CN102519475A - Intelligent navigation method and equipment based on augmented reality technology - Google Patents
Intelligent navigation method and equipment based on augmented reality technology Download PDFInfo
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Abstract
The invention discloses an intelligent navigation method and intelligent navigation equipment based on an augmented reality technology. According to the invention, road condition images are collected by using an image collecting apparatus; the collected images are processed; various road condition characteristics are abstracted; according to the abstracted road condition characteristics and a predetermined navigation path, real-time navigation prompting information is transmitted according to actual situations. The navigation prompting information is transmitted on a basis that a current road condition is determined. Therefore, the information is more realistic, and satisfies user requirements.
Description
Technical field
The present invention relates to navigation field, relate to a kind of intelligent navigation method and equipment more specifically based on the augmented reality technology.
Background technology
Map all is set in the present widely used guider in advance; And GPS receiver; Receive GPS information through the GPS receiver and confirm user's current geographic position; According to user designated destination and said current geographic position, on the map that is provided with in advance, cook up a navigation way that arrives the destination, then through display device show navigator information.
Existing navigation map basically all is to adopt two-dimentional electronic chart; For the certain user; Two dimension electronic chart and outdoor scene difference are bigger, and the user may ignore actual road conditions characteristic when paying close attention to electronic chart, for user vehicle; For a long time do not see that the possibility that road conditions are caused danger can increase, and is unfavorable for traffic safety.
Existing partial 3-D navigation map is through gathering the three-dimensional image at each street, crossing in advance, when navigation; The image that collects in advance is presented on the display screen; Seem more directly perceived, but the shortcoming of this navigation picture is that needs are gathered the stereoscopic three-dimensional figure in all streets on the map in advance than two dimensional navigation image; The electronic chart that forms like this needs very big storage space to store; And the road surface situation in image that collects in advance and the actual navigation procedure has than big difference, can't carry out real-time update, makes troubles to the user.
Therefore, be badly in need of a kind of real scene navigation method and equipment that can the various road conditions characteristics of real-time prompting, the real purpose of navigating of realizing based on real road conditions.
Summary of the invention
For realizing above-mentioned purpose; The present invention provides a kind of intelligent navigation method based on the augmented reality technology, gathers the road conditions image in real time through image collecting device, and the image that collects is handled; The navigation route sends navigation hint information in real time according to actual conditions.Because said navigation hint information is under the situation of having judged current road conditions, to make, thereby it is actual to fit more, meets people's demand.
Intelligent navigation method based on the augmented reality technology provided by the invention comprises:
Gather the road information in user the place ahead in user's traveling process in real time;
Discern the various road conditions characteristics in the said road information;
Generate navigation hint information based on said road conditions characteristic and predetermined navigation way.
Said air navigation aid also comprises:
Receive the GPS locating information, confirm user's current location; According to user designated destination and said user's current location, confirm navigation way.
Air navigation aid provided by the invention through the road information in real-time collection travel route dead ahead, and is carried out analyzing and processing to said road information, sends navigation hint information according to result navigation route.Can when showing said road information, on display device, superpose and show said navigation hint information; And/or to the user said navigation hint information is provided with the form of voice.
Said road information is an image, through the image that collects is carried out analysis and judgement, can carry out danger early warning, and this is the general inaccessiable function of air navigation aid.In the process of moving, road conditions are very complicated, through pedestrian, bicycle or the toy in identification travel route the place ahead, in time remind the user to make a response, and can reduce the possibility of causing danger.
In the air navigation aid provided by the invention; Track according to identification user place in the image that collects in real time; When discovery in the navigation way need be turned, judges whether on turning roadway, if not remind the user in time to incorporate turning roadway into; In order to avoid go a long way unnecessarily, improved the navigation precision more.
To sum up, air navigation aid provided by the invention, the navigation route sends navigation hint information on the basis of having judged current road conditions, presses close to reality more, and is easy to use.
The present invention also provides a kind of intelligent navigation equipment based on the augmented reality technology, and said navigator comprises:
Image collecting device is gathered the road information in user the place ahead in user's traveling process in real time;
Data processing equipment receives the road information from image collecting device, discerns the various road conditions characteristics in the said road information; And generate navigation hint information based on said road conditions characteristic and predetermined navigation way.
