is not triggered, the client does not enable the high-precision positioning function, and only the high-precision map is displayed on the map navigation page, as shown in Figure 12b.
  • the client When the high-precision positioning option is triggered, the client enables the high-precision positioning function and sends a positioning request to the server.
  • the server After receiving the positioning request, the server obtains the perception information of the roadside base station deployed in the target tunnel according to the positioning request, and the positioning request carries the identity information of the target vehicle; obtains the target search entry according to the identity information carried in the positioning request, and searches The entry obtains the target detection feature, and determines the target detection result from the perceptual information based on the target detection feature.
  • the target detection result includes the target detection feature and the corresponding first element content (at this time, the first element content can be positioning information or
  • the first element content is the first element content of the target vehicle.
  • the client receives the first content element of the target vehicle sent by the server, and superimposes and displays the first content element on the high-precision map from a bird's-eye view, as shown in Figures 12c and 12d.
  • the detection feature may include at least one of vehicle shape, license plate number, driving speed and heading angle.
  • the embodiment of the present disclosure does not limit the detection feature.
  • the client displays the first content element of the target vehicle and the second content element of the adjacent vehicle in a bird's-eye view on the high-precision map.
  • the black vehicle in the circle is the target vehicle
  • the center of the multiple circles is the roadside base station.
  • the client displays the second content element of the adjacent vehicle in a bird's-eye view on the high-precision map. As shown in FIG. 12f, since the high-precision positioning function is not enabled, the first content element of the target vehicle is not displayed superimposed on the high-precision map.
  • the client detects whether the high-precision positioning option is triggered, and in the case where the high-precision positioning option is triggered, the first content element is displayed superimposed on the high-precision map from a bird's-eye view.
  • the user can control whether the client can enable the high-precision positioning function through the high-precision positioning option.
  • the server determines the position of the target vehicle according to the perception information measured by the roadside base station. (It can also include the driving status, such as speed, heading angle, etc.), and then the client will superimpose and display the target vehicle in the high-precision map. In this way, even if the client cannot obtain the GPS information of the target vehicle due to the influence of the tunnel, the target vehicle can be displayed in the high-precision map, thus helping the user to drive well and reducing the risk of vehicle driving.
  • the embodiment of the present disclosure may further include the following steps:
  • Step 901 detecting whether the driving mode option is triggered.
  • a driving mode option is also included in the map navigation page.
  • the client can detect whether the driving mode option is triggered by detecting whether the driving mode option is clicked. If the client detects that the user clicks on the driving mode option, it is determined that the driving mode option is triggered. In practical applications, whether the driving mode option is triggered may also be detected in other manners, which is not limited in this embodiment of the present disclosure.
  • Step 902 when the driving mode option is triggered, superimpose and display the third content element corresponding to the surrounding environment of the target vehicle from the vehicle perspective on the high-precision map.
  • the client When the driving mode option is not triggered, the client does not enable the driving mode function, and superimposes the first content element and the second content element on the high-precision map from a bird's-eye view.
  • the client When the driving mode option is triggered, the client enables the driving mode function and sends an environment acquisition request to the server.
  • the server After receiving the environment acquisition request, the server acquires the perception information measured by the roadside base station within the geographic range corresponding to the target tunnel according to the environment acquisition request; determines the environmental information around the target vehicle according to the perception information; the target vehicle according to the environmental information around the target vehicle
  • the third content element corresponding to the surrounding environment of .
  • the environmental information includes at least one of fences, obstacles, thrown objects and traffic accidents. The embodiments of the present disclosure do not limit the environmental information.
  • the server sends the third content element corresponding to the surrounding environment of the target vehicle to the client, and the client superimposes and displays the third content element on the high-precision map from the perspective of the vehicle.
  • the target vehicle is outside the target tunnel, and as shown in Figure 16b, the target vehicle is inside the target tunnel.
  • the client displays the first content element of the target vehicle, the second content element of the adjacent vehicle, and the surrounding environment on the high-definition map with the vehicle perspective superimposed. the third content element.
  • the target vehicle is outside the target tunnel; and as shown in Figure 16d, the target vehicle is inside the target tunnel.
  • the user can control the display angle of the client through the driving mode option, thereby improving the interactive performance of the client; and, when displaying from the vehicle angle, the surrounding environment of the target vehicle is also displayed superimposed, so as to help the user well Drive to reduce the risk of vehicle driving.
  • the method may further include: displaying distance information on the map navigation page, where the distance information is used to indicate the distance between the current position of the target vehicle and the tunnel exit of the target tunnel.
  • the server can generate distance information according to the distance between the current position of the target vehicle and the tunnel exit of the target tunnel, and send the distance information to the client.
  • the client receives the distance information and displays the distance information on the map navigation page.
  • the client when both the high-precision positioning option and the driving mode option are triggered, the client superimposes and displays the first content element of the target vehicle and the third content element of the surrounding environment from the vehicle perspective in the high-precision map , and display the distance information in the map navigation page, as shown in Figure 16b.
  • the client displays the first content element of the target vehicle, the first content element of the adjacent vehicle and the adjacent The second content element and the third content element of the surrounding environment, and the distance information is displayed in the map navigation page, as shown in FIG. 16d.
  • the client displays the distance information on the map navigation page.
  • the user can know the distance between the current position of the target vehicle and the tunnel exit of the target tunnel, so as to well assist the user in driving.
  • the embodiment of the present disclosure may further include the following steps:
  • Step 1001 receiving event reminder information.
  • the event reminder information is generated after detecting a preset safety event according to the perception information; the preset safety event is an event that endangers driving safety.
  • the preset safety events include at least one of speeding, slow speed, illegal parking, and water on the road surface.
  • the server can obtain sensing information from the roadside base station, and detect whether there is a preset safety event according to the sensing information. If it is detected that there is a preset security event, the event reminder information is generated, and the event reminder information is sent to the client.
  • the client receives event notification information.
  • the server detecting whether there is a preset security event according to the perception information may include at least one of the following: the server detects whether the target vehicle has behaviors such as speeding, slowing or illegal parking according to the perception information, and detects whether there is water on the road.
  • Step 1002 displaying event reminder information on the map navigation page.
  • the client After the client receives the event reminder information, it displays the event reminder information on the map navigation page.
  • the client displays the target vehicle speeding on the map navigation page; as shown in Figure 18b, the client displays the slow speed of the target vehicle on the map navigation page; as shown in Figure 18c, the client displays the target vehicle on the map navigation page The vehicle is illegally parked; as shown in Figure 18d, the client shows that the road ahead is slippery in the map navigation page.
  • the client receives the event reminder information; and displays the event reminder information on the map navigation page.
  • the client terminal displays the event reminder information, so that the user can be informed of the event endangering the driving safety, so as to take corresponding measures to ensure the driving safety.
  • the embodiment of the present disclosure may further include the following steps:
  • Step 1101 detecting whether the classic map option is triggered.
  • the map navigation page also includes a classic map option.
  • the client can detect whether the classic map option is triggered by detecting whether the classic map option is clicked. If the client detects that the user clicks on the classic map option, it is determined that the classic map option is triggered. In practical applications, whether the classic map option is triggered may also be detected in other ways, which is not limited in this embodiment of the present disclosure.
  • Step 1102 in the case that the classic map option is triggered, display the classic map on the map navigation page.
  • the measurement accuracy of the classic map is lower than the preset accuracy threshold. It is understandable that the measurement accuracy of the classic map is lower than that of the high-precision map.
  • the high-precision map can be a three-dimensional map, and the classic map can be a two-dimensional map. This embodiment of the present disclosure does not limit this.
  • the client detects whether the classic map option is triggered; if the classic map option is triggered, the classic map is displayed on the map navigation page.
  • the user can control the client to switch between displaying the high-precision map and displaying the classic map through the classic map option, so that the display of the map navigation page is more in line with the user's needs.
  • steps in the flowcharts of FIG. 11 to FIG. 19 are displayed in sequence according to the arrows, these steps are not necessarily executed in the sequence indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in FIG. 11 to FIG. 19 may include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but may be executed at different times. The order of execution is also not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the steps or stages within the other steps.
  • a navigation device comprising:
  • the display module 1201 is used to display the high-precision map from a bird's-eye view on the map navigation page if the target vehicle enters the geographic range corresponding to the high-precision map of the target service area, and superimpose and display parking on the high-precision map parking space interface;
  • the measurement accuracy of the high-precision map is greater than a preset accuracy threshold
  • the parking space interface displays the occupancy information of each parking space in the parking lot in the target service area; the occupancy information is used to indicate whether the parking space is parked There is a vehicle; the occupancy information is obtained based on the perception information of the roadside base station arranged in the target service area, and the roadside base station is initialized based on the high-precision map.
  • the map navigation page includes a parking lot option, and the device further includes a detection module;
  • the above detection module is used to detect whether the parking lot option is triggered
  • the above display module when the parking lot option is triggered, superimposes and displays the parking space interface of the parking lot on the high-precision map.
  • the map navigation page includes a parking space reservation option
  • the above detection module is used to detect whether the parking space reservation option is triggered
  • the above display module is also used to determine the reserved parking space from the free parking spaces in the parking lot when the parking space reservation option is triggered, and display the location of the reserved parking space and navigation information on the map navigation page; wherein, the navigation information is based on the target vehicle. The current location and the location of the reserved parking space are determined.
  • the above-mentioned display module is specifically configured to display the location of the reserved parking space on the map navigation page, and display the confirmation option; if it is detected that the confirmation option is triggered, the navigation information is displayed.
  • the device further includes:
  • the operation obtaining module is configured to change the position of the reserved parking space according to the selection operation if the user's selection operation is obtained based on the map navigation page.
  • the above display module is further configured to display the navigational driving route of the target vehicle in the parking space interface; and display the navigational driving direction of the target vehicle from the vehicle perspective in the high-precision map.
  • the device further includes:
  • the parking space labeling module is used to obtain the location information of the parking space of the target vehicle after the target vehicle parks in the parking space of the parking lot, and mark the parking space of the target vehicle in the parking space interface and the high-precision map according to the location information.
  • the device further includes:
  • the prompt module is used to display the illegal parking prompt information on the map navigation page if the illegal parking prompt information is received after the target vehicle parks in the parking space of the parking lot;
  • the illegal parking prompt information obtained after the parking event is used to indicate that the target vehicle has violated the vehicle parking rules.
  • the map navigation page further includes a restaurant queuing option
  • the above detection module is used to detect whether the restaurant queuing option is triggered
  • the above display module is used to display the restaurant queuing information page when the restaurant queuing option is triggered;
  • the restaurant queuing information page displays the queuing information; the queuing information is determined according to the restaurant image collected by the image acquisition device installed in the restaurant of the target service area, and is used to indicate the number of people in line and the congestion situation in the restaurant of the target server.
  • the above-mentioned display module 1201 is further configured to display the high-precision map on the map navigation page if the target vehicle enters the geographic range corresponding to the high-precision map of the target tunnel, and display the high-precision map on the high-precision map as a bird's-eye view.
  • the viewing angle overlay displays the first content element corresponding to the target vehicle and the second content element corresponding to the adjacent vehicle;
  • the measurement accuracy of the high-precision map is greater than the preset accuracy threshold;
  • the adjacent vehicles are vehicles within a preset range around the target vehicle, and the first content element and the second content element are obtained based on the perception information of the roadside base station arranged in the target tunnel.
  • the roadside base station is initialized based on the high-precision map.
  • the map navigation page includes a perceptual enhancement option
  • the above-mentioned display module is specifically used to detect whether the perceptual enhancement option is triggered; in the case where the perceptual enhancement option is triggered, it is displayed on the high-precision map in a bird's-eye view.
  • the second content element is specifically used to detect whether the perceptual enhancement option is triggered; in the case where the perceptual enhancement option is triggered, it is displayed on the high-precision map in a bird's-eye view.
  • the map navigation page includes a high-precision positioning option
  • the device further includes a detection module
  • the above detection module is used to detect whether the high-precision positioning option is triggered
  • the above-mentioned display module is further configured to superimpose and display the first content element on the high-precision map from a bird's-eye view when the high-precision positioning option is triggered.
