CN107941226B

CN107941226B - Method and device for generating a direction guideline for a vehicle

Info

Publication number: CN107941226B
Application number: CN201711140782.9A
Authority: CN
Inventors: 饶先拓
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2017-11-16
Filing date: 2017-11-16
Publication date: 2021-03-02
Anticipated expiration: 2037-11-16
Also published as: CN107941226A

Abstract

The embodiment of the application discloses a method and a device for generating a direction guide line of a vehicle. One embodiment of the method comprises: determining a distance between the current position and the turning position in response to determining that the vehicle is about to turn around; shooting the driving direction of the vehicle through a vehicle-mounted camera to obtain a shooting result; recognizing a lane line of a current lane and recognizing a lane line of an opposite lane from the photographing result; in response to determining that the lane line of the current lane and the lane line of at least one of the opposing lanes are identified, determining one of the at least one lane as a post-turn lane; generating a direction guide line indicating the turn of the vehicle based on the lane line of the current lane, the lane line of the turn-back lane, and the distance. The embodiment of the application can use the augmented reality technology to generate the direction guide line indicating the turning of the vehicle.

Description

Method and device for generating a direction guideline for a vehicle

Technical Field

The embodiment of the application relates to the technical field of computers, in particular to the technical field of internet, and particularly relates to a method and a device for generating a direction guide line of a vehicle.

Background

Vehicle-mounted Augmented Reality (AR) navigation is currently in a starting stage, and a situation that a direction guide line and a road surface are not matched occurs sometimes. Especially in the turn-around road section, the road condition of the turn-around intersection is often more complicated, and the requirement on navigation is higher.

Disclosure of Invention

The embodiment of the application provides a method and a device for generating a direction guide line of a vehicle.

In a first aspect, an embodiment of the present application provides a method for generating a direction guideline of a vehicle, including: in response to determining that the vehicle is about to turn around to travel, determining a current position and a distance to the turn around position; shooting the driving direction of the vehicle through a vehicle-mounted camera to obtain a shooting result; identifying a lane line of a current lane and identifying a lane line of an opposite lane from the shooting result, wherein the opposite lane comprises a turn-around lane; in response to determining that the lane line of the current lane and the lane line of the at least one lane of the opposite lanes are identified, determining one lane of the at least one lane as a lane after the turn around; and generating a direction guide line indicating the turning of the vehicle based on the lane line of the current lane, the lane line of the lane after turning and the distance.

In some embodiments, the method further comprises: acquiring the credibility of the lane line recognized for the opposite lane and the current lane for the last time and the credibility of the lane line recognized for the last time from the shooting result of the vehicle-mounted camera in response to the fact that the lane line of one of the opposite lane and the current lane is recognized; in response to determining that the confidence level reaches a confidence threshold, generating a lane line of a current lane and a lane line of a previously determined lane after turnaround in the opposite lane based on the last identified lane line, and generating a direction guide line indicating the turnaround of the vehicle based on the lane line of the current lane, the lane line of the lane after turnaround, and the distance; or in response to determining that the reliability does not reach the reliability threshold, acquiring a preset direction of a lane of which a lane line is not recognized in the current lane and the opposite lane, and generating a direction guide line based on the recognized lane line and the preset direction.

In some embodiments, generating a direction guide line indicating a turn of the vehicle based on a lane line of the current lane, a lane line of the lane after the turn, and the distance includes: generating a turn-around front direction guide line with a distance according to a lane line and a current position of a current lane, and generating a turn-around rear direction guide line with a preset length according to a lane line of a turn-around rear lane, wherein the position of one end point of the turn-around front direction guide line is the current position; determining a turning radius based on the turning front direction guide line and the turning rear direction guide line, and generating an arc-shaped connecting line with the radius being the turning radius and connecting the turning front direction guide line and the turning rear direction guide line; generating a direction guide line composed of a turn-around front direction guide line, a turn-around rear direction guide line and a connecting line.

In some embodiments, acquiring a preset direction of a lane in which a lane line is not recognized among the current lane and the oncoming lane, and generating a direction guide line based on the recognized lane line and the preset direction, includes: acquiring a preset direction of a current lane under the condition that a lane line of the current lane is not identified and a lane line of at least one lane in opposite lanes is identified; determining the direction of the lane after turning based on the two lane lines of the lane after turning determined in advance from the at least one lane, and generating a turning rear direction guide line with the length being the preset length and at the preset position between the two lane lines in the direction of the lane after turning; determining a turn-around front direction guide line with the length of a distance according to the current position as an endpoint and the width proportion of two sides of the current position in the current lane in the preset direction of the current lane; determining a turning radius based on the turning front direction guide line and the turning rear direction guide line, and generating an arc-shaped connecting line with the radius being the turning radius and connecting the turning front direction guide line and the turning rear direction guide line; generating a direction guide line composed of a turn-around front direction guide line, a turn-around rear direction guide line and a connecting line.

In some embodiments, the method further comprises: and acquiring the lane information of the current lane and the lane information of the opposite lane from the electronic map.

In some embodiments, acquiring a preset direction of a lane in which a lane line is not recognized among the current lane and the oncoming lane, and generating a direction guide line based on the recognized lane line and the preset direction, includes: acquiring a preset direction of a lane after turning around under the condition that a lane line of a current lane is identified and a lane line of at least one lane in opposite lanes is not identified; determining the direction of the current lane based on the identified lane line of the current lane, and generating a turn-around front direction guide line with the length of the distance by taking the current position as an endpoint in the direction of the current lane; determining a lane after turning from lanes indicated by the acquired lane information of the opposite lane, and generating a guide line with a preset length in the preset direction of the lane after turning; determining a turning radius based on the turning front direction guide line and the turning rear direction guide line, and generating an arc-shaped connecting line with the radius being the turning radius and connecting the turning front direction guide line and the turning rear direction guide line; generating a direction guide line composed of a turn-around front direction guide line, a turn-around rear direction guide line and a connecting line.