Wherein, said navigation hint information is information of voice prompt or picture cues information.
Under said navigator can also comprise in the array apparatus one or several:
The GPS receiving trap receives the GPS locating information in the time of in fact, confirm user's current location;
Route is confirmed device, and it confirms the navigation way of vehicle ' according to user designated destination and said user's current location;
Display device is used to show said road information, the said navigation hint information of stack on the wherein said road information;
Memory storage is used to store the road conditions characteristic of being gathered, and institute's formats stored is picture or video.
Road conditions characteristic of the present invention comprises one or several in signal lamp characteristic, track characteristic, pedestrian's characteristic, the place ahead motor vehicle characteristic, the bicycle characteristic.Wherein, The signal lamp characteristic comprises the color that the front signal lamp shows; The track characteristic comprises the mark of turning, turning around such as lane line, expression on the track; Pedestrian or bicycle characteristic comprise pedestrian or the bicycle that occurs in the track, and the place ahead motor vehicle characteristic comprises the distance and the velocity variations of the place ahead motor vehicle.
Navigation hint information of the present invention comprises one or several in motor vehicle turning information, motor vehicle doubling information, danger warning information, destination range information, road name information, the status information of equipment.
Utilize above-mentioned navigator, can realize real-time streetscape navigation feature, and said navigator is simple to operate, user-friendly.
Description of drawings
The air navigation aid process flow diagram that Fig. 1 provides for the embodiment of the invention;
The navigator synoptic diagram that Fig. 2 provides for the embodiment of the invention;
The navigator synoptic diagram that Fig. 3 provides for another embodiment of the present invention;
Fig. 4-1 is the screen display synoptic diagram of navigation apparatus displays device provided by the invention to Fig. 4-5.
Embodiment
Below in conjunction with accompanying drawing specific embodiment of the present invention is described.
The process flow diagram that is provided by the invention based on the technological intelligent navigation method of augmented reality shown in Figure 1, said air navigation aid may further comprise the steps:
101, import the destination by the user.Concrete, the user can also can select to be connected to the network-side service center through network the destination is set through navigator input destination.Said network can be wireless communication networks or internet.For example, the user comes the long-range destination that is provided with through dialing the network side call center through the network side call center.
When the user imports the destination through navigator, can import the destination through inputting word information, also can import the destination through voice messaging.
102, receive gps satellite signal, confirm the residing geography latitude and longitude coordinates of user information; Confirm user's current location according to said coordinate information.
103, according to current location described in destination and the step 102 described in the step 101, confirm navigation way.
Concrete, when having preset electronic chart in the navigator, can plan navigation way according to said destination and said current location by navigator.Can also be by network-side service central plan navigation way, and pass navigation way back navigator through said network.Navigator also can not comprise electronic chart, and this moment is by network-side service central plan navigation way, and passes navigation way back navigator.
104, gather current road information.The road conditions image in preferred acquisition current driving route dead ahead, further, the image within the vision in the travel route dead ahead that the collection user sees on the driver's seat.Certainly, can also gather the infrared image in current driving route dead ahead, then said infrared image carried out analyzing and processing through infrared probe.
105, the road conditions characteristic in the said road conditions image of identification.Handle through the current road conditions image that collects being advanced data analysis, obtain information needed.
Concrete, said road conditions characteristic can comprise track situation, pedestrian's situation, the place ahead vehicle status in running, front signal lamp situation etc.; Can also comprise the navigation additional information in the said road conditions image, near the landmark the for example said current location, subway station, food and drink entertainment service point etc.
The method of discerning the various road conditions characteristics in the said road conditions image has a variety of, can be according to concrete road conditions feature selecting pictures different recognizer.Be that the bright the present invention of as an exampleBSEMGVR takeN-PSVSEMOBJ is to the different kinds of roads Feature Recognition with former square signal lamp situation below.
