WO2025251741A1 - 导航方法、装置、计算机设备、存储介质和程序产品 - Google Patents

导航方法、装置、计算机设备、存储介质和程序产品

Info

Publication number
WO2025251741A1
WO2025251741A1 PCT/CN2025/084619 CN2025084619W WO2025251741A1 WO 2025251741 A1 WO2025251741 A1 WO 2025251741A1 CN 2025084619 W CN2025084619 W CN 2025084619W WO 2025251741 A1 WO2025251741 A1 WO 2025251741A1
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WO
WIPO (PCT)
Prior art keywords
navigation
indoor
map
location
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2025/084619
Other languages
English (en)
French (fr)
Inventor
张洪龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tencent Technology (Shenzhen) Co Ltd
Original Assignee
Tencent Technology (Shenzhen) Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tencent Technology (Shenzhen) Co Ltd filed Critical Tencent Technology (Shenzhen) Co Ltd
Publication of WO2025251741A1 publication Critical patent/WO2025251741A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance

Definitions

  • This application relates to the field of map technology, and particularly to the field of navigation technology, and especially to a navigation method, apparatus, computer equipment, storage medium and computer program product.
  • map applications or navigation applications can provide users with map viewing and route navigation services, greatly facilitating people's daily lives.
  • This application provides a navigation method, apparatus, computer device, storage medium, and program product.
  • this application provides a navigation method performed by a computer device, the method comprising:
  • a navigation path is displayed on the map interface; the navigation path is used to guide the entity object to move from the navigation starting point to the navigation ending point, and at least one of the navigation starting point or the navigation ending point is located indoors;
  • partial navigation information including an indoor scene map is displayed on the map interface
  • the indoor scene diagram shall at least display the indoor virtual scene of the area where the location is situated.
  • guidance information is displayed to guide the virtual object mapped by the entity object to the target location, which represents the indoor locations traversed by navigating to the navigation endpoint through the navigation path.
  • this application provides a navigation device, the device comprising:
  • the first display module is used to display a navigation path on the map interface in response to a preset trigger operation; the navigation path is used to guide an entity object to move from the navigation starting point to the navigation ending point, and at least one of the navigation starting point or the navigation ending point is located indoors;
  • the second display module is configured to, during navigation via the navigation path, display global navigation information on the map interface in response to the entity object's location being outdoors; display partial navigation information including an indoor scene map on the map interface in response to the entity object's location being indoors; display at least an indoor virtual scene of the area where the location is located in the indoor scene map; and display guidance information in the indoor virtual scene that guides the virtual object mapped by the entity object to a target location, the target location representing the indoor locations traversed by navigating to the navigation endpoint via the navigation path.
  • this application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the navigation method provided in this application.
  • this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the navigation method provided in this application.
  • this application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the navigation method provided in this application.
  • Figure 1 is an application environment diagram of the navigation method in one embodiment
  • Figure 2 is a flowchart illustrating a navigation method in one embodiment
  • Figure 3 is a schematic diagram showing the navigation path in one embodiment
  • Figure 4 is a schematic diagram of navigation guidance for a vehicle to move to the indoor entrance in one embodiment
  • Figure 5 is a schematic diagram showing local navigation information in one embodiment
  • Figure 6 shows the guidance effect when a vehicle is about to reach the target parking space in one embodiment
  • Figure 7 shows the map layout at different scale levels in one embodiment
  • Figure 8 is a schematic diagram showing the relationship between the pitch angle and the scale in one embodiment
  • Figure 9 shows the rendering effect of different pitch angles in one embodiment
  • Figure 10 is a schematic diagram of the effect of high-precision map data being drawn onto the base map in one embodiment
  • Figure 11 shows the display effect of maps with different precision in one embodiment
  • Figure 12 is a schematic diagram of the application of the automatic scale adjustment strategy in a normal scenario in one embodiment
  • Figure 13 is a schematic diagram of the application of the automatic scale adjustment strategy in indoor and outdoor scenes in one embodiment
  • Figure 14 is a schematic diagram of a parking recommendation service in one embodiment
  • Figure 15 is a rendering of a general model of an outdoor building in one embodiment
  • Figure 16 shows the effect of selecting indoor floors in one embodiment
  • Figure 17 is a schematic diagram of the effect of selecting a charging station in one embodiment
  • Figure 18 is a schematic diagram of the effect of selecting a parking space in one embodiment
  • Figure 19 is a schematic diagram of the activation range of a building block in one embodiment
  • Figure 20 is a schematic diagram illustrating the range of different floors in one embodiment
  • Figure 21 is a schematic diagram of the principle of the floor display strategy in one embodiment
  • Figure 22 shows the framework of an integrated indoor and outdoor navigation system in one embodiment
  • Figure 23 is a schematic diagram of the operation process and service link of integrated indoor and outdoor navigation in one embodiment
  • Figure 24 is a structural block diagram of a navigation device in one embodiment
  • Figure 25 is an internal structure diagram of a computer device in one embodiment.
  • the navigation method provided in this application embodiment can be applied to the application environment shown in FIG1.
  • the computer device 102 communicates with the server 104 via a network.
  • a data storage system can store the data that the server 104 needs to process.
  • the data storage system can be integrated on the server 104, or it can be located in the cloud or on another network server.
  • the computer device 102 can download an electronic map from the server 104, and the computer device 102 can display the electronic map through a map application.
  • Computer device 102 in response to a preset trigger operation, displays a navigation path on a map interface.
  • the navigation path guides an entity object from a navigation starting point to a navigation endpoint, where at least one of the starting or endpoint locations is indoors.
  • the entity object's location is outdoors, global navigation information is displayed on the map interface; if the entity object's location is indoors, local navigation information, including an indoor scene map, is displayed on the map interface; at least the indoor virtual scene of the location is displayed in the indoor scene map; and within the indoor virtual scene, guidance information is displayed to guide the virtual object mapped from the entity object to a target location, where the target location represents the indoor locations traversed by the navigation path to the navigation endpoint.
  • the virtual object can be a mapping of the entity object within the indoor virtual scene, and the target location can be an indoor exit or a mapping of the navigation endpoint within the indoor virtual scene.
  • the computer device 102 may include, but is not limited to, mobile phones, computers, intelligent voice interaction devices, smart home appliances, vehicle terminals, and aircraft. This invention can be applied to various scenarios, including but not limited to cloud technology, artificial intelligence, smart transportation, and assisted driving.
  • the computer device 102 may be equipped with map applications or navigation applications.
  • the server 104 may be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.
  • POI Point of Interest.
  • mapping it is a general term for geographical locations on a map that have specific meanings, such as landmarks, attractions, institutions, or businesses.
  • SD Map stands for Standard Definition Map. It mainly stores road-level elements and typically requires a resolution of around 5m-10m. The map content includes the shape of roads and POIs, etc.
  • HD Map stands for High Definition Map, which stores lanes as its main data. The data accuracy is usually at the decimeter level, and the stored map information is richer than that of standard definition map.
  • GPS Global Positioning System.
  • Maneuvering points Locations where vehicles need to perform maneuvers such as changing lanes, turning, or making U-turns while driving.
  • IMU Inertial Measurement Unit, is used to measure the three-axis attitude angles and acceleration of an object.
  • a navigation method is provided. Taking the application of this method to the computer device 102 in FIG1 as an example, the method includes the following steps 202 to 204. Wherein:
  • Step 202 In response to a preset trigger operation, display the navigation path on the map interface; the navigation path is used to guide the entity object to move from the navigation starting point to the navigation ending point, and at least one of the navigation starting point or the navigation ending point is located indoors.
  • software applications such as map applications or navigation applications
  • this application can be specifically implemented through software applications installed on computer devices.
  • the physical object can specifically be a vehicle, a user, a robot, or other object with mobility capabilities.
  • the computer device can specifically be an in-vehicle terminal or a mobile terminal with a display screen that moves along with the physical object.
  • the map interface is the screen on a computer device that displays an electronic map.
  • Electronic maps also known as digital maps, are maps stored and viewed digitally using computer technology. Examples of electronic maps include standard definition (SD) maps and high-definition (HD) maps.
  • Preset trigger operations are pre-defined actions used to display navigation routes; these can be button presses, voice commands, or touch inputs.
  • a search area is displayed on the map interface, and the computer device can obtain the destination entered in the search area as the navigation destination, or use the location selected by the user in the map interface as the navigation destination. It is understood that in some embodiments, the navigation destination can specifically be an outdoor POI or an indoor POI.
  • the computer device may use the location of an entity as the navigation starting point, or a location entered in a search area as the navigation starting point, or a location selected by the user in a map interface as the navigation starting point. It is understood that in some embodiments, the navigation starting point may specifically be an outdoor POI or an indoor POI.
  • the computer device itself can determine the navigation path based on the navigation start point and navigation end point, or it can send the navigation start point and navigation end point to the server, which will then determine the navigation path.
  • the determination of the navigation path can follow a certain path planning algorithm, such as prioritizing main roads, minimizing travel time, or minimizing route distance; however, this embodiment does not impose such limitations.
  • the preset trigger operation can be a predefined operation for displaying the navigation path, such as a path display operation, a navigation operation, or a navigation destination determination operation.
  • the computer device detects the preset trigger operation, it can display the navigation path from the navigation start point to the navigation destination in the map interface.
  • a computer device can use the route display operation as a preset trigger operation. For instance, after the navigation start point and navigation destination are confirmed, relevant controls can be displayed on the map interface, such as controls displaying text like "Route” or "Go here". When the computer device detects a trigger operation targeting this relevant control, it considers that a preset trigger operation has occurred.
  • a computer device can use navigation operations as preset triggering operations. For instance, once the navigation start point and destination are confirmed, relevant controls, such as controls displaying the text "Navigation,” can be shown on the map interface. When the computer device detects a triggering operation targeting this relevant control, it considers that a preset triggering operation has occurred.
  • a computer device can use the navigation destination determination operation as a preset trigger operation. For instance, when the computer device detects the navigation destination determination operation, it can automatically use the location as the navigation starting point and display the navigation path on the map interface.
  • the navigation path includes a first path from the navigation starting point to the indoor entrance and a second path from the indoor entrance to the navigation destination; the first path and the second path are displayed differently in the map interface.
  • the indoor entrance refers to the entrance of the building where the navigation destination is located.
  • the navigation path in this case includes a first path from the navigation starting point to the indoor entrance, and a second path from the indoor entrance to the navigation destination.
  • the first path and the second path are displayed differently in the map interface.
  • the first path and the second path may be displayed in different colors, or the path widths may be different, or the path fill patterns may be different.
  • the first path may be displayed in green and the second path may be displayed in blue; or the width of the first path may be wider than the width of the second path; or the first path may be filled with a solid color and the second path may be filled with a diagonal line, etc. This application embodiment does not limit this.
  • Figure 3 is a schematic diagram of a navigation path display in one embodiment.
  • the navigation path includes a first path from the navigation starting point to the indoor entrance (shown as a path filled with diagonal lines in the figure), and a second path from the indoor entrance to the navigation destination (shown as a path filled with white in the figure).
  • the first path may be displayed in green
  • the second path may be displayed in blue.
  • the left side of Figure 3 also shows parking lot recommendations and charging station recommendations, etc. It is understood that the actual product illustration may display more or less information, and this embodiment does not limit this.
  • the navigation path includes a third path from the navigation starting point to the indoor exit and a fourth path from the indoor exit to the navigation destination; the third path and the fourth path are displayed differently in the map interface.
  • the indoor exit refers to the exit of the building where the navigation starting point is located, that is, the exit from the building where the navigation point is located.
  • the navigation path includes a third path from the navigation starting point to the indoor exit, and a fourth path from the indoor exit to the navigation destination.
  • the third and fourth paths in the map interface are displayed differently, specifically by using different display colors, different path widths, or different fill patterns.
  • the fourth path can be displayed in green and the third path in blue; or the fourth path can be wider than the third path; or the fourth path can be filled with a solid color while the third path can be filled with a diagonal line, etc. This application embodiment does not limit these possibilities.
  • Step 204 During navigation via the navigation path, in response to the entity object's location being outdoors, global navigation information is displayed on the map interface; in response to the entity object's location being indoors, local navigation information including an indoor scene map is displayed on the map interface; the indoor scene map displays at least the indoor virtual scene of the area where the location is located; and in the indoor virtual scene, guidance information is displayed to guide the virtual object mapped by the entity object to the target location, where the target location represents the indoor locations traversed by the navigation path to the navigation endpoint.
  • the computer device can navigate based on the navigation path to guide the physical object from the navigation starting point to the navigation destination.
  • the physical object can be a vehicle, a user, a robot, or other object capable of movement.
  • Navigation is a continuous process; route guidance information updates as the location of the entity changes.
  • the location is the entity's position at any given moment, and this current position is constantly updated over time.
  • Computer devices can determine the location of an entity using inertial navigation technology. During navigation, if the computer detects that the entity's location is outdoors, it can display global navigation information on the map interface; if it detects that the entity's location is indoors, it can display local navigation information on the map interface.
  • Inertial navigation technology refers to the technology used by computer devices to determine the location of an entity. During navigation, the computer device can use inertial navigation technology combined with relevant signals to determine the entity's current position.
  • Global navigation information refers to the information displayed on the map interface when an entity is located outdoors during navigation.
  • Local navigation information refers to the information displayed on the map interface when an entity is located indoors during navigation.
  • Both global and local navigation information can include a base map and route guidance information to guide entities to the navigation destination.
  • Global navigation information includes a base map and global route guidance information; local navigation information includes a base map and detailed guidance information specific to the location. It can be understood that global navigation information displays fewer road condition details than local navigation information, but covers a wider route range.
  • the base map is the map displayed in the map interface.
  • the base map is the map displayed in the map interface. Both global and local navigation information include the base map, and different maps with different resolutions can be used as the base map in different scenarios.
  • global navigation information includes at least one of the following: road name of the road where the location is located, forward turning information, recommended lane, and estimated arrival time.
  • Local navigation information includes an indoor scene map, and may also include floor information of the floor where the location is located, as well as floor information of the indoor exit or navigation destination, to provide more accurate indoor information.
  • the local navigation information includes an indoor scene map, which at least shows the indoor virtual scene of the area where the location is situated, as well as guidance information for virtual objects within the indoor virtual scene to travel to the target location.
  • the virtual object is the mapping of the entity object within the indoor virtual scene
  • the target location is the mapping of the indoor exit or navigation endpoint within the indoor virtual scene.
  • the guidance information can be path guidance information, used to indicate the direction of movement for the entity object.
  • the indoor scene map can be provided by a high-precision map, or it can be a scene map built based on a high-precision map that matches the actual area.
  • This indoor scene map displays the virtual indoor scene of the area where the location is situated, such as the virtual indoor scene of the floor where the location is situated. This virtual indoor scene changes accordingly as the entity moves, reflecting the current environment in which the entity is situated.
  • High-definition maps primarily store lane information, with data precision typically at the decimeter level. They contain richer map information than standard-definition maps and can be used to provide indoor scene maps, serving as a base map for displaying virtual indoor scenes during indoor navigation.
  • SD Map Standard Definition Map
  • POIs Points of Interest
  • the computer device uses a high-precision map as a base map, and the screen displayed through the high-precision map is the indoor virtual scene.
  • a computer device may display a virtual object in an indoor virtual scene.
  • the virtual object is a mapping of a physical object in the indoor virtual scene.
  • the virtual object may be a vehicle model; when the physical object is a user, the virtual object may be a simulated cartoon character, etc.
  • the indoor virtual scene also displays guidance information for virtual objects to move to the target location. It can be understood that if the navigation starting point is indoors, the journey from the starting point to the destination must involve moving from indoors to outdoors, which means moving from the location to the indoor exit. Therefore, the target location is the mapping of the indoor exit in the indoor virtual scene. Similarly, if the navigation destination is indoors, the journey from the starting point to the destination must involve moving from outdoors to indoors, which means moving from the location to the destination. Therefore, the target location is the mapping of the navigation destination in the indoor virtual scene.
  • Figure 4 is a navigation guidance diagram of a vehicle moving to an indoor entrance in one embodiment.
  • the indoor entrance can be a parking lot entrance.
  • the map interface displays a real-view image of the entrance 401, a navigation route 402, and parking recommendation information 403, etc.
  • Figure 5 is a schematic diagram of partial navigation information display in one embodiment.
  • the map interface switches to indoor guidance mode.
  • Figure 5 shows the forward turning information, the floor of the destination, the floor of the location, and the indoor parking lot map displayed using a high-precision indoor map.
  • the scene displayed on the high-precision map is the indoor virtual scene, and the path markers indicating the starting point from the vehicle model are the guidance information.
  • the vehicle can accurately drive to its destination.
  • the guidance process from outdoors to indoors is continuous, the guidance method is consistent, the guidance effect is from coarse to fine, and the guidance position error is less than one parking space, providing users with an easy-to-operate, easy-to-identify, accurate, and effective navigation method.
  • the aforementioned navigation method in response to a preset trigger operation, displays a navigation path on the map interface.
  • global navigation information is displayed on the map interface; if the object's location is indoors, local navigation information is displayed.
  • This global navigation information guides the object outdoors, while the local navigation information seamlessly connects to guide it indoors.
  • the local navigation information includes an indoor scene map, which at least displays the indoor virtual scene of the location, and guidance information within the virtual scene indicating the object's path to the target location representing the indoor exit or navigation endpoint. This accurately guides the object to its destination.
  • This application provides integrated indoor and outdoor navigation, offering users uninterrupted navigation guidance without the need to switch to dedicated software or adapt to drastically different guidance information, significantly improving navigation efficiency.
  • this integrated indoor and outdoor navigation method eliminates the need for dedicated terminals or guidance screens indoors, significantly reducing the cost of indoor navigation deployment, solving the problem of poor experience in the last mile of navigation, and improving driving efficiency and the overall interactive experience.
  • the navigation method further includes: in response to the location being indoors and the distance between the location and the navigation endpoint being less than a first threshold, highlighting the target range where the target location is located in the indoor scene map; the target range is the mapping range of a preset geographical range including the navigation endpoint in the indoor virtual scene.