In some embodiments, the lane information of the current lane and the lane information of the opposite lane include widths of the lanes and further include a distance between the same lane and the opposite lane; and acquiring a preset direction of a lane in which a lane line is not recognized in the current lane and the opposite lane, and generating a direction guide line based on the recognized lane line and the preset direction, including: under the condition that at least one lane line of a current lane and at least one lane line of an opposite lane are not identified, acquiring a preset direction of a lane before turning around and a preset direction of a lane after turning around; determining a lane after turning from lanes indicated by the acquired lane information of the opposite lane, and generating a guide line with a preset length in the preset direction of the lane after turning; determining a lane before turning from the lanes indicated by the acquired lane information of the current lane, and generating a guide line with a specified length behind turning by taking the current position as an endpoint in a preset direction of the current lane; determining a turning radius based on the width of a current lane and the width of an opposite lane and the distance between the lanes in the same direction and the opposite lane, and generating connecting lines of a turning front direction guide line and a turning rear direction guide line by taking the turning radius as the radius; generating a direction guide line composed of a turn-around front direction guide line, a turn-around rear direction guide line and a connecting line.

In some embodiments, generating a direction guide line indicating a turn of the vehicle includes: a direction guideline indicating a vehicle turn is generated using augmented reality techniques.

In some embodiments, the method further comprises: acquiring a transformation matrix for carrying out coordinate transformation on coordinate data of a world coordinate system and coordinate data of a coordinate system of a navigation display screen of a vehicle; the generated coordinate data of the direction guideline is converted from the world coordinate system into the coordinate system of the navigation display screen using the conversion matrix.

In a second aspect, an embodiment of the present application provides an apparatus for generating a direction guide line of a vehicle, including: a distance determination unit 501 configured to determine a current position and a distance of a turning position in response to a determination that the vehicle is going to turn around; the shooting unit is configured for shooting the driving direction of the vehicle through the vehicle-mounted camera to obtain a shooting result; a recognition unit configured to recognize a lane line of a current lane from the photographing result and recognize a lane line of an opposite lane, wherein the opposite lane includes a lane after the turn around; a determining unit configured to determine one lane of the at least one lane as a lane after turnaround in response to determining that the lane line of the current lane and the lane line of the at least one lane of the opposite lane are recognized; a generating unit configured to generate a direction guide line indicating a turn of the vehicle based on a lane line of a current lane, a lane line of a lane after the turn, and the distance.

In some embodiments, the apparatus further comprises: a reliability determination unit configured to acquire, in response to a determination that a lane line of one of the opposite lane and the current lane is recognized, a reliability of a lane line recognized last time and a lane line recognized last time from the shooting result of the vehicle-mounted camera to the opposite lane and the current lane; a first generating unit configured to generate a lane line of a current lane and a lane line of a previously determined lane after turnaround in the opposite lanes based on the last recognized lane line in response to determining that the degree of reliability reaches a threshold degree of reliability, and generate a direction guide line indicating a turn of the vehicle based on the lane line of the current lane, the lane line of the lane after the turn, and the distance; or a second generating unit configured to acquire a preset direction of a lane in which the lane line is not recognized, from among the current lane and the oncoming lane, in response to the determination that the reliability does not reach the reliability threshold, and generate a direction guide line based on the recognized lane line and the preset direction.

In some embodiments, the generating unit comprises: the first generating module is configured to generate a turn-around front direction guide line with a distance based on a lane line of a current lane and a current position, and generate a turn-around rear direction guide line with a preset length based on a lane line of a turn-around rear lane, wherein the position of one end point of the turn-around front direction guide line is the current position; a second generating module configured to determine a turning radius based on the turning front direction guide line and the turning rear direction guide line, and generate an arc-shaped connecting line having a radius of the turning radius and connecting the turning front direction guide line and the turning rear direction guide line; generating a direction guide line composed of a turn-around front direction guide line, a turn-around rear direction guide line and a connecting line.

In some embodiments, the second generating unit comprises: the first acquisition module is configured to acquire a preset direction of a current lane under the condition that a lane line of the current lane is not recognized and a lane line of at least one lane in opposite lanes is recognized; the first guide line generating module is configured to determine the direction of the lane after turning based on two lane lines of a lane after turning determined in advance from at least one lane, and generate a guide line with the length being a preset length at a preset position between the two lane lines in the direction of the lane after turning; the first determining module is configured for determining a turn-around front direction guide line of the length of the distance in a preset direction of the current lane by taking the current position as an endpoint and the ratio of the widths of two sides of the current position in the current lane; a first direction guide line generation module configured to determine a turning radius based on the turning front direction guide line and the turning rear direction guide line, and generate an arc-shaped connection line having a radius of the turning radius and connecting the turning front direction guide line and the turning rear direction guide line; generating a direction guide line composed of a turn-around front direction guide line, a turn-around rear direction guide line and a connecting line.

In some embodiments, the apparatus further comprises: an acquisition unit configured to acquire lane information of a current facing lane and lane information of a facing lane from an electronic map.

In some embodiments, the second generating unit comprises: the second acquisition module is configured to acquire the preset direction of the lane after turning around under the condition that the lane line of the current lane is identified and the lane line of at least one lane in the opposite lanes is not identified; the second guide line generating module is configured to determine the direction of the current lane based on the identified lane line of the current lane, and generate a turn-around front direction guide line with the length of the distance by taking the current position as an endpoint in the direction of the current lane; the second determining module is configured to determine a lane after turning from lanes indicated by the acquired lane information of the opposite lane, and generate a guide line with a preset length in a preset direction of the lane after turning; a second direction guide line generation module configured to determine a turning radius based on the turning front direction guide line and the turning rear direction guide line, and generate an arc-shaped connection line having a radius of the turning radius and connecting the turning front direction guide line and the turning rear direction guide line; generating a direction guide line composed of a turn-around front direction guide line, a turn-around rear direction guide line and a connecting line.