  • the map navigation page further includes a driving mode option
  • the above detection module is also used to detect whether the driving mode option is triggered
  • the above display module is further configured to superimpose and display the third content element corresponding to the surrounding environment of the target vehicle on the high-precision map from the vehicle perspective when the driving mode option is triggered.
  • the above display module is further configured to display distance information on the map navigation page, where the distance information is used to indicate the distance between the current position of the target vehicle and the tunnel exit of the target tunnel.
  • the apparatus further includes a receiving module
  • the above receiving module is used to receive event reminder information; the event reminder information is generated after detecting a preset safety event according to the perception information; the preset safety event is an event that endangers driving safety;
  • the above display module is also used to display event reminder information on the map navigation page.
  • the map navigation page further includes a classic map option
  • the above detection module is also used to detect whether the classic map option is triggered
  • the above display module is also used to display the classic map on the map navigation page when the classic map option is triggered; the measurement accuracy of the classic map is lower than the preset accuracy threshold.
  • Each module in the above-mentioned navigation device may be implemented in whole or in part by software, hardware and combinations thereof.
  • the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
  • a computer device is provided, and the computer device may be a terminal, and its internal structure diagram may be as shown in FIG. 21 .
  • the computer equipment includes a processor, memory, a communication interface, a display screen, and an input device connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium, an internal memory.
  • the nonvolatile storage medium stores an operating system and a computer program.
  • the internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium.
  • the communication interface of the computer device is used for wired or wireless communication with an external terminal, and the wireless communication can be realized by WIFI, operator network, NFC (Near Field Communication) or other technologies.
  • the computer program when executed by a processor, implements a navigation method.
  • the display screen of the computer equipment may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment may be a touch layer covered on the display screen, or a button, a trackball or a touchpad set on the shell of the computer equipment , or an external keyboard, trackpad, or mouse.
  • FIG. 21 is only a block diagram of a partial structure related to the solution of the present disclosure, and does not constitute a limitation on the computer equipment to which the solution of the present disclosure is applied.
  • the specific computer device may be Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.
  • a computer device including a memory and a processor, where a computer program is stored in the memory, wherein when applied to a scenario of assisted driving after a vehicle enters a service area, the processor implements the following when executing the computer program step:
  • the high-precision map will be displayed in a bird's-eye view on the map navigation page, and the parking space interface of the parking lot will be displayed superimposed on the high-precision map;
  • the measurement accuracy of the high-precision map is greater than the preset accuracy threshold
  • the parking space interface displays the occupancy information of each parking space in the parking lot in the target service area; the occupancy information is used to indicate whether there are vehicles parked in the parking space; the occupancy information is based on the layout of The perception information of the roadside base station in the target service area is acquired, and the roadside base station is initialized based on the high-precision map.
  • the map navigation page includes a parking lot option
  • the processor further implements the following steps when executing the computer program:
  • the parking space interface of the parking lot is displayed superimposed on the high-precision map.
  • the map navigation page includes a parking space reservation option
  • the processor further implements the following steps when executing the computer program:
  • the reserved parking space is determined from the free parking spaces in the parking lot, and the location and navigation information of the reserved parking space are displayed on the map navigation page; wherein, the navigation information is based on the current position of the target vehicle and the reserved parking space.
  • the processor further implements the following steps when executing the computer program:
  • the navigation information is displayed.
  • the processor further implements the following steps when executing the computer program:
  • the location of the reserved parking space is changed according to the selection operation.
  • the above display navigation information includes:
  • the processor further implements the following steps when executing the computer program:
  • the location information of the parking space of the target vehicle is obtained, and the parking space of the target vehicle is marked on the parking space interface of the parking lot and the high-precision map according to the location information.
  • the processor further implements the following steps when executing the computer program:
  • the illegal parking prompt information After the target vehicle parks in the parking space of the parking lot, if the illegal parking prompt information is received, the illegal parking prompt information will be displayed on the map navigation page; the illegal parking prompt information is obtained after detecting the illegal parking event of the target vehicle according to the perception information , and the parking violation prompt information is used to indicate that the target vehicle has violated the vehicle parking rules.
  • the map navigation page further includes a restaurant queuing option
  • the processor further implements the following steps when executing the computer program:
  • the restaurant queuing information page displays the queuing information; the queuing information is determined according to the restaurant image collected by the image acquisition device installed in the restaurant of the target service area, and is used to indicate the number of people in line and the congestion situation in the restaurant of the target server.
  • the processor may further implement the following steps when executing the computer program:
  • the high-precision map will be displayed on the map navigation page, and the first content element corresponding to the target vehicle and the neighboring the second content element corresponding to the vehicle;
  • the measurement accuracy of the high-precision map is greater than the preset accuracy threshold;
  • the adjacent vehicles are vehicles within a preset range around the target vehicle, and the first content element and the second content element are obtained based on the perception information of the roadside base station arranged in the target tunnel.
  • the roadside base station is initialized based on the high-precision map.
  • the map navigation page includes a perception enhancement option
  • the processor further implements the following steps when executing the computer program:
  • the perception enhancement option When the perception enhancement option is triggered, the second content element is superimposed and displayed on the high-definition map from a bird's-eye view.
  • the map navigation page includes a high-precision positioning option
  • the processor further implements the following steps when executing the computer program:
  • the first content element is superimposed and displayed on the high-precision map from a bird's-eye view.
  • the map navigation page further includes a driving mode option
  • the processor further implements the following steps when executing the computer program:
  • the third content element corresponding to the surrounding environment of the target vehicle is superimposed and displayed on the high-precision map from the vehicle perspective.
  • the processor further implements the following steps when executing the computer program:
  • Display the distance information on the map navigation page, and the distance information is used to indicate the distance between the current position of the target vehicle and the tunnel exit of the target tunnel.
  • the processor further implements the following steps when executing the computer program:
  • event reminder information is generated after detecting preset safety events based on perception information; preset safety events are events that endanger driving safety;
  • the map navigation page further includes a classic map option
  • the processor further implements the following steps when executing the computer program:
  • the classic map option When the classic map option is triggered, the classic map is displayed on the map navigation page; the measurement accuracy of the classic map is lower than the preset accuracy threshold.
  • a computer-readable storage medium on which a computer program is stored, and in the scenario of assisting driving after a vehicle enters a service area, the computer program implements the following steps when executed by a processor:
  • the high-precision map will be displayed from a bird's-eye view on the map navigation page, and the parking space interface of the parking lot will be displayed superimposed on the high-precision map;
  • the measurement accuracy of the high-precision map is greater than the preset accuracy threshold
  • the parking space interface displays the occupancy information of each parking space in the parking lot in the target service area; the occupancy information is used to indicate whether there are vehicles parked in the parking space; the occupancy information is based on the layout of The perception information of the roadside base station in the target service area is acquired, and the roadside base station is initialized based on the high-precision map.
  • the map navigation page includes a parking lot option
  • the computer program further implements the following steps when executed by the processor:
  • the parking space interface of the parking lot is displayed superimposed on the high-precision map.
  • the map navigation page includes a parking space reservation option
  • the computer program further implements the following steps when executed by the processor:
  • the reserved parking space is determined from the free parking spaces in the parking lot, and the location and navigation information of the reserved parking space are displayed on the map navigation page; wherein, the navigation information is based on the current position of the target vehicle and the reserved parking space.
  • the computer program further implements the following steps when executed by the processor:
  • the navigation information is displayed.
  • the computer program further implements the following steps when executed by the processor:
  • the location of the reserved parking space is changed according to the selection operation.
  • the above display navigation information includes:
  • the computer program further implements the following steps when executed by the processor:
  • the location information of the parking space of the target vehicle is obtained, and the parking space of the target vehicle is marked on the parking space interface of the parking lot and the high-precision map according to the location information.
  • the computer program further implements the following steps when executed by the processor:
  • the illegal parking prompt information After the target vehicle parks in the parking space of the parking lot, if the illegal parking prompt information is received, the illegal parking prompt information will be displayed on the map navigation page; the illegal parking prompt information is obtained after detecting the illegal parking event of the target vehicle according to the perception information , and the parking violation prompt information is used to indicate that the target vehicle has violated the vehicle parking rules.
  • the map navigation page further includes a restaurant queuing option
  • the computer program further implements the following steps when executed by the processor:
  • the restaurant queuing information page displays the queuing information; the queuing information is determined according to the restaurant image collected by the image acquisition device installed in the restaurant of the target service area, and is used to indicate the number of people in line and the congestion situation in the restaurant of the target server.
  • the high-precision map will be displayed on the map navigation page, and the first content element corresponding to the target vehicle and the neighboring the second content element corresponding to the vehicle;
  • the measurement accuracy of the high-precision map is greater than the preset accuracy threshold;
  • the adjacent vehicles are vehicles within a preset range around the target vehicle, and the first content element and the second content element are obtained based on the perception information of the roadside base station arranged in the target tunnel.
  • the roadside base station is initialized based on the high-precision map.
  • the map navigation page includes a perceptual enhancement option
  • the computer program further implements the following steps when executed by the processor:
  • the perception enhancement option When the perception enhancement option is triggered, the second content element is superimposed and displayed on the high-definition map from a bird's-eye view.
  • the map navigation page includes a high-precision positioning option
  • the computer program further implements the following steps when executed by the processor:
  • the first content element is superimposed and displayed on the high-precision map from a bird's-eye view.
  • the map navigation page further includes a driving mode option
  • the computer program further implements the following steps when executed by the processor:
  • the third content element corresponding to the surrounding environment of the target vehicle is superimposed and displayed on the high-precision map from the vehicle perspective.
  • the computer program further implements the following steps when executed by the processor:
  • the distance information is used to indicate the distance between the current position of the target vehicle and the tunnel exit of the target tunnel.
  • the computer program further implements the following steps when executed by the processor:
  • event reminder information is generated after detecting preset safety events based on perception information; preset safety events are events that endanger driving safety;
  • the map navigation page further includes a classic map option
  • the computer program further implements the following steps when executed by the processor:
  • the classic map option When the classic map option is triggered, the classic map is displayed on the map navigation page; the measurement accuracy of the classic map is lower than the preset accuracy threshold.
  • any reference to memory, storage, database or other media used in the various embodiments provided by the present disclosure may include at least one of non-volatile and volatile memory.
