你知不知道地铁在哪儿?→I wonder whether you know where the subway is or not?
你知道地铁在哪儿吗?→Do you know where the subway is?
The 2 sentences have the same meaning as a matter of fact and 2nd one sounds more native
But if I ask someone where the subway is,I'd like to say:
请问,您知道地铁在哪吗?
Cuz you have to show your respect to the one asked in Chn