In some embodiments, the lane information of the current lane and the lane information of the opposite lane include widths of the lanes and further include a distance between the same lane and the opposite lane; and a second generation unit including: the third acquisition module is configured to acquire a preset direction of a lane before turning around and a preset direction of a lane after turning around under the condition that at least one lane line of the current lane and the lane line of the opposite lane is not identified; the third guide line generating module is configured to determine a lane after turning from lanes indicated by the acquired lane information of the opposite lane, and generate a guide line with a preset length in the preset direction of the lane after turning; the third determining module is configured to determine a lane before turning from lanes indicated by the acquired lane information of the current lane, and generate a guide line with a specified length behind turning by taking the current position as an endpoint in a preset direction of the current lane; the connecting line determining module is configured for determining a turning radius based on the width of a current lane, the width of an opposite lane and the distance between the lanes in the same direction and the opposite lane, and generating connecting lines which take the turning radius as the radius and are used for guiding lines in the front direction of the turning and guiding lines in the rear direction of the turning; and the third direction guide line generating module is configured for generating a direction guide line consisting of a turn-around front direction guide line, a turn-around rear direction guide line and a connecting line.

In some embodiments, the generating unit is further configured to: a direction guideline indicating a vehicle turn is generated using augmented reality techniques.

In some embodiments, the apparatus further comprises: a matrix acquisition unit configured to acquire a conversion matrix for coordinate conversion of coordinate data of a world coordinate system and coordinate data of a coordinate system of a navigation display screen of a vehicle; a conversion unit configured to convert the generated coordinate data of the direction guideline from the world coordinate system into a coordinate system of the navigation display screen using a conversion matrix.

In a third aspect, an embodiment of the present application provides a vehicle, including: one or more processors; a storage device for storing one or more programs which, when executed by one or more processors, cause the one or more processors to implement a method as in any one of the embodiments of the method for generating a direction guideline for a vehicle.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method as in any one of the embodiments of the method for generating a direction guideline for a vehicle.

According to the method and the device for generating the direction guide line of the vehicle, firstly, in response to the fact that the vehicle is determined to turn around to drive, the distance between the current position and the turning position is determined; then, shooting the driving direction of the vehicle through a vehicle-mounted camera to obtain a shooting result; then, recognizing a lane line of a current lane and recognizing a lane line of an opposite lane from the shooting result; then, in response to determining that the lane line of the current lane and the lane line of at least one lane of the opposite lanes are identified, determining one lane of the at least one lane as a lane after the turn around; and finally, generating a direction guide line for indicating the turning of the vehicle based on the lane line of the current lane, the lane line of the lane after turning and the distance. The embodiment of the application can improve the accuracy of the direction guide line for indicating the turn around, and further improve the accuracy of vehicle navigation.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 is an exemplary system architecture diagram in which the present application may be applied;

FIG. 2 is a flow diagram of one embodiment of a method for generating a direction guideline for a vehicle according to the present application;

FIG. 3 is a schematic diagram of one application scenario of a method for generating a direction guideline for a vehicle according to the present application;

FIG. 4 is a flow chart of yet another embodiment of a method for generating a direction guideline for a vehicle according to the present application;

FIG. 5 is a flow chart of yet another embodiment of a method for generating a direction guideline for a vehicle according to the present application;

FIG. 6 is a flow chart of yet another embodiment of a method for generating a direction guideline for a vehicle according to the present application;

FIG. 7 is a flow chart of yet another embodiment of a method for generating a direction guideline for a vehicle according to the present application;

FIG. 8 is a flow chart of yet another embodiment of a method for generating a direction guideline for a vehicle according to the present application;

FIG. 9 is a flow chart of yet another embodiment of a method for generating a direction guideline for a vehicle according to the present application;

FIG. 10 is a schematic structural diagram of one embodiment of an apparatus for generating a direction guide line for a vehicle according to the present application;

FIG. 11 is a schematic block diagram of a computer system suitable for use with a vehicle embodying embodiments of the present application.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Fig. 1 shows an exemplary system architecture 100 to which embodiments of the present method for generating a direction guide line for a vehicle or an apparatus for generating a direction guide line for a vehicle may be applied.

As shown in fig. 1, the system architecture 100 may include

terminal devices

101, 102, 103, a network 104, and a vehicle 105. Network 104 is used to provide a medium for communication links between

terminal devices

101, 102, 103 and vehicle 105. Network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.

The user may use the

terminal devices

101, 102, 103 to interact with the vehicle 105 over the network 104 to receive or send messages or the like. The

terminal devices

101, 102, 103 may have various communication client applications installed thereon, such as navigation applications, web browser applications, shopping applications, search applications, instant messaging tools, mailbox clients, social platform software, and the like.

The

terminal devices

101, 102, 103 may be various electronic devices having a display screen, including but not limited to in-vehicle displays, smart phones, tablet computers, laptop portable computers, desktop computers, and the like.

The vehicle 105 may be a vehicle that provides an AR navigation service, for example, a vehicle that supports an AR navigation screen displayed on the

terminal devices

101, 102, 103. The vehicle can perform processing such as analysis on the received data such as the image, and send the processing result (e.g., a direction guideline) to the terminal device.

It should be noted that the method for generating the direction guide line of the vehicle provided in the embodiment of the present application is generally performed by the vehicle 105, and accordingly, the apparatus for generating the direction guide line of the vehicle is generally disposed in the vehicle 105.

It should be understood that the number of terminal devices, networks, and vehicles in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, and vehicles, as desired for implementation.

With continued reference to fig. 2, a flow 200 of one embodiment of a method for generating a direction guideline for a vehicle according to the present application is shown. The method for generating a direction guide line for a vehicle includes the steps of:

in step 201, in response to determining that the vehicle is about to turn around, the distance between the current position and the turning position is determined.