  • the First Threshold is a distance value. When the location is indoors and the distance between the location and the navigation destination is less than this value, the target area where the location is located is highlighted in the indoor scene map.
  • the First Threshold can be determined based on the normal distance between the location and the navigation destination in the actual scene.
  • Target Range This refers to the mapped range of a preset geographical area, including the navigation endpoint, within the indoor virtual scene.
  • the target range is highlighted in the indoor scene map.
  • the target range can be the mapped range of the area where the parking space is located within the indoor virtual scene.
  • the preset geographical range of the navigation destination can be the area surrounding the navigation destination.
  • the preset geographical range can be the area where the parking space is located; when the navigation destination is a parking area, the preset geographical range can be the area where the parking area is located; when the navigation destination is a shop, the preset geographical range can be the area occupied by the shop.
  • the target parking space can be highlighted on the map when the entity is about to arrive at the target parking space.
  • Figure 6 is a guidance effect diagram of a vehicle approaching a target parking space in one embodiment.
  • the map highlights the target parking space. Navigation ends normally once the vehicle reaches the target parking space.
  • Highlighting can take many forms, including highlighting, adding a selection box, or adding an indicator icon.
  • computer devices can provide other alerts, such as vibrating a component or making an audio alert, to remind the user that they are approaching their destination.
  • the entity is highlighted when it is about to reach its destination, which makes it easier for users to quickly and accurately identify the navigation destination and improves the efficiency of interaction.
  • the map scale levels can range from 4 to 22, with each level corresponding to a different scale and elevation angle.
  • Table 1 shows the correspondence between map scale levels and elevation angles.
  • Figure 7 shows the map sheet effect at different scale levels; the map sheet area presented on the same screen is different for different scale levels.
  • the pitch angle refers to adjusting the viewing angle of the base map.
  • the map area viewed differs at different scales. The smaller the scale, the larger the area seen, and the coarser the map details; conversely, the larger the scale, the smaller the area seen, and the more realistic the map details.
  • adjusting the pitch angle adjusts the visible range in different directions. This application can increase the visible range by adjusting the pitch angle in the vehicle's direction of travel, and even display geographical areas beyond visual range.
  • displaying global navigation information on a map interface includes: in response to the location of an entity being outdoors, determining a navigation scenario based on the location; determining a target scale level based on the navigation scenario, adjusting the map scale level to the target scale level; and displaying global navigation information on the map interface based on the target scale level.
  • Target Scale Level This is determined based on the navigation scenario and is used to adjust the map scale.
  • a computer device detects that an entity's location is outdoors, it determines the navigation scenario based on the location, then determines the target scale level and adjusts the map scale to that level so that global navigation information can be displayed on the map interface.
  • the navigation scenarios include road types and/or driving operation types.
  • Road types include ordinary, ramp, congested, roundabout, highway, and urban expressway, while driving operation types include moving forward, changing lanes, turning, or making a U-turn.
  • the computer device can recognize the current navigation scene, determine the target scale level based on the scene, and automatically adjust the map scale to match the target scale level. This allows the global navigation information to be displayed on the map interface at the target scale level.
  • the computer device may pre-establish the association between different navigation scenarios and map scale levels, thereby automatically adjusting the map scale level based on the association when the current navigation scenario is identified.
  • the computer device can identify the road type of the road segment where the vehicle is currently located based on visual perception signals, or the map data records road information, and the computer device can directly obtain the road type of the road segment where the vehicle is currently located from the map data. Specifically, the computer device can identify the road type of the road segment where the vehicle is currently located based on visual perception signals by performing image recognition on the road image in the visual perception signals to obtain the road type of the road ahead of the vehicle.
  • Visual perception signals are signals captured by cameras mounted on physical objects. Computer equipment can use these signals to identify the road type of the current road segment a vehicle is on, or to determine whether there are maneuvers ahead. When satellite signals are unavailable, these signals can be fused with historical location and pose signals to determine the object's location.
  • Pose signals are signals captured by pose sensors, such as IMUs (Inertial Measurement Units). Computer equipment can use these signals, along with other signals, to determine the object's location, or, when satellite signals are unavailable, fuse them with historical location and visual perception signals to determine the object's location.
  • Historical Position Information used to determine the location of an object by fusing it with its pose signal and visual perception signal when satellite signals for the current moment are unavailable. Computer equipment can use the object's most recent position before entering an indoor space as the historical position for calculation.
  • the computer device may determine the type of driving operation based on driving signals collected from the vehicle. Alternatively, it may identify the type of driving operation that the vehicle is about to perform based on visual perception signals or map data. For example, the computer device may directly obtain the location of a maneuvering point ahead of the vehicle from map data to determine the type of driving operation; or, the computer device may perform image recognition on road images in visual perception signals to determine whether there is a maneuvering point ahead of the vehicle, thereby determining the type of driving operation based on the image recognition results.
  • the target scale level can be L1 for ordinary road sections and L2 for highways and urban expressways. L1 > L2, meaning the map size corresponding to L2 is smaller than that corresponding to L1.
  • the computer device can calculate the distance between the location of an entity and the maneuvering point. If the distance is less than a preset threshold, the driving operation type can be determined to be lane change, steering, or U-turn, etc. Therefore, the map scale can be automatically adjusted to the target scale level based on the driving operation type. If the map corresponding to the target scale level is a first map, the first map is used as the base map to display the global navigation information; if the map corresponding to the target scale level is a second map, the second map is used as the base map to display the global navigation information.
  • First Map This is one of several electronic maps, with relatively low precision. In this context, it may specifically refer to a standard definition map (SD map).
  • Computer equipment can determine the target map from multiple electronic maps based on the target scale.
  • the target map can be the first map, used to display global navigation information in the map interface.
  • the entity is a vehicle.
  • the computer device can dynamically adjust the map size based on the vehicle's position and the distance to the maneuvering point.
  • the map scale reaches the lower limit of HD display level, it switches to HD map display. Specifically, if a vehicle is x meters away from the maneuvering point on a highway or expressway, it is determined to be entering an intersection or turning segment, and the base map scale can be adjusted accordingly to the target scale. If a vehicle is y meters away from the maneuvering point on a regular road, it is determined to be entering an intersection or turning segment, and the base map scale can be adjusted accordingly to the target scale.
  • the navigation scene in response to the location of the entity being outdoors, the navigation scene is determined based on the location, and the target scale level is determined according to the navigation scene, thereby realizing automatic switching of the scale and facilitating the flexible display of global navigation information of different map sizes in different scenarios.
  • displaying global navigation information in a map interface based on a target scale level includes: determining a target map from multiple electronic maps based on a target scale level; and displaying global navigation information in a map interface based on the target map and the target scale level.
  • the computer device can determine a target map matching the target scale level based on the pre-established correlation between scale levels and electronic maps.
  • This target map can be one of multiple electronic maps with varying levels of precision.
  • These multiple electronic maps may include, for example, a first map and a second map.
  • the first map may be a standard definition map
  • the second map may be a high-definition map. It is understood that the multiple electronic maps may also include maps of other precision levels, and this embodiment does not limit this.
  • Second Map This is one type of electronic map with relatively high accuracy; in this context, it may specifically refer to a high-definition map (HD Map).
  • Computer equipment can determine the target map from multiple electronic maps based on the target scale.
  • the target map can be a second map, used to display global navigation information in the map interface.
  • the computer device can use the target map as a base map and display it according to the target scale level, and display route guidance information on the displayed map.
  • the automatic switching of multi-mode base maps can be achieved through an automatic scale strategy.
  • the effective scale and elevation angle of each base map are determined, and the scale levels of the two maps are arranged in order as shown in Table 2 (4-22). Then, the scale level of the current scene is adjusted according to the automatic scale strategy, and the base map is automatically switched according to the scale level of the current scene.
  • this application can use 20, 21, 22, 22+ levels as the display levels of the HD map.
  • the display levels of the SD map can be set to 4 to 21 levels, of which levels 20 and 21 serve as the transition levels between the SD map and the HD map.
  • the integration of scale level and multi-mode base map strategy can automatically switch base maps based on scale level, which can not only meet the needs of multiple scenarios, but also make timely and flexible adjustments for different scenarios, and provide navigation guidance that is more suitable for the current scenario.
  • local navigation information is displayed on the map interface, including: in response to the location of the entity being an indoor entrance, adjusting the map scale to a preset scale level, and displaying local navigation information on the map interface based on a high-precision map and the preset scale level when the location is indoors.
  • Preset Scale Level The map scale to which the map should be adjusted when an entity arrives at the indoor entrance. This preset scale level corresponds to the high-definition map.
  • the computer device uses the high-definition map as the base map and displays it according to this preset scale level.
  • the displayed base map is used as the indoor virtual scene. For example, when a vehicle enters the parking lot entrance, it can automatically adjust to a preset scale level such as 22 and switch to HD map display.
  • the entrance when an entity reaches an indoor entrance, the entrance can be used as a maneuvering point, thus adjusting the current map scale to a preset scale.
  • This preset scale can be the highest possible scale, corresponding to a high-definition map.
  • the computer can use the high-definition map as a base map and display it according to the preset scale, using the displayed base map as the indoor virtual scene.
  • Figure 13 is a schematic diagram of automatic scale adjustment for indoor and outdoor scenes in one embodiment.
  • an SD map can be used as the base map to display route guidance information; when the vehicle enters the parking lot entrance, it can be automatically adjusted to a preset scale level, such as level 22.
  • This preset scale level is associated with an HD map, so it can be switched to an HD map for display, and route guidance information can be displayed on the HD map.
  • the scale level when a physical object travels to an indoor entrance, the scale level can be automatically adjusted to a preset scale level, so that when the physical object enters the room, it can quickly switch to a high-precision map for navigation, realizing seamless switching between outdoor and indoor navigation.
  • the step of obtaining the location includes: obtaining the satellite signal at the current moment, as well as the pose signal and visual perception signal of the entity object; if the satellite signal at the current moment is not obtained, the location of the entity object is obtained by fusing the historical location at a historical moment, the pose signal and visual perception signal of the entity object.
  • satellite signals can be GPS or BeiDou signals.
  • Pose signals are acquired through pose sensors, such as IMUs.
  • Visual perception signals are acquired through cameras mounted on the physical object.
  • computer equipment can also acquire the object's motion speed.
  • computer equipment can determine the location of an object based on the current satellite signals, the pose signals and visual perception signals of the object, and possibly also the speed of movement.
  • the aforementioned satellite signals may not be available. Therefore, computer equipment can perform fusion processing based on the historical location at a historical moment, the pose signal of the object, and the visual perception signal, or even include the motion speed, to obtain the positioning location of the object.
  • the computer device can use the most recent position of the physical object before it entered the indoor space as the historical position for calculation. Based on the historical position, pose signal, and movement speed, path simulation is performed to obtain the movement path of the physical object. Then, the road surface image in the visual perception signal is identified to determine the lane corresponding to the movement path of the physical object, thereby obtaining the location of the physical object.
  • the location of an object in the absence of satellite signals, can be predicted based on its historical location at a historical moment, as well as its pose signal and visual perception signal, which can improve the accuracy of indoor positioning.
  • the method when the navigation destination is indoors, the method further includes: if the building where the navigation destination is located does not provide parking services, then when the distance between the location and the navigation destination is less than or equal to a second threshold, displaying parking lot recommendation information; if the building where the navigation destination is located provides parking services, then when the distance between the location and the navigation destination is less than or equal to a third threshold, displaying parking space recommendation information or parking area recommendation information.
  • the Second Threshold is a distance value. When the navigation destination is indoors and the building where the navigation destination is located does not provide parking services, parking recommendations are displayed when the distance between the location and the navigation destination is less than or equal to this value.
  • Parking Lot Recommendation Information When the navigation destination is indoors and the building where the navigation destination is located does not provide parking services, and the distance between the location and the navigation destination is less than or equal to a second threshold, the computer device searches for nearby parking lots and displays the information, including the address of at least one parking lot, the distance of each parking lot from the location, and possibly the charging standards of each parking lot.
  • Parking Space Recommendation Information When the navigation destination is indoors and the building where the navigation destination is located provides parking services, and the distance between the location and the navigation destination is less than or equal to a third threshold, the computer device displays the information after determining the location based on vehicle type, vehicle brand, or access information within the building where the navigation destination is located. This information includes the address of at least one available parking space and the distance between each available parking space and the location.
  • Parking Area Recommendation Information When the navigation destination is indoors and the building where the navigation destination is located provides parking services, and the distance between the location and the navigation destination is less than or equal to a third threshold, the computer device displays the information after determining the location based on vehicle type, vehicle brand, or access information within the building where the navigation destination is located. This information includes the address of at least one parking area and the distance between each parking area and the location.
  • Vehicle types include different energy types such as electric vehicles, gasoline vehicles, and hybrid vehicles. During navigation, this information is used to determine recommended parking spaces or parking areas. If the vehicle is an electric vehicle or a hybrid vehicle, the computer equipment can recommend parking spaces or parking areas with charging stations.
  • Vehicle brand refers to the brand of the vehicle, such as Tesla, BMW, BYD, etc.
  • the computer equipment can determine parking space or parking area recommendations based on that brand, such as recommending charging stations or charging areas corresponding to that vehicle brand.
  • this application can also provide a parking recommendation service. If the building where the navigation destination is located does not provide parking, then when the distance between the location and the navigation destination is less than or equal to a second threshold, nearby parking lots are searched and parking lot recommendation information is displayed.
  • the parking lot recommendation information may include the address of at least one parking lot, the distance of each parking lot from the location, and the charging standards of each parking lot, etc.
  • parking space recommendations or parking area recommendations will be displayed when the distance between the location and the navigation destination is less than or equal to a third threshold.
  • Buildings providing parking services include gas stations, parking lots, or car washes.
  • Parking space recommendations can specifically include the address of at least one available parking space, and the distance of each available parking space from the location.
  • Parking area recommendations can specifically include the address of at least one parking area, and the distance of each parking area from the location.
  • the third threshold is a distance value.
  • parking space recommendations or parking area recommendations will be displayed when the distance between the location and the navigation destination is less than or equal to this value.
  • the computer device can recommend parking lots.
  • the navigation destination is a parking lot, it can further recommend parking spaces or parking areas.
  • Figure 14 is a schematic diagram of a parking recommendation service in one embodiment. As shown in Figure 14, if the destination is not a parking lot, the computer device can calculate the distance from the location to the destination. If the distance is less than or equal to a second threshold D, it starts recommending parking lots. When the destination is an indoor facility/gas station/parking lot/car wash, etc., it recommends parking spaces/parking areas (not parking lots).
  • the computer device calculates the distance from the location to the destination, and if the distance is less than or equal to a third threshold d, it starts recommending parking spaces/parking areas.
  • the recommended parking space/parking area information may include the charging standard, floor, and proximity to elevator tags.
  • the computer device will recommend parking spaces/parking areas with charging piles. If the computer device obtains the vehicle model brand, it will recommend charging piles/charging areas of the corresponding brand.
  • the computer device can also access dynamic data (such as temporary traffic control, parking lot malfunctions, etc.) provided by the parking lot management to ensure a more real-time parking navigation experience.
  • the computer device can also interface with a parking lot reservation system to help users reserve parking spaces in advance. For example, based on the parking space information of the user's selected parking space, a reservation request can be sent to the parking lot reservation system to reserve the parking space and avoid a wasted trip.
  • the navigation destination is a regular POI
  • parking lots can be recommended to the user; if the navigation destination is a place that provides parking services, parking spaces and parking areas can be further recommended to the user. This achieves a flexible parking recommendation service.
  • the method before displaying parking space recommendation information or parking area recommendation information, the method further includes: determining the vehicle type to which the entity object belongs, and determining the parking space recommendation information or parking area recommendation information based on the vehicle type; or, if the vehicle model brand to which the entity object belongs is obtained, determining the parking space recommendation information or parking area recommendation information based on the vehicle model brand.
  • the vehicle type includes electric vehicles, gasoline vehicles, and hybrid vehicles. If the vehicle is an electric vehicle or a hybrid vehicle, the computer system can recommend parking spaces or areas for charging stations. A parking area may include multiple parking spaces. If the user enters the vehicle model brand into the computer system, the system can recommend charging stations or charging areas corresponding to that model brand.
  • parking spaces/parking areas that better meet the user's needs can be recommended based on vehicle type or vehicle brand, which can improve the effectiveness of parking services.
  • the method before displaying parking space recommendation information or parking area recommendation information, the method further includes: determining access information within the building where the navigation destination is located, and determining parking space recommendation information or parking area recommendation information based on the access information.
  • the information on access points within a building can specifically include the location of elevators, staircases, or main entrances. Based on this information, the computer system can recommend parking spaces/areas closest to the elevator, staircases, or main entrance. In other words, it selects the parking space/area closest to the elevator, staircase, or main entrance based on their location.
  • parking spaces/parking areas are recommended based on the access information within the building where the navigation destination is located, taking into account the actual needs of users and providing convenience for travel.
  • the computer device may also collect historical parking information of physical objects and recommend parking lots, parking areas, or parking spaces based on historical parking preferences. In some embodiments, the computer device may also calculate the vehicle's remaining driving range based on the vehicle's energy consumption model and the current remaining battery/fuel level, thereby recommending parking lots or gas stations that are less than the remaining driving range from the vehicle's location.
  • the method further includes: displaying a map interface; in an outdoor scene mode, displaying a general model of the building in the map interface; and in an indoor scene mode, displaying an indoor view of a specified floor of the selected building in the map interface.
  • map or navigation applications can display a map interface through which users can browse the map.
  • the map interface displays a general model of the building; referring to Figure 16, in indoor scene mode, the map interface displays an interior view of a specified floor of the selected building.
  • the general model refers to the standardized display model of buildings shown in the map interface in the outdoor scene mode. It is used to provide a general illustration of buildings on the map, contrasting with the indoor map displayed in the indoor scene mode, and providing users with an overall overview of outdoor buildings.
