US-12623680-B2 - Navigation method and apparatus, device, storage medium, and program product

US12623680B2US 12623680 B2US12623680 B2US 12623680B2US-12623680-B2

Abstract

A navigation method includes displaying a navigation interface, the navigation interface being configured for navigating a target vehicle; displaying, in the navigation interface, a navigation map and a virtual vehicle that moves in the navigation map as the target vehicle travels; and displaying, between a moment when the virtual vehicle moves to a target distance from a curve and a moment when the virtual vehicle enters the curve, both the navigation map and a front of vehicle direction of the virtual vehicle deviate a plurality of times in a direction opposite to the curve, deviation degrees of the plurality of deviations gradually increasing in time sequence.

Inventors

Jingbo FAN
Qian Chen
Lingfang PANG

Assignees

TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED

Dates

Publication Date: 20260512
Application Date: 20240917
Priority Date: 20220519

Claims (20)

1 . A navigation method, performed by a computer device, the method comprising: displaying a navigation interface, the navigation interface being configured for navigating a target vehicle; displaying, in the navigation interface, a navigation map and a virtual vehicle that moves in the navigation map as the target vehicle travels; and displaying, between a moment when the virtual vehicle moves to a target distance from a curve and a moment when the virtual vehicle enters the curve, both the navigation map and a front of vehicle direction of the virtual vehicle deviate a plurality of times in a direction opposite to the curve, deviation degrees of the plurality of deviations gradually increasing in time sequence.
2 . The method according to claim 1 , wherein the displaying, between the moment when the virtual vehicle moves to the target distance from the curve and the moment when the virtual vehicle enters the curve, both the navigation map and the front of vehicle direction of the virtual vehicle deviate the plurality of times in the direction opposite to the curve, deviation degrees of the plurality of deviations gradually increasing in time sequence comprises: displaying, at the moment when the virtual vehicle moves to the target distance from the curve, that the navigation map and the front of vehicle direction of the virtual vehicle start to deviate in the direction opposite to the curve; and displaying, between the moment when the virtual vehicle moves to the target distance from the curve and the moment when the virtual vehicle enters the curve, that the navigation map and the front of vehicle direction of the virtual vehicle continue to deviate the plurality of times in the direction opposite to the curve, wherein the deviation degrees of the plurality of deviations being evenly increasing in time sequence.
3 . The method according to claim 2 , wherein that the deviation degrees of the plurality of deviations being evenly increasing in time sequence comprises that in a case that the deviation degrees of the plurality of deviations increase at a constant speed in time sequence, in the moments when both the navigation map and the front of vehicle direction of the virtual vehicle deviate the plurality of times in the direction opposite to the curve, deviation angle change amounts between any adjacent moments are the same.
4 . The method according to claim 2 , wherein that the deviation degrees of the plurality of deviations being evenly increasing in time sequence comprises that in a case that the deviation degrees of the plurality of deviations increase at a constant acceleration in time sequence, in the moments when both the navigation map and the front of vehicle direction of the virtual vehicle deviate the plurality of times in the direction opposite to the curve, deviation angle change between any adjacent moments increase at a constant speed.
5 . The method according to claim 1 , wherein the method further comprises: before the virtual vehicle moves into the curve and when a distance between the virtual vehicle and the curve is greater than the target distance, displaying, in the navigation interface, that the virtual vehicle moves in the navigation map in a heading-up direction.
6 . The method according to claim 1 , wherein the target distance is a first target distance; and the method further comprises: after the virtual vehicle moves out of the curve, displaying, in the navigation interface, that the navigation map and the front of vehicle direction of the virtual vehicle start to approach a heading-up direction until the virtual vehicle moves to a second target distance from the curve, the navigation map and the virtual vehicle are then in the heading-up direction.
7 . The method according to claim 6 , wherein the method further comprises: after the virtual vehicle moves out of the curve and when the distance between the virtual vehicle and the curve is greater than the second target distance, displaying, in the navigation interface, that the virtual vehicle moves in the navigation map in the heading-up direction.