In the present embodiment, the vehicle on which the method for generating a direction guideline for a vehicle is operated responds if it is determined that the vehicle is going to turn around: and determining the distance between the current position of the vehicle and the turning position. The direction guide line is a line indicating the traveling direction of the vehicle and guiding the vehicle to travel, and may be applied to a navigation system. The line width of the direction guideline may be arbitrary. The turning position is a starting position when the vehicle turns around, i.e., the vehicle starts turning when turning around. The range of the turning position may be determined by an electronic map (such as a car-mounted map) of the vehicle, and the range of the vehicle can be obtained from lane information of the electronic map. For example, the turn around position may be a position in the stop line. The turnaround position may change as the vehicle position changes. The determined distance may be the shortest distance among the distances of the vehicle from the respective positions in the above range. The lane information of the electronic map may include a range of several lanes of a road section, a width of each lane, and which lanes may turn around, and a turn-around position of each lane on each side of each road section. It should be noted that the lane information is only information of a fixed lane in the electronic map, and does not include information related to a lane line, for example, does not include position information of the lane line.

And step 202, shooting the driving direction of the vehicle through the vehicle-mounted camera to obtain a shooting result.

In the embodiment, the vehicle shoots the driving direction of the vehicle through the vehicle-mounted camera on the vehicle, and the shooting result is obtained. Here, the obtained photographing result may be an image or a video. The vehicle-mounted camera shoots towards the driving direction of the vehicle, and the shooting angle of the camera is large and is generally 180 degrees. Therefore, the field of view for shooting is wide, and the opposite lane can be shot. The opposite lane is a lane for reverse travel in the same road section.

In step 203, the lane line of the current lane is identified from the captured result, and the lane line of the opposite lane is identified.

In the present embodiment, the vehicle recognizes the lane line of the current lane from the photographed result, and recognizes the lane line of the opposite lane from the photographed result. Here, the lane line identified is the position coordinates of the lane line. The current lane is the lane in which the vehicle is currently located. The lane lines are lines drawn on the road on which the vehicle is traveling, indicating that the vehicle is traveling between the two lane lines. The recognition from the shooting result may be recognition from an image obtained by shooting, or recognition from one frame image of the video. The identification can be performed in a number of ways. Specifically, the position information of the lane line in the image may be acquired first. And then acquiring three-dimensional scene information of a road section where the vehicle runs from the cloud server, wherein the three-dimensional scene information comprises three-dimensional information of a current lane and an opposite lane. And converting the two-dimensional position information of the lane line in the image to obtain the three-dimensional position information of the lane line according to the registration relation between the image and the three-dimensional scene information, and simultaneously obtaining the reliability of the three-dimensional position information of the lane line. The confidence level is the degree to which the resulting lane line position can be trusted. Further, lane line determination may also be performed by a predetermined model for identifying a lane line. For example, the lane line determination model may be used to characterize the correspondence between the image and the lane line position. The model may also output the confidence level of the lane line position. The model may be a correspondence table or a neural network, etc. After lane lines of a plurality of lanes are determined through the model, the lane lines of the current lane and the lane lines of the opposite lane can be determined through the prestored position relation between the current lane and the opposite lane. Wherein the opposite lane comprises a turn-around rear lane. The lane after turning around is the lane for the vehicle to run after turning around.

In response to determining that the lane line of the current lane and the lane line of the at least one lane of the opposite lanes are identified, one lane of the at least one lane is determined as a lane after the turn-around, step 204.

In the present embodiment, the vehicle responds if it is determined that the lane line of the current lane and the lane line of at least one of the oncoming lanes are identified: and determining one lane of the at least one lane as a lane after the turn. Generally, lanes in the opposite lanes can be used as lanes for driving after the vehicle turns around, and one of the lanes can be randomly determined to be used as a lane after the vehicle turns around. It may also be determined according to a predetermined rule, such as determining the middle lane, the outer lane, etc.

After the lane after the turn-around is determined, the lane line of the lane after the turn-around can be obtained according to the lane line of at least one lane in the identified opposite lanes.

And step 205, generating a direction guide line indicating the turning of the vehicle based on the lane line of the current lane, the lane line of the lane after turning and the distance.

In this embodiment, the vehicle generates the direction guide line indicating the turn of the vehicle based on the lane line of the current lane and the lane line of the lane after the turn, and the distance between the current position and the turn position. For example, the position relationship between the direction guide line and the lane line, and the pattern of the guide line, which may include length, width, and color, may be preset. The position of the direction guide line is obtained using the recognized position of the lane line and the positional relationship. And generating a direction guide line at the position by using a preset pattern. In addition, the positional relationship between the direction guide line and the lane line may also be varied, that is, may be varied according to the current position of the vehicle. For example, the direction guide line of the current lane may be a connection line between the current position of the vehicle and the turning position. Here, the direction guide line may include a turn-around front direction guide line, a turn-around rear direction guide line, and a connection line between the turn-around front direction guide line and the turn-around rear direction guide line. The pre-turn direction guide line is a guide line indicating how the vehicle travels before turning. The after-turn direction guide line is a guide line indicating how the vehicle travels after turning. The lead line in the direction before the turnaround may be equal to the length of the distance.

In some alternative implementations of the present embodiment, a direction guide line indicating a vehicle turn may be generated using augmented reality technology.

With continued reference to fig. 3, fig. 3 is a schematic view of an application scenario of the method for generating a direction guideline for a vehicle according to the present embodiment. In the application scenario of fig. 3, the vehicle 301 determines the distance 302 between the current position and the turning position in response to determining that it is going to turn around; shooting the driving direction of the vehicle 301 through the vehicle-mounted camera to obtain a shooting result 303; recognizing a lane line 304 of a current lane and recognizing a lane line of an opposite lane from the photographing result; in response to determining that the lane line of the current lane and the lane lines of three lanes of the opposite lane are identified, determining one lane of the three lanes as a lane after the turn around; based on the lane line 304 of the current lane, the lane line 305 of the lane after the turn, and the distance 302, a direction guide line 306 indicating the turn of the vehicle is generated.