  • Non-volatile memory may include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, or optical memory, and the like.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • the RAM may be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

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Abstract

一种导航方法、装置、计算机设备和存储介质。导航方法包括：步骤201，若目标车辆进入目标服务区的高精地图对应的地理范围内，则在地图导航页面中以鸟瞰视角展示高精地图，并在高精地图上叠加展示停车场车位界面；其中，高精地图的测量精度大于预设精度阈值，停车场车位界面中展示有目标服务区中停车场中各车位的占用信息；占用信息用于指示车位是否停放有车辆；占用信息基于布设在目标服务区中的路侧基站的感知信息获取，路侧基站基于高精地图初始化。导航方法能够更好地辅助用户驾驶。

Description

导航方法、装置、计算机设备和存储介质
相关申请的交叉引用
本公开要求于2021年4月30日申请的，申请号为2021104833071，名称为“导航方法、装置、计算机设备和存储介质”；于2021年4月30日申请的，申请号为2021104817420，名称为“导航方法、装置、计算机设备和存储介质”的中国专利申请的优先权。
技术领域
本公开一般地涉及终端交互技术领域。更具体地，本公开涉及一种导航方法、装置、计算机设备和存储介质。
背景技术
随着人们生活水平的提高，汽车等交通工具越来越普及。在驾车出行时，地图APP(Application，应用程序)是一种不可缺少的工具，它不仅可以规划行车线路，还可以查询高速公路上服务区和加油站的分布情况，为人们工作生活带来了极大地便利。但是，目前市场中的地图APP只能实现将车辆导航至服务区，而车辆进入服务区后，地图APP则不能很好地辅助驾驶。
随着人们生活水平的提高，汽车等交通工具越来越普及。在驾车出行时，地图APP(Application，应用程序)是一种不可缺少的工具，它不仅可以规划行车线路，还可以查询高速公路上隧道、桥梁的分布情况，为人们工作生活带来了极大地便利。由于隧道属于封闭空间场景，隧道中的GNSS信号通常较弱或消失，这使得进入隧道中的车辆位置丢失，难以确定隧道中车辆的身份，基于此，隧道中的个性化服务方案难以准确的提供给隧道中的各个车辆，且隧道中光线昏暗、并且容易遮挡视线，车辆也难以基于自身的定位利用现有的地图(导航)去获取车身周围的环境状态(例如周围的车辆)，因此，如何为隧道中的车辆针对性的提供其周围的环境信息成为了亟待解决的技术问题。
发明内容
2021104833071为了至少部分地解决背景技术中提到的技术问题，本公开的方案提供了一种能够在车辆进入服务区后很好地辅助驾驶的导航方法、装置、计算机设备和存储介质。
在一个方面中，本公开提供一种导航方法，该方法包括：若目标车辆进入目标服务区的高精地图对应的地理范围内，则在地图导航页面中以鸟瞰视角展示高精地图，并在高精地图上叠加展示停车场车位界面；其中，高精地图的测量精度大于预设精度阈值，停车场车位界面中展示有目标服务区中停车场中各车位的占用信息；占用信息用于指示车位是否停放有车辆；占用信息基于布设在目标服务区中的路侧基站的感知信息获取，路侧基站基于高精地图初始化。
在其中一个实施例中，地图导航页面包括停车场选项，上述在高精地图上叠加展示停车场车位界面，包括：检测停车场选项是否被触发；在停车场选项被触发的情况下，在高精地图上叠加展示停车场车位界面。
在其中一个实施例中，地图导航页面包括车位预约选项，该方法还包括：检测车位预约选项是否被触发；在车位预约选项被触发的情况下，从停车场的空闲车位中确定预约车 位，并在地图导航页面中展示预约车位的位置以及导航信息；其中，导航信息根据目标车辆的当前位置和预约车位的位置确定。
在其中一个实施例中，上述在地图导航页面中展示预约车位的位置以及导航信息，包括：在地图导航页面中展示预约车位的位置，并展示确认选项；若检测到确认选项被触发，则展示导航信息。在其中一个实施例中，在地图导航页面中展示预约车位的位置，并展示确认选项之后，该方法还包括：若基于地图导航页面获取到用户的选取操作，则根据选取操作更改预约车位的位置。
在其中一个实施例中，上述展示导航信息，包括：在停车场车位界面中展示目标车辆的导航行驶路线；在高精地图中以车辆视角展示目标车辆的导航行驶方向。
在其中一个实施例中，该方法还包括：在目标车辆停入停车场的车位后，获取目标车辆停放车位的位置信息，并根据位置信息在停车场车位界面和高精地图中标注目标车辆的停放车位。
在其中一个实施例中，该方法还包括：在目标车辆停入停车场的车位后，若接收到违停提示信息，则在地图导航页面中展示违停提示信息；违停提示信息是根据感知信息检测到目标车辆出现违停事件后得到的，违停提示信息用于指示目标车辆存在违反车辆停放规则的行为。
在其中一个实施例中，地图导航页面还包括餐厅排队选项，该方法还包括：检测餐厅排队选项是否被触发；在餐厅排队选项被触发的情况下，展示餐厅排队信息页面；其中，餐厅排队信息页面展示有排队信息；排队信息根据设置在目标服务区餐厅中的图像采集设备采集的餐厅图像确定，用于指示目标服务器餐厅中的排队人数和拥堵状况。
在另一个方面中，本公开提供一种导航装置，该装置包括：展示模块，用于若目标车辆进入目标服务区的高精地图对应的地理范围内，则在地图导航页面中以鸟瞰视角展示所述高精地图，并在所述高精地图上叠加展示停车场车位界面；其中，所述高精地图的测量精度大于预设精度阈值，所述停车场车位界面中展示有所述目标服务区中停车场中各车位的占用信息；所述占用信息用于指示车位是否停放有车辆；所述占用信息基于布设在所述目标服务区中的路侧基站的感知信息获取，所述路侧基站基于所述高精地图初始化。
在其中一个实施例中，地图导航页面包括停车场选项，该装置还包括检测模块；上述检测模块，用于检测停车场选项是否被触发；上述展示模块，在停车场选项被触发的情况下，在高精地图上叠加展示停车场车位界面。
在其中一个实施例中，地图导航页面包括车位预约选项，上述检测模块，用于检测车位预约选项是否被触发；上述展示模块，还用于在车位预约选项被触发的情况下，从停车场的空闲车位中确定预约车位，并在地图导航页面中展示预约车位的位置以及导航信息；其中，导航信息根据目标车辆的当前位置和预约车位的位置确定。
在其中一个实施例中，上述展示模块，具体用于在地图导航页面中展示预约车位的位置，并展示确认选项；若检测到确认选项被触发，则展示导航信息。
在其中一个实施例中，该装置还包括：操作获取模块，用于若基于地图导航页面获取到用户的选取操作，则根据选取操作更改预约车位的位置。
在其中一个实施例中，上述展示模块，还用于在停车场车位界面中展示目标车辆的导航行驶路线；在高精地图中以车辆视角展示目标车辆的导航行驶方向。
在其中一个实施例中，该装置还包括：车位标注模块，用于在目标车辆停入停车场的 车位后，获取目标车辆停放车位的位置信息，并根据位置信息在停车场车位界面和高精地图中标注目标车辆的停放车位。
在其中一个实施例中，该装置还包括：提示模块，用于在目标车辆停入停车场的车位后，若接收到违停提示信息，则在地图导航页面中展示违停提示信息；违停提示信息是根据感知信息检测到目标车辆出现违停事件后得到的，违停提示信息用于指示目标车辆存在违反车辆停放规则的行为。
在其中一个实施例中，地图导航页面还包括餐厅排队选项；上述检测模块，用于检测餐厅排队选项是否被触发；上述展示模块，用于在餐厅排队选项被触发的情况下，展示餐厅排队信息页面；其中，餐厅排队信息页面展示有排队信息；排队信息根据设置在目标服务区餐厅中的图像采集设备采集的餐厅图像确定，用于指示目标服务器餐厅中的排队人数和拥堵状况。
在另一个方面中，本公开提供一种计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现以下步骤：若目标车辆进入目标服务区的高精地图对应的地理范围内，则在地图导航页面中以鸟瞰视角展示高精地图，并在高精地图上叠加展示停车场车位界面；其中，高精地图的测量精度大于预设精度阈值，停车场车位界面中展示有目标服务区中停车场中各车位的占用信息；占用信息用于指示车位是否停放有车辆；占用信息基于布设在目标服务区中的路侧基站的感知信息获取，路侧基站基于高精地图初始化。
在另一个方面中，本公开提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现以下步骤：若目标车辆进入目标服务区的高精地图对应的地理范围内，则在地图导航页面中以鸟瞰视角展示高精地图，并在高精地图上叠加展示停车场车位界面；其中，高精地图的测量精度大于预设精度阈值，停车场车位界面中展示有目标服务区中停车场中各车位的占用信息；占用信息用于指示车位是否停放有车辆；占用信息基于布设在目标服务区中的路侧基站的感知信息获取，路侧基站基于高精地图初始化。
本公开的上述导航方法、装置、计算机设备和存储介质，若目标车辆进入目标服务区的高精地图对应的地理范围内，则在地图导航页面中以鸟瞰视角展示高精地图，并在高精地图上叠加展示停车场车位界面。通过本公开实施例，当目标车辆进入目标服务区之后，用户可以通过地图导航页面中展示的高精地图和停车场车位界面获知目标服务区内的道路和停车场中的车位占用状况，这样，可以很好地辅助用户在目标服务区中驾驶和停放车辆。
2021104833071
2021104817420为了至少部分地解决背景技术中提到的技术问题，本公开的方案提供了一种能够在隧道处很好地辅助驾驶的导航方法、装置、计算机设备和存储介质。
在一个方面中，本公开提供一种导航方法，该方法包括：若目标车辆进入目标隧道的高精地图对应的地理范围内，则在地图导航页面中展示高精地图，并在高精地图上以鸟瞰视角叠加展示与目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素；其中，高精地图的测量精度大于预设精度阈值；邻近车辆为目标车辆周围预设范围内的车辆，第一内容元素以及第二内容元素基于布设在目标隧道中的路侧基站的感知信息获取，路侧基站基于所述高精地图初始化。
在其中一个实施例中，地图导航页面包括感知增强选项，上述在高精地图上以鸟瞰视角叠加展示与目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素，包括：检测感知增强选项是否被触发；在感知增强选项被触发的情况下，在高精地图上以鸟瞰视角叠加展示第二内容元素。
在其中一个实施例中，地图导航页面包括高精定位选项，该方法还包括：检测高精定位选项是否被触发；在高精定位选项被触发的情况下，在高精地图上以鸟瞰视角叠加展示第一内容元素。
在其中一个实施例中，地图导航页面中还包括驾驶模式选项，该方法还包括：检测驾驶模式选项是否被触发；在驾驶模式选项被触发的情况下，在高精地图上以车辆视角叠加展示目标车辆的周围环境所对应的第三内容元素。
在其中一个实施例中，该方法还包括：在地图导航页面中展示距离信息，距离信息用于指示目标车辆的当前位置与目标隧道的隧道出口之间的距离。
在其中一个实施例中，该方法还包括：接收事件提醒信息；事件提醒信息是根据感知信息检测到预设安全事件后生成的；预设安全事件为危及行车安全的事件；在地图导航页面中展示事件提醒信息。
在其中一个实施例中，地图导航页面还包括经典地图选项，该方法还包括：检测经典地图选项是否被触发；在经典地图选项被触发的情况下，在地图导航页面中展示经典地图；经典地图的测量精度低于预设精度阈值。
在另一个方面中，本公开提供一种导航装置，该装置包括：展示模块，用于若目标车辆进入目标隧道的高精地图对应的地理范围内，则在地图导航页面中展示高精地图，并在高精地图上以鸟瞰视角叠加展示与目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素；其中，高精地图的测量精度大于预设精度阈值；邻近车辆为目标车辆周围预设范围内的车辆，第一内容元素以及第二内容元素基于布设在目标隧道中的路侧基站的感知信息获取，路侧基站基于所述高精地图初始化。