At first according to actual needs said current road conditions image transitions is become the digital picture of required form.For example, need the digital picture of HSV form during marker lamp, and said current road conditions image is rgb format or yuv format, then the image transitions of said rgb format or yuv format is become the image of HSV form.
Secondly, the digital picture of said HSV form is handled, obtained H, S, three components of V.
Then, filter out the pixel that satisfies restrictive condition.Said restrictive condition promptly through the empirical value of test, all has restriction to H, S, three components of V here, can under different environment, filter out the pixel of signal lamp to greatest extent, and preferred restrictive condition is following:
The red light restrictive condition is: S＞0.3, V＞0.6,15＞H＞=0 and 360＞H＞340.
The green light restrictive condition is: S＞0.3, V＞0.6,180＞H＞=130.
According to the pixel that screens position in said digital picture, obtain a width of cloth bianry image, the corresponding position pixel value of the wherein said pixel that screens is 1, all the other position pixel values are 0; The position pixel value that the pixel that can certainly saidly screen is corresponding is 0, and all the other position pixel values are 1.The said pixel position that screens is signal lamp and some interference sources.Said bianry image is carried out some image pre-service, remove tangible interference source.
Interesting areas is set then, i.e. the traffic lights zone that possibly exist.In actual process, traffic lights generally are positioned at the zone, upper right side of said image, and therefore interesting areas is set to the top-right subregion of image.Area-of-interest at said bianry image is searched, and finds the pixel region with suitable profile;
Pixel region to finding is further judged, gets rid of interference source.For example, in actual process,, thereby easily automobile tail light is also screened into during according to aforesaid red light restrictive condition screening because attribute and the signal lamp of automobile tail light in the HSV space is roughly the same.Advanced observation, red eye is isolated relatively with respect to other red lights, promptly do not have other redness more on every side, and automobile tail light usually is made up of a plurality of red pieces, can interference source be filtered out according to these characteristics, obtains required signal information.
Like the signal lamp that finds in the bianry image that obtains according to aforementioned red light screening conditions, then judge it is red light, like the signal lamp that the bianry image that obtains according to the green light screening conditions finds, then judge it is green light.
The process of above-mentioned marker lamp is merely a kind of embodiment, and can also come whether to have in the recognition image signal lamp and said signal lamp according to other characteristics is red light or green light.
106, according to said road conditions characteristic, the navigation route sends navigation hint information.Can also the navigation additional information be provided according to user's request.Said navigation hint information and/or navigation additional information can be voice suggestion and/or picture cues.
Concrete, said navigation hint information comprises one or several in motor vehicle turning information, motor vehicle doubling information, danger warning information, destination range information, road name information, the status information of equipment.For example, through discerning current road conditions image, find that the user continues to move ahead and will bump against with the place ahead pedestrian according to present set speed and direction, then send danger warning information, the prompting user notes the place ahead pedestrian, avoids causing danger.Through discerning current road conditions image, find that the place ahead vehicle running speed slows down suddenly, and the distance between the user sends danger warning information less than safe distance the time, the prompting user notes the place ahead motor vehicle, suitably slows down, and avoids causing danger.According to navigation way, when need turn in the place ahead, through discerning current road conditions image, judges whether on turning roadway, if not, then send a left side/right doubling information, remind user's changing Lane to suitable added turning lane.
Concrete, said navigation additional information can comprise: the user belongs near the food and drink public place of entertainment of current location, subway station, railway station, airport, shopping place, other landmark buildings etc.
Wherein, step 101,102 does not have sequencing, and its order is adjustable; Step 104 does not also have sequencing with step 101,102, and its order can be carried out side by side; Step 103 and step 105 also can be carried out side by side.
Further, said air navigation aid also comprises:
Navigation hint information and/or navigation additional information are superimposed upon on the said current road conditions image, and in display device, show the said current road conditions image of superposeed navigation hint information and/or navigation additional information.For example, utilize arrow to indicate to turn to, a left side/informations such as right doubling; Utilize red circle that the pedestrian position is identified out, the prompting user notes.In the time of on said current road conditions image, subway station can being found, show tangible subway station sign in the subway station position.