  • users can view outdoor and indoor maps on the map by dragging, zooming, and rotating.
  • the outdoor map displays a general model of building blocks; the indoor map is presented based on the floor information of the POI, and users can select floors using map buttons.
  • Figure 15 shows a general model of an outdoor building, and Figure 16 shows the effect of displaying a specific floor indoors.
  • the information presented for each floor on the map is consistent with the actual location of facilities such as shops, parking lots, car washes, and elevators in reality.
  • Indoor map viewing operations are consistent with outdoor operations, supporting dragging, zooming, rotating, and point selection. Clicking on text or icon labels on the map provides detailed POI information, such as opening hours, parking fees, charging fees, and available parking spaces.
  • users can select a destination via a map interface. This destination then serves as the final navigation point. For example, when a user needs to select an indoor POI as their destination, they can directly click on an icon or text marker on the map. For instance, clicking on the text and icon of a charging station area, or clicking on a parking space number.
  • Figure 17 shows the effect of a user selecting a charging station area of a specific brand; the selected area is indicated by an icon displayed around the charging station.
  • Figure 18 shows the effect of a user selecting a parking space; the selected parking space is indicated by an icon displayed around it.
  • the route planning results provide both outdoor and indoor routes from the location to the destination. If the destination is not a parking space or charging station, the route planning results will recommend nearby parking areas, parking spaces, and branded charging stations.
  • Outdoor navigation can display global navigation information, including the road name where the location is situated, forward turning information, recommended lanes, and estimated arrival time.
  • the map displays a real-world view of the entrance, navigation route, and recommended parking information.
  • the system switches to indoor guidance mode.
  • a high-precision map is used as the base map to display local navigation information, including forward turning information, the floor of the destination, the floor of the current location, and a virtual indoor parking scene.
  • the map highlights this information. Navigation ends normally once the vehicle reaches the target parking space.
  • the guidance process from outdoors to indoors is continuous, the guidance method is consistent, the guidance effect progresses from coarse to fine, and the guidance position error is less than one parking space.
  • Integrated indoor and outdoor guidance provides users with an easy-to-operate, easy-to-identify, accurate, and effective navigation method.
  • the above embodiments provide different display effects for indoor and outdoor environments, which can provide more map information.
  • displaying an indoor view of a specified floor of a selected building in the map interface includes: determining the display area of the specified floor in the general model of the selected building in the map interface; if the selected building contains an indoor view and the display area of the specified floor meets the building block activation condition, then switching from an outdoor scene mode to an indoor scene mode, and displaying the indoor view of the specified floor of the selected building in the map interface.
  • the selected building can be either a building currently displayed on the map or a building selected by a selection operation.
  • the specified floor is a pre-set floor, such as the first floor or the basement.
  • the Building Block Activation Condition refers to the condition that the display area of the specified floor must meet when the selected building contains an interior view. If this condition is met, the scene mode switches from outdoor to indoor, and the interior view of the specified floor of the selected building is displayed on the map. Specifically, this can be that the area of the display area of the specified floor is greater than a preset area, or that the overlap between the display area of the specified floor and the activation range is greater than a threshold.
  • the computer device can determine the display area of a specified floor in the general model of the selected building in the map interface. This display area is the indoor range of the specified floor of the building displayed in the map interface. If the selected building contains an indoor view, and the display area of the specified floor meets the building block activation conditions, the outdoor scene mode is switched to the indoor scene mode, and the indoor view of the specified floor of the selected building is displayed in the map interface.
  • meeting the building activation conditions can be either that the area of the display area of the specified floor is greater than the preset area, or that the overlapping area between the display area of the specified floor and the activation range is greater than a threshold.
  • the computer device can calculate the overlapping area between the building area containing the indoor map (i.e., the display area of a certain floor) and the activation range.
  • the overlapping area reaches a threshold, or when the indoor area is within a certain proportion of the area of the activation range, the building activation conditions are considered met, and the indoor map is displayed.
  • the computer device can pre-set an activation range (less than or equal to the screen area). After dragging, scaling, and rotating the map, the computer device can calculate the overlapping area between the building area containing the indoor map (i.e., the display area of a certain floor) and the activation range. If the overlapping area of the overlapping area reaches a threshold S, the indoor map is displayed. Alternatively, if the area of the indoor range (i.e., the display area of a certain floor) Si in the activation range is greater than k*Si, it can also be considered that the activation condition is met.
  • k can be a coefficient greater than 0.5 and less than 1.
  • Figure 19 illustrates the activation range and the display area of layer B2.
  • an indoor map display function is provided.
  • the indoor scene mode can be switched to display the indoor map to provide richer map information, making it easier for users to select an indoor POI as the navigation start point or navigation destination.
  • the method further includes: in an indoor scene mode, displaying a floor switching control in the map interface; and in response to a trigger operation on the floor switching control, switching from the currently displayed indoor map to the indoor map display of the floor pointed to by the trigger operation.
  • Figure 19 also shows a floor switching control 1901.
  • the computer device switches from the currently displayed interior view to the interior view display of the floor indicated by the trigger operation.
  • switching from the currently displayed indoor map to the indoor map display of the floor pointed to by the trigger operation includes: if the display area of the floor pointed to by the trigger operation meets the floor block activation condition, then switching from the currently displayed indoor map to the indoor map display of the floor pointed to by the trigger operation.
  • the computer device can confirm whether the display area of the floor pointed to by the triggering operation meets the floor block activation conditions. If it does, it switches from the currently displayed indoor map to the indoor map of the floor pointed to by the triggering operation; if it does not meet the conditions, it displays the outdoor map, that is, the general model of the building.
  • the display area of different floors within the same building block may differ in some cases. Therefore, when a floor switching operation occurs, the computer device can recalculate whether the display area of the currently selected floor on the screen meets the building block activation conditions.
  • the floor display strategy is as follows:
  • the display conditions for indoor maps can be preset. Specifically, the map displayed in the map interface must be zoomed to a specified scale level or higher before indoor maps can be displayed. For example, if the scale level is smaller than the specified scale level, indoor maps will not be displayed regardless of whether they are within the field of view; if the scale level is greater than or equal to the specified scale level, and the overlap area between the displayed area of the indoor map and the active area reaches a preset area threshold, then the indoor map of that floor will be displayed. For example, the specified scale level is 17.
  • Designated Scale Level This is a pre-defined scale level used to restrict the display conditions of indoor maps. Indoor maps are only supported when the map displayed in the map interface is zoomed to this designated scale level or higher. For example, as mentioned in the text, indoor maps may only be displayed when the scale level is greater than or equal to 17, provided other conditions are met.
  • control will be carried out separately before the movement (i.e., before the movement) and during the movement (during the movement).
  • the building activation strategy is followed on the homepage.
  • the same strategy applies: for the current building's Point of Interest (POI), the floor containing the POI is highlighted; for POIs outside the current building, the default floor is displayed, and location changes are ignored.
  • POI Point of Interest
  • the same building activation strategy applies: if the starting point is indoors, and the starting building is activated, the starting building and its floor are displayed; otherwise, the default floor is displayed. For starting points outdoors, the logic is the same as on the homepage.
  • the outdoor navigation is the same as the homepage; the indoor navigation distinguishes between indoor and outdoor locations. If the location is indoors, it responds to location changes. If the active building is the same building as the location, that building is displayed; if the active building is not the same building as the location, the default floor is displayed. If the location is outdoors, it is the same as the homepage.
  • the automatic floor switching method is based on the positioning results returned by the positioning SDK.
  • Positioning information (including location, building, and floor) is received from the high-precision positioning module.
  • the building and floor of the current location are displayed by default.
  • the floor can be manually switched using the floor switching control.
  • the building and floor of the current location are displayed by default, and there is no way to manually adjust the floor display.
  • the indoor scene model provides a floor switching display function, which can display indoor POIs on different floors and provides rich map information.
  • the method further includes a POI retrieval step, which includes: in response to a retrieval operation generated in the map interface, displaying the address of the target point of interest pointed to by the retrieval operation, the distance between the target point of interest and the location, and service information related to the target point of interest; and if the target point of interest is an indoor point of interest, also displaying the floor information of the target point of interest.
  • a POI retrieval step which includes: in response to a retrieval operation generated in the map interface, displaying the address of the target point of interest pointed to by the retrieval operation, the distance between the target point of interest and the location, and service information related to the target point of interest; and if the target point of interest is an indoor point of interest, also displaying the floor information of the target point of interest.
  • users can enter their destination in the input box to search, or they can directly select indoor/outdoor POI markers or indoor POI markers from the base map.
  • the computer device sends a request to the search service based on the input or selection information, and the search service returns detailed data including indoor building blocks and floor information.
  • the search details page displays two basic pieces of information about the POI: its address and its distance from the location.
  • Different types of POIs also carry different types of service information. For example, gas stations will include operating hours, types of refueling available, fuel prices, and promotional information; charging stations will include the number of available charging spots, fast charging stations, slow charging stations, and pricing information; indoor POIs will also carry floor information, such as the floor of a restaurant.
  • the above embodiments provide the ability to search for both indoor and outdoor POIs, improving the ease of use of map/navigation applications.
  • this application modifies various scenarios, including browsing, searching, routes, and navigation, to maintain consistency and continuity between indoor and outdoor navigation experiences.
  • the derivative needs of trolleybuses such as navigation, parking, and charging, were also considered, significantly improving navigation interaction efficiency and navigation effectiveness.
  • the navigation method includes the following steps:
  • the map interface In indoor scene mode, the map interface also displays a floor switching control; in response to the trigger operation of the floor switching control, if the display area of the floor pointed to by the trigger operation meets the building block activation condition, the currently displayed indoor map will switch to the indoor map display of the floor pointed to by the trigger operation.
  • the system In response to a search operation on the map interface, the system displays the address of the target point of interest (POI), the distance between the POI and the location, and service information related to the POI. If the POI is an indoor POI, the system also displays the floor information of the POI.
  • POI target point of interest
  • a navigation path is displayed on the map interface.
  • the navigation path guides entities from the navigation starting point to the navigation destination, where at least one of the navigation starting point or the navigation destination is located indoors. If the navigation destination is indoors, the navigation path includes a first path from the navigation starting point to the indoor entrance and a second path from the indoor entrance to the navigation destination; the first and second paths are displayed differently on the map interface. If the navigation starting point is indoors, the navigation path includes a third path from the navigation starting point to the indoor exit and a fourth path from the indoor exit to the navigation destination; the third and fourth paths are displayed differently on the map interface.
  • the system acquires the current satellite signal, as well as the pose signal and visual perception signal of the entity. If the current satellite signal is not acquired, the system fuses the historical position, pose signal, and visual perception signal of the entity to obtain the entity's location.
  • the navigation scenario is determined based on the location; the target scale level is determined based on the navigation scenario, and the map scale level is adjusted to the target scale level; the target map is determined based on the target scale level; the target map is either a first map or a second map, with the second map having higher precision than the first map; and global navigation information is displayed on the map interface based on the target map and the target scale level.
  • the map scale is adjusted to a preset scale.
  • local navigation information is displayed on the map interface based on a high-precision map and the preset scale.
  • This local navigation information includes an indoor scene map, which at least displays the virtual indoor scene of the area where the location is situated, as well as guidance information for virtual objects within the virtual scene to reach the target location.
  • the virtual object is the mapping of the entity in the virtual indoor scene
  • the target location is the mapping of the indoor exit or navigation endpoint within the virtual indoor scene.
  • the local navigation information also includes floor information for the floor where the location is situated, as well as the floor information for the indoor exit or navigation endpoint.
  • the target range where the target location is located is highlighted in the indoor scene map; the target range is the mapping range of the preset geographical range including the navigation endpoint in the indoor virtual scene.
  • parking recommendations will be displayed when the distance between the location and the navigation destination is less than or equal to the second threshold.
  • the vehicle type of the entity is determined, and parking space or parking area recommendations are determined based on the vehicle type; alternatively, if the vehicle model brand of the entity is obtained, parking space or parking area recommendations are determined based on the vehicle model brand; or, the access information within the building where the navigation destination is located is determined, and parking space or parking area recommendations are determined based on the access information.
  • the parking space or parking area recommendations are then displayed.
  • FIG. 22 shows the framework of an integrated indoor and outdoor navigation system in one embodiment.
  • the data required for integrated indoor navigation can be deployed on cloud services.
  • the computer device is equipped with a retrieval engine, rendering engine, route engine, positioning engine, and guidance engine.
  • the retrieval engine provides a retrieval path and offers detailed POI data (such as location, distance, business hours, and pricing information) based on user input.
  • the rendering engine provides the ability to mark and draw selected POIs.
  • the route engine calculates the indoor and outdoor navigation path based on the destination and outputs it to the rendering engine for drawing.
  • the positioning engine receives the vehicle's pose signal, satellite signals, and visual signals (i.e., visual perception signals), combines them with existing road network data and route planning results to output a fused positioning result (achieving centimeter-level positioning when signals are complete, and achieving errors less than parking space level even in indoor scenarios where satellite signals are lost).
  • the guidance engine outputs guidance information based on the fused positioning result, which triggers parking recommendation strategies and scale switching strategies.
  • the user experiences a consistent, efficient, and accurate navigation experience across retrieval, route calculation, and navigation scenarios.
  • This application unifies the indoor and outdoor interaction methods and service chains based on scenarios such as the homepage, search, route calculation, and navigation of map/navigation applications.
  • scenarios such as the homepage, search, route calculation, and navigation of map/navigation applications.
  • indoor and outdoor scenes remain consistent, supporting operations such as dragging, zooming, rotating, long-pressing, and tapping.
  • searching for POIs a floor switching control can be displayed for indoor POIs, adding floor switching functionality.
  • planning routes the system identifies whether the planned route requires an indoor route based on whether the destination is indoors. Navigation, based on the vehicle's location (indoor or outdoor), presents richer guidance information when providing indoor navigation.
  • Figure 23 shows the operation process and service chain of integrated indoor and outdoor navigation.
  • the computer device retrieves indoor map data from the indoor map service, and the base map engine draws the indoor map based on the building block information and floor information.
  • the page provides an indoor floor switching button, and the display strategy on the map is controlled by the "building block activation" strategy.
  • POIs Points of Interest
  • users can either enter their destination in the input box or directly select indoor or outdoor POI markers on the base map.
  • the computer device sends a request to the search service based on the input or selected information, and the service returns detailed data including indoor building blocks and floor information.
  • the search details page displays two basic information items for the POI: its address and its distance from the location.
  • the computer device After obtaining the location and destination, the computer device requests the routing service to calculate the optimal route from the location to the destination. Whether the routing result includes indoor navigation routes depends on whether the destination POI contains indoor floor information. If the destination is not a parking lot, parking space, parking area, or other parking-related POI, the routing service will also request parking recommendation information near the destination from the recommendation service. The parking recommendation information is sent to the base map terminal along with the route data provided by the route service.
  • the navigation endpoint For outdoor navigation, when there is no indoor information for the destination, the navigation endpoint is the optimal outdoor location closest to the destination.
  • the computer will request parking recommendations from the recommendation service. The user then selects a parking lot/space based on their needs. If the user changes their destination, a new route calculation request (from the current location to the new destination) will be sent to the route service.
  • the route service will receive the route from the location to the indoor POI.
  • the guidance panel will add information about the floor of the destination and the floor of the location, and the base map will also display high-precision indoor road information.
  • the navigation method provided in this application can be applied to map navigation scenarios.
  • the entity is a vehicle, it can provide drivers with an integrated indoor and outdoor navigation solution.
  • the navigation method provided in this application can also be provided to autonomous driving systems to achieve autonomous driving functions in indoor scenarios.
  • This application plans driving routes based on indoor and outdoor maps, inertial navigation, and POI floor information, providing destination-based parking lot/parking area/parking space recommendations. It presents an integrated navigation guidance map and guidance announcements from outdoor to indoor environments.
  • the destination parking recommendation capability requests route calculation and parking recommendation services using data such as vehicle model, brand, energy consumption model, and destination floor information as parameters. Seamless switching between indoor and outdoor navigation automatically switches indoor and outdoor guidance information based on indoor and outdoor route attributes, combined with an automatic scale strategy to achieve smooth map transitions.
  • Integrated indoor and outdoor navigation provides users with uninterrupted point-to-point navigation guidance services, solving the problem of poor experience in the last mile of navigation (difficulty finding parking, premature end of guidance, inaccurate indoor positioning, etc.), improving user driving efficiency and the overall interactive experience, and greatly alleviating driver anxiety when driving indoors.
  • steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.
  • this application also provides a navigation device for implementing the navigation method described above.
  • the solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more navigation device embodiments provided below can be found in the limitations of the navigation method described above, and will not be repeated here.
  • a navigation device 2400 including: a first display module 2401 and a second display module 2402, wherein:
  • the first display module 2401 is used to display a navigation path on the map interface in response to a preset trigger operation; the navigation path is used to guide the entity object to move from the navigation starting point to the navigation ending point, and at least one of the navigation starting point or the navigation ending point is located indoors.
  • the second display module 2402 is used to display global navigation information on the map interface when the location of the entity object is outdoors, and to display local navigation information on the map interface when the location of the entity object is indoors, during the navigation process via the navigation path.
  • the local navigation information includes an indoor scene map, which at least shows the indoor virtual scene of the area where the location is located, as well as guidance information for virtual objects in the indoor virtual scene to travel to the target location;
  • the virtual object is the mapping object of the entity object in the indoor virtual scene, and the target location is the mapping location of the indoor exit or navigation endpoint in the indoor virtual scene.
  • the local navigation information may also include floor information of the floor where the location is situated, and floor information of the floor where the indoor exit or navigation destination is located.
  • the navigation path includes a first path from the navigation starting point to the indoor entrance and a second path from the indoor entrance to the navigation destination; the first path and the second path are displayed differently in the map interface. If the navigation starting point is indoors, the navigation path includes a third path from the navigation starting point to the indoor exit and a fourth path from the indoor exit to the navigation destination; the third path and the fourth path are displayed differently in the map interface.