8 . The method according to claim 1 , wherein a navigation route of the target vehicle comprises the curve, and operations of determining the target distance comprise: using a position point on the navigation route of the target vehicle at which a curvature changes from zero to non-zero as a curve starting point of the curve; obtaining curvature circle center coordinates corresponding to the curve starting point; calculating, according to the curve starting point and the curvature circle center coordinates, a deviation angle between a tangent line at the curve starting point and a heading-up direction as a deviation angle when the virtual vehicle moves into the curve; and obtaining the target distance through calculation according to the deviation angle and a current travelling speed of the target vehicle.
9 . The method according to claim 8 , wherein the obtaining the target distance through calculation according to the deviation angle and the current travelling speed of the target vehicle comprises: estimating, according to the current travelling speed of the target vehicle and a curvature radius corresponding to the curve starting point, a trajectory deviation amount after the virtual vehicle moves into the curve; estimating, according to the trajectory deviation amount, a vehicle position after the virtual vehicle moves into the curve; calculating, according to the vehicle position and curvature circle center coordinates corresponding to the vehicle position, an estimated deviation angle after the virtual vehicle moves into the curve; determining a deviation angle change amount of a front of vehicle angle of the virtual vehicle according to the deviation angle when the virtual vehicle moves into the curve and the estimated deviation angle after the virtual vehicle moves into the curve; and calculating the target distance according to the current travelling speed, the deviation angle when the virtual vehicle moves into the curve, and the deviation angle change amount.
10 . The method according to claim 9 , wherein when the deviation is a constant speed deviation, the calculating the target distance according to the current travelling speed, the deviation angle when the virtual vehicle moves into the curve, and the deviation angle change amount comprises: calculating, by using the deviation angle change amount as a constant speed deviation change amount, first time required for which the constant speed deviation is performed from the heading-up direction to the deviation angle when the virtual vehicle moves into the curve; and calculating the target distance according to the current travelling speed and the first time.
11 . The method according to claim 8 , wherein when the deviation is a constant acceleration deviation, after the virtual vehicle moves into the curve, the virtual vehicle sequentially passes through a first position point and a second position point in the curve; and the obtaining the target distance through calculation according to the deviation angle and the current travelling speed of the target vehicle comprises: determining a first deviation angle change amount of a front of vehicle angle of the virtual vehicle according to the deviation angle when the virtual vehicle moves into the curve and an estimated deviation angle when the virtual vehicle moves into the first position point; obtaining a second deviation angle change amount of the front of vehicle angle of the virtual vehicle according to the estimated deviation angle when the virtual vehicle moves into the first position point and an estimated deviation angle when the virtual vehicle moves into the second position point; obtaining a deviation acceleration of the front of vehicle angle of the virtual vehicle according to the first deviation angle change amount and the second deviation angle change amount; calculating, according to the deviation acceleration, second time required for which the constant acceleration deviation is performed from the heading-up direction to the deviation angle when the virtual vehicle moves into the curve; and calculating the target distance according to the current travelling speed and the second time.
12 . The method according to claim 11 , wherein the method further comprises: estimating, according to the current travelling speed of the target vehicle and a corresponding curvature radius when the virtual vehicle moves into the curve, a trajectory deviation amount after the virtual vehicle moves into the first position point; estimating, according to the trajectory deviation amount, a vehicle position after the virtual vehicle moves into the first position point; and calculating, according to the vehicle position and curvature circle center coordinates corresponding to the vehicle position, an estimated deviation angle after the virtual vehicle moves into the first position point.