在其中一个实施例中，地图导航页面包括感知增强选项，上述展示模块，具体用于检测感知增强选项是否被触发；在感知增强选项被触发的情况下，在高精地图上以鸟瞰视角叠加展示第二内容元素。
在其中一个实施例中，地图导航页面包括高精定位选项，该装置还包括检测模块；上述检测模块，用于检测高精定位选项是否被触发；上述展示模块，还用于在高精定位选项被触发的情况下，在高精地图上以鸟瞰视角叠加展示第一内容元素。
在其中一个实施例中，地图导航页面中还包括驾驶模式选项；上述检测模块，还用于检测驾驶模式选项是否被触发；上述展示模块，还用于在驾驶模式选项被触发的情况下，在高精地图上以车辆视角叠加展示目标车辆的周围环境所对应的第三内容元素。
在其中一个实施例中，上述展示模块，还用于在地图导航页面中展示距离信息，距离信息用于指示目标车辆的当前位置与目标隧道的隧道出口之间的距离。
在其中一个实施例中，该装置还包括接收模块；上述接收模块，用于接收事件提醒信息；事件提醒信息是根据感知信息检测到预设安全事件后生成的；预设安全事件为危及行车安全的事件；上述展示模块，还用于在地图导航页面中展示事件提醒信息。
在其中一个实施例中，地图导航页面还包括经典地图选项；上述检测模块，还用于检测经典地图选项是否被触发；上述展示模块，还用于在经典地图选项被触发的情况下，在 地图导航页面中展示经典地图；经典地图的测量精度低于预设精度阈值。
在另一个方面中，本公开提供一种计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现以下步骤：若目标车辆进入目标隧道的高精地图对应的地理范围内，则在地图导航页面中展示高精地图，并在高精地图上以鸟瞰视角叠加展示与目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素；其中，高精地图的测量精度大于预设精度阈值；邻近车辆为目标车辆周围预设范围内的车辆，第一内容元素以及第二内容元素基于布设在目标隧道中的路侧基站的感知信息获取，路侧基站基于高精地图初始化。
在另一个方面中，本公开提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现以下步骤：若目标车辆进入目标隧道的高精地图对应的地理范围内，则在地图导航页面中展示高精地图，并在高精地图上以鸟瞰视角叠加展示与目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素；其中，高精地图的测量精度大于预设精度阈值；邻近车辆为目标车辆周围预设范围内的车辆，第一内容元素以及第二内容元素基于布设在目标隧道中的路侧基站的感知信息获取，路侧基站基于高精地图初始化。
本公开的上述导航方法、装置、计算机设备和存储介质，若目标车辆进入目标隧道的高精地图对应的地理范围内，则在地图导航页面中展示高精地图，并在高精地图上以鸟瞰视角叠加展示与目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素。通过本公开实施例，在地图导航页面中，不仅展示目标车辆，还展示目标车辆的邻近车辆，这样，可以辅助用户很好地感知邻近车辆的行驶状态，降低隧道环境对用户视野的影响，降低车辆行驶风险。
2021104817420
附图说明
通过参考附图阅读下文的详细描述，本公开示例性实施方式的说明以及其他目的、特征和优点将变得易于理解。在附图中，以示例性而非限制性的方式示出了本公开的若干实施方式，并且相同或对应的标号表示相同或对应的部分，其中：
图1是示出本公开实施例的导航方法的应用环境图；
图2是示出本公开实施例的导航方法的流程示意图；
图3是示出本公开实施例的地图导航页面的示意图；
图4是示出本公开实施例在高精地图上叠加展示停车场车位界面步骤的流程示意图；
图5a是示出本公开实施例的地图导航页面的示意图；
图5b是示出本公开实施例的地图导航页面的示意图；
图6是示出本公开实施例的车位预约步骤的流程示意图；
图7a是示出本公开实施例的地图导航页面的示意图；
图7b是示出本公开实施例的地图导航页面的示意图；
图7c是示出本公开实施例的地图导航页面的示意图；
图7d是示出本公开实施例的地图导航页面的示意图；
图8a是示出本公开实施例的地图导航页面的示意图；
图8b是示出本公开实施例的地图导航页面的示意图；
图8c是示出本公开实施例的地图导航页面的示意图；
图9是示出本公开实施例展示餐厅排队信息页面步骤的流程示意图；
图10是示出本公开实施例中餐厅排队信息页面的示意图；
图11是示出本公开实施例的另一导航方法的流程示意图；
图12a是示出本公开实施例的另一地图导航页面的示意图；
图12b是示出本公开实施例的另一地图导航页面的示意图；
图12c是示出本公开实施例的另一地图导航页面的示意图；
图12d是示出本公开实施例的另一地图导航页面的示意图；
图12e是示出本公开实施例的另一地图导航页面的示意图；
图12f是示出本公开实施例的另一地图导航页面的示意图；
图13是示出本公开实施例在高精地图上以鸟瞰视角叠加展示第一内容元素以及第二内容元素步骤的流程示意图；
图14是示出本公开实施例在高精地图上以鸟瞰视角叠加展示第一内容元素的流程示意图；
图15是示出本公开实施例在高精地图上以车辆视角叠加展第三内容元素步骤的流程示意图；
图16a是示出本公开实施例的另一地图导航页面的示意图；
图16b是示出本公开实施例的另一地图导航页面的示意图；
图16c是示出本公开实施例的另一地图导航页面的示意图；
图16d是示出本公开实施例的另一地图导航页面的示意图；
图17是示出本公开实施例在地图导航页面中展示事件提醒信息步骤的流程示意图；
图18a是示出本公开实施例的另一地图导航页面的示意图；
图18b是示出本公开实施例的另一地图导航页面的示意图；
图18c是示出本公开实施例的另一地图导航页面的示意图；
图18d是示出本公开实施例的另一地图导航页面的示意图；
图19为一个实施例中在地图导航页面中展示经典地图步骤的流程示意图；
图20是示出本公开另一实施例的导航装置的结构框图；
图21是示出本公开另一实施例的计算机设备的内部结构图。
具体实施方式
为了使本公开的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本公开进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本公开，并不用于限定本公开。
本公开提供的导航方法，可以应用于如图1所示的应用环境中。该应用环境可以包括客户端101、服务器102和路侧基站103，其中，客户端101和路侧基站103均可以通过网络与服务器102进行通信。上述客户端101可以为手机、平板电脑、IPAD以及车辆控制器等电子设备，还可以为安装在电子设备上的APP软件。上述服务器102可以用独立的服务器或者是多个服务器组成的服务器集群来实现。上述路侧基站103上可以设置多个传感器(如摄像头、激光雷达等)和数据处理芯片；各个传感器用于获取感知信息，数据处理信息用于处理这些感知信息。在其中一个实施例中，可以将服务器102与路侧基站103集成在一起作为信息服务端。
在一个实施例中，如图2所示，提供了能够在车辆进入服务区后很好地辅助驾驶的一种导航方法，以该方法应用于图1中的客户端为例进行说明，包括以下步骤：
步骤201，若目标车辆进入目标服务区的高精地图对应的地理范围内，则在地图导航页面中以鸟瞰视角展示高精地图，并在高精地图上叠加展示停车场车位界面。
其中，高精地图的测量精度大于预设精度阈值，停车场车位界面中展示有目标服务区中停车场中各车位的占用信息，占用信息用于指示车位是否停放有车辆，如图3所示。该占用信息基于布设在所述目标服务区中的路侧基站的感知信息获取。其中，路侧基站基于上述高精地图初始化，即路侧基站的感知信息中目标的位置信息为上述高精地图的坐标系下的位置信息。
本公开实施例中，先利用测量设备对目标服务区进行测量，并且测量精度大于预设精度阈值；再由服务器根据测量数据绘制目标服务区的高精地图。之后，客户端从服务器下载目标服务区的高精地图。
在实际应用中，客户端位于目标车辆上，并实时或者定时将目标车辆的GPS(Global Positioning System，全球定位)信息发送到服务器。服务器根据目标车辆的GPS信息检测目标车辆是否进入目标服务区的高精地图所对应的地理范围内。
如果检测到目标车辆进入目标服务区的高精地图所对应的地理范围内，则服务器从布设在目标服务区中的路侧基站获取感知信息，根据感知信息确定目标服务区中停车场中的各车位是否停放有车辆，根据确定结果得到占用信息、目标服务区中停车场的车位总数和剩余空车位数。接着，服务器将占用信息、停车场的车位总数和剩余空车位数发送到客户端。
客户端接收占用信息、停车场的车位总数和剩余空车位数，在高精地图上叠加展示停车场车位界面，如图3所示。其中，高精地图的缩放程度可由用户控制。
上述导航方法中，若目标车辆进入目标服务区的高精地图对应的地理范围内，则在地图导航页面中以鸟瞰视角展示高精地图，并在高精地图上叠加展示停车场车位界面。通过本公开实施例，当目标车辆进入目标服务区之后，用户可以通过地图导航页面中展示的高精地图和停车场车位界面获知目标服务区内的道路和停车场中的车位占用状况，这样，可以很好地辅助用户在目标服务区中驾驶和停放车辆。
在一个实施例中，如图4所示，上述在高精地图上叠加展示停车场车位界面的步骤，可以包括：
步骤301，检测停车场选项是否被触发。
如图5a所示，地图导航页面包括停车场选项。
客户端可以通过检测该停车场选项是否被点击来检测感知选项是否被触发。如果客户端检测到用户点击停车场选项，则确定停车场选项被触发。在实际应用中，也可以通过其他方式检测停车场选项是否被触发，本公开实施例对此不做限定。
步骤302，在停车场选项被触发的情况下，在高精地图上叠加展示停车场车位界面。
在停车场选项未被触发的情况下，客户端未开启停车场功能，地图导航页面中只展示高精地图，如图5a所示。
需要说明的是，本公开实施例中的地图导航页面可以为车载设备的页面，也可能为布设在停车场预设位置的路侧显示屏的页面。
在其中一个实施例中，在地图导航页面为车载设备的页面时，页面中功能的触发可以 为通过触摸对应的虚拟按键触发，也可能是语音输入对应的指令触发，当然可能是车辆执行了界面引导的与相应功能有关的行为触发。例如，目标车辆驶入高精地图对应的地理范围，则可以认为是行为触发。当然，页面中功能的触发方式也可能是行为触发与用户输入指令相结合的方式。例如，触发本公开实施例中的展示停车场空闲车位的功能，可以是目标车辆驶入高精地图对应的地理范围(行为)并接收用户通过车载设备输入停车位信息获取指令触发。
在其中一个实施例中，在地图导航页面为路侧显示屏的页面时，则页面中相应功能的触发可以为车辆行为的触发。例如，目标车辆驶入特定区域，则触发路侧显示屏中展示停车场空闲车位的功能。例如，在特定区域处显示：“驶上XX位置，则获取前方停车场停车位信息”的提示，若目标车辆驶上该XX位置，则在路侧显示屏中显示停车场停车位信息。该方案可以通过布设在车辆从特定区域至停车场(甚至停车位)的线路上的多个路侧显示屏协同实现该功能。本公开实施例旨在提供一种通过路侧基站进行信息服务的方案，具体实现形式，在此不做具体限定。
为了在地下停车场等GPS信号弱/无的封闭场景下实现上述通过路侧显示屏显示的方案(此时大概率也没有4G/5G信号)，需利用路侧基站感知的车辆的检测特征和车辆本身的属性特征(车辆自身的描述)进行匹配，实现在对应的显示屏上显示合适的车辆信息。具体的匹配过程如下：服务器会在车辆驶入地下停车场之前，基于各个进入地下停车场的车辆的自身定位信息以及路侧基站感知到的车辆的路侧定位信息(定位信息的匹配是为了确定是同一辆车)构建检索词条。该检索词条中包含检测特征(基于感知信息得到)以及身份标识(可以是车辆通过通信提供的，也可以是服务器/边缘节点下发的)；该检索词条被存储于预设空间，该预设空间可以被处理器(该处理器可以为服务器或边缘节点，该服务器或边缘节点用于处理布设的路侧基站的感知信息)读取。在目标车辆进入目标服务区后，该处理器可以根据处理器基于感知信息得到的检测特征匹配出目标检索词条，基于该目标检索词条获取路侧基站的感知信息中的定位信息，即目标车辆的定位信息。之后，服务器可以根据目标车辆在目标服务区中的定位信息对应的将内容元素发送到客户端。客户端接收目标车辆对应的内容元素，在地图导航页面中以鸟瞰视角展示高精地图，并在高精地图中叠加展示目标车辆对应的内容元素，如图5b所示。图5a和图5b中，多重圆圈的中心位置布设有路侧基站。可选地，内容元素可以包括车辆位置、车辆形状和车辆颜色等。