  • the second display module is further configured to: determine a navigation scenario based on the location of the entity object if the location is outdoors; determine a target scale level according to the navigation scenario and adjust the map scale level to the target scale level; and display global navigation information in the map interface based on the target scale level.
  • the second display module is further configured to: determine a target map from multiple electronic maps based on a target scale level; and display global navigation information in a map interface based on the target map and the target scale level.
  • the second display module is further configured to: adjust the map scale to a preset scale level in response to the location of the entity object being an indoor entrance, and display local navigation information in the map interface based on the high-precision map and the preset scale level when the location is indoors.
  • the second display module is further configured to: in response to the location being indoors and the distance between the location and the navigation endpoint being less than a first threshold, highlight the target range where the target location is located in the indoor scene map; the target range is the mapping range of a preset geographical range including the navigation endpoint in the indoor virtual scene.
  • the device further includes a determining module for acquiring the satellite signal at the current moment, as well as the pose signal and visual perception signal of the entity object; if the satellite signal at the current moment is not acquired, the device performs fusion processing based on the historical position at a historical moment, the pose signal and visual perception signal of the entity object, to obtain the positioning position of the entity object.
  • the device further includes a recommendation module, configured to: if the building where the navigation destination is located does not provide parking services, display parking lot recommendation information when the distance between the location and the navigation destination is less than or equal to a second threshold; if the building where the navigation destination is located provides parking services, display parking space recommendation information or parking area recommendation information when the distance between the location and the navigation destination is less than or equal to a third threshold.
  • a recommendation module configured to: if the building where the navigation destination is located does not provide parking services, display parking lot recommendation information when the distance between the location and the navigation destination is less than or equal to a second threshold; if the building where the navigation destination is located provides parking services, display parking space recommendation information or parking area recommendation information when the distance between the location and the navigation destination is less than or equal to a third threshold.
  • the recommendation module is further configured to: determine the vehicle type to which the entity object belongs, and determine parking space recommendation information or parking area recommendation information based on the vehicle type; or, if the vehicle model brand to which the entity object belongs is obtained, determine parking space recommendation information or parking area recommendation information based on the vehicle model brand.
  • the recommendation module is further configured to: determine access information within the building where the navigation destination is located, and determine parking space recommendation information or parking area recommendation information based on the access information.
  • the device further includes a third display module for: displaying a map interface; displaying a general model of a building in the map interface in an outdoor scene mode; and displaying an indoor map of a specified floor of the selected building in the map interface in an indoor scene mode.
  • the third display module is further configured to: determine the display area of a specified floor in the general model of the selected building in the map interface; if the selected building contains an interior view and the display area of the specified floor meets the building block activation condition, then switch from the outdoor scene mode to the indoor scene mode and display the interior view of the specified floor of the selected building in the map interface.
  • the third display module is further configured to: in an indoor scene mode, display a floor switching control in the map interface; and in response to a trigger operation on the floor switching control, switch from the currently displayed indoor map to the indoor map display of the floor pointed to by the trigger operation.
  • the third display module is further configured to: if the display area of the floor pointed to by the triggering operation meets the floor block activation condition, switch from the currently displayed indoor map to the indoor map display of the floor pointed to by the triggering operation.
  • the third display module is further configured to: in response to a search operation generated in the map interface, display the address of the target point of interest pointed to by the search operation, the distance between the target point of interest and the location, and service information related to the target point of interest; and, if the target point of interest is an indoor point of interest, also display the floor information of the target point of interest.
  • the modules in the aforementioned navigation device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.
  • a computer device which may be an in-vehicle terminal or a mobile terminal, and its internal structure diagram is shown in Figure 25.
  • the computer device includes a processor, memory, input/output interface, communication interface, display unit, and input device.
  • the processor, memory, and input/output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input/output interface.
  • the processor of the computer device provides computing and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium and internal memory.
  • the non-volatile storage medium stores an operating system and computer programs.
  • the internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium.
  • the input/output interface of the computer device is used for exchanging information between the processor and external devices.
  • the communication interface of the computer device is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies.
  • the computer program When executed by the processor, it implements a navigation method.
  • the display unit of the computer device is used to form a visually visible image and may be a display screen, a projection device, or a virtual reality imaging device.
  • the display screen can be an LCD screen or an e-ink screen.
  • the input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.
  • FIG. 25 is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied.
  • Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.
  • a computer device including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.
  • a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.
  • a computer program product including a computer program that, when executed by a processor, implements the steps in the above method embodiments.
  • the user information including but not limited to user device information, user personal information, etc.
  • data including but not limited to data used for analysis, data stored, data displayed, etc.
  • Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc.
  • ROM read-only memory
  • MRAM magnetic random access memory
  • FRAM ferroelectric random access memory
  • PCM phase change memory
  • Volatile memory can include random access memory (RAM) or external cache memory, etc.
  • RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).
  • SRAM Static Random Access Memory
  • DRAM Dynamic Random Access Memory
  • the databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases.
  • the processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.
  • this application provides a navigation method, apparatus, computer device, computer-readable storage medium, and computer program product.
  • a navigation path is displayed on the map interface to guide an entity object from the navigation starting point to the navigation endpoint (at least one location of the navigation starting point or endpoint is indoors).
  • global navigation information or local navigation information including an indoor scene map is displayed on the map interface.
  • the indoor scene map displays the indoor virtual scene of the location and guidance information guiding the virtual object to the target location (representing the indoor locations traversed to reach the endpoint).
  • the virtual object is the mapping object of the physical object in the indoor virtual scene
  • the target location is the mapping location of the indoor exit or navigation endpoint in the indoor virtual scene.
  • the mapping relationship between the virtual object and the target location is clarified, making the navigation guidance more targeted and accurate.
  • local navigation information also includes floor information of the location's floor, as well as floor information of the indoor exit or navigation destination, providing users with more accurate indoor location information, making it easier for users to understand their own location and the floor of their destination, and enhancing the accuracy and practicality of navigation.