The image that collects in the distance of going is stored.Can select to be stored as many pieces of picture, also can select to be stored as video format, preferably adopt video format to store the image that collects in the driving process, the route that makes things convenient for user record oneself to pass by.Simultaneously, the current space time information of stack on image stored or video, said current space time information is geography latitude and longitude coordinates and current time.
In addition, other Additional Services can also be provided, the video of for example through wireless communication networks or internet the road conditions image of gathering perhaps being stored sends other people to.
Be illustrated in figure 2 as the intelligent navigation equipment synoptic diagram based on the enhancing display technique provided by the invention, wherein navigator comprises:
GPS receiver 201 receives the GPS locating information from satellite 205 in real time, confirms current geographic position according to said locating information;
Image collecting device 203 is gathered the current road conditions image in user the place ahead in user's traveling process in real time, and the image that collects is transferred to data processing equipment 202.Said image collecting device 203 can be first-class for camera or infrared photography;
Data processing equipment 202, its internal preset electronic chart, according to the user designated destination, and said current geographic position, cook up suitable navigation way.
Data processing equipment 202 receives said current road conditions image, and said current road conditions image is discerned, and according to the result of identification, the navigation route sends navigation hint information.Concrete, discern the unsafe condition that possibly occur in the current road conditions image, the user is pointed out.When judging according to navigation way, when finding that the place ahead need turn to, go out the user according to current road conditions image recognition and belong to the track, need to judge whether changing Lane, and send corresponding prompting.
Data processing equipment 202 can also in conjunction with said electronic chart, be discerned navigation additional informations such as near the landmark of said current geographic position, shopping place, food and drink public place of entertainment, parking lot, subway station, railway station according to user's request.
Data processing equipment 202 is added to navigation hint information on the said current road conditions image, on display device 204, shows.Can also be according to user's request, its navigation additional information that recognizes is added on the current road conditions image, and on display device 204, shows.
Display device 204, its demonstration current road conditions image of navigation hint information that superposeed, and can be according to user's request, the navigation additional information that display data processing apparatus 202 recognizes.
In a kind of modification of the foregoing description, can use a voice device to substitute said display device 204, through this voice device said navigation hint information is conveyed to the user.
Fig. 3 is the intelligent navigation equipment synoptic diagram of another kind provided by the invention based on the augmented reality technology, and said navigator comprises: communicator 306, image collecting device 303, data processing equipment 302 and display device 304.The effect of navigator and network-side service center 301 each several parts is following:
Its information needed according to the request of communicator 306, is returned in network-side service center 301.Concrete; When the user sends request through communicator 306 to network-side service center 301; Request is provided with destination and planning navigation way; Then network-side service center 301 is cooked up rational navigation way, and this navigation way is sent to communicator 306 according to the destination of communicator 306 residing current geographic positions and user's setting.
Can also can pass through internet transmission information through wireless communication networks transmission information between navigator and the network-side service center 301, preferably adopt wireless communication networks transmission information.
For instance shown in Figure 3, different modification can also be arranged.In a kind of modification; Data processing equipment 302 also has memory function; The image of taking in the driving process is stored, and storage format is picture or video, makes things convenient for user real time record driving process; Because picture stored or video superimpose have space time information, also can institute's picture stored or video be used as sworn evidence.In another kind of modification, navigator also comprises memory storage, and said memory storage is stored the image of taking in the driving process, and storage format is picture or video.
Fig. 4-1 is depicted as the screen display synoptic diagram of the intelligent navigation equipment display device based on augmented reality technology provided by the invention to Fig. 4-5; What show on the screen is the current road conditions image that is collected by the navigator image collecting device, navigation hint information that on said road conditions image, has superposeed and navigation additional information.