需要说明的是，在GPS信号正常的情形下，进行上述匹配过程可以选用客户端的GPS定位和路侧基站的感知定位匹配，得到各个车辆的感知信息，基于路侧基站的感知信息对各个车辆进行服务。使用定位信息可以快速高效的进行匹配，当然为了结果匹配的准确性也可以引入车辆的部分或全部的检测特征，对此，本公开实施不做具体限定。
在其中一个实施例中，在停车场选项被触发的情况下，客户端开启停车场功能，向服务器发送占用信息获取请求。服务器接收占用信息获取请求；根据占用信息获取请求获取目标服务区中布设的路侧基站测得的感知信息；根据感知信息确定停车场中各车位是否停放有车辆；根据各车位是否停放有车辆生成占用信息，得到停车场的车位总数和剩余车位数。然后，服务器将占用信息、停车场的车位总数和剩余车位数发送到客户端。客户端接收占用信息、停车场的车位总数和剩余车位数，并根据在高精地图上叠加展示停车场车位界面。
上述在高精地图上叠加展示停车场车位界面的步骤，客户端检测停车场选项是否被触 发；在停车场选项被触发的情况下，在高精地图上叠加展示停车场车位界面。通过本公开实施例，用户可以通过停车场选项控制客户端是否展示停车场车位界面，方便用户获知目标服务区中停车场的相关情况，从而更好地辅助用户驾驶。
在一个实施例中，如图6所示，本公开实施例还可以包括如下步骤：
步骤401，检测车位预约选项是否被触发。
如图7a所示，地图导航页面还包括车位预约选项。图7中圆圈的中心位置布设有路侧基站。
客户端可以通过检测该车位预约选项是否被点击来检测车位预约选项是否被触发。如果客户端检测到用户点击车位预约选项，则确定车位预约选项被触发。在实际应用中，也可以通过其他方式检测车位预约选项是否被触发，本公开实施例对此不做限定。
步骤402，在车位预约选项被触发的情况下，从停车场的空闲车位中确定预约车位，并在地图导航页面中展示预约车位的位置以及导航信息。
其中，导航信息根据目标车辆的当前位置和预约车位的位置确定。
在车位预约选项未被触发的情况下，客户端未启动车位预约功能，地图导航页面以鸟瞰视角展示高精地图，并在高精地图中叠加展示停车场车位界面，如图3所示。
在车位预约选项被触发的情况下，客户端启动车位预约功能，向服务器发送车位预约请求。服务器接收车位预约请求，根据车位预约请求获取目标服务区中布设的路侧基站测得的感知信息；该车位预约请求携带目标车辆的身份信息。服务器根据该车位预约请求中携带的身份信息获取目标检索词条，基于目标检索词条获取目标检测特征，基于目标检测特征从感知信息确定目标车辆的当前位置。之后，服务器根据目标车辆的当前位置，从停车场的空闲车位中确定一个作为预约车位，并根据预约车位的位置和目标车辆的位置生成导航信息。接着，服务器将预约车位的位置和导航信息发送到客户端。
客户端接收预约车位的位置和导航信息，在地图导航页面中展示预约车位的位置和导航信息，如图7b所示。
在其中一个实施例中，地图导航页面中展示预约车位的位置以及导航信息的过程，可以包括：在地图导航页面中展示预约车位的位置，并展示确认选项；若检测到确认选项被触发，则展示导航信息。
服务器在确定预约车位的位置后，先将预约车位的位置发送到客户端。客户端接收预约车位的位置，在地图导航页面中展示预约车位的位置，并展示确认选项，如图7c所示。如果用户同意将目标车辆停放到预约车位，则客户端会检测到用户点击确认选项，这样客户端就将确认信息发送给服务器。服务器接收确认信息，根据预约车位的位置和目标车辆的位置生成导航信息，并将导航信息发送到客户端。客户端接收导航信息，并在地图导航页面中展示导航信息。
在其中一个实施例中，还可以包括：若基于地图导航页面获取到用户的选取操作，则根据选取操作更改预约车位的位置。
如果客户端展示预约车位的位置后，用户并不想将目标车辆停放到预约车位上，而是想将目标车辆停放到另一个空闲车位上，那么客户端会检测到用户点击另一个空闲车位的选取操作。之后，客户端根据选取操作生成更改车位请求，并将更改车位请求发送到服务器。服务器接收更改车位请求，根据更改车位请求中携带的空闲车位的位置更改预约车位的位置，并将更改后的预约车位的位置发送到客户端。客户端接收更改后的预约车位的位 置，并在地图导航页面中展示更改后的预约车位的位置。并且，客户端还会在地图导航页面中展示确认选项。之后，客户端检测到用户点击确认选项并生成确认信息，将确认信息发送到服务器。服务器接收确认信息，并根据更改后的预约车位的位置和目标车辆的当前位置生成导航信息，再将导航信息发送到客户端。客户端接收导航信息，并在地图导航页面中展示导航信息。
在其中一个实施例中，上述展示导航信息的步骤可以包括：在停车场车位界面中展示目标车辆的导航行驶路线；在高精地图中以车辆视角展示目标车辆的导航行驶方向。
在图7b中，地图导航页面还包括进入驾驶模式选项。若客户端检测到该驾驶模式选项被触发，则在高精地图中以车辆视角展示目标车辆的导航行驶方向，如图7d所示。在图7d中，地图导航页面还包括进入地图模式选项。若客户端检测到该进入地图模式选项被触发，则客户端返回到如图7b所示的地图导航页面。
上述实施例中，检测车位预约选项是否被触发；在车位预约选项被触发的情况下，从停车场的空闲车位中确定预约车位，并在地图导航页面中展示预约车位的位置以及导航信息。通过本公开实施例，用户可以通过车位预约选项进行车位预约，客户端在车位预约过程中提供导航信息，方便用户将目标车辆驾驶到预约车位的位置。进一步地，客户端在展示导航信息的过程中，不仅在停车场车位界面中提供导航行驶路线，而且还在地图中提供车辆视角的导航行驶方向，从而很好地辅助用户驾驶。
在一个实施例中，还可以包括：在目标车辆停入停车场的车位后，获取目标车辆停放车位的位置信息，并根据位置信息在停车场车位界面和高精地图中标注目标车辆的停放车位。
在目标车辆停放在某一车位上之后，服务器从布设在目标服务区中的路侧基站测得的感知信息确定目标车辆停放车位的位置信息，并将目标车辆停放车位的位置信息发送到客户端。客户端接收目标车辆停放车位的位置信息，并根据位置信息在停车场车位界面和高精地图中均标注出目标车辆的停放车位，如图8a所示。
上述实施例中，在目标车辆停入停车场的车位后，客户端获取目标车辆停放车位的位置信息，并根据位置信息在停车场车位界面和高精地图中标注目标车辆的停放车位。通过本公开实施例，用户可以根据停车场车位界面和高精地图中的标注查找目标车辆，避免了因用户遗忘而查找不到目标车辆的问题。
在一个实施例中，还可以包括：在目标车辆停入停车场的车位后，若接收到违停提示信息，则在地图导航页面中展示违停提示信息。
其中，违停提示信息是根据感知信息检测到目标车辆出现违停事件后得到的，违停提示信息用于指示目标车辆存在违反车辆停放规则的行为。
在目标车辆停放到某一车位上之后，如果服务器根据布设在目标服务区中的路侧基站测得的感知信息检测到目标车辆出现违停事件，则生成违停提示信息，并将违停提示信息发送到客户端。客户端接收服务器发送的违停提示信息，并在地图导航页面中展示违停提示信息。如图8b所示，地图导航页面中展示目标车辆跨越车位停放的违停提示信息。
在其中一个实施例中，服务器也可以向客户端发送违停提示信息的短信息，客户端接收到短信息后，展示该短信息，如图8c所示。本公开实施例对违停提示信息的展示方式不做限定。
上述实施例中，在目标车辆停入停车场的车位后，若接收到违停提示信息，则客户端 在地图导航页面中展示违停提示信息。通过本公开实施例，可以避免车辆在停车场中乱停乱放，使目标服务区提供更好的服务。
在一个实施例中，如图9所示，本公开实施例还可以包括：
步骤501，检测餐厅排队选项是否被触发。
如图3所示，地图导航页面还包括餐厅排队选项。
客户端可以通过检测该餐厅排队选项是否被点击来检测餐厅排队选项是否被触发。如果客户端检测到用户点击餐厅排队选项，则确定餐厅排队选项被触发。在实际应用中，也可以通过其他方式检测餐厅排队选项是否被触发，本公开实施例对此不做限定。
步骤502，在餐厅排队选项被触发的情况下，展示餐厅排队信息页面。
其中，餐厅排队信息页面展示有排队信息；排队信息根据设置在目标服务区餐厅中的图像采集设备采集的餐厅图像确定，用于指示目标服务器餐厅中的排队人数和拥堵状况。
在餐厅排队选项未被触发的情况下，客户端展示的是地图导航页面，如图3所示。在餐厅排队的选项被触发的情况下，客户端向服务器发送排队信息获取请求。服务器接收排队信息获取请求；根据排队信息获取请求从目标服务区餐厅中的图像采集设备获取餐厅图像；对餐厅图像进行图像识别，得到目标服务区餐厅中的排队人数和拥堵状况，并根据排队人数和拥堵状况生成排队信息；之后，服务器将排队信息发送到客户端。客户端接收服务器发送的排队信息，展示餐厅排队信息页面，并在餐厅排队信息页面中展示接收到的排队信息，如图10所示。
上述实施例中，检测餐厅排队选项是否被触发；在餐厅排队选项被触发的情况下，展示餐厅排队信息页面。通过本公开实施例，用户可以通过餐厅排队选项控制客户端是否展示餐厅排队信息页面，从而获知目标服务区餐厅中的排队人数和拥堵状况，进而确定就餐计划。在辅助驾驶之外，客户端还为用户提供了其他方面的服务，提升了用户的使用体验。
应该理解的是，虽然图2至图9的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图2至图9中的至少一部分步骤可以包括多个步骤或者多个阶段，这些步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤中的步骤或者阶段的至少一部分轮流或者交替地执行。
在另一个实施例中，如图11所示，提供了能够在隧道处很好地辅助驾驶的一种导航方法，以该方法应用于图1中的客户端为例进行说明，包括以下步骤：
步骤601，若目标车辆进入目标隧道的高精地图对应的地理范围内，则在地图导航页面中展示高精地图，并在高精地图上以鸟瞰视角叠加展示与目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素。
其中，高精地图的测量精度大于预设精度阈值；邻近车辆为目标车辆周围预设范围内的车辆，第一内容元素以及第二内容元素基于布设在目标隧道中的路侧基站的感知信息获取，路侧基站基于上述高精地图初始化，即路侧基站的感知信息中目标的位置信息为上述高精地图的坐标系下的位置信息。可选地，内容元素可以包括车辆位置、车辆形状和车辆颜色等。路侧基站的传感器中包含能够用于定位的传感器。该能够用于定位的传感器可以为激光雷达。
需要说明的是，本公开实施例中的地图导航页面可以为车载设备的页面，也可能为布设在目标隧道中预设位置的路侧显示屏的页面。
在其中一个实施例中，在地图导航页面为车载设备的页面时，页面中功能的触发可以为通过触摸对应的虚拟按键触发，也可能是语音输入对应的指令触发，当然可能是车辆执行了页面引导的与相应功能有关的行为触发。例如，车辆驶入高精地图对应的地理范围，则可以认为是行为触发。当然，页面中功能的触发方式也可能是行为触发与用户输入指令相结合的方式。例如，触发本公开实施例中的展示第一内容元素以及第二内容元素的功能，可以是车辆驶入高精地图对应的地理范围(行为)并接收用户通过车载设备输入隧道信息获取指令触发。
本公开实施例中，先利用测量设备对目标隧道进行测量，并且测量精度大于预设精度阈值；再由服务器根据测量数据绘制目标隧道的高精地图。之后，客户端从服务器下载目标隧道的高精地图。
在实际应用中，客户端位于目标车辆上，并实时或者定时将目标车辆的GPS(Global Positioning System，全球定位)信息发送到服务器。服务器根据目标车辆的GPS信息检测目标车辆是否进入目标隧道的高精地图所对应的地理范围内。
服务器会基于各个车辆自身的定位信息以及路侧基站感知到的车辆的定位信息(定位信息的匹配是为了确定是同一辆车)构建检索词条。该检索词条中包含检测特征(基于感知信息得到)以及身份标识(可以是车辆通过通信提供的，也可以是服务器/边缘节点下发的)；该检索词条被存储于一预设空间，该预设空间可以被处理器(该处理器可以为服务器或边缘节点，该服务器或边缘节点用于处理布设的路侧基站的感知信息)读取。在目标车辆进入目标隧道后，车辆定位信息弱或丢失时，该处理器可以根据处理器基于感知信息得到的检测特征匹配出目标检索词条，基于该目标检索词条获取路侧基站的感知信息中的定位信息，即该目标车辆的定位信息。之后服务器可以根据目标车辆在目标隧道中的定位信息，对应的将第一内容元素和邻近车辆对应的第二内容元素发送到客户端。客户端接收目标车辆对应的第一内容元素和邻近车辆对应的第二内容元素，在地图导航页面中展示高精地图，并在高精地图上以鸟瞰视角叠加展示与目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素。高精地图的缩放程度可由用户控制。