  • the navigation path includes a first path from the navigation starting point to the indoor entrance and a second path from the indoor entrance to the navigation destination, with the first and second paths displayed differently on the map interface; if the navigation starting point is indoors, the navigation path includes a third path from the navigation starting point to the indoor exit and a fourth path from the indoor exit to the navigation destination, with the third and fourth paths displayed differently on the map interface.
  • the navigation scenario is determined based on the location, the target scale level is determined and the map scale level is adjusted according to the navigation scenario, and then the global navigation information is displayed on the map interface based on this, realizing automatic scale switching.
  • This facilitates the flexible display of global navigation information of appropriate map size in different outdoor scenarios, meeting the user's needs for map information display in different scenarios.
  • the target map is determined from multiple electronic maps based on the target scale level, and then global navigation information is displayed on the map interface based on the target map and the target scale level.
  • the scale level is integrated with the multi-mode base map strategy, and the base map is automatically switched based on the scale level. This can not only meet the needs of multiple scenarios, but also make timely and flexible adjustments for different scenarios, providing navigation guidance that is more suitable for the current scenario.
  • the map scale is adjusted to a preset scale.
  • local navigation information is displayed on the map interface based on the high-precision map and the preset scale.
  • the scale is automatically adjusted, and the map is quickly switched to the high-precision map for indoor navigation, achieving seamless switching between outdoor and indoor navigation.
  • the target area (including the mapping range of the preset geographical area of the navigation destination in the indoor virtual scene) of the target location is highlighted in the indoor scene map.
  • the target area is highlighted when the entity object is about to reach the destination, which makes it easier for users to quickly and accurately identify the navigation destination and improves the interaction efficiency.
  • the system acquires the satellite signal, the pose signal of the object, and the visual perception signal at the current moment. If the satellite signal at the current moment is not acquired, the system performs fusion processing based on the historical position, the pose signal of the object, and the visual perception signal to obtain the location of the object. In the absence of satellite signal, the system predicts the location through multi-signal fusion, thereby improving the accuracy of indoor positioning.
  • parking lot recommendation information is displayed when the distance between the location and the navigation destination is less than or equal to a second threshold; if the building where the navigation destination is located provides parking services, parking space recommendation information or parking area recommendation information is displayed when the distance between the location and the navigation destination is less than or equal to a third threshold, thereby realizing flexible parking recommendation services to meet the needs of users in different parking scenarios.
  • the vehicle type of the entity is determined, and parking space or parking area recommendations are made based on the vehicle type; or, if the vehicle model brand of the entity is obtained, parking space or parking area recommendations are made based on the vehicle model brand.
  • the system recommends parking spaces/parking areas that better meet the user's needs based on the vehicle type or vehicle model brand, thereby improving the effectiveness of parking services.
  • the system determines the access information within the building where the navigation destination is located, and then determines parking space or parking area recommendations based on the access information. It recommends parking spaces/parking areas based on the access information within the building, taking into account the actual needs of users and providing convenience for travel.
  • the map interface displays a general model of the building in outdoor scene mode and an indoor map of a specific floor of the selected building in indoor scene mode, providing different display effects for indoor and outdoor scenes, offering users more map information, and making it easier for users to browse the map and select destinations.
  • the display area of the specified floor in the general model of the selected building in the map interface is determined. If the selected building contains an indoor map and the display area of the specified floor meets the building block activation conditions, the outdoor scene mode is switched to the indoor scene mode and the indoor map of the specified floor of the selected building is displayed, providing an indoor map display function.
  • the indoor map is displayed when specific conditions are met, enriching the map information and making it easier for users to select an indoor POI as the navigation start point or destination.
  • a floor switching control is displayed in the map interface.
  • the display of the indoor map is switched from the currently displayed indoor map to the indoor map of the floor pointed to by the trigger operation, providing a floor switching display function that can display indoor POIs of different floors and enrich map information.
  • the switch when switching from the currently displayed indoor map to the indoor map of the floor pointed to by the triggering operation, if the display area of the floor pointed to by the triggering operation meets the building activation conditions, the switch will be performed to ensure that the indoor map displayed when switching floors meets the conditions and to ensure the rationality of map information display.
  • the system displays the address of the target point of interest (POI) to which the search operation is directed, the distance between the target POI and the location, and service information related to the target POI. If the target POI is an indoor POI, the system also displays the floor information of the target POI, providing search capabilities for both indoor and outdoor POIs and improving the ease of use of map/navigation applications.
  • POI target point of interest

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Abstract

一种导航方法，由计算机设备执行，该方法包括：响应于预设触发操作，在地图界面显示导航路径；导航路径用于引导实体对象从导航起点运动至导航终点，导航起点或导航终点中的至少一个位置点处于室内(202)；在通过导航路径进行导航的过程中，响应于实体对象的定位位置处于室外，在地图界面显示全局导航信息；响应于实体对象的定位位置处于室内，在地图界面显示包括室内场景图的局部导航信息；在室内场景图中至少显示定位位置所在区域的室内虚拟场景；及在室内虚拟场景中，显示引导实体对象映射的虚拟对象行径至目标位置的引导信息，目标位置代表通过导航路径导航至导航终点所经过的室内位置(204)。

Description

导航方法、装置、计算机设备、存储介质和程序产品
相关申请
本申请要求2024年06月07日申请的，申请号为202410740941.2，名称为“导航方法、装置、计算机设备、存储介质和程序产品”的中国专利申请的优先权，在此将其全文引入作为参考。
技术领域
本申请涉及地图技术领域，特别涉及导航技术领域，尤其涉及一种导航方法、装置、计算机设备、存储介质和计算机程序产品。
背景技术
随着计算机技术的发展，越来越多的软件应用被开发和应用，以便于给用户提供便利。比如地图应用或导航应用，可以给用户提供地图查阅和路线导航的服务，极大的方便了人们的日常生活。
传统的导航技术中，通常都是针对室外目的地进行导航，而对于有室内导航需求的场景，比如停车场内的导航，则需要停车场的专用终端、专用软件、或者专用引导屏幕来实现，这些引导方式往往引导内容不一致、操作方式也不一致，使得用户使用起来费时费力，存在引导效率低的问题。
发明内容
本申请提供了一种导航方法、装置、计算机设备、存储介质及程序产品。
第一方面，本申请提供了一种导航方法，由计算机设备执行，所述方法包括：
响应于预设触发操作，在地图界面显示导航路径；所述导航路径用于引导实体对象从导航起点运动至导航终点，所述导航起点或导航终点中的至少一个位置点处于室内；
在通过所述导航路径进行导航的过程中，响应于所述实体对象的定位位置处于室外，在所述地图界面显示全局导航信息；
响应于所述实体对象的定位位置处于室内，在所述地图界面显示包括室内场景图的局部导航信息；
在所述室内场景图中至少显示所述定位位置所在区域的室内虚拟场景；及
在所述室内虚拟场景中，显示引导所述实体对象映射的虚拟对象行径至目标位置的引导信息，所述目标位置代表通过所述导航路径导航至导航终点所经过的室内位置。
第二方面，本申请提供了一种导航装置，所述装置包括：
第一显示模块，用于响应于预设触发操作在地图界面显示导航路径；所述导航路径用于引导实体对象从导航起点运动至导航终点，所述导航起点或导航终点中的至少一个位置点处于室内；
第二显示模块，用于在由所述导航路径进行导航的过程中，响应于所述实体对象的定位位置处于室外，在所述地图界面显示全局导航信息；响应于所述实体对象的定位位置处于室内，在所述地图界面显示包括室内场景图的局部导航信息；在所述室内场景图中至少显示所述定位位置所在区域的室内虚拟场景；及在所述室内虚拟场景中，显示引导所述实体对象映射的虚拟对象行径至目标位置的引导信息，所述目标位置代表通过所述导航路径导航至导航终点所经过的室内位置。
第三方面，本申请提供了一种计算机设备，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本申请提供的导航方法的步骤。
第四方面，本申请提供了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本申请提供的导航方法的步骤。
第五方面，本申请提供了一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现本申请提供的导航方法的步骤。
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据公开的附图获得其他的附图。
图1为一个实施例中导航方法的应用环境图；
图2为一个实施例中导航方法的流程示意图；
图3为一个实施例中导航路径的显示示意图；
图4为一个实施例中车辆运动至室内入口的导航引导示意图；
图5为一个实施例中局部导航信息的显示示意图；
图6为一个实施例中车辆即将到达目标停车位时的引导效果图；
图7为一个实施例中不同比例尺级别下的图幅效果图；
图8为一个实施例中俯仰角与比例尺的关系示意图；
图9为一个实施例中不同俯仰角的渲染效果图；
图10为一个实施例中高精地图数据绘制到底图上的效果示意；
图11为一个实施例中不同精度地图的显示效果；
图12为一个实施例中普通场景中比例尺自动调整策略的应用示意图；
图13为一个实施例中室内室外场景中比例尺自动调整策略的应用示意图；
图14为一个实施例中停车推荐服务的示意图；
图15为一个实施例中室外建筑物通用模型效果图；
图16为一个实施例中室内楼层选中效果图；
图17为一个实施例中充电站被选中的效果示意图；
图18为一个实施例中停车位被选中的效果示意图；
图19为一个实施例中楼块激活范围的示意图；
图20为一个实施例中不同楼层的范围说明示意图；
图21为一个实施例中楼层显示策略的原理示意图；
图22为一个实施例中室内外一体化导航系统框架；
图23为一个实施例中室内外一体化导航的操作流程和服务链路示意图；
图24为一个实施例中导航装置的结构框图；
图25为一个实施例中计算机设备的内部结构图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例提供的导航方法，可以应用于如图1所示的应用环境中。其中，计算机设备102通过网络与服务器104进行通信。数据存储系统可以存储服务器104需要处理的数据。数据存储系统可以集成在服务器104上，也可以放在云上或其他网络服务器上。示例性地，计算机设备102可从服务器104处下载电子地图，计算机设备102通过地图应用显示电子地图，并通过地图应用显示电子地图。计算机设备102响应于预设触发操作，在地图界面显示导航路径；所述导航路径用于引导实体对象从导航起点运动至导航终点，所述导航起点或导航终点中的至少一个位置点处于室内；在通过所述导航路径进行导航的过程中，响应于所述实体对象的定位位置处于室外，在所述地图界面显示全局导航信息；响应于所述实体对象的定位位置处于室内，在所述地图界面显示包括室内场景图的局部导航信息；在所述室内场景图中至少显示所述定位位置所在区域的室内虚拟场景；及在所述室内虚拟场景中，显示引导所述实体对象映射的虚拟对象行径至目标位置的引导信息，所述目标位置代表通过所述导航路径导航至导航终点所经过的室内位置。虚拟对象可为实体对象在室内虚拟场景中的映射对象，目标位置可为室内出口或导航终点在室内虚拟场景中的映射位置。
其中，计算机设备102可以包括但不限于手机、电脑、智能语音交互设备、智能家电、车载终端、飞行器等。本发明实施例可应用于各种场景，包括但不限于云技术、人工智能、智慧交通、辅助驾驶等。在一些实施例中，计算机设备102中可装载有地图应用或导航应用等。服务器104可以是独立的物理服务器，也可以是多个物理服务器构成的服务器集群或者分布式系统，还可以是提供云计算服务的云服务器。
在对本申请提供的导航方法进行介绍之前，先对其中涉及到的相关技术术语进行解释：
POI：Point Of Interest，感兴趣的点，也翻译为兴趣点，在地图领域是对地图中具有特定含义的地理位置的统称，比如地标建筑、景点、机构部门、或商业机构等。
SD Map：SD地图，全称是Standard Definition Map，标清地图，其中存储的主要是道路级别的元素，分辨率要求通常在5m-10m左右，地图的内容包括道路的形状、以及POI等。
HD Map：HD地图，全称是High Definition Map，高精地图，其中存储的主体是车道，数据精度通常是分米级别，存储的地图信息比标清地图更为丰富。
GPS：Global Positioning System，全球定位系统。
机动点：车辆行驶过程中需要进行变道、转向、或掉头等操作的位置。
IMU：Inertial Measurement Unit，即惯性测量单元，用于测量物体三轴姿态角以及加速度。
在一个示例性的实施例中，如图2所示，提供了一种导航方法，以该方法应用于图1中的计算机设备102为例进行说明，包括以下步骤202至步骤204。其中：