The method provided by the embodiment of the application can improve the accuracy of the direction guide line for indicating the turn, and further improve the accuracy of vehicle navigation.

With further reference to fig. 4, a flow 400 of yet another embodiment of a method for generating a direction guideline for a vehicle is shown. The flow 400 of the method for generating a direction guideline for a vehicle comprises the steps of:

in response to determining that the vehicle is about to turn around, a distance between the current position and the turning position is determined, step 401.

In the present embodiment, the vehicle on which the method for generating a direction guideline for a vehicle is operated responds if it is determined that the vehicle is going to turn around: the distance to the turning position is determined. The direction guide line is a line indicating the traveling direction of the vehicle and guiding the vehicle to travel, and may be applied to a navigation system. The line width of the direction guideline may be arbitrary. The turning position is a starting position when the vehicle turns around, i.e., the vehicle starts turning when turning around. The range of the turning position may be determined by an electronic map (e.g., a car-mounted map) of the vehicle, and the vehicle may thus be obtained from lane information of the electronic map. For example, the turn around position may be a position in the stop line. The lane information of the electronic map may include a range of several lanes of a road section, a width of each lane, and which lanes may turn around, and a turn-around position of each lane on each side of each road section. The distance determined here may be the shortest distance among the distances of the vehicle from the respective positions in the above range.

And 402, shooting the driving direction of the vehicle through the vehicle-mounted camera to obtain a shooting result.

In the embodiment, the vehicle shoots the driving direction of the vehicle through the vehicle-mounted camera on the vehicle, and the shooting result is obtained. Here, the obtained photographing result may be an image or a video. The camera shoots towards the driving direction of the vehicle, because the shooting angle of the camera is large, and is generally 180 degrees. Therefore, the field of view for shooting is wide, and the opposite lane can be shot.

In step 403, the lane line of the current lane is identified from the captured result, and the lane line of the opposite lane is identified.

In the present embodiment, the vehicle recognizes the lane line of the current lane from the photographed result, and recognizes the lane line of the opposite lane from the photographed result. Here, the lane line identified is the position coordinates of the lane line. The current lane is the lane in which the vehicle is currently located. The lane lines are lines drawn on the road on which the vehicle is traveling, indicating that the vehicle is traveling between the two lane lines. The recognition from the shooting result may be recognition from an image obtained by shooting, or recognition from one frame image of the video. The identification of lane lines can be performed in a variety of ways. The opposite lane comprises a turn-around rear lane.

In step 404, in response to determining that the lane line of one of the opposite lane and the current lane is recognized, the credibility of the lane line recognized for the opposite lane and the current lane and the credibility of the lane line recognized for the last time from the shooting result of the vehicle-mounted camera are acquired.

In the present embodiment, the vehicle is determining to recognize the lane line of one of the oncoming lane and the current lane. That is, only the lane line of the opposite lane is recognized, or only the lane line of the current lane is recognized. And acquiring the lane lines recognized by the last lane and the current lane of the vehicle and the credibility of the acquired lane lines. That is, the vehicle acquires the lane line that has been recognized for both the oncoming lane and the current lane for the latest time, and acquires the reliability that is determined for the recognized lane line when the vehicle has been recognized for the latest time. The recognition here is recognition of the result of shooting by the onboard camera of the vehicle.

Step 405, in response to determining that the reliability reaches the reliability threshold, determining a lane line of the current lane and a lane line of a lane after a turn determined earlier in the opposite lane based on the lane line identified last time.

In this embodiment, if the vehicle determines that the obtained reliability reaches the preset reliability threshold, that is, greater than or equal to the reliability threshold, the vehicle responds by: and generating a lane line of the current lane based on the last identified lane line, and generating a lane line of a turn-around lane, wherein the turn-around lane is a lane determined in advance from the opposite lanes. The determination time may be after the vehicle acquires the last identified lane line. Specifically, the lane line identified last time obtained as described above may be used as the lane line of the current lane and the lane line of the lane after the turn. The lane line identified last time can be processed, so that the lane line of the current lane and the lane line of the lane after turning are obtained.

In some optional implementations of this embodiment, determining, based on the lane line identified last time, a lane line of the current lane and a lane line of a previously determined lane after turnaround in the opposite lane includes: and acquiring change data relative to the driving parameters of the vehicle when the last identified lane line is acquired, and generating the lane line of the current lane and the lane line of the lane after the turn-around determined in the opposite lane on the basis of the change data and the last identified lane line.

In this embodiment, since the lane line determined by the vehicle-mounted camera may be displayed on the screen, the lane line displayed on the display screen may be determined by using the variation data of the driving parameter of the vehicle without completely acquiring the lane line. The running parameters are parameters that change as the vehicle runs, including a position and a turning angle. The driving parameters may be collected by vehicle sensors, which may include gyroscopes, inertial navigation systems, and positioning systems (such as global positioning system GPS), among others. The change data here is data in which the driving parameters are changed from the time when the last recognized lane line is acquired to the current time. For example, the vehicle acquires the change data of the driving parameters such that the vehicle moves 100 meters in the north direction and deflects 5 degrees in the east direction (compared with the vehicle before 5 seconds).

And step 406, generating a direction guide line indicating the turning of the vehicle based on the lane line of the current lane, the lane line of the lane after turning and the distance.

In this embodiment, the vehicle generates a direction guide line indicating a turn of the vehicle based on the lane line of the current lane and the lane line of the turn-around lane. For example, the position relationship between the direction guide line and the lane line, and the pattern of the guide line, which may include length, width, and color, may be preset. The position of the direction guide line is obtained using the recognized position of the lane line and the positional relationship. And generating a direction guide line at the position by using a preset pattern. In addition, the positional relationship between the direction guide line and the lane line may also be variable, that is, the direction guide line may be changed according to the current position of the vehicle. For example, the direction guide line of the current lane may be a connection line between the current position of the vehicle and a certain position point in the turning position range. The generated direction guideline may be presented in the form of coordinate data.