在其中一个实施例中，在地图导航页面为路侧显示屏的页面时，则页面中功能的触发可以为车辆行为的触发。例如，车辆驶入特定区域并与目标路侧显示屏相距预设距离时，触发目标路侧显示屏展示前方隧道内信息的功能；当车辆行驶到目标路侧显示屏的位置时，在目标路侧显示屏中展示前方隧道内的信息。该方案可以通过布设在车辆从特定区域至隧道出口(甚至停车位)的线路上的多个路侧显示屏协同实现该功能。本公开实施例中的路侧显示屏显示以鸟瞰视角叠加展示与目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素，同时会在高精度地图标注目标车辆的身份标识(例如车牌信息)。
本公开实施例旨在提供一种通过路侧基站对隧道内的车辆进行信息服务的方案，具体实现形式，在此不做具体限定。
在地图导航页面的高精地图中，采用不同颜色来区别目标车辆和邻近车辆。如图12a所示，圆圈中的黑色车辆为目标车辆，其他白色车辆为邻近车辆，用户可以从地图导航页面查看自身位置和邻近车辆的位置。图12a中，位于多重圆圈中心位置的为路侧基站。
上述导航方法中，若目标车辆进入目标隧道的高精地图对应的地理范围内，则在地图 导航页面中展示高精地图，并在高精地图上以鸟瞰视角叠加展示与目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素。通过本公开实施例，可以为用户提供布设在隧道中路侧基站的感知信息，以使用户在GPS信号弱或丢失的情况下，仍可以获取对自身驾驶关联度高的环境信息(定位和周围车辆)，这样，可以辅助在隧道中安全的进行驾驶，提高了用户在特殊路况中驾驶时的安全性。
在一个实施例中，如图13所示，上述在高精地图上以鸟瞰视角叠加展示与目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素的步骤，可以包括：
步骤701，检测感知增强选项是否被触发。
如图12b所示，地图导航页面包括感知增强选项。图12b中，目标车辆的当前位置位于高精地图对应的地理范围之外，或者是无目标车辆的位置信息。
客户端可以通过检测该感知增强选项是否被点击来检测感知增强选项是否被触发。如果客户端检测到用户点击感知增强选项，则确定感知增强选项被触发。在实际应用中，也可以通过其他方式检测感知增强选项是否被触发，本公开实施例对此不做限定。
步骤702，在感知增强选项被触发的情况下，在高精地图上以鸟瞰视角叠加展示第二内容元素。
在感知增强选项未被触发的情况下，客户端未开启感知增强功能，地图导航页面中可以展示高精地图和目标车辆对应的第一内容元素的叠加画面。如图12c所示，目标车辆在目标隧道外；如图12d所示，目标车辆在目标隧道内。
在感知增强选项被触发的情况下，客户端开启感知增强功能，向服务器发送感知请求。服务器接收到感知请求后，根据感知请求获取目标隧道中布设的路侧基站测得的感知信息；根据感知信息确定邻近车辆的行驶状态；根据邻近车辆的行驶状态得到邻近车辆的第二内容元素。之后，服务器将邻近车辆的第二内容元素发送到客户端。
客户端接收服务器发送的邻近车辆的第二内容元素，并在高精地图上以鸟瞰视角叠加展示第二内容元素，如图12a所示。
上述实施例中，客户端检测感知增强选项是否被触发；在感知增强选项被触发的情况下，在高精地图上以鸟瞰视角叠加展示第二内容元素。通过本公开实施例，用户可以通过感知增强选项来控制客户端是否开启感知增强功能，客户端在开启感知增强功能后，可以在地图导航页面中展示目标车辆的邻近车辆，辅助用户在隧道处更好地感知邻近车辆，从而降低车辆行驶风险。
在一个实施例中，如图14所示，本公开实施例还可以包括如下步骤：
步骤801，检测高精定位选项是否被触发。
如图12b所示，地图导航页面包括高精定位选项。
客户端可以通过检测该高精定位选项是否被点击来检测高精定位选项是否被触发。如果客户端检测到用户点击该高精定位按键，则确定高精定位选项被触发。在实际应用中，也可以采用其他方式检测高精定位选项是否被触发，本公开实施例对此不做限定。
步骤802，在高精定位选项被触发的情况下，在高精地图上以鸟瞰视角叠加展示第一内容元素。
在高精定位选项未被触发的情况下，客户端未开启高精定位功能，在地图导航页面中只展示高精地图，如图12b所示。
在高精定位选项被触发的情况下，客户端开启高精定位功能，向服务器发送定位请求。 服务器接收到定位请求后，根据定位请求获取目标隧道中布设的路侧基站的感知信息，该定位请求携带目标车辆的身份信息；根据定位请求中携带的身份信息获取目标检索词条，基于目标检索词条获取目标检测特征，基于目标检测特征从感知信息中确定目标检测结果，该目标检测结果包含目标检测特征和对应的第一元素内容(此时第一元素内容可以为定位信息，也可以在包含定位信息的基础上包含其他的感知信息，例如速度，航向角等)，该第一元素内容即为该目标车辆的第一元素内容。之后，服务器将目标车辆的第一内容元素发送到客户端。
客户端接收服务器发送的目标车辆的第一内容元素，并在高精地图上以鸟瞰视角叠加展示第一内容元素，如图12c和12d所示。
在其中一个实施例中，检测特征可以包括车辆外形、车牌号码、行驶速度和航向角中的至少一种。本公开实施例对检测特征不做限定。
在其中一个实施例中，若检测到感知增强选项和高精定位选项均被触发，则客户端在高精地图中以鸟瞰视角叠加展示目标车辆的第一内容元素和邻近车辆的第二内容元素。如图12e所示，圆圈中的黑色车辆为目标车辆，多重圆圈的中心位置为路侧基站。
在其中一个实施例中，若检测到感知增强选项被触发，高精定位选项未被触发，则客户端在高精地图中以鸟瞰视角叠加展示邻近车辆的第二内容元素。如图12f所示，由于高精定位功能未开启，因此在高精地图中并不叠加展示目标车辆的第一内容元素。
在上述实施例中，客户端检测高精定位选项是否被触发，在高精定位选项被触发的情况下，在高精地图上以鸟瞰视角叠加展示第一内容元素。通过本公开实施例，用户可以通过高精定位选项来控制客户端是否开启高精定位功能，客户端开启高精定位功能后，由服务器根据路侧基站测得的感知信息来确定目标车辆的位置(还可以包括行驶状态，例如速度，航向角等)，再由客户端在高精地图中叠加展示目标车辆。这样，即使客户端受隧道影响无法获取到目标车辆的GPS信息，也能在高精地图中展示目标车辆，从而很好地辅助用户驾驶，降低车辆行驶风险。
在一个实施例中，如图15所示，在上述实施例的基础上，本公开实施例还可以包括如下步骤：
步骤901，检测驾驶模式选项是否被触发。
如图12b所示，地图导航页面中还包括驾驶模式选项。
客户端可以通过检测驾驶模式选项是否被点击来检测驾驶模式选项是否被触发。如果客户端检测到用户点击驾驶模式选项，则确定驾驶模式选项被触发。在实际应用中，也可以通过其他方式检测驾驶模式选项是否被触发，本公开实施例对此不做限定。
步骤902，在驾驶模式选项被触发的情况下，在高精地图上以车辆视角叠加展示目标车辆的周围环境所对应的第三内容元素。
在驾驶模式选项未被触发的情况下，客户端未开启驾驶模式功能，在高精地图上以鸟瞰视角叠加第一内容元素和第二内容元素。
在驾驶模式选项被触发的情况下，客户端开启驾驶模式功能，向服务器发送环境获取请求。服务器接收到环境获取请求后，根据环境获取请求获取目标隧道对应的地理范围内的路侧基站测得的感知信息；根据感知信息确定目标车辆周围的环境信息；根据目标车辆周围的环境信息目标车辆的周围环境所对应的第三内容元素。其中，环境信息包括围栏、障碍物、抛洒物和交通事故中的至少一种。本公开实施例对环境信息不做限定。
服务器将目标车辆的周围环境所对应的第三内容元素发送到客户端，客户端在高精地图上以车辆视角叠加展示第三内容元素。如图16a所示，目标车辆在目标隧道外，如图16b所示，目标车辆在目标隧道内。
在其中一个实施例中，若驾驶模式选项和感知增强选项均被触发，则客户端在高精地图上以车辆视角叠加展示目标车辆的第一内容元素、邻近车辆的第二内容元素和周围环境的第三内容元素。如图16c所示，目标车辆在目标隧道外；和16d所示，目标车辆在目标隧道内。
上述实施例中，检测驾驶模式选项是否被触发；在驾驶模式选项被触发的情况下，在高精地图上以车辆视角叠加展示目标车辆的周围环境所对应的第三内容元素。通过本公开实施例，用户可以通过驾驶模式选项来控制客户端的展示视角，从而提升客户端的交互性能；并且，在以车辆视角展示时，还叠加展示目标车辆的周围环境，从而很好地辅助用户驾驶，降低车辆行驶风险。
在一个实施例中，还可以包括：在地图导航页面中展示距离信息，距离信息用于指示目标车辆的当前位置与目标隧道的隧道出口之间的距离。
在目标车辆进入目标隧道的高精地图对应的地理范围后，服务器可以根据目标车辆的当前位置与目标隧道的隧道出口之间的距离生成距离信息，并将该距离信息发送到客户端。客户端接收距离信息，并在地图导航页面中展示距离信息。
在其中一个实施例中，在高精定位选项和驾驶模式选项均被触发的情况下，客户端在高精地图中以车辆视角叠加展示目标车辆的第一内容元素和周围环境的第三内容元素，并且，在地图导航页面中展示距离信息，如图16b所示。
在其中一个实施例中，在高精定位选项、感知增强选项和驾驶模式选项均被触发的情况下，客户端在高精地图中以车辆视角叠加展示目标车辆的第一内容元素、邻近车辆的第二内容元素和周围环境的第三内容元素，并且，在地图导航页面中展示距离信息，如图16d所示。
上述实施例中，客户端在地图导航页面中展示距离信息。通过本公开实施例，可以使用户获知目标车辆的当前位置与目标隧道的隧道出口之间的距离，从而很好地辅助用户驾驶。
在一个实施例中，如图17所示，本公开实施例还可以包括如下步骤：
步骤1001，接收事件提醒信息。
其中，事件提醒信息是根据感知信息检测到预设安全事件后生成的；预设安全事件为危及行车安全的事件。预设安全事件包括超速、慢速、非法停车、路面积水中的至少一种。
在目标车辆进入目标隧道的高精地图对应的地理范围后，服务器可以从路侧基站获取感知信息，并根据感知信息检测是否存在预设安全事件。如果检测到存在预设安全事件，则生成事件提醒信息，并将事件提醒信息发送到客户端。客户端接收事件提醒信息。
服务器根据感知信息检测是否存在预设安全事件可以包括以下至少一种：服务器根据感知信息检测目标车辆是否存在超速、慢速或非法停车等行为，检测路面是否有积水。
步骤1002，在地图导航页面中展示事件提醒信息。
客户端接收到事件提醒信息后，在地图导航页面中展示事件提醒信息。如图18a所示，客户端在地图导航页面中展示目标车辆超速；如图18b所示，客户端在地图导航页面中展示目标车辆慢速；如图18c，客户端在地图导航页面中展示目标车辆非法停车；如图18d 所示，客户端在地图导航页面中展示前方路面湿滑。
上述实施例中，客户端接收事件提醒信息；在地图导航页面中展示事件提醒信息。通过本公开实施例，客户端展示事件提醒信息，可以使用户获知危及行车安全的事件，从而采取相应的措施，保证行车安全。
在一个实施例中，如图19所示，本公开实施例还可以包括如下步骤：
步骤1101，检测经典地图选项是否被触发。
如图12a所示，地图导航页面还包括经典地图选项。
客户端可以通过检测经典地图选项是否被点击来检测经典地图选项是否被触发。如果客户端检测到用户点击经典地图选项，则确定经典地图选项被触发。在实际应用中，也可以通过其他方式检测经典地图选项是否被触发，本公开实施例对此不做限定。
步骤1102，在经典地图选项被触发的情况下，在地图导航页面中展示经典地图。
其中，经典地图的测量精度低于预设精度阈值。可以理解地，经典地图的测量精度低于高精地图的测量精度，高精地图可以是三维地图，经典地图可以是二维地图。本公开实施例对此不做限定。
在经典地图选项未被触发的情况下，在地图导航页面中展示高精地图。在经典地图选项被触发的情况下，在地图导航页面中展示经典地图。
上述实施例中，客户端检测经典地图选项是否被触发；在经典地图选项被触发的情况下，在地图导航页面中展示经典地图。通过本公开实施例，用户可以通过经典地图选项控制客户端在展示高精地图和展示经典地图之间切换，从而使地图导航页面的展示更符合用户需求。