步骤202，响应于预设触发操作，在地图界面显示导航路径；导航路径用于引导实体对象从导航起点运动至导航终点，导航起点或导航终点中的至少一个位置点处于室内。
需要说明的是，计算机设备中可安装软件应用，比如地图应用或导航应用，本申请具体可以通过计算机设备中安装的软件应用实现。实体对象具体可以是车辆、用户、机器人或其他具备移动能力的对象。计算机设备具体可以是车载终端、或跟随实体对象一起运动的具有显示屏幕的可移动终端。
地图界面是计算机设备的显示屏幕中显示电子地图的界面。电子地图也称数字地图，是利用计算机技术，以数字方式存储和查阅的地图。电子地图比如标清地图、或高精地图。预设触发操作是预先设定的用于显示导航路径的触发操作，触发操作具体可以是按键操作、语音操作、或触摸操作等。
在一些实施例中，地图界面中显示有检索区域，计算机设备可获取检索区域中输入的目的地作为导航终点，或者，将用户在地图界面中选中的地点作为导航终点。可以理解，在一些实施例中，导航终点具体可以是室外POI或者室内POI。
在一些实施例中，计算机设备可将实体对象的定位位置作为导航起点，或者将检索区域中输入的地点作为导航起点，还或者将用户在地图界面中选中的地点作为导航起点。可以理解，在一些实施例中，导航起点具体可以是室外POI或者室内POI。
在一些实施例中，计算机设备自身可基于导航起点和导航终点，确定导航路径，也可以将导航起点和导航终点发送至服务器，由服务器确定导航路径。其中，导航路径的确定可以遵循一定的路径规划算法，比如可以考虑大路优先、路程耗时最短、路线距离最短等，本申请实施例对此不做限定。
在一些实施例中，预设触发操作可以是预先定义好的用于显示导航路径的操作，比如路径显示操作、导航操作、导航终点确定操作等，当计算机设备检测到预设触发操作时，即可在地图界面中显示从导航起点至导航终点的导航路径。
示例性地，计算机设备可将路径显示操作作为预设触发操作，比如，当导航起点和导航终点确认后，地图界面中可显示相关控件，比如显示有“路线”或“去这里”等文字的控件。当计算机设备检测到针对该相关控件的触发操作时，即认为发生了预设触发操作。
示例性地，计算机设备可将导航操作作为预设触发操作，比如，当导航起点和导航终点确认后，地图界面中可显示相关控件，比如显示有“导航”文字的控件。当计算机设备检测到针对该相关控件的触发操作时，即认为发生了预设触发操作。
示例性地，计算机设备可将导航终点确定操作作为预设触发操作，比如，当计算机设备检测到导航终点确定操作后，即可自动将定位位置作为导航起点，并在地图界面显示导航路径。
在一些实施例中，若导航终点处于室内，则导航路径包括由导航起点至室内入口的第一路径，以及由室内入口至导航终点的第二路径；地图界面中的第一路径与第二路径区别显示。
其中，若导航终点处于室内，则室内入口指导航终点所在建筑物的入口，也即进入到导航终点所在建筑物的入口。此时的导航路径包括由导航起点至室内入口的第一路径，以及由室内入口至导航终点的第二路径。
地图界面中的第一路径与第二路径区别显示，具体可以是第一路径和第二路径的显示颜色不同，或者，路径宽度不同，或者，路径的填充图案不同等。比如，第一路径可以显示绿色、第二路径可以显示蓝色；或者第一路径的路径宽度比第二路径的路径宽度更宽；还或者，第一路径采用纯色填充，第二路径可采用斜线填充等，本申请实施例对此不做限定。
示例性地，请参考图3，图3为一个实施例中导航路径的显示示意图。如图3所示，该导航路径包括由导航起点至室内入口的第一路径(图中以斜线填充路径示意)，以及由室内入口至导航终点是第二路径(图中以白色填充路径示意)。在实际的产品中，第一路径可显示为绿色，第二路径可显示为蓝色。其中，图3的左侧还示意出了停车场推荐信息，以及充电站推荐信息等。可以理解，实际产品图示中还可以显示更多或更少的信息，本申请实施例对此不作限定。
在其他的实施例中，若导航起点处于室内，则导航路径包括由导航起点至室内出口的第三路径，以及由室内出口至导航终点的第四路径；地图界面中的第三路径与第四路径区别显示。
其中，若导航起点处于室内，则室内出口指导航起点所在建筑物的出口，也即从导航七点所在建筑物出去的出口。此时的导航路径包括由导航起点至室内出口的第三路径，以及由室内出口至导航终点的第四路径。
地图界面中的第三路径与第四路径区别显示，具体可以是第三路径和第四路径的显示颜色不同，或者，路径宽度不同，或者，指路径的填充图案不同等。比如，第四路径可以显示绿色、第三路径可以显示蓝色；或者第四路径的路径宽度比第三路径的路径宽度更宽；还或者，第四三路径采用纯色填充，第三路径可采用斜线填充等，本申请实施例对此不做限定。
上述实施例中，通过对室内导航路径和室外导航路径进行区别显示，可以示意出更多的信息量，给用户明确指示了室内路径和室外路径，清晰明了。
步骤204，在通过导航路径进行导航的过程中，响应于实体对象的定位位置处于室外，在地图界面显示全局导航信息；响应于实体对象的定位位置处于室内，在地图界面显示包括室内场景图的局部导航信息；在室内场景图中至少显示定位位置所在区域的室内虚拟场景；及在室内虚拟场景中，显示引导实体对象映射的虚拟对象行径至目标位置的引导信息，目标位置代表通过导航路径导航至导航终点所经过的室内位置。
具体地，在用户发起导航操作后，计算机设备可基于该导航路径进行导航，以引导实体对象从导航起点行径至导航终点。需要说明的是，该实体对象具体可以是车辆、用户、机器人或其他具备移动能力的对象。
可以理解，导航是个持续性的行为，路线引导信息会随着实体对象所处位置的更新而更新。定位位置即实体对象在当前时刻所处的位置，而当前时刻是随着时间的流逝而不断更新的。计算机设备可通过惯导技术确定实体对象的定位位置，在导航过程中，计算机设备若检测到实体对象的定位位置处于室外，则可以在地图界面显示全局导航信息；若检测到实体对象的定位位置处于室内，则可以在地图界面显示局部导航信息。惯导技术(Inertial Navigation Technology)，是指计算机设备通过该技术确定实体对象的定位位置，在导航过程中，计算机设备可通过惯导技术结合相关信号确定实体对象在当前时刻所处的位置。
全局导航信息(Global Navigation Information)，是指在导航过程中，当实体对象的定位位置处于室外时，在地图界面所显示的信息。局部导航信息(Local Navigation Information)，是指在导航过程中，当实体对象的定位位置处于室内时，在地图界面所显示的信息。
其中，全局导航信息和局部导航信息都可以包括底图以及路线引导信息，用于引导实体对象前往导航终点。全局导航信息，包括底图以及全局的路线引导信息；局部导航信息包括底图以及针对定位位置的精细化引导信息。可以理解，全局导航信息显示的路况细节相比对局部导航信息要少，但是涉及的路线范围比局部导航信息要多。其中，底图是在地图界面中显示的地图画面。
底图(Base Map)，是在地图界面中显示的地图画面，全局导航信息和局部导航信息都包含底图，不同场景下可由不同精度的地图作为底图进行显示。
在一些实施例中，全局导航信息包括定位位置所在道路的道路名称、前方转向信息、推荐车道、以及预计到达时间等信息中的至少一种。局部导航信息包括室内场景图，还可以包括定位位置所在楼层的楼层信息，以及室内出口或导航终点所在楼层的楼层信息，以便于提供更精确的室内信息。
需要说明的是，局部导航信息包括室内场景图，室内场景图中至少显示定位位置所在区域的室内虚拟场景，以及室内虚拟场景中虚拟对象行径至目标位置的引导信息；虚拟对象为实体对象在室内虚拟场景中的映射对象，目标位置为室内出口或导航终点在室内虚拟场景中的映射位置。其中，引导信息具体可以是路径引导信息，用于指明实体对象的前进方向。
其中，室内场景图具体可以由高精地图提供，或者是基于高精地图而构建的与实际区域相匹配的场景图。该室内场景图中显示有定位位置所在区域的室内虚拟场景，比如可以是定位位置所在楼层的室内虚拟场景，该室内虚拟场景随着实体对象的运动而发生相应的变化，反映了实体对象所处的当前环境。
高精地图(High Definition Map，HD Map)，其中存储的主体是车道，数据精度通常是分米级别，存储的地图信息比标清地图更为丰富，可用于提供室内场景图，在室内导航时作为底图显示室内虚拟场景。
标清地图(Standard Definition Map，SD Map)，全称是Standard Definition Map，其中存储的主要是道路级别的元素，分辨率要求通常在5m-10m左右，地图的内容包括道路的形状、以及POI等。
在一些实施例中，在室内导航场景中，计算机设备将高精地图作为底图，通过该高精地图所显示的画面即为室内虚拟场景。
在一些实施例中，计算机设备可将虚拟对象显示于室内虚拟场景中，该虚拟对象是实体对象在室内虚拟场景中的映射对象，比如，当实体对象为车辆时，该虚拟对象可以是车辆模型，当实体对象为用户时，该虚拟对象可以是模拟卡通人物等。
该室内虚拟场景中还显示有虚拟对象行径至目标位置的引导信息。可以理解，若导航起点处于室内，则从导航起点到导航终点的这段路程中，必须要经历从室内运动至室外的过程，也即会涉及到从定位位置运动至室内出口，那么目标位置即为室内出口在室内虚拟场景中的映射位置。若导航终点处于室内，则从导航起点到导航终点的这段路程中，必须要经历从室外运动至室内的过程，也即会涉及到从定位位置行进至导航终点，那么目标位置即为导航终点在室内虚拟场景中的映射位置。
示例性地，请参考图4，图4为一个实施例中车辆运动至室内入口的导航引导示意图。其中，该室内入口具体可以是停车场入口。如图4所示，当车辆行驶到停车场入口时，地图界面展示了入口实景图401、导航路线402、以及停车推荐信息403等。
示例性地，请参考图5，图5为一个实施例中局部导航信息的显示示意图。如图5所示，当车辆进入到室内后，地图界面即切换到室内引导样式。如图5所示以高精室内地图展示前方转向信息、目的地所在楼层、定位位置所在楼层和室内停车场图面。其中，高精地图所显示的场景即为室内虚拟场景，而其中示意出由车辆模型出发的路径标记即为引导信息。通过上述显示的局部导航信息，可使得车辆能够准确地行驶至目的地。这样从室外到室内的引导过程连续，引导方式一致，引导效果从粗到细，引导位置误差小于一个车位，能够为用户提供易操作、易识别、精准、有效的导航方式。
上述导航方法，响应于预设触发操作，在地图界面显示导航路径，在通过导航路径进行导航的过程中，响应于实体对象的定位位置处于室外，在地图界面显示全局导航信息，响应于实体对象的定位位置处于室内，则在地图界面显示局部导航信息。该全局导航信息可以引导实体对象在室外导航，该局部导航信息可以无缝衔接，引导实体对象在室内导航。其中，局部导航信息包括室内场景图，该室内场景图中至少显示定位位置所在区域的室内虚拟场景，以及室内虚拟场景中表示实体对象的虚拟对象行径至表示室内出口或导航终点的目标位置的引导信息，可以准确地引导实体对象前往目的地。本申请提供了室内室外一体化导航，给用户提供了无间断的导航引导服务，无需切换专用软件，或者适应风格迥异的引导信息，大大提高了导航效率。并且，本申请的室内外一体化导航方式，也无需在室内铺设专门的专用终端或专用引导屏幕，显著降低了室内导航的铺设成本，解决了导航最后一公里的体验差的问题，提高了驾驶效率和全流程的交互体验。
在一些实施例中，该导航方法还包括：响应于定位位置处于室内且定位位置与导航终点间的距离小于第一阈值，则在室内场景图中对目标位置所在的目标范围进行突出显示；目标范围为包括导航终点的预设地理范围在室内虚拟场景中的映射范围。
第一阈值(The First Threshold)，是一个距离数值，当定位位置处于室内且定位位置与导航终点间的距离小于该数值时，则在室内场景图中对目标位置所在的目标范围进行突出显示。第一阈值可以基于实际场景下定位位置与导航终点间的常规距离确定。
目标范围(Target Range)：指包括导航终点的预设地理范围在室内虚拟场景中的映射范围。当定位位置处于室内且定位位置与导航终点间的距离小于第一阈值时，在室内场景图中对该目标范围进行突出显示，例如当导航终点是停车位时，该目标范围可以是该停车位所在区域在室内虚拟场景中的映射范围。
其中，导航终点的预设地理范围可以是围绕导航终点的区域。比如，当导航终点是停车位时，该预设地理范围可以是该停车位所在区域；当导航终点是停车区时，该预设地理范围可以是该停车区所在区域；当导航终点是商铺时，该预设地理范围可以是该商铺的占地区域。
举例说明，若该导航终点为目标停车位，当实体对象即将到达该目标停车位时，地图界面中可以高亮形式在画面中展示目标停车位。
示例性地，请参考图6，图6为一个实施例中车辆即将到达目标停车位时的引导效果图。在车辆即将到达目标停车位时，地图以高亮形式在图面展示目标停车位。当自车行驶到目标停车位后正常结束导航。
其中，突出显示还可以是高亮显示、额外增加选中框、或者增加指示图标等等。并且，在突出显示的基础上，计算机设备还可以提供其他的提醒方式，比如震动某个部件、声音提醒等，以提醒用户即将到达目的地。
上述实施例中，在实体对象即将到达目的地时进行突出显示，便于用户能够快速且准确地识别出导航终点，提高了交互效率。
在针对导航显示进行详细介绍之前，先对地图比例尺进行介绍：
示例性地，地图比例尺级别范围可以是4～22级，每一级对应一个不同比例尺和俯仰角，如表1所示为比例尺级别与俯仰角的对应关系表。如图7所示为不同比例尺级别下的图幅效果，不同比例尺级别在同一屏幕上所呈现的图幅范围是不一样的。
表1比例尺级别与俯仰角对应关系
如图8所示，俯仰角指的是调整查看底图的视角。如图9所示，不同比例尺级别下所查看的地图范围是不一样的，比例尺级别越小，看到的范围越大，地图细节越粗糙，比例尺级别越大，看到的范围越小，地图细节越逼真。在相同比例尺级别下，调整俯仰角，能够调整不同朝向的可视范围。本申请可通过调整车辆行驶方向的俯仰角来达到增大可视范围的目的，甚至达到显示超视距地理区域的目的。
标清地图的数据与高精地图的数据是高度一致的，区别是高精地图的数据更为细致，数据维度更多，如图10所示为高精地图数据绘制到底图上的效果。高精地图数据在不同层级的比例尺展示的效果差异较大，当地图比例尺级别大于等于20级时可以达到车道级引导的目的。图11为一个实施例中SD地图、HD地图、以及室内HD地图的显示效果，从图11中可看出，HD地图、以及室内HD地图都可以达到车道级的引导。从图11中也比较容易看到本申请中的SD-HD融合的策略，对于非道路数据仍然使用SD地图数据，对于有高精地图数据的路段采用HD道路样式。
接下来针对室外导航和室内导航进行详细的介绍：
在一些实施例中，响应于实体对象的定位位置处于室外，在地图界面显示全局导航信息，包括：响应于实体对象的定位位置处于室外，则基于定位位置确定导航场景；根据导航场景确定目标比例尺级别，将地图比例尺的级别调整为目标比例尺级别；基于目标比例尺级别，在地图界面中显示全局导航信息。
目标比例尺级别(Target Scale Level)：是根据导航场景确定的，用于调整地图比例尺的级别。计算机设备响应于实体对象的定位位置处于室外，基于定位位置确定导航场景后，根据导航场景确定该目标比例尺级别，并将地图比例尺的级别调整为该目标比例尺级别，以便基于此在地图界面中显示全局导航信息。
其中，导航场景包括道路类型和/或驾驶操作类型。道路类型包括普通、匝道、拥堵、环岛、高速、城快等类型，驾驶操作类型包括前行、变道、转向、或掉头等类型。
响应于实体对象的定位位置处于室外，计算机设备则可以识别当前的导航场景，根据导航场景确定目标比例尺级别，并将地图比例尺的级别自动调整为目标比例尺级别。从而在地图界面中按照目标比例尺级别显示全局导航信息。
在一些实施例中，计算机设备可预先建立不同导航场景与比例尺级别间的关联关系，从而可以在识别出当前的导航场景的情况下，基于该关联关系自动调整地图比例尺的级别。
在一些实施例中，计算机设备可基于视觉感知信号识别车辆当前所处路段的道路类型，或者，地图数据中记录有道路信息，计算机设备可从地图数据中直接获取车辆当前所处路段的道路类型。其中，计算机设备基于视觉感知信号识别车辆当前所处道路的道路类型，具体可以是对视觉感知信号中的道路图像进行图像识别，以得到车辆前方道路的道路类型。
视觉感知信号(Visual Perception Signal)，是指通过安装在实体对象上的摄像头采集得到的信号，计算机设备可基于该信号识别车辆当前所处路段的道路类型，或判断车辆前方道路是否存在机动点等，还可在未获取到卫星信号时，与历史位置、位姿信号融合处理来确定实体对象的定位位置。位姿信号(Pose Signal)，是指通过位姿传感器采集得到的信号，位姿传感器比如IMU(惯性测量单元)，计算机设备可基于该信号与其他信号共同确定实体对象的定位位置，或在未获取到卫星信号时，与历史位置、视觉感知信号融合处理来确定实体对象的定位位置。
历史位置(Historical Position)：在未获取到当前时刻卫星信号时，用于与实体对象的位姿信号和视觉感知信号进行融合处理以确定实体对象定位位置的信息。计算机设备可将实体对象进入室内前最近时刻的位置作为参与计算的历史位置。
在一些实施例中，计算机设备可基于从车辆上采集的驾驶信号来确定驾驶操作类型。还可以，基于视觉感知信号或地图数据，识别车辆即将发生的驾驶操作的驾驶操作类型。比如，计算机设备可从地图数据中直接获取车辆前方的机动点位置，从而确定驾驶操作类型；或者，计算机设备对视觉感知信号中的道路图像进行图像识别，以判断车辆前方道路是否存在机动点，从而根据图像识别结果确定驾驶操作类型。
示例性地，对于无分歧的平稳驾驶路段，此路段上用户更关注全局的路线信息，比如距离下一个机动点的距离、到达目的地的距离和时间、前方路况等信息，此时可采用SD地图展现全局导航信息。具体策略是：对于普通路段该目标比例尺级别具体可以是L1级；高速城快道路可以是L2级。其中L1>L2，即L2对应图幅小于L1对应的图幅。
在一些实施例中，计算机设备可计算实体对象的定位位置与机动点间的距离，若距离小于预设阈值，则可确定驾驶操作类型为变道、转向、或掉头等类型，故而可基于驾驶操作类型自动将地图比例尺的级别调整为目标比例尺级别。若该目标比例尺级别所对应的地图为第一地图，则将第一地图作为底图显示全局导航信息；若该目标比例尺级别所对应的地图为第二地图，则将第二地图作为底图显示全局导航信息。
第一地图(First Map)：是多个电子地图中的一种，精度相对较低，在文中具体可以是标清地图(SD Map)。计算机设备可基于目标比例尺级别从多个电子地图中确定目标地图，目标地图可以是第一地图，用于在地图界面中显示全局导航信息。
示例性地，请参考图12，实体对象为车辆，计算机设备可根据自车位置和机动点距离动态调整图幅，当图幅比例尺达到HD显示级别的下限时，则切换为HD地图展示。其中，在高速城快道路上车辆距离机动点x米则判断为进入路口转向段，可对应调整底图比例尺至目标比例尺；在普通道路上车辆距离机动点y米则判断为进入路口转向段，可对应调整底图比例尺至目标比例尺。
上述实施例中，响应于实体对象的定位位置处于室外，则基于定位位置确定导航场景，根据导航场景确定目标比例尺级别，从而实现比例尺的自动切换，便于灵活地在不同场景下显示不同图幅的全局导航信息。
在一些实施例中，基于目标比例尺级别，在地图界面中显示全局导航信息，包括：基于目标比例尺级别从多个电子地图中确定目标地图；基于目标地图和目标比例尺级别，在地图界面中显示全局导航信息。
具体地，计算机设备可基于预先建立的比例尺级别与电子地图间的关联关系，确定与目标比例尺级别匹配的目标地图。该目标地图可以是多个电子地图中的其中一个地图。这多个电子地图的精度不同。多个电子地图比如可以包括第一地图和第二地图。其中，第一地图具体可以是标清地图，第二地图具体可以是高精地图。可以理解，多个电子地图还可以包括其他精度的地图，本申请实施例对此不作限定。
第二地图(Second Map)：是多个电子地图中的一种，精度相对较高，在文中具体可以是高精地图(HD Map)。计算机设备可基于目标比例尺级别从多个电子地图中确定目标地图，目标地图可以是第二地图，用于在地图界面中显示全局导航信息。
进一步地，计算机设备可将目标地图作为底图并按照目标比例尺级别进行显示，在所显示的地图上显示路线引导信息。
在一些实施例中，可以通过自动比例尺的策略实现多模底图的自动切换，确定各个底图的有效比例尺和俯仰角，将两种地图的比例尺级别按序排列如下表2的(4～22)，再根据自动比例尺策略调整当前场景显示的比例尺级别，根据当前场景显示的比例尺级别自动切换底图。
表2比例尺级别与显示模式的对应关系
示例性地，本申请可以采用20、21、22、22+的层级作为HD地图的显示层级。SD地图的显示层级可以设定为4～21级，其中，20和21级作为SD地图与HD地图的衔接层级。
上述实施例中，将比例尺级别与多模底图策略融合，可以基于比例尺级别自动切换底图，既能满足多场景需求，又能及时灵活地针对不同场景做调整，可以提供更适合当前场景下的导航指引。
在一些实施例中，响应于实体对象的定位位置处于室内，则在地图界面显示局部导航信息，包括：响应于实体对象的定位位置为室内入口，则调整地图比例尺的级别至预设比例尺级别，并在定位位置处于室内时，基于高精地图和预设比例尺级别，在地图界面中显示局部导航信息。
预设比例尺级别(Preset Scale Level)：当实体对象到达室内入口时，地图比例尺需调整到的级别。该预设比例尺级别与高精地图具有对应关系，计算机设备将高精地图作为底图，并按照此预设比例尺级别进行显示，且将所显示的底图作为室内虚拟场景，例如在车辆进入停车场入口时，可自动调整为如22级的预设比例尺级别并切换至HD地图显示。
具体地，当实体对象达到室内入口时，可将室内入口作为机动点，如此，便能将当前的地图比例尺级别调整为预设比例尺级别。可以理解，该预设比例尺级别可以是最高级的比例尺级别，与高精地图具有对应关系。计算机设备可将高精地图作为底图，并按照预设比例尺级别进行显示，且将所显示的底图作为室内虚拟场景。
示例性地，请参考图13，图13为一个实施例中室内室外场景自动比例尺调整的示意图。如图13所示，当车辆处于室外时，可采用SD地图作为底图显示路线引导信息；当车辆进入停车场入口时，便可自动调整为预设比例尺级别，比如22级，而该预设比例尺级别与HD地图关联，故而可切换至HD地图进行显示，在HD地图上显示路线引导信息。
上述实施例中，在实体对象行径至室内入口时，可自动调整比例尺级别至预设比例尺级别，从而当实体对象进入室内时，能够快速地切换至高精地图进行导航，实现了室外室内导航的无缝切换。
在一些实施例中，定位位置的获取步骤包括：获取当前时刻的卫星信号、以及实体对象的位姿信号和视觉感知信号；若未获取到当前时刻的卫星信号，则基于历史时刻的历史位置、实体对象的位姿信号和视觉感知信号进行融合处理，得到实体对象的定位位置。
其中，卫星信号具体可以是GPS信号或者北斗信号等。位姿信号通过位姿传感器采集得到，位姿传感器比如IMU。视觉感知信号通过安装在实体对象上的摄像头采集得到。此外，计算机设备还可以获取实体对象的运动速度。
在室外导航时，上述信号都可以采集得到，故而计算机设备可基于当前时刻的卫星信号、以及实体对象的位姿信号和视觉感知信号，或还包括运动速度，共同确定实体对象的定位位置。
在室内导航时，上述的卫星信号可能会采集不到，故而计算机设备可基于历史时刻的历史位置、实体对象的位姿信号和视觉感知信号，或者还包括运动速度进行融合处理，得到实体对象的定位位置。
在一些实施例中，计算机设备可将实体对象进入室内前最近时刻的位置作为参与计算的历史位置。从而基于历史位置、位姿信号以及运动速度，进行路径模拟，得到实体对象的运动路径。进而对视觉感知信号中的路面图像进行识别，确定实体对象的运动路径所对应的车道，以得到实体对象的定位位置。