13 . The method according to claim 12 , wherein the method further comprises: estimating, according to the current travelling speed of the target vehicle and the corresponding curvature radius when the virtual vehicle moves into the curve, a trajectory deviation amount after the virtual vehicle moves into the second position point; estimating, according to the trajectory deviation amount, a vehicle position after the virtual vehicle moves into the second position point; and calculating, according to the vehicle position and curvature circle center coordinates corresponding to the vehicle position, an estimated deviation angle after the virtual vehicle moves into the second position point.
14 . The method according to claim 1 , wherein the method further comprises: obtaining a real-time position of the target vehicle; displaying, in the navigation interface, a navigation map matching the real-time position; and obtaining route curvature data of a navigation route in the navigation map, the route curvature data comprising a curvature, a curvature radius, and curvature circle center coordinates that correspond to each position point on the navigation route in the navigation map.
15 . The method according to claim 14 , wherein the obtaining route curvature data of a navigation route in the navigation map comprises: determining a preset distance; and obtaining, based on the real-time position of the target vehicle, route curvature data in the preset distance ahead of the real-time position on the navigation route in the navigation map.
16 . The method according to claim 14 , wherein the obtaining a real-time position of the target vehicle comprises: obtaining real-time data acquired by a sensor arranged on the target vehicle, the sensor comprising at least one of a camera or a radar; and performing, based on the real-time data acquired by the sensor, positioning and calibration on the target vehicle to obtain the real-time position of the target vehicle.
17 . A computer device, comprising a memory and a processor, the memory having computer-readable instructions stored therein, and the processor, when executing the computer-readable instructions, implementing a navigation method, the method comprising: displaying a navigation interface, the navigation interface being configured for navigating a target vehicle; displaying, in the navigation interface, a navigation map and a virtual vehicle that moves in the navigation map as the target vehicle travels; and displaying, between a moment when the virtual vehicle moves to a target distance from a curve and a moment when the virtual vehicle enters the curve, both the navigation map and a front of vehicle direction of the virtual vehicle deviate a plurality of times in a direction opposite to the curve, deviation degrees of the plurality of deviations gradually increasing in time sequence.
18 . The computer device according to claim 17 , wherein the displaying, between the moment when the virtual vehicle moves to the target distance from the curve and the moment when the virtual vehicle enters the curve, both the navigation map and the front of vehicle direction of the virtual vehicle deviate the plurality of times in the direction opposite to the curve, deviation degrees of the plurality of deviations gradually increasing in time sequence comprises: displaying, at the moment when the virtual vehicle moves to the target distance from the curve, that the navigation map and the front of vehicle direction of the virtual vehicle start to deviate in the direction opposite to the curve; and displaying, between the moment when the virtual vehicle moves to the target distance from the curve and the moment when the virtual vehicle enters the curve, that the navigation map and the front of vehicle direction of the virtual vehicle continue to deviate the plurality of times in the direction opposite to the curve, wherein the deviation degrees of the plurality of deviations being evenly increasing in time sequence.
19 . The computer device according to claim 18 , wherein that the deviation degrees of the plurality of deviations being evenly increasing in time sequence comprises that in a case that the deviation degrees of the plurality of deviations increase at a constant speed in time sequence, in the moments when both the navigation map and the front of vehicle direction of the virtual vehicle deviate the plurality of times in the direction opposite to the curve, deviation angle change amounts between any adjacent moments are the same.
20 . A non-transitory computer-readable storage medium, having computer-readable instructions stored therein, the computer-readable instructions being executed by a processor to perform a navigation method, performed by a computer device, the method comprising: displaying a navigation interface, the navigation interface being configured for navigating a target vehicle; displaying, in the navigation interface, a navigation map and a virtual vehicle that moves in the navigation map as the target vehicle travels; and displaying, between a moment when the virtual vehicle moves to a target distance from a curve and a moment when the virtual vehicle enters the curve, both the navigation map and a front of vehicle direction of the virtual vehicle deviate a plurality of times in a direction opposite to the curve, deviation degrees of the plurality of deviations gradually increasing in time sequence.