Step 407, a transformation matrix for performing coordinate transformation on the coordinate data of the world coordinate system and the coordinate data of the coordinate system of the navigation display screen of the vehicle is acquired.

In the present embodiment, the vehicle acquires a conversion matrix for coordinate conversion of coordinate data of a world coordinate system and coordinate data of a coordinate system of a navigation display screen of the vehicle from a data storage space of the vehicle or other electronic devices. The transformation matrix may be a constant.

Step 408, the generated coordinate data of the direction guideline is converted from the world coordinate system into the coordinate system of the navigation display screen using the conversion matrix.

In the present embodiment, the vehicle converts the generated coordinate data of the direction guideline from the world coordinate system into the coordinate system of the navigation display screen using the acquired conversion matrix.

In this embodiment, the lane line identified last time is used to perform degradation processing under the condition that the lane line cannot be identified currently, so that the condition that a direction guide line cannot be generated is avoided.

With further reference to fig. 5, a flow 500 of yet another embodiment of a method for generating a direction guideline for a vehicle is shown. The flow 500 of the method for generating a direction guideline for a vehicle comprises the steps of:

step 501, in response to determining that the vehicle is about to turn around, determining a current position and a distance of the turning position.

And 502, shooting the driving direction of the vehicle through the vehicle-mounted camera to obtain a shooting result.

In step 503, the lane line of the current lane is identified from the captured result, and the lane line of the opposite lane is identified.

And step 504, in response to the fact that the lane line of one of the opposite lane and the current lane is determined to be recognized, obtaining the credibility of the lane line recognized for the opposite lane and the current lane for the last time and the credibility of the lane line recognized for the last time from the shooting result of the vehicle-mounted camera.

And 505, in response to the fact that the reliability does not reach the reliability threshold, acquiring the preset direction of the lane without the lane line recognized in the current lane and the opposite lane, and generating a direction guide line based on the recognized lane line and the preset direction.

In this embodiment, if the vehicle determination reliability does not reach the reliability threshold, a response is made: and determining the lanes of the current lane and the opposite lane without recognizing the lane line, namely determining one of the current lane and the opposite lane. Acquiring the preset direction of the determined lane. And generating a direction guide line based on the identified lane line and the preset direction. Here, it is recognized that the lane line of the current lane or the lane line of the opposite lane recognized in step 503 is performed.

The present embodiment performs the degradation processing when the lane line cannot be identified at present, thereby avoiding a situation where the direction guide line cannot be generated, and further improving the accuracy of the generated direction guide line.

With further reference to fig. 6, a flow 600 of yet another embodiment of a method for generating a direction guideline for a vehicle is shown. The flow 600 of the method for generating a direction guideline for a vehicle comprises the steps of:

step 601, responding to the fact that the vehicle is determined to be turned around to run, and determining the distance between the current position and the turning position.

And step 602, shooting the driving direction of the vehicle through the vehicle-mounted camera to obtain a shooting result.

Step 603, identifying the lane line of the current lane and identifying the lane line of the opposite lane from the shooting result.

Step 604, in response to determining that the lane line of the current lane and the lane line of the at least one lane of the opposite lanes are identified, determining one lane of the at least one lane as a lane after the turn around.

In the present embodiment, the vehicle responds if it is determined that the lane line of the current lane and the lane line of at least one of the oncoming lanes are identified: and determining one lane of the at least one lane as a lane after the turn. The opposite lane is a lane running in the opposite direction in the same road section. The lane after turning around is the lane for the vehicle to run after turning around. Generally, lanes in the opposite lanes can be used as lanes for driving after the vehicle turns around, and one of the lanes can be randomly determined to be used as a lane after the vehicle turns around. It may also be determined according to a predetermined rule, such as determining the middle lane, the outer lane, etc.

And 605, generating a turn-around front direction guide line with a distance according to the lane line and the current position of the current lane, and generating a turn-around rear direction guide line with a preset length according to the lane line of the lane after turning.

In this embodiment, the vehicle generates a turn-around front direction guide line having the length equal to the distance based on the lane line of the identified current lane. And generating a turn-around rear direction guide line of a preset length based on the lane line of the turn-around rear lane. Wherein, the position of one end point of the direction guide line before turning around is the current position. The after-turn direction guide line is a guide line indicating how the vehicle travels after turning. The length of the vehicle guide line before the turn may be equal to the length of the distance, i.e., the length from the vehicle to the turn position.

Step 606, determining a turning radius based on the turning front direction guide line and the turning rear direction guide line, and generating an arc-shaped connecting line with the radius being the turning radius and connecting the turning front direction guide line and the turning rear direction guide line; generating a direction guide line composed of a turn-around front direction guide line, a turn-around rear direction guide line and a connecting line.

In the present embodiment, the vehicle determines the turning radius based on the turning front direction guide line and the turning rear direction guide line. And then generating an arc-shaped connecting line for connecting the turn-around front direction guide line and the turn-around rear direction guide line. Finally, a direction guideline is generated. The direction guide line may be obtained by splicing the pre-turning direction guide line, the connecting line, and the post-turning direction guide line. The radius of the arc-shaped connecting line is the turning radius. The connecting line here is a line connecting the turn-around front direction guide line and the turn-around rear direction guide line, and indicates the direction in which the vehicle turns when turning around. The turn radius is the radius of the arc connecting the turn front direction guide line and the turn rear direction guide line. In particular, the turn radius may be determined in a variety of ways. For example, perpendicular lines may be respectively formed on the turn-around front direction guide line and the turn-around rear direction guide line, wherein the turn-around front direction guide line intersects with the perpendicular lines at the turn-around position point. And the distance between the intersection point of the two perpendicular lines and the front turning direction guide line and the rear turning direction guide line is the same. The length of the distance between the intersection point and any one of the two direction guide lines is the length of the turn radius. Or a circle can be made between the front turning direction guide line and the back turning direction guide line, so that the circle is tangent to the two direction guide lines, wherein the tangent point of the front turning direction guide line and the circle is the turning position point.