上述实施例中，在未获取到卫星信号的情况下，可以基于历史时刻的历史位置，以及实体对象的位姿信号和视觉感知信号来预测实体对象的定位位置，可以提高室内定位的准确性。
在一些实施例中，在导航终点处于室内的情况下，方法还包括：若导航终点所在的建筑物不提供停车服务，则在定位位置与导航终点的距离小于或等于第二阈值时，显示停车场推荐信息；若导航终点所在的建筑物提供停车服务，则在定位位置与导航终点的距离小于或等于第三阈值时，显示停车位推荐信息或停车区推荐信息。
第二阈值(The Second Threshold)，是一个距离数值，在导航终点处于室内且导航终点所在的建筑物不提供停车服务的情况下，当定位位置与导航终点的距离小于或等于该数值时，显示停车场推荐信息。
停车场推荐信息(Parking Lot Recommendation Information)：在导航终点处于室内且导航终点所在的建筑物不提供停车服务的情况下，当定位位置与导航终点的距离小于或等于第二阈值时，计算机设备搜索附近停车场后所显示的信息，包括至少一个停车场的地址，以及每个停车场与定位位置的距离，还可能包括各停车场的收费标准等。
停车位推荐信息(Parking Space Recommendation Information)：在导航终点处于室内且导航终点所在的建筑物提供停车服务的情况下，当定位位置与导航终点的距离小于或等于第三阈值时，计算机设备根据车辆类型、车型品牌或导航终点所在建筑物内的通道信息等确定后所显示的信息，包括至少一个空闲停车位的地址，以及每个空闲停车位与定位位置的距离等。
停车区推荐信息(Parking Area Recommendation Information)：在导航终点处于室内且导航终点所在的建筑物提供停车服务的情况下，当定位位置与导航终点的距离小于或等于第三阈值时，计算机设备根据车辆类型、车型品牌或导航终点所在建筑物内的通道信息等确定后所显示的信息，包括至少一个停车区的地址，以及每个停车区与定位位置的距离等。
车辆类型包括电车、油车、或油电混合车等不同能源类型的车辆分类。在导航过程中，用于确定停车位推荐信息或停车区推荐信息，若车辆为电车或油电混合车，计算机设备可推荐充电桩的停车位或停车区。
车型品牌指车辆所属的品牌，如特斯拉、宝马、比亚迪等具体的汽车品牌。在导航过程中，若获取到实体对象所属的车型品牌，计算机设备可根据该品牌确定停车位推荐信息或停车区推荐信息，例如推荐对应车型品牌的充电桩或充电区。
具体地，本申请还可以提供停车推荐服务，若导航终点所在的建筑物不提供停车服务，则在定位位置与导航终点的距离小于或等于第二阈值时，搜索附近的停车场，并显示停车场推荐信息。停车场推荐信息可以包括至少一个停车场的地址，以及每个停车场与定位位置的距离，还可以包括各停车场的收费标准等。
若导航终点所在的建筑物提供停车服务，则在定位位置与导航终点的距离小于或等于第三阈值时，显示停车位推荐信息或停车区推荐信息。其中，提供停车服务的建筑物比如加油站、停车场、或洗车店等。停车位推荐信息具体可以包括至少一个空闲停车位的地址，以及每个空闲停车位与定位位置的距离等。停车区推荐信息具体可以是至少一个停车区的地址，以及每个停车区与定位位置的距离等。
第三阈值(The Third Threshold)，是一个距离数值，在导航终点处于室内且导航终点所在的建筑物提供停车服务的情况下，当定位位置与导航终点的距离小于或等于该数值时，显示停车位推荐信息或停车区推荐信息。
在一些实施例中，导航终点是非停车性质的POI时，计算机设备可推荐停车场。导航终点是停车场时则可进一步推荐停车位或停车区。示例性地，请参考图14，图14为一个实施例中停车推荐服务的示意图。如图14所示，若目的地不是停车场时，计算机设备可计算定位位置到目的地的距离，距离小于或等于第二阈值D时开始推荐停车场；当目的地是室内设施/加油站/停车场/洗车等类型时，推荐停车位/停车区(不推荐停车场)，具体逻辑是：计算机设备计算定位位置到目的地的距离，距离小于或等于第三阈值d时开始推荐停车位/停车区。车位/停车区的推荐信息中可包含收费标准、楼层、近电梯标签等；对于电车来说，计算机设备会推荐有充电桩的停车位/停车区；如果计算机设备获取到了车型品牌，将会推荐对应品牌的充电桩/充电区。
在一些实施例中，计算机设备还可接入停车场管理方提供的动态数据(比如临时管制、停车场故障等动态信息)来保障更实时的停车场导航体验。更进一步地，计算机设备还可与停车场预约系统进行对接，帮助用户提前锁定停车位。比如，基于用户选中的停车位的车位信息向停车场预约系统发起预约请求，以锁定该停车位，避免走空。
上述实施例中，若导航终点是普通POI则可以向用户推荐停车场，若导航终点是提供停车服务的地方，则可以向用户进一步推荐停车位和停车区。实现灵活的停车推荐服务。
在一些实施例中，显示停车位推荐信息或停车区推荐信息之前，方法还包括：确定实体对象所属的车辆类型，根据车辆类型确定停车位推荐信息或停车区推荐信息；或者，若获取到实体对象所属的车型品牌，则根据车型品牌确定停车位推荐信息或停车区推荐信息。
其中，车辆类型包括电车、油车、或油电混合车。若车辆为电车或油电混合车，计算机设备可推荐充电桩的停车位或停车区。其中，停车区可包括多个停车位。若用户向计算机设备输入车型品牌，那么计算机设备可推荐对应车型品牌的充电桩或充电区。
上述实施例中，在推荐停车位/停车区时，可以根据车辆类型或车型品牌，向用户推荐更贴合用户需求的停车位/停车区，可提高停车服务的有效性。
在一些实施例中，显示停车位推荐信息或停车区推荐信息之前，方法还包括：确定导航终点所在的建筑物内的通道信息，根据通道信息确定停车位推荐信息或停车区推荐信息。
其中，建筑物内的通道信息，具体可以是建筑物内的电梯位置、楼梯位置、或大门方位等。进而，计算机设备可以根据通道信息，向用户推荐距离电梯较近、或距离楼梯较近、或距离大门较近的停车位/停车区。也即，根据建筑物内的电梯位置、楼梯位置、或大门方位，选择与电梯、楼梯或大门最近的停车位/停车区。
上述实施例中，根据导航终点所在建筑物内的通道信息推荐停车位/停车区，考虑到了用户的实际需求，为出行提供了方便。
在一些实施例中，计算机设备还可采集实体对象的历史停车信息，结合历史停车偏好推荐停车场、停车区或停车位。在一些实施例中，计算机设备还可基于车辆的耗能模型，以及当前的剩余电量/油量，计算车辆的剩余可行驶路程，从而推荐与车辆的定位位置距离小于剩余可行驶路程的停车场或加油站。
在一些实施例中，方法还包括：展示地图界面；在室外场景模式下，地图界面中显示建筑物的通用模型；在室内场景模式下，地图界面中显示选中建筑物的指定楼层的室内图。
具体地，地图应用或导航应用可展示地图界面，用户可通过该地图界面浏览地图。请参考图15，在室外场景模式下，地图界面中显示建筑物的通用模型；请参考图16，在室内场景模式下，地图界面中显示选中建筑物的指定楼层的室内图。
通用模型是指在室外场景模式下，地图界面中显示的建筑物的通用化展示模型，用于在地图上对建筑物进行一般性的示意，与室内场景模式下显示的室内图形成对比，为用户提供室外建筑物的整体概览。
在一些实施例中，用户可以通过拖拽、缩放、旋转等操作查看地图上的室外图和室内图。室外图显示建筑物楼块的通用模型；室内图根据该POI的楼层信息进行呈现，用户可通过图面按钮选择楼层。如图15所示为室外建筑物的通用模型，如图16所示为显示室内某个楼层的效果。地图中每个楼层的信息呈现与现实中的商店、停车场、洗车店、电梯等设施的真实位置保持一致。室内的读图操作与室外保持一致，支持拖拽、缩放、旋转和点选等操作。点击图面的文字标注或者图标标注后，地图会提供详细的POI信息，比如营业时间、停车收费信息、充电收费信息、空闲车位等。
在一些实施例中，用户可通过地图界面选择目的地。该目的地即可作为后续的导航终点。示例性地，当用户需要选择一个室内POI作为目的地时，可以直接点击地图上的图标或文字标注进行选取。比如点击充电站区域的文字和图标，或者点击停车位的编号。如图17所示为用户选择某个品牌充电站区域的效果，该充电站的周围显示了表示选中的图标。如图18所示为用户选择某个停车位的效果，该停车位的周围显示了表示选中的图标。
进一步地，在确定好目的地之后，点击详情页面的“去这里”按钮或者点击停车位发起定位位置到目的地的路线规划，路线规划结果提供从定位位置到目的地的含室外和室内的算路结果。如果目的地不是停车位或者充电站，算路结果中会推荐目的地附近的停车区、停车位和品牌充电站。
更进一步地，计算机设备可通过执行前述实施例所介绍的步骤实现室内外一体化导航，室外导航可以显示全局导航信息，包括定位位置所在道路名称、前方转向信息、推荐车道、预计到达时间等信息。当行驶到停车场入口时，地图展示入口实景图、导航路线、推荐停车信息等。进入到室内后，切换到室内引导样式。以高精地图为底图显示局部导航信息，包括前方转向信息、目的地所在楼层、定位位置所在楼层和室内停车场的室内虚拟场景。到达目标停车位、可充电停车位或停车区时，地图以高亮形式在图面展示。当自车行驶到目标停车位后正常结束导航。从室外到室内的引导过程连续，引导方式一致，引导效果从粗到细，引导位置误差小于一个车位。室内外一体化引导为用户提供易操作、易识别、精准、有效的导航方式。
上述实施例中，提供了室内和室外不同的显示效果，可以提供更多的地图信息。
在一些实施例中，在室内场景模式下，地图界面中显示选中建筑物的指定楼层的室内图，包括：确定地图界面中选中建筑物的通用模型中指定楼层的显示区域；若选中建筑物包含室内图，且指定楼层的显示区域满足楼块激活条件，则由室外场景模式切换至室内场景模式，并在地图界面中显示选中建筑物的指定楼层的室内图。
其中，选中建筑物可以是地图界面中当前显示的建筑物，也可以是由选中操作所选择的建筑物。指定楼层是预先设置的楼层，比如可以是一楼或负一楼等。楼块激活条件(Building Block Activation Condition)，是指当选中建筑物包含室内图时，指定楼层的显示区域需满足的条件，满足该条件则由室外场景模式切换至室内场景模式，并在地图界面中显示选中建筑物的指定楼层的室内图，具体可以是指定楼层的显示区域的面积大于预设面积，或者是指定楼层的显示区域与激活范围的重叠面积大于阈值。
具体地，计算机设备可确定地图界面中选中建筑物的通用模型中指定楼层的显示区域。该显示区域是该建筑物的指定楼层在地图界面中被显示出的室内范围。若选中建筑物包含室内图，且指定楼层的显示区域满足楼块激活条件，则由室外场景模式切换至室内场景模式，并在地图界面中显示选中建筑物的指定楼层的室内图。
其中，满足楼块激活条件具体可以是指定楼层的显示区域的面积大于预设面积，或者是指定楼层的显示区域与激活范围的重叠面积大于阈值。
激活范围(Activation Range)：是计算机设备预先设置的一个范围(小于等于屏幕范围)，用于判断是否满足室内图显示的相关条件。通过拖拽、缩放、旋转地图后，计算机设备可计算含室内图的建筑物范围(即某一楼层的显示区域)与激活范围的重叠区域，当重叠区域的重叠面积达到阈值，或室内范围在激活范围的区域满足一定比例时，可认为满足楼块激活条件从而显示室内图。
在一些实施例中，计算机设备可预先设置激活范围(小于等于屏幕范围)，通过拖拽、缩放、旋转地图后，计算机设备可计算含室内图的建筑物范围(也即某一楼层的显示区域)与激活范围的重叠区域，若重叠区域的重叠面积达到阈值S后显示室内图，或者是当室内范围(即某一楼层的显示区域)Si在激活范围的区域大于k*Si，也可认为是满足激活条件，其中，k可以为大于0.5且小于1的系数。
示例性地，请参考图19，图19中示意了激活范围以及B2层的显示区域。
上述实施例中，提供了室内图显示的功能，在选中建筑物包含室内图，且指定楼层的显示区域满足楼块激活条件的情况下，可以切换至室内场景模式，显示室内图，以提供更丰富的地图信息，便于用户可以选择室内POI作为导航起点或者导航终点。
在一些实施例中，方法还包括：在室内场景模式下，地图界面中还显示楼层切换控件；响应于针对楼层切换控件的触发操作，从当前显示的室内图切换至由触发操作所指向楼层的室内图显示。
示例性地，请继续参考图19，该图中还示出了楼层切换控件1901。计算机设备响应于针对楼层切换控件的触发操作，从当前显示的室内图切换至由触发操作所指向楼层的室内图显示。
在一些实施例中，从当前显示的室内图切换至由触发操作所指向楼层的室内图显示，包括：若触发操作所指向楼层的显示区域满足楼块激活条件，则从当前显示的室内图切换至由触发操作所指向楼层的室内图显示。
具体地，在切换楼层后，计算机设备可确认触发操作所指向楼层的显示区域是否满足楼块激活条件，若满足，则从当前显示的室内图切换至由触发操作所指向楼层的室内图显示；若不满足，则显示室外图，也即显示建筑物的通用模型。
需要说明的是，如图20所示，同一个楼块的不同楼层的显示范围在有些情况下是存在差异的。故而，当发生了楼层切换操作时，计算机设备可重新计算当前选中的楼层在屏幕中示出的显示区域，是否满足楼块激活条件。
在一个示例性地实施例中，请参考图21，楼层显示策略如下：
可预先设置室内图的显示条件，具体可以是地图界面中显示的地图缩放到指定比例尺级别及以上，才支持室内图的显示。比如，当比例尺级别小于该指定比例尺级别时，无论视野范围内是否包含室内图均不予显示；当比例尺级别大于或等于该指定比例尺级别，且室内图的显示区域与激活区域的重合面积达到预设面积阈值，则显示该楼层的室内图。其中，该指定比例尺级别比如17级。
指定比例尺级别(Designated Scale Level)：是预先设定的一个比例尺级别，用于限制室内图的显示条件。当地图界面中显示的地图缩放到该指定比例尺级别及以上时，才支持室内图的显示，例如文中提到当比例尺级别大于或等于17级时，在满足其他条件下才可能显示室内图。
在比例尺级别大于指定比例尺级别时，会分行前(也即运动前)和行中(运动中)分别进行控制。
若是在行前，则在首页浏览时遵循楼块激活策略；检索过程中，也遵循楼块激活策略，对于当前楼块POI，则可高亮显示POI所在楼层，对于非当前楼块POI，则可显示默认楼层，并且此时是不响应定位变化的。在路线显示过程中，同样遵循楼块激活策略，对于起点在室内的情况，若激活的是起点所在楼块，则显示路线起点所在楼块和楼层，若激活的不是起点所在楼块，则显示默认楼层。对于起点在室外的情况则与首页逻辑一致。
若是在行中，室外导航与首页一致，室内导航则区分定位位置是否为室内。若定位位置为室内，则响应定位变化。若激活楼块是定位位置所在楼块则显示该楼块；若激活楼块不是定位位置所在楼块，则显示默认楼层。若定位位置为室外，则与首页一致。
需要说明的是，楼层自动切换方法是根据定位SDK所返回的定位结果进行切换。从高精定位模块接收定位位置信息(含位置、楼块、楼层等信息)，当用户处于路线规划中则默认显示定位位置所在的楼块和楼层，此时还可以通过楼层切换控件手动进行切换；当用户处于导航中则默认显示定位位置所在楼块和楼层，此时没有入口手动调整楼层显示。
上述实施例中，室内场景模型下，提供楼层切换显示的功能，可以显示不同楼层的室内POI，提供了丰富的地图信息。
在一些实施例中，方法还包括POI检索的步骤，该步骤包括：响应于地图界面中产生的检索操作，显示检索操作指向的目标兴趣点的地址、目标兴趣点与定位位置间的距离、以及与目标兴趣点相关的服务信息；在目标兴趣点为室内兴趣点的情况下，还显示目标兴趣点的楼层信息。
示例性地，用户可以在输入框输入目的地进行检索，也可以直接从底图上点选室内外POI标注或者室内POI标注来检索。计算机设备根据输入信息或者点选信息向检索服务发起请求，检索服务返回包含室内楼块和楼层信息的详情数据。检索详情页显示POI的地址、距离定位位置的距离两种基本信息。不同的类型的POI还会携带不同类型的服务信息，比如加油站会包含营业时间、可加油类型、油价信息、优惠信息等；比如充电站会包含空闲充电位数量、快充充电桩数量、慢充充电桩数量、收费信息等；室内的POI还会携带楼层信息，比如餐厅的楼层。
上述实施例中，提供了室内POI以及室外POI的检索能力，提高了地图应用/导航应用的使用便利性。
需要说明的是，早期导航系统基于GPS定位和室外地图进行导航，定位精度受限于GPS信号，导航受限于地图数据精度。而随着技术发展，数据采集精度的提高，数据覆盖范围和数据精度也极速提升。本申请则是基于这种情况，提供了室内外一体化导航方法，定位精度在视觉感知信号的加持下甚至可以达到车道级定位(误差小于1米)，在室内导航时通过采用高精地图，使得导航精准度、引导能力、响应速度也随之提升。
本申请为了给用户提供一个完整的、高效的、精准的导航体验，从浏览、检索、路线、导航等各个场景进行改造来保持室内外导航体验的一致性和连续性。同时在室内外一体化导航功能建设过程中，还同步考虑了电车带来的导航、停车、充电等衍生诉求，大大提升了导航交互效率和导航效果。
在一个具体的实施例中，该导航方法包括以下步骤：
展示地图界面；在室外场景模式下，地图界面中显示建筑物的通用模型；在室内场景模式下，确定地图界面中选中建筑物的通用模型中指定楼层的显示区域；若选中建筑物包含室内图，且指定楼层的显示区域满足楼块激活条件，则由室外场景模式切换至室内场景模式，并在地图界面中显示选中建筑物的指定楼层的室内图。
在室内场景模式下，地图界面中还显示楼层切换控件；响应于针对楼层切换控件的触发操作，若触发操作所指向楼层的显示区域满足楼块激活条件，则从当前显示的室内图切换至由触发操作所指向楼层的室内图显示。
响应于地图界面中产生的检索操作，显示检索操作指向的目标兴趣点的地址、目标兴趣点与定位位置间的距离、以及与目标兴趣点相关的服务信息；在目标兴趣点为室内兴趣点的情况下，还显示目标兴趣点的楼层信息。
响应于预设触发操作，在地图界面显示导航路径；导航路径用于引导实体对象从导航起点运动至导航终点，导航起点或导航终点中的至少一个位置点处于室内。若导航终点处于室内，则导航路径包括由导航起点至室内入口的第一路径，以及由室内入口至导航终点的第二路径；地图界面中的第一路径与第二路径区别显示；若导航起点处于室内，则导航路径包括由导航起点至室内出口的第三路径，以及由室内出口至导航终点的第四路径；地图界面中的第三路径与第四路径区别显示。
在通过导航路径进行导航的过程中，获取当前时刻的卫星信号、以及实体对象的位姿信号和视觉感知信号；若未获取到当前时刻的卫星信号，则基于历史时刻的历史位置、实体对象的位姿信号和视觉感知信号进行融合处理，得到实体对象的定位位置。
响应于实体对象的定位位置处于室外，则基于定位位置确定导航场景；根据导航场景确定目标比例尺级别，将地图比例尺的级别调整为目标比例尺级别；基于目标比例尺级别确定目标地图；目标地图为第一地图或第二地图，第二地图的精度高于第一地图；基于目标地图和目标比例尺级别，在地图界面中显示全局导航信息。
响应于实体对象的定位位置为室内入口，则调整地图比例尺的级别至预设比例尺级别，并在定位位置处于室内时，基于高精地图和预设比例尺级别，在地图界面中显示局部导航信息。其中，局部导航信息包括室内场景图，室内场景图中至少显示定位位置所在区域的室内虚拟场景，以及室内虚拟场景中虚拟对象行径至目标位置的引导信息；虚拟对象为实体对象在室内虚拟场景中的映射对象，目标位置为室内出口或导航终点在室内虚拟场景中的映射位置。局部导航信息还包括定位位置所在楼层的楼层信息，以及室内出口或导航终点所在楼层的楼层信息。
响应于定位位置处于室内且定位位置与导航终点间的距离小于第一阈值，则在室内场景图中对目标位置所在的目标范围进行突出显示；目标范围为包括导航终点的预设地理范围在室内虚拟场景中的映射范围。
在导航终点处于室内的情况下，若导航终点所在的建筑物不提供停车服务，则在定位位置与导航终点的距离小于或等于第二阈值时，显示停车场推荐信息。
若导航终点所在的建筑物提供停车服务，则在定位位置与导航终点的距离小于或等于第三阈值时，确定实体对象所属的车辆类型，根据车辆类型确定停车位推荐信息或停车区推荐信息；或者，若获取到实体对象所属的车型品牌，则根据车型品牌确定停车位推荐信息或停车区推荐信息；或者，确定导航终点所在的建筑物内的通道信息，根据通道信息确定停车位推荐信息或停车区推荐信息。显示停车位推荐信息或停车区推荐信息。
在一个具体的场景中，请参考图22，图22为一个实施例中室内外一体化导航系统框架。室内一体化导航所需的数据(SD地图、HD地图、室内数据等)可部署在云服务。计算机设备中部署有检索引擎、渲染引擎、路线引擎、定位引擎、和诱导引擎。其中，检索引擎对外提供检索通路，根据用户输入提供POI详细数据(比如位置、距离、营业时间、收费信息等)。渲染引擎提供标记绘制的能力来标识选中的POI。路线引擎根据目的地计算室内外导航路径并输出至渲染引擎进行绘制。同时，定位引擎接收实车的位姿信号、卫星信号和视觉信号(即视觉感知信号)，结合服务已有的路网数据和路线规划结果输出融合定位结果(信号齐全的情况下达到厘米定位，卫星信号丢失的室内场景也可以做到小于车位级的误差)。诱导引擎根据融合定位结果输出引导信息，引导信息会触发停车推荐策略和比例尺切换策略。最终呈现给用户的是在检索、算路、导航各个场景下操作一致、引导效果一致且高效精准导航体验。
本申请根据地图应用/导航应用的首页、检索、算路、导航等场景，统一了室内室外的交互方式和服务链路。首页读图时室内场景和室外场景保持一致，支持拖拽、缩放、旋转、长按、点选等操作。检索POI时对于室内POI可显示楼层切换控件，增加楼层切换功能。规划路线时根据目的地是否在室内的信息来标识规划的结果是否需要室内路线。导航则是根据自车所在位置在室内还是室外，在室内引导时呈现更丰富的引导信息。
示例性地，如图23所示为室内外一体化导航的操作流程和服务链路。
首页读图，计算机设备从室内图服务获取室内图数据，底图引擎根据楼块信息、楼层信息绘制室内图；页面上提供室内楼层切换按钮；图面上显示策略由“楼块激活”策略进行控制。
检索POI，用户可以在输入框目的地进行检索，也可以直接从底图上点选室内外POI标注来检索。计算机设备根据输入信息或者点选信息向检索服务发起请求，检索服务返回包含室内楼块和楼层信息的详情数据。检索详情页显示POI的地址、距离定位位置的距离两种基本信息。
路线规划，计算机设备获取定位位置和目的地后向算路服务发起请求计算从定位位置到目的地的最优路线。算路结果是否包含室内导航路线取决于目的地POI中是否包含室内楼层信息。如果目的地非停车场、停车位、停车区等停车性质的POI，算路服务还会向推荐服务请求目的附近的停车推荐信息。停车推荐信息随路线服务提供的路线数据一并下发给底图终端。
室外导航，当目的地无室内信息，导航终点是离目的最优的室外位置；此场景下即将到达目的地时，计算机设备将会向推荐服务请求目的地附近的停车推荐信息。用户根据实际需求选择停车场/停车位。当用户选择变更目的地后将向路线服务发起新的算路请求(从定位位置到新的目的地的路线)。
室内导航，前述过程规划了到室内的目的地后会从路线服务收到从定位位置到室内POI的路线。当自车位置从室外进入到室内，诱导面板将增加目的地所在楼层信息、定位位置所在楼层，底图也将呈现室内高精道路信息。
可以理解，本申请所提供的导航方法，可应用于地图导航场景。在实体对象为车辆的情况下，可以给驾驶员提供室内室外一体化导航方案。此外，本申请提供的导航方法还可以提供给自动驾驶系统来实现室内场景的自动驾驶功能。