Said navigation hint information comprises:
Travel direction information, the rotation arrow shown in Fig. 4-1;
Danger warning information, Fig. 4-2 for example, the motor vehicle information shown in Fig. 4-3 and Fig. 4-4, pedestrian's information and bicycle information;
Traffic lights information, for example shown in Fig. 4-5, the call user's attention red light in time brakes;
Current location information, " Chegongzhuang Dajie " as shown in Figure 4 informed its current present position of user;
Said navigation additional information can comprise in the following message one or several according to user's request:
Landmark building is such as near subway station, department stores etc.;
Travel speed information shows current driving speed with more eye-catching mode, and the user that is more convenient for checks current vehicle speed;
The current location distance to destination, " 1.9 kilometers " as shown in Figure 4;
The distance of having gone is meant from bringing into use navigator to navigate, to the path distance that current location has been passed by, and " 620 meters " as shown in Figure 4;
The time that expection also need be gone, be meant that arriving the destination from current location also needs consumed time length, " 00:05 hour " as shown in Figure 4;
Dump energy information, " 100% " shown in Fig. 4 upper right corner, expression navigator dump energy number percent.
For embodiment shown in Figure 4, different modification can be arranged, can only show one or several combinations in said navigation hint information and/or the navigation additional information.
Air navigation aid provided by the invention and equipment compared with prior art, have following advantage at least:
1, gather the image in current driving route dead ahead in real time, when making the image of driver user on paying close attention to navigator, also can Real Time Observation to the road conditions in travel route dead ahead, reduce the possibility of causing danger.
2, comparing real scene navigation of the prior art adopts the image of taking in advance to be stored in the navigator; Memory space is big and be difficult for real-time update; The present invention adopts the current road conditions image of real-time collection, has practiced thrift storage space on the one hand, and the image of gathering is in real time on the other hand pressed close to reality more.
3, the present invention is based on the current road conditions image that collects in real time; The navigation route sends navigation hint information, compares prior art and only promptings such as turning, craspedodrome can be provided; The present invention provides abundant more navigation hint information; Not only can navigate to traffic route, can also be that user real time provides safe driving information based on current road conditions, intellectuality and hommization more.
Claims (12)
1. intelligent navigation method based on augmented reality technology comprises:
Gather the road information in user the place ahead in user's traveling process in real time;
Discern the various road conditions characteristics in the said road information;
Generate navigation hint information based on said road conditions characteristic and predetermined navigation way.
2. intelligent navigation method according to claim 1 also comprises:
Receive the GPS locating information, confirm user's current location;
According to user designated destination and said user's current location, confirm said navigation way in advance.
3. intelligent navigation method according to claim 1 and 2, said navigation hint information are information of voice prompt and/or picture cues information.
4. intelligent navigation method according to claim 1 and 2, said road conditions characteristic comprise one or several in signal lamp situation, track situation, pedestrian's situation, the place ahead motor vehicle situation, the bicycle situation.
5. intelligent navigation method according to claim 1 and 2, said navigation hint information comprise one or several in motor vehicle turning information, motor vehicle doubling information, danger warning information, destination range information, road name information, the status information of equipment.
6. according to the arbitrary described intelligent navigation method of claim 1 to 5, also comprise:
Store said road information.
7. intelligent navigation equipment based on augmented reality technology comprises:
Image collecting device is gathered the road information in user the place ahead in user's traveling process in real time;
Data processing equipment receives the road information from image collecting device, discerns the various road conditions characteristics in the said road information; And generate navigation hint information based on said road conditions characteristic and predetermined navigation way.
8. intelligent navigation equipment according to claim 7 also comprises:
The GPS receiving trap receives the GPS locating information in the time of in fact, confirm user's current location;
Route is confirmed device, and it confirms said navigation way in advance according to user designated destination and said user's current location.
9. according to claim 7 or 8 described intelligent navigation equipment, wherein said navigation hint information is information of voice prompt and/or picture cues information.
10. according to claim 7 or 8 described intelligent navigation equipment, also comprise
Memory storage is used to store the road information of being gathered, and institute's formats stored is picture or video.
11. according to claim 7 or 8 described intelligent navigation equipment, wherein said road conditions characteristic comprises one or several in signal lamp situation, track situation, pedestrian's situation, the place ahead motor vehicle situation, the bicycle situation.
12. according to claim 7 or 8 described intelligent navigation equipment, wherein said navigation hint information comprises one or several in motor vehicle turning information, motor vehicle doubling information, danger warning information, destination range information, road name information, the status information of equipment.
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