With further reference to fig. 7, a flow 700 of yet another embodiment of a method for generating a direction guideline for a vehicle is shown. The flow 700 of the method for generating a direction guideline for a vehicle includes the steps of:

in step 701, in response to determining that the vehicle is about to turn around, the distance between the current position and the turning position is determined.

And step 702, shooting the driving direction of the vehicle through the vehicle-mounted camera to obtain a shooting result.

And step 703, identifying the lane line of the current lane and identifying the lane line of the opposite lane from the shooting result.

Step 704, in response to that the lane line of the current lane is not recognized and the lane line of at least one of the opposite lanes is recognized, obtaining the credibility of the last recognized lane line and the lane line recognized last time on the opposite lane and the current lane from the shooting result of the vehicle-mounted camera.

In the present embodiment, the vehicle described above responds to a determination that the lane line of the current lane is not recognized and that the lane line of at least one of the oncoming lanes is recognized. And acquiring the lane lines recognized by the last lane and the current lane of the vehicle and the credibility of the acquired lane lines. That is, the vehicle acquires the lane line that has been recognized for both the oncoming lane and the current lane for the latest time, and acquires the reliability that is determined for the recognized lane line when the vehicle has been recognized for the latest time. The recognition here is recognition of the result of shooting by the onboard camera of the vehicle.

Step 705, in response to determining that the reliability does not reach the reliability threshold, obtaining a preset direction of the current lane.

In this embodiment, if the vehicle determines that the reliability does not reach the reliability threshold, that is, is less than the reliability threshold, the vehicle responds: and acquiring the preset direction of the current lane. The vehicle may acquire a preset direction for the current lane from a local or other electronic device.

Step 706, determining the direction of the lane after turning based on the two lane lines of the lane after turning determined previously from the at least one lane, and generating a turning rear direction guide line with a preset length at a preset position between the two lane lines in the direction of the lane after turning.

In this embodiment, the vehicle determines the direction of the lane after the turn based on the two lane lines of the identified lane after the turn. And then, the vehicle generates a turn-back direction guide line at a preset position between two lane lines in the direction of the turn-back lane. The length of the direction guide line after turning is a preset length. The starting point of the turn-around rear direction guide line may be a target position in the electronic map. For example, the position of the lane after turning around corresponds to the turning-around position. For example, the position may be a position on a straight line where a lane stop line before turning around is located.

The lane after the turn is a lane previously determined by the vehicle from at least one lane among the opposite lanes. Specifically, the lane after the turn-around may be determined from at least one of the oncoming lanes after the vehicle recognizes at least one of the oncoming lanes.

Here, the direction of the lane is a direction in which the lane indicates the vehicle is traveling, and may be determined in various ways. Specifically, the coordinates of the line at the intermediate position of the two lane lines can be obtained by the two lane lines of the identified lane after the turnaround. The resulting lines in the middle position indicate two directions. Since the direction of the oncoming lane is determined, the vehicle makes a simple judgment to determine the direction of the lane after the turn from the two directions. For example, the current moving direction may be obtained by a sensor, and the angle between the direction of the lane after the turn and the moving direction of the vehicle to be determined is greater than 90 degrees.

And 707, determining a turn-around front direction guide line with the length of the distance according to the preset direction of the current lane, taking the current position as an endpoint and the width proportion of the two sides of the current position in the current lane.

In this embodiment, the vehicle determines the guide line in the direction before turning around by taking the current position of the vehicle as an endpoint and the ratio of the widths of the two sides of the current position in the current lane in the preset direction of the current lane. The other end point of the direction guide line before turning is the turning position. The length of the turn-around front direction guide line may be a length of a distance from the vehicle to the turn-around position. In the lane before the turnaround, the ratio of the widths of both sides of the turn-around front direction guide line is uniform, that is, the ratio of the widths of both sides of any two points on the turn-around front direction guide line or the center line of the turn-around front direction guide line is the same.

Step 708, determining a turning radius based on the turning front direction guide line and the turning rear direction guide line, and generating a connecting line of the turning front direction guide line and the turning rear direction guide line with the turning radius as a radius; generating a direction guide line composed of a turn-around front direction guide line, a turn-around rear direction guide line and a connecting line.

In the present embodiment, the vehicle determines the turning radius based on the turning front direction guide line and the turning rear direction guide line. And then generating an arc-shaped connecting line for connecting the turn-around front direction guide line and the turn-around rear direction guide line. Finally, a direction guideline is generated. The direction guide line may be obtained by splicing the pre-turning direction guide line, the connecting line, and the post-turning direction guide line. The radius of the arc-shaped connecting line is the turning radius. The connecting line here is a line connecting the turn-around front direction guide line and the turn-around rear direction guide line, and indicates the direction in which the vehicle turns when turning around. The turn radius is the radius of the arc connecting the turn front direction guide line and the turn rear direction guide line. In particular, the turn radius may be determined in a variety of ways.

With further reference to fig. 8, a flow 800 of yet another embodiment of a method for generating a direction guideline for a vehicle is shown. The process 800 of the method for generating a direction guideline for a vehicle includes the steps of:

step 801, in response to determining that the vehicle is about to turn around, determining a current position and a distance of the turn around position.

And step 802, shooting the driving direction of the vehicle through the vehicle-mounted camera to obtain a shooting result.

In step 803, the lane line of the current lane is identified from the captured result, and the lane line of the opposite lane is identified.