应该理解的是，虽然图11至图19的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图11至图19中的至少一部分步骤可以包括多个步骤或者多个阶段，这些步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤中的步骤或者阶段的至少一部分轮流或者交替地执行。
在一个实施例中，如图20所示，提供了一种导航装置，包括：
展示模块1201，用于若目标车辆进入目标服务区的高精地图对应的地理范围内，则在地图导航页面中以鸟瞰视角展示所述高精地图，并在所述高精地图上叠加展示停车场车位界面；
其中，所述高精地图的测量精度大于预设精度阈值，所述停车场车位界面中展示有所述目标服务区中停车场中各车位的占用信息；所述占用信息用于指示车位是否停放有车辆；所述占用信息基于布设在所述目标服务区中的路侧基站的感知信息获取，所述路侧基站基于所述高精地图初始化。
在其中一个实施例中，地图导航页面包括停车场选项，该装置还包括检测模块；
上述检测模块，用于检测停车场选项是否被触发；
上述展示模块，在停车场选项被触发的情况下，在高精地图上叠加展示停车场车位界面。
在其中一个实施例中，地图导航页面包括车位预约选项，
上述检测模块，用于检测车位预约选项是否被触发；
上述展示模块，还用于在车位预约选项被触发的情况下，从停车场的空闲车位中确定预约车位，并在地图导航页面中展示预约车位的位置以及导航信息；其中，导航信息根据目标车辆的当前位置和预约车位的位置确定。
在其中一个实施例中，上述展示模块，具体用于在地图导航页面中展示预约车位的位置，并展示确认选项；若检测到确认选项被触发，则展示导航信息。
在其中一个实施例中，该装置还包括：
操作获取模块，用于若基于地图导航页面获取到用户的选取操作，则根据选取操作更改预约车位的位置。
在其中一个实施例中，上述展示模块，还用于在停车场车位界面中展示目标车辆的导航行驶路线；在高精地图中以车辆视角展示目标车辆的导航行驶方向。
在其中一个实施例中，该装置还包括：
车位标注模块，用于在目标车辆停入停车场的车位后，获取目标车辆停放车位的位置信息，并根据位置信息在停车场车位界面和高精地图中标注目标车辆的停放车位。
在其中一个实施例中，该装置还包括：
提示模块，用于在目标车辆停入停车场的车位后，若接收到违停提示信息，则在地图导航页面中展示违停提示信息；违停提示信息是根据感知信息检测到目标车辆出现违停事件后得到的，违停提示信息用于指示目标车辆存在违反车辆停放规则的行为。
在其中一个实施例中，地图导航页面还包括餐厅排队选项；
上述检测模块，用于检测餐厅排队选项是否被触发；
上述展示模块，用于在餐厅排队选项被触发的情况下，展示餐厅排队信息页面；
其中，餐厅排队信息页面展示有排队信息；排队信息根据设置在目标服务区餐厅中的图像采集设备采集的餐厅图像确定，用于指示目标服务器餐厅中的排队人数和拥堵状况。
在另一个实施例中，上述展示模块1201，还用于若目标车辆进入目标隧道的高精地图对应的地理范围内，则在地图导航页面中展示高精地图，并在高精地图上以鸟瞰视角叠加展示与目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素；
其中，高精地图的测量精度大于预设精度阈值；邻近车辆为目标车辆周围预设范围内的车辆，第一内容元素以及第二内容元素基于布设在目标隧道中的路侧基站的感知信息获取，路侧基站基于所述高精地图初始化。
在其中一个实施例中，地图导航页面包括感知增强选项，上述展示模块，具体用于检测感知增强选项是否被触发；在感知增强选项被触发的情况下，在高精地图上以鸟瞰视角叠加展示第二内容元素。
在其中一个实施例中，地图导航页面包括高精定位选项，该装置还包括检测模块；
上述检测模块，用于检测高精定位选项是否被触发；
上述展示模块，还用于在高精定位选项被触发的情况下，在高精地图上以鸟瞰视角叠加展示第一内容元素。
在其中一个实施例中，地图导航页面中还包括驾驶模式选项；
上述检测模块，还用于检测驾驶模式选项是否被触发；
上述展示模块，还用于在驾驶模式选项被触发的情况下，在高精地图上以车辆视角叠加展示目标车辆的周围环境所对应的第三内容元素。
在其中一个实施例中，上述展示模块，还用于在地图导航页面中展示距离信息，距离信息用于指示目标车辆的当前位置与目标隧道的隧道出口之间的距离。
在其中一个实施例中，该装置还包括接收模块；
上述接收模块，用于接收事件提醒信息；事件提醒信息是根据感知信息检测到预设安全事件后生成的；预设安全事件为危及行车安全的事件；
上述展示模块，还用于在地图导航页面中展示事件提醒信息。
在其中一个实施例中，地图导航页面还包括经典地图选项；
上述检测模块，还用于检测经典地图选项是否被触发；
上述展示模块，还用于在经典地图选项被触发的情况下，在地图导航页面中展示经典地图；经典地图的测量精度低于预设精度阈值。
关于导航装置的具体限定可以参见上文中对于导航方法的限定，在此不再赘述。上述导航装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
在一个实施例中，提供了一种计算机设备，该计算机设备可以是终端，其内部结构图可以如图21所示。该计算机设备包括通过系统总线连接的处理器、存储器、通信接口、显示屏和输入装置。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统和计算机程序。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该计算机设备的通信接口用于与外部的终端进行有线或无线方式的通信，无线方式可通过WIFI、运营商网络、NFC(近场通信)或其他技术实现。该计算机程序被处理器执行时以实现一种导航方法。该计算机设备的显示屏可以是液晶显示屏或者电子墨水显示屏，该计算机设备的输入装置可以是显示屏上覆盖的触摸层，也可以是计算机设备外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。
本领域技术人员可以理解，图21中示出的结构，仅仅是与本公开方案相关的部分结构的框图，并不构成对本公开方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在一个实施例中，提供了一种计算机设备，包括存储器和处理器，存储器中存储有计算机程序，其中在应用于车辆进入服务区后辅助驾驶的场景中，该处理器执行计算机程序时实现以下步骤：
若目标车辆进入目标服务区的高精地图对应的地理范围内，则在地图导航页面中以鸟瞰视角展示高精地图，并在高精地图上叠加展示停车场车位界面；
其中，高精地图的测量精度大于预设精度阈值，停车场车位界面中展示有目标服务区中停车场中各车位的占用信息；占用信息用于指示车位是否停放有车辆；占用信息基于布设在目标服务区中的路侧基站的感知信息获取，路侧基站基于高精地图初始化。
在一个实施例中，地图导航页面包括停车场选项，处理器执行计算机程序时还实现以下步骤：
检测停车场选项是否被触发；
在停车场选项被触发的情况下，在高精地图上叠加展示停车场车位界面。
在一个实施例中，地图导航页面包括车位预约选项，处理器执行计算机程序时还实现 以下步骤：
检测车位预约选项是否被触发；
在车位预约选项被触发的情况下，从停车场的空闲车位中确定预约车位，并在地图导航页面中展示预约车位的位置以及导航信息；其中，导航信息根据目标车辆的当前位置和预约车位的位置确定。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：
在地图导航页面中展示预约车位的位置，并展示确认选项；
若检测到确认选项被触发，则展示导航信息。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：
若基于地图导航页面获取到用户的选取操作，则根据选取操作更改预约车位的位置。
在一个实施例中，上述展示导航信息，包括：
在停车场车位界面中展示目标车辆的导航行驶路线；
在高精地图中以车辆视角展示目标车辆的导航行驶方向。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：
在目标车辆停入停车场的车位后，获取目标车辆停放车位的位置信息，并根据位置信息在停车场车位界面和高精地图中标注目标车辆的停放车位。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：
在目标车辆停入停车场的车位后，若接收到违停提示信息，则在地图导航页面中展示违停提示信息；违停提示信息是根据感知信息检测到目标车辆出现违停事件后得到的，违停提示信息用于指示目标车辆存在违反车辆停放规则的行为。
在一个实施例中，地图导航页面还包括餐厅排队选项，处理器执行计算机程序时还实现以下步骤：
检测餐厅排队选项是否被触发；
在餐厅排队选项被触发的情况下，展示餐厅排队信息页面；
其中，餐厅排队信息页面展示有排队信息；排队信息根据设置在目标服务区餐厅中的图像采集设备采集的餐厅图像确定，用于指示目标服务器餐厅中的排队人数和拥堵状况。
在另一个实施例中，在应用于隧道处辅助驾驶的场景中，上述处理器执行计算机程序时还可以实现以下步骤：
若目标车辆进入目标隧道的高精地图对应的地理范围内，则在地图导航页面中展示高精地图，并在高精地图上以鸟瞰视角叠加展示与目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素；
其中，高精地图的测量精度大于预设精度阈值；邻近车辆为目标车辆周围预设范围内的车辆，第一内容元素以及第二内容元素基于布设在目标隧道中的路侧基站的感知信息获取，路侧基站基于所述高精地图初始化。
在一个实施例中，地图导航页面包括感知增强选项，处理器执行计算机程序时还实现以下步骤：
检测感知增强选项是否被触发；
在感知增强选项被触发的情况下，在高精地图上以鸟瞰视角叠加展示第二内容元素。
在一个实施例中，地图导航页面包括高精定位选项，处理器执行计算机程序时还实现以下步骤：
检测高精定位选项是否被触发；
在高精定位选项被触发的情况下，在高精地图上以鸟瞰视角叠加展示第一内容元素。
在一个实施例中，地图导航页面中还包括驾驶模式选项，处理器执行计算机程序时还实现以下步骤：
检测驾驶模式选项是否被触发；
在驾驶模式选项被触发的情况下，在高精地图上以车辆视角叠加展示目标车辆的周围环境所对应的第三内容元素。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：
在地图导航页面中展示距离信息，距离信息用于指示目标车辆的当前位置与目标隧道的隧道出口之间的距离。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：
接收事件提醒信息；事件提醒信息是根据感知信息检测到预设安全事件后生成的；预设安全事件为危及行车安全的事件；
在地图导航页面中展示事件提醒信息。
在一个实施例中，地图导航页面还包括经典地图选项，处理器执行计算机程序时还实现以下步骤：
检测经典地图选项是否被触发；
在经典地图选项被触发的情况下，在地图导航页面中展示经典地图；经典地图的测量精度低于预设精度阈值。
在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机程序，并且在应用于车辆进入服务区后辅助驾驶的场景中，计算机程序被处理器执行时实现以下步骤：
若目标车辆进入目标服务区的高精地图对应的地理范围内，则在地图导航页面中以鸟瞰视角展示高精地图，并在高精地图上叠加展示停车场车位界面；
其中，高精地图的测量精度大于预设精度阈值，停车场车位界面中展示有目标服务区中停车场中各车位的占用信息；占用信息用于指示车位是否停放有车辆；占用信息基于布设在目标服务区中的路侧基站的感知信息获取，路侧基站基于高精地图初始化。
在一个实施例中，地图导航页面包括停车场选项，计算机程序被处理器执行时还实现以下步骤：
检测停车场选项是否被触发；
在停车场选项被触发的情况下，在高精地图上叠加展示停车场车位界面。
在一个实施例中，地图导航页面包括车位预约选项，计算机程序被处理器执行时还实现以下步骤：
检测车位预约选项是否被触发；
在车位预约选项被触发的情况下，从停车场的空闲车位中确定预约车位，并在地图导航页面中展示预约车位的位置以及导航信息；其中，导航信息根据目标车辆的当前位置和预约车位的位置确定。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：