Description

RELATED APPLICATIONS This application is a continuation of PCT Application No. PCT/CN2023/082096, filed on Mar. 17, 2023, which claims priority to Chinese Patent Application No. 202210545998.8, filed with the China National Intellectual Property Administration on May 19, 2022, and entitled “NAVIGATION METHOD AND APPARATUS, DEVICE, STORAGE MEDIUM, AND PROGRAM PRODUCT”, which are incorporated herein by reference in their entirety. FIELD OF THE TECHNOLOGY This application relates to the field of computer technologies, and in particular, to a navigation method and apparatus, a computer device, a storage medium, and a computer program product. BACKGROUND OF THE DISCLOSURE With the development of computer technology and positioning technologies, vehicles often navigate based on electronic maps. The orientation of a navigation map is often with the front of the vehicle facing upward (“heading-up”). In the navigation map in which the orientation is having the front of the vehicle facing upward, the top of a navigation map always changes with the travelling direction of the vehicle, and the front of vehicle maintains the heading-up orientation. Thus, the vehicle can be efficiently and conveniently guided to travel through left and right turning directions. On such a navigation map, when the vehicle travels into a curve, the navigation map dramatically rotates, causing dizziness to the driver and poor user experience. In addition, there is a large difference between the displayed navigation maps before and after the map rotates dramatically. This change leads to a poor display effect, and requires that more content is rendered and displayed at once, resulting in an increase in the resources required to read map data and an increase in consumed resources. SUMMARY A navigation method includes: displaying a navigation interface, the navigation interface being configured for navigating a target vehicle; displaying, in the navigation interface, a navigation map and a virtual vehicle that moves in the navigation map as the target vehicle travels; and displaying, between a moment when the virtual vehicle moves to a target distance from a curve and a moment when the virtual vehicle enters the curve, both the navigation map and a front of vehicle direction of the virtual vehicle deviate a plurality of times in a direction opposite to the curve, deviation degrees of the plurality of deviations gradually increasing in time sequence. A computer device is provided, including a memory and a processor, the memory having computer-readable instructions stored therein, and the processor performing the foregoing navigation method. A non-transitory computer-readable storage medium is provided, having computer-readable instructions stored therein, the computer-readable instructions being executed by a processor to perform the foregoing navigation method. BRIEF DESCRIPTION OF THE DRAWINGS Accompanying drawings, which are incorporated herein and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the principles of this application. Apparently, the accompanying drawings described below are only some embodiments of this application, and a person of ordinary skill in the art can obtain other accompanying drawings according to these accompanying drawings without creative efforts. FIG. 1 is a diagram of an application environment of a navigation method according to an embodiment of the present disclosure. FIG. 2 is a schematic diagram in which a navigation orientation is heading-up according to an embodiment of the present disclosure. FIG. 3 is a schematic flowchart of a navigation method according to an embodiment of the present disclosure. FIG. 4 is a schematic diagram in which a virtual vehicle moves on a straight road to a curve starting point according to an embodiment of the present disclosure. FIG. 5 is a schematic diagram of deriving a deviation angle of a virtual vehicle at a curve starting point according to an embodiment of the present disclosure. FIG. 6 is a schematic diagram of performing position estimation based on a trajectory deviation amount according to an embodiment of the present disclosure. FIG. 7 is a schematic diagram in which a virtual vehicle moves into an estimated position according to an embodiment of the present disclosure. FIG. 8 is a diagram of a time sequence of computing device interaction according to an embodiment of the present disclosure. FIG. 9 is a schematic diagram in which a front of vehicle direction reversely rotates toward a curve before the curve is entered according to an embodiment of the present disclosure. FIG. 10 is a schematic diagram of an interface in which a heading-up direction is always maintained in a curve in the related art of the present disclosure. FIG. 11 is a structural block diagram of a navigation apparatus according to an embodiment of the present disclosure. FIG. 12 is a diagram