本申请基于室内外地图、惯性导航、POI楼层信息规划驾车路线，提供基于目的地的停车场/停车区/停车位推荐能力，呈现从室外到室内的一体化导航引导地图和引导播报。目的地停车推荐能力是以车辆型号、品牌、耗能模型、目的地楼层信息等数据作为参数请求算路服务和停车推荐服务。室内外导航无缝切换则是基于室内外路线属性自动切换室内外引导信息，结合自动比例尺策略实现地图的顺滑切换。室内外一体化导航为用户提供点到点的无间断导航引导服务，解决了导航最后一公里的体验差的问题(停车难、引导提前结束、室内定位不准确等)，提高了用户驾驶效率和全流程的交互体验，极大缓解驾驶员的室内驾驶焦虑。
应该理解的是，虽然如上的各实施例所涉及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，如上的各实施例所涉及的流程图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。
基于同样的发明构思，本申请实施例还提供了一种用于实现上述所涉及的导航方法的导航装置。该装置所提供的解决问题的实现方案与上述方法中所记载的实现方案相似，故下面所提供的一个或多个导航装置实施例中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。
在一个示例性的实施例中，如图24所示，提供了一种导航装置2400，包括：第一显示模块2401和第二显示模块2402，其中：
第一显示模块2401，用于响应于预设触发操作，在地图界面显示导航路径；导航路径用于引导实体对象从导航起点运动至导航终点，导航起点或导航终点中的至少一个位置点处于室内。
第二显示模块2402，用于在通过导航路径进行导航的过程中，响应于实体对象的定位位置处于室外，在地图界面显示全局导航信息，响应于实体对象的定位位置处于室内，则在地图界面显示局部导航信息。
其中，局部导航信息包括室内场景图，室内场景图中至少显示定位位置所在区域的室内虚拟场景，以及室内虚拟场景中虚拟对象行径至目标位置的引导信息；虚拟对象为实体对象在室内虚拟场景中的映射对象，目标位置为室内出口或导航终点在室内虚拟场景中的映射位置。
在一些实施例中，局部导航信息还包括定位位置所在楼层的楼层信息，以及室内出口或导航终点所在楼层的楼层信息。
在一些实施例中，若导航终点处于室内，则导航路径包括由导航起点至室内入口的第一路径，以及由室内入口至导航终点的第二路径；地图界面中的第一路径与第二路径区别显示；若导航起点处于室内，则导航路径包括由导航起点至室内出口的第三路径，以及由室内出口至导航终点的第四路径；地图界面中的第三路径与第四路径区别显示。
在一些实施例中，第二显示模块，还用于：响应于实体对象的定位位置处于室外，则基于定位位置确定导航场景；根据导航场景确定目标比例尺级别，将地图比例尺的级别调整为目标比例尺级别；基于目标比例尺级别，在地图界面中显示全局导航信息。
在一些实施例中，第二显示模块，还用于：基于目标比例尺级别从多个电子地图中确定目标地图；基于目标地图和目标比例尺级别，在地图界面中显示全局导航信息。
在一些实施例中，第二显示模块，还用于：响应于实体对象的定位位置为室内入口，则调整地图比例尺的级别至预设比例尺级别，并在定位位置处于室内时，基于高精地图和预设比例尺级别，在地图界面中显示局部导航信息。
在一些实施例中，第二显示模块，还用于：响应于定位位置处于室内且定位位置与导航终点间的距离小于第一阈值，则在室内场景图中对目标位置所在的目标范围进行突出显示；目标范围为包括导航终点的预设地理范围在室内虚拟场景中的映射范围。
在一些实施例中，该装置还包括确定模块，用于获取当前时刻的卫星信号、以及实体对象的位姿信号和视觉感知信号；若未获取到当前时刻的卫星信号，则基于历史时刻的历史位置、实体对象的位姿信号和视觉感知信号进行融合处理，得到实体对象的定位位置。
在一些实施例中，该装置还包括推荐模块，用于：若导航终点所在的建筑物不提供停车服务，则在定位位置与导航终点的距离小于或等于第二阈值时，显示停车场推荐信息；若导航终点所在的建筑物提供停车服务，则在定位位置与导航终点的距离小于或等于第三阈值时，显示停车位推荐信息或停车区推荐信息。
在一些实施例中，推荐模块，还用于：确定实体对象所属的车辆类型，根据车辆类型确定停车位推荐信息或停车区推荐信息；或者，若获取到实体对象所属的车型品牌，则根据车型品牌确定停车位推荐信息或停车区推荐信息。
在一些实施例中，推荐模块，还用于：确定导航终点所在的建筑物内的通道信息，根据通道信息确定停车位推荐信息或停车区推荐信息。
在一些实施例中，该装置还包括第三显示模块，用于：展示地图界面；在室外场景模式下，地图界面中显示建筑物的通用模型；在室内场景模式下，地图界面中显示选中建筑物的指定楼层的室内图。
在一些实施例中，第三显示模块，还用于：确定地图界面中选中建筑物的通用模型中指定楼层的显示区域；若选中建筑物包含室内图，且指定楼层的显示区域满足楼块激活条件，则由室外场景模式切换至室内场景模式，并在地图界面中显示选中建筑物的指定楼层的室内图。
在一些实施例中，第三显示模块，还用于：在室内场景模式下，地图界面中还显示楼层切换控件；响应于针对楼层切换控件的触发操作，从当前显示的室内图切换至由触发操作所指向楼层的室内图显示。
在一些实施例中，第三显示模块，还用于：若触发操作所指向楼层的显示区域满足楼块激活条件，则从当前显示的室内图切换至由触发操作所指向楼层的室内图显示。
在一些实施例中，第三显示模块，还用于：响应于地图界面中产生的检索操作，显示检索操作指向的目标兴趣点的地址、目标兴趣点与定位位置间的距离、以及与目标兴趣点相关的服务信息；在目标兴趣点为室内兴趣点的情况下，还显示目标兴趣点的楼层信息。
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。
在一个示例性的实施例中，提供了一种计算机设备，该计算机设备可以是车载终端或可移动终端，其内部结构图可以如图25所示。该计算机设备包括处理器、存储器、输入/输出接口、通信接口、显示单元和输入装置。其中，处理器、存储器和输入/输出接口通过系统总线连接，通信接口、显示单元和输入装置通过输入/输出接口连接到系统总线。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和内存储器。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。该计算机设备的输入/输出接口用于处理器与外部设备之间交换信息。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、移动蜂窝网络、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单元用于形成视觉可见的画面，可以是显示屏、投影装置或虚拟现实成像装置。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25中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请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，还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，该处理器执行计算机程序时实现上述各方法实施例中的步骤。
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，该计算机程序被处理器执行时实现上述各方法实施例中的步骤。
在一个实施例中，提供了一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现上述各方法实施例中的步骤。
需要说明的是，本申请所涉及的用户信息(包括但不限于用户设备信息、用户个人信息等)和数据(包括但不限于用于分析的数据、存储的数据、展示的数据等)，均为经用户授权或者经过各方充分授权的信息和数据，且相关数据的收集、使用和处理需要符合相关规定。
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，本申请所提供的各实施例中所使用的对存储器、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、光存储器、高密度嵌入式非易失性存储器、阻变存储器(ReRAM)、磁变存储器(Magnetoresistive Random Access Memory，MRAM)、铁电存储器(Ferroelectric Random Access Memory，FRAM)、相变存储器(Phase Change Memory，PCM)、石墨烯存储器等。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等。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。本申请所提供的各实施例中所涉及的数据库可包括关系型数据库和非关系型数据库中至少一种。非关系型数据库可包括基于区块链的分布式数据库等，不限于此。本申请所提供的各实施例中所涉及的处理器可为通用处理器、中央处理器、图形处理器、数字信号处理器、可编程逻辑器、基于量子计算的数据处理逻辑器等，不限于此。
综上所述，本申请提供一种导航方法、装置、计算机设备、计算机可读存储介质及计算机程序产品。通过响应预设触发操作，在地图界面显示用于引导实体对象从导航起点运动至导航终点(导航起点或终点至少一个位置点处于室内)的导航路径，在导航过程中，根据实体对象定位位置处于室外或室内，分别在地图界面显示全局导航信息或包括室内场景图的局部导航信息，室内场景图中显示定位位置所在区域的室内虚拟场景及引导虚拟对象行径至目标位置(代表导航至终点所经室内位置)的引导信息，实现室内外一体化导航，给用户提供无间断导航引导服务，无需切换专用软件或适应不同引导信息，提高导航效率，降低室内导航铺设成本，解决导航最后一公里体验差的问题，提升驾驶效率和交互体验。
进一步地，虚拟对象为实体对象在室内虚拟场景中的映射对象，目标位置为室内出口或导航终点在室内虚拟场景中的映射位置，明确了虚拟对象与目标位置的映射关系，使导航引导更具针对性和准确性。
进一步地，局部导航信息还包括定位位置所在楼层的楼层信息，以及室内出口或导航终点所在楼层的楼层信息，为用户提供更精确的室内位置信息，方便用户了解自身位置与目的地楼层情况，增强导航的精准度和实用性。
进一步地，若导航终点处于室内，导航路径包括由导航起点至室内入口的第一路径及由室内入口至导航终点的第二路径，且地图界面中第一、二路径区别显示；若导航起点处于室内，导航路径包括由导航起点至室内出口的第三路径及由室内出口至导航终点的第四路径，且地图界面中第三、四路径区别显示，通过对室内外路径的区分显示，向用户明确指示室内外路径，提供更多信息量，使导航路径更清晰明了。
进一步地，响应实体对象定位位置处于室外，基于定位位置确定导航场景，根据导航场景确定目标比例尺级别并调整地图比例尺级别，再基于此在地图界面显示全局导航信息，实现比例尺自动切换，便于在不同室外场景下灵活显示合适图幅的全局导航信息，满足用户在不同场景下对地图信息展示的需求。
进一步地，基于目标比例尺级别从多个电子地图中确定目标地图，再基于目标地图和目标比例尺级别在地图界面显示全局导航信息，将比例尺级别与多模底图策略融合，基于比例尺级别自动切换底图，既能满足多场景需求，又能及时灵活地针对不同场景做调整，提供更适合当前场景的导航指引。
进一步地，响应实体对象定位位置为室内入口，调整地图比例尺级别至预设比例尺级别，并在定位位置处于室内时，基于高精地图和预设比例尺级别在地图界面显示局部导航信息，在实体对象行径至室内入口时自动调整比例尺级别，快速切换至高精地图进行室内导航，实现室外室内导航的无缝切换。
进一步地，响应定位位置处于室内且定位位置与导航终点间距离小于第一阈值，在室内场景图中对目标位置所在的目标范围(包括导航终点的预设地理范围在室内虚拟场景中的映射范围)进行突出显示，在实体对象即将到达目的地时突出显示目标范围，便于用户快速准确识别导航终点，提高交互效率。
进一步地，获取当前时刻的卫星信号、实体对象的位姿信号和视觉感知信号，若未获取到当前时刻卫星信号，则基于历史时刻的历史位置、实体对象的位姿信号和视觉感知信号进行融合处理得到实体对象的定位位置，在未获取卫星信号的情况下，通过多信号融合预测定位位置，提高室内定位准确性。
进一步地，在导航终点处于室内的情况下，若导航终点所在建筑物不提供停车服务，在定位位置与导航终点距离小于或等于第二阈值时显示停车场推荐信息；若导航终点所在建筑物提供停车服务，在定位位置与导航终点距离小于或等于第三阈值时显示停车位推荐信息或停车区推荐信息，实现灵活的停车推荐服务，满足用户不同停车场景需求。
进一步地，确定实体对象所属的车辆类型，根据车辆类型确定停车位推荐信息或停车区推荐信息；或者，若获取到实体对象所属的车型品牌，则根据车型品牌确定停车位推荐信息或停车区推荐信息，在推荐停车位/停车区时，依据车辆类型或车型品牌，为用户推荐更贴合需求的停车位/停车区，提高停车服务有效性。
进一步地，确定导航终点所在建筑物内的通道信息，根据通道信息确定停车位推荐信息或停车区推荐信息，根据建筑物内通道信息推荐停车位/停车区，考虑用户实际需求，为出行提供便利。
进一步地，展示地图界面，在室外场景模式下显示建筑物的通用模型，在室内场景模式下显示选中建筑物的指定楼层的室内图，提供室内和室外不同显示效果，为用户提供更多地图信息，方便用户浏览地图和选择目的地。
进一步地，在室内场景模式下，确定地图界面中选中建筑物的通用模型中指定楼层的显示区域，若选中建筑物包含室内图且指定楼层的显示区域满足楼块激活条件，则由室外场景模式切换至室内场景模式并显示选中建筑物指定楼层的室内图，提供室内图显示功能，在满足特定条件时显示室内图，丰富地图信息，便于用户选择室内POI作为导航起点或终点。
进一步地，在室内场景模式下，地图界面中显示楼层切换控件，响应针对楼层切换控件的触发操作，从当前显示的室内图切换至触发操作所指向楼层的室内图显示，提供楼层切换显示功能，可显示不同楼层的室内POI，丰富地图信息。
进一步地，从当前显示的室内图切换至触发操作所指向楼层的室内图显示时，若触发操作所指向楼层的显示区域满足楼块激活条件，则进行切换，确保楼层切换时显示的室内图符合条件，保证地图信息展示的合理性。
进一步地，响应地图界面中产生的检索操作，显示检索操作指向的目标兴趣点的地址、目标兴趣点与定位位置间的距离、以及与目标兴趣点相关的服务信息，在目标兴趣点为室内兴趣点的情况下，还显示目标兴趣点的楼层信息，提供室内POI以及室外POI的检索能力，提高地图应用/导航应用的使用便利性。
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申请的几种实施方式，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，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (21)

  1. 一种导航方法，由计算机设备执行，所述方法包括：
    响应于预设触发操作，在地图界面显示导航路径；所述导航路径用于引导实体对象从导航起点运动至导航终点，所述导航起点或导航终点中的至少一个位置点处于室内；
    在通过所述导航路径进行导航的过程中，响应于所述实体对象的定位位置处于室外，在所述地图界面显示全局导航信息；
    响应于所述实体对象的定位位置处于室内，在所述地图界面显示包括室内场景图的局部导航信息；
    在所述室内场景图中至少显示所述定位位置所在区域的室内虚拟场景；及
    在所述室内虚拟场景中，显示引导所述实体对象映射的虚拟对象行径至目标位置的引导信息，所述目标位置代表通过所述导航路径导航至导航终点所经过的室内位置。
  2. 根据权利要求1所述的方法，所述虚拟对象为实体对象在所述室内虚拟场景中的映射对象，所述目标位置为室内出口或所述导航终点在所述室内虚拟场景中的映射位置。
  3. 根据权利要求1或2所述的方法，所述局部导航信息还包括定位位置所在楼层的楼层信息，以及室内出口或导航终点所在楼层的楼层信息。
  4. 根据权利要求1至3中任一项所述的方法，响应于所述导航终点处于室内，则所述导航路径包括由导航起点至室内入口的第一路径，以及由所述室内入口至所述导航终点的第二路径；所述地图界面中的所述第一路径与所述第二路径区别显示；
    响应于所述导航起点处于室内，则所述导航路径包括由导航起点至室内出口的第三路径，以及由所述室内出口至所述导航终点的第四路径；所述地图界面中的所述第三路径与所述第四路径区别显示。
  5. 根据权利要求1至4中任一项所述的方法，响应于所述实体对象的定位位置处于室外，在所述地图界面显示全局导航信息，包括：
    响应于实体对象的定位位置处于室外，则基于所述定位位置确定导航场景；
    根据所述导航场景确定目标比例尺级别，将地图比例尺的级别调整为所述目标比例尺级别；
    基于所述目标比例尺级别，在所述地图界面中显示全局导航信息。
  6. 根据权利要求5所述的方法，所述基于所述目标比例尺级别，在所述地图界面中显示全局导航信息，包括：
    基于所述目标比例尺级别从多个电子地图中确定目标地图；
    基于所述目标地图和目标比例尺级别，在地图界面中显示全局导航信息。
  7. 根据权利要求1至4中任一项所述的方法，响应于实体对象的定位位置处于室内，则在所述地图界面显示局部导航信息，包括：
    响应于实体对象的定位位置为室内入口，则调整地图比例尺的级别至预设比例尺级别，并在定位位置处于室内时，基于高精地图和所述预设比例尺级别，在地图界面中显示局部导航信息。
  8. 根据权利要求1至7中任一项所述的方法，所述方法还包括：
    响应于定位位置处于室内且所述定位位置与所述导航终点间的距离小于第一阈值，则在所述室内场景图中对所述目标位置所在的目标范围进行突出显示；所述目标范围为包括所述导航终点的预设地理范围在室内虚拟场景中的映射范围。
  9. 根据权利要求1至8中任一项所述的方法，所述方法还包括：
    获取当前时刻的卫星信号、以及实体对象的位姿信号和视觉感知信号；
    响应于未获取到当前时刻的卫星信号，则基于历史时刻的历史位置、所述实体对象的位姿信号和视觉感知信号进行融合处理，得到实体对象的定位位置。
  10. 根据权利要求1至9中任一项所述的方法，在所述导航终点处于室内的情况下，所述方法还包括：
    响应于所述导航终点所在的建筑物不提供停车服务，则在所述定位位置与所述导航终点的距离小于或等于第二阈值时，显示停车场推荐信息；
    响应于所述导航终点所在的建筑物提供停车服务，则在所述定位位置与所述导航终点的距离小于或等于第三阈值时，显示停车位推荐信息或停车区推荐信息。
  11. 根据权利要求10所述的方法，所述方法还包括：
    确定实体对象所属的车辆类型，根据所述车辆类型确定停车位推荐信息或停车区推荐信息；或者，
    响应于获取到实体对象所属的车型品牌，则根据所述车型品牌确定停车位推荐信息或停车区推荐信息。
  12. 根据权利要求10所述的方法，所述方法还包括：
    确定所述导航终点所在的建筑物内的通道信息，根据所述通道信息确定停车位推荐信息或停车区推荐信息。
  13. 根据权利要求1至12中任一项所述的方法，所述方法还包括：
    展示地图界面；
    在室外场景模式下，所述地图界面中显示建筑物的通用模型；
    在室内场景模式下，所述地图界面中显示选中建筑物的指定楼层的室内图。
  14. 根据权利要求13所述的方法，所述在室内场景模式下，所述地图界面中显示选中建筑物的指定楼层的室内图，包括：
    确定地图界面中选中建筑物的通用模型中指定楼层的显示区域；
    响应于选中建筑物包含室内图，且所述指定楼层的显示区域满足楼块激活条件，则由室外场景模式切换至室内场景模式，并在所述地图界面中显示选中建筑物的指定楼层的室内图。
  15. 根据权利要求13或14所述的方法，所述方法还包括：
    在室内场景模式下，所述地图界面中还显示楼层切换控件；
    响应于针对所述楼层切换控件的触发操作，从当前显示的室内图切换至由所述触发操作所指向楼层的室内图显示。
  16. 根据权利要求15所述的方法，所述从当前显示的室内图切换至由所述触发操作所指向楼层的室内图显示，包括：
    响应于所述触发操作所指向楼层的显示区域满足楼块激活条件，则从当前显示的室内图切换至由所述触发操作所指向楼层的室内图显示。
  17. 根据权利要求13至16任一项所述的方法，所述方法还包括：
    响应于所述地图界面中产生的检索操作，显示所述检索操作指向的目标兴趣点的地址、所述目标兴趣点与定位位置间的距离、以及与所述目标兴趣点相关的服务信息；
    在所述目标兴趣点为室内兴趣点的情况下，显示所述目标兴趣点的楼层信息。
  18. 一种导航装置，所述装置包括：
    第一显示模块，用于响应于预设触发操作在地图界面显示导航路径；所述导航路径用于引导实体对象从导航起点运动至导航终点，所述导航起点或导航终点中的至少一个位置点处于室内；
    第二显示模块，用于在由所述导航路径进行导航的过程中，响应于所述实体对象的定位位置处于室外，在所述地图界面显示全局导航信息；响应于所述实体对象的定位位置处于室内，在所述地图界面显示包括室内场景图的局部导航信息；在所述室内场景图中至少显示所述定位位置所在区域的室内虚拟场景；及在所述室内虚拟场景中，显示引导所述实体对象映射的虚拟对象行径至目标位置的引导信息，所述目标位置代表通过所述导航路径导航至导航终点所经过的室内位置。
  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17中任一项所述的方法的步骤。
  21. 一种计算机程序产品，包括计算机程序，其特征在于，该计算机程序被处理器执行时实现权利要求1至17中任一项所述的方法的步骤。
PCT/CN2025/084619 2024-06-07 2025-03-25 导航方法、装置、计算机设备、存储介质和程序产品 Pending WO2025251741A1 (zh)

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CN103162699A (zh) * 2011-12-12 2013-06-19 现代Mnsoft公司 用于建立室内和室外链接的路径的方法和系统
CN107449428A (zh) * 2017-08-11 2017-12-08 深圳市腾讯计算机系统有限公司 一种寻人导航方法、装置、服务器及终端设备
CN212206107U (zh) * 2019-12-12 2020-12-22 西安四维图新信息技术有限公司 地图切换设备和系统
CN117804464A (zh) * 2022-09-30 2024-04-02 腾讯科技（深圳）有限公司 地图导航方法、装置、计算机设备和存储介质

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CN103162699A (zh) * 2011-12-12 2013-06-19 现代Mnsoft公司 用于建立室内和室外链接的路径的方法和系统
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