在地图导航页面中展示预约车位的位置，并展示确认选项；
若检测到确认选项被触发，则展示导航信息。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：
若基于地图导航页面获取到用户的选取操作，则根据选取操作更改预约车位的位置。
在一个实施例中，上述展示导航信息，包括：
在停车场车位界面中展示目标车辆的导航行驶路线；
在高精地图中以车辆视角展示目标车辆的导航行驶方向。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：
在目标车辆停入停车场的车位后，获取目标车辆停放车位的位置信息，并根据位置信息在停车场车位界面和高精地图中标注目标车辆的停放车位。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：
在目标车辆停入停车场的车位后，若接收到违停提示信息，则在地图导航页面中展示违停提示信息；违停提示信息是根据感知信息检测到目标车辆出现违停事件后得到的，违停提示信息用于指示目标车辆存在违反车辆停放规则的行为。
在一个实施例中，地图导航页面还包括餐厅排队选项，计算机程序被处理器执行时还实现以下步骤：
检测餐厅排队选项是否被触发；
在餐厅排队选项被触发的情况下，展示餐厅排队信息页面；
其中，餐厅排队信息页面展示有排队信息；排队信息根据设置在目标服务区餐厅中的图像采集设备采集的餐厅图像确定，用于指示目标服务器餐厅中的排队人数和拥堵状况。
在另一个实施例中，在应用于隧道处辅助驾驶的场景中，上述计算机可读存储介质上存储的计算机程序被处理器执行时还可以实现以下步骤：
若目标车辆进入目标隧道的高精地图对应的地理范围内，则在地图导航页面中展示高精地图，并在高精地图上以鸟瞰视角叠加展示与目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素；
其中，高精地图的测量精度大于预设精度阈值；邻近车辆为目标车辆周围预设范围内的车辆，第一内容元素以及第二内容元素基于布设在目标隧道中的路侧基站的感知信息获取，路侧基站基于所述高精地图初始化。
在一个实施例中，地图导航页面包括感知增强选项，计算机程序被处理器执行时还实现以下步骤：
检测感知增强选项是否被触发；
在感知增强选项被触发的情况下，在高精地图上以鸟瞰视角叠加展示第二内容元素。
在一个实施例中，地图导航页面包括高精定位选项，计算机程序被处理器执行时还实现以下步骤：
检测高精定位选项是否被触发；
在高精定位选项被触发的情况下，在高精地图上以鸟瞰视角叠加展示第一内容元素。
在一个实施例中，地图导航页面中还包括驾驶模式选项，计算机程序被处理器执行时还实现以下步骤：
检测驾驶模式选项是否被触发；
在驾驶模式选项被触发的情况下，在高精地图上以车辆视角叠加展示目标车辆的周围环境所对应的第三内容元素。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：
在地图导航页面中展示距离信息，距离信息用于指示目标车辆的当前位置与目标隧道 的隧道出口之间的距离。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：
接收事件提醒信息；事件提醒信息是根据感知信息检测到预设安全事件后生成的；预设安全事件为危及行车安全的事件；
在地图导航页面中展示事件提醒信息。
在一个实施例中，地图导航页面还包括经典地图选项，计算机程序被处理器执行时还实现以下步骤：
检测经典地图选项是否被触发；
在经典地图选项被触发的情况下，在地图导航页面中展示经典地图；经典地图的测量精度低于预设精度阈值。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本公开所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和易失性存储器中的至少一种。非易失性存储器可包括只读存储器(Read-Only Memory，ROM)、磁带、软盘、闪存或光存储器等。易失性存储器可包括随机存取存储器(Random Access Memory，RAM)或外部高速缓冲存储器。作为说明而非局限，RAM可以是多种形式，比如静态随机存取存储器(Static Random Access Memory，SRAM)或动态随机存取存储器(Dynamic Random Access Memory，DRAM)等。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本公开的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本公开构思的前提下，还可以做出若干变形和改进，这些都属于本公开的保护范围。因此，本公开专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种导航方法，其特征在于，所述方法包括：
    若目标车辆进入目标服务区的高精地图对应的地理范围内，则在地图导航页面中以鸟瞰视角展示所述高精地图，并在所述高精地图上叠加展示停车场车位界面；
    其中，所述高精地图的测量精度大于预设精度阈值，所述停车场车位界面中展示有所述目标服务区中停车场中各车位的占用信息；所述占用信息用于指示车位是否停放有车辆；所述占用信息基于布设在所述目标服务区中的路侧基站的感知信息获取，所述路侧基站基于所述高精地图初始化。
  2. 根据权利要求1所述的方法，其特征在于，所述地图导航页面包括停车场选项，所述在所述高精地图上叠加展示停车场车位界面，包括：
    检测所述停车场选项是否被触发；
    在所述停车场选项被触发的情况下，在所述高精地图上叠加展示所述停车场车位界面。
  3. 根据权利要求1所述的方法，其特征在于，所述地图导航页面包括车位预约选项，所述方法还包括：
    检测所述车位预约选项是否被触发；
    在所述车位预约选项被触发的情况下，从所述停车场的空闲车位中确定预约车位，并在所述地图导航页面中展示所述预约车位的位置以及导航信息；其中，所述导航信息根据所述目标车辆的当前位置和所述预约车位的位置确定。
  4. 根据权利要求3所述的方法，其特征在于，所述在所述地图导航页面中展示所述预约车位的位置以及导航信息，包括：
    在所述地图导航页面中展示所述预约车位的位置，并展示确认选项；
    若检测到所述确认选项被触发，则展示所述导航信息。
  5. 根据权利要求4所述的方法，其特征在于，所述在所述地图导航页面中展示所述预约车位的位置，并展示确认选项之后，所述方法还包括：
    若基于所述地图导航页面获取到用户的选取操作，则根据所述选取操作更改所述预约车位的位置。
  6. 根据权利要求4或5所述的方法，其特征在于，所述展示导航信息，包括：
    在所述停车场车位界面中展示所述目标车辆的导航行驶路线；
    在所述高精地图中以车辆视角展示所述目标车辆的导航行驶方向。
  7. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在所述目标车辆停入所述停车场的车位后，获取所述目标车辆停放车位的位置信息，并根据所述位置信息在所述停车场车位界面和所述高精地图中标注所述目标车辆的停放车位。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    在所述目标车辆停入所述停车场的车位后，若接收到违停提示信息，则在所述地图导航页面中展示所述违停提示信息；所述违停提示信息是根据所述感知信息检测到所述目标车辆出现违停事件后得到的，所述违停提示信息用于指示所述目标车辆存在违反车辆停放规则的行为。
  9. 根据权利要求1所述的方法，其特征在于，所述地图导航页面还包括餐厅排队选 项，所述方法还包括：
    检测所述餐厅排队选项是否被触发；
    在所述餐厅排队选项被触发的情况下，展示餐厅排队信息页面；
    其中，所述餐厅排队信息页面展示有排队信息；所述排队信息根据设置在所述目标服务区餐厅中的图像采集设备采集的餐厅图像确定，用于指示所述目标服务器餐厅中的排队人数和拥堵状况。
  10. 一种导航装置，其特征在于，所述装置包括：
    展示模块，用于若目标车辆进入目标服务区的高精地图对应的地理范围内，则在地图导航页面中以鸟瞰视角展示所述高精地图，并在所述高精地图上叠加展示停车场车位界面；
    其中，所述高精地图的测量精度大于预设精度阈值，所述停车场车位界面中展示有所述目标服务区中停车场中各车位的占用信息；所述占用信息用于指示车位是否停放有车辆；所述占用信息基于布设在所述目标服务区中的路侧基站的感知信息获取，所述路侧基站基于所述高精地图初始化。
  11. 一种导航方法，其特征在于，所述方法包括：
    若目标车辆进入目标隧道的高精地图对应的地理范围内，则在地图导航页面中展示所述高精地图，并在所述高精地图上以鸟瞰视角叠加展示与所述目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素；
    其中，所述高精地图的测量精度大于预设精度阈值；所述邻近车辆为所述目标车辆周围预设范围内的车辆，所述第一内容元素以及所述第二内容元素基于布设在所述目标隧道中的路侧基站的感知信息获取，所述路侧基站基于所述高精地图初始化。
  12. 根据权利要求11所述的方法，其特征在于，所述地图导航页面包括感知增强选项，所述在所述高精地图上以鸟瞰视角叠加展示与所述目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素，包括：
    检测所述感知增强选项是否被触发；
    在所述感知增强选项被触发的情况下，在所述高精地图上以鸟瞰视角叠加展示所述第二内容元素。
  13. 根据权利要求11所述的方法，其特征在于，所述地图导航页面包括高精定位选项，所述方法还包括：
    检测所述高精定位选项是否被触发；
    在所述高精定位选项被触发的情况下，在所述高精地图上以鸟瞰视角叠加展示所述第一内容元素。
  14. 根据权利要求13所述的方法，其特征在于，所述地图导航页面中还包括驾驶模式选项，所述方法还包括：
    检测所述驾驶模式选项是否被触发；
    在所述驾驶模式选项被触发的情况下，在所述高精地图上以车辆视角叠加展示所述目标车辆的周围环境所对应的第三内容元素。
  15. 根据权利要求13所述的方法，其特征在于，所述方法还包括：
    在所述地图导航页面中展示距离信息，所述距离信息用于指示所述目标车辆的当前位置与所述目标隧道的隧道出口之间的距离。
  16. 根据权利要求13所述的方法，其特征在于，所述方法还包括：
    接收事件提醒信息；所述事件提醒信息是根据所述感知信息检测到预设安全事件后生成的；所述预设安全事件为危及行车安全的事件；
    在所述地图导航页面中展示事件提醒信息。
  17. 根据权利要求11所述的方法，其特征在于，所述地图导航页面还包括经典地图选项，所述方法还包括：
    检测所述经典地图选项是否被触发；
    在所述经典地图选项被触发的情况下，在所述地图导航页面中展示经典地图；所述经典地图的测量精度低于所述预设精度阈值。
  18. 一种导航装置，其特征在于，所述装置包括：
    展示模块，用于若目标车辆进入目标隧道的高精地图对应的地理范围内，则在地图导航页面中展示所述高精地图，并在所述高精地图上以鸟瞰视角叠加展示与所述目标车辆对应的第一内容元素以及与邻近车辆对应的第二内容元素；
    其中，所述高精地图的测量精度大于预设精度阈值；所述邻近车辆为所述目标车辆周围预设范围内的车辆，所述第一内容元素以及所述第二内容元素基于布设在所述目标隧道中的路侧基站的感知信息获取，所述路侧基站基于所述高精地图初始化。
  19. 一种计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，其特征在于，所述处理器执行所述计算机程序时实现权利要求1至9、权利要求11至17中任一项所述的方法的步骤。
  20. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1至9、权利要求11至17中任一项所述的方法的步骤。
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