In the present embodiment, the vehicle recognizes the lane line of the current lane from the photographed result, and recognizes the lane line of the opposite lane from the photographed result. Here, the lane line identified is the position coordinates of the lane line. The current lane is the lane in which the vehicle is currently located. The lane lines are lines drawn on the road on which the vehicle is traveling, indicating that the vehicle is traveling between the two lane lines. The recognition from the shooting result may be recognition from an image obtained by shooting, or recognition from one frame image of the video. The identification of lane lines can be performed in a variety of ways. Wherein, the opposite lane comprises a turn-around rear lane.

And step 804, in response to that the lane line of the current lane is recognized and the lane line of at least one lane in the opposite lanes is not recognized, obtaining the credibility of the last time of the lane line recognized for the opposite lane and the current lane and the credibility of the last time of the lane line recognized for the opposite lane and the current lane from the shooting result of the vehicle-mounted camera.

In this embodiment, the vehicle is responsive to determining that a lane line of the current lane is identified and that a lane line of at least one of the opposing lanes is not identified. And acquiring the lane lines recognized by the last lane and the current lane of the vehicle and the credibility of the acquired lane lines. That is, the vehicle acquires the lane line that has been recognized for both the oncoming lane and the current lane for the latest time, and acquires the reliability that is determined for the recognized lane line when the vehicle has been recognized for the latest time. The recognition here is recognition of the result of shooting by the onboard camera of the vehicle.

And step 805, in response to determining that the reliability does not reach the reliability threshold, acquiring a preset direction of the lane after turning.

In this embodiment, if the vehicle determines that the reliability does not reach the reliability threshold, that is, is less than the reliability threshold, the vehicle responds: and acquiring the preset direction of the lane after turning. The vehicle may acquire a preset direction for the lane after the turn from a local or other electronic device.

Step 806, determining the direction of the current lane based on the lane line of the identified current lane, and generating a turn-around front direction guide line of the length of the distance with the current position as an endpoint in the direction of the current lane.

In this embodiment, the vehicle determines the direction of the current lane based on the lane line of the identified current lane. The vehicle generates a turn-around front direction guide line with the current position as an end point in the direction of the current lane. The lane direction is determined in the same or similar manner as in step 706, and will not be described herein.

In step 807, lane information of the current lane and lane information of the opposite lane are acquired from the electronic map.

In the present embodiment, the vehicle acquires the lane information of the current facing lane from the electronic map, and acquires the lane information of the facing lane. The current forward lane is the lane in the direction of the lane in which the vehicle is located in a road segment.

And 808, determining a lane after turning from the lanes indicated by the acquired lane information of the opposite lane, and generating a guide line with a preset length in the preset direction of the lane after turning.

In the present embodiment, the vehicle determines the lane after the turn from at least one lane indicated by the acquired lane information of the opposing lane. And generating a turn-around rear direction guide line with a preset length in the preset direction of the turn-around rear lane. Specifically, the turn-around direction guide line may start at a position of the turn-around lane corresponding to the turn-around position.

Step 809, determining a turning radius based on the turning front direction guide line and the turning rear direction guide line, and generating a connecting line of the turning front direction guide line and the turning rear direction guide line by taking the turning radius as a radius; generating a direction guide line composed of a turn-around front direction guide line, a turn-around rear direction guide line and a connecting line.

With further reference to fig. 9, a flow 900 of yet another embodiment of a method for generating a direction guideline for a vehicle is shown. The process 900 of the method for generating a direction guideline for a vehicle includes the steps of:

step 901, in response to determining that the vehicle is going to turn around, determining a current position and a distance of the turning position.

And step 902, shooting the driving direction of the vehicle through the vehicle-mounted camera to obtain a shooting result.

And step 903, identifying the lane line of the current lane and identifying the lane line of the opposite lane from the shooting result.

And 904, in response to that the lane line of the current lane and the lane line of at least one of the opposite lanes are not recognized, obtaining the credibility of the last time of the opposite lane and the lane line recognized by the current lane and the lane line recognized by the last time from the shooting result of the vehicle-mounted camera.

In this embodiment, in response to that the vehicle does not recognize the lane line of the current lane or the lane line of at least one of the lanes in the opposite direction, that is, in response to that the vehicle does not recognize the lane line, the vehicle acquires the lane lines recognized by the last opposite lane and the current lane of the vehicle, and acquires the reliability of the acquired lane lines. That is, the vehicle acquires the lane line that has been recognized for both the oncoming lane and the current lane for the latest time, and acquires the reliability that is determined for the recognized lane line when the vehicle has been recognized for the latest time. The recognition here is recognition of the result of shooting by the onboard camera of the vehicle.

And step 905, responding to the situation that the reliability does not reach the reliability threshold value, and acquiring the preset direction of the lane before turning and the preset direction of the lane after turning.

In this embodiment, if the vehicle determines that the reliability does not reach the reliability threshold, that is, is less than the reliability threshold, the vehicle responds: and acquiring the preset directions of the lane after turning and the current lane. The vehicle may acquire the preset directions of the lane after turning around and the current lane from a local or other electronic device. The lane before the turn is herein a lane indicating that the vehicle is traveling before the turn.

And step 906, acquiring the lane information of the current lane and the lane information of the opposite lane from the electronic map.

In the present embodiment, the vehicle acquires the lane information of the current lane from the electronic map, and acquires the lane information of the oncoming lane. The opposite lane comprises a turn-around rear lane.

And 907, determining a lane after turning from lanes indicated by the acquired lane information of the opposite lane, and generating a guide line with a preset length in the preset direction of the lane after turning.

And 908, determining a lane before turning from the lanes indicated by the acquired lane information of the current lane, and generating a turn-around front direction guide line with a specified length by taking the current position as an endpoint in a preset direction of the lane before turning.

In the present embodiment, the vehicle determines the lane before turning from at least one lane indicated by the acquired lane information of the current forward lane. And in the preset direction of the lane before turning, a turn-around front direction guide line with a specified length is generated by taking the current position as an endpoint. The vehicle may randomly determine a lane as a lane before turn from the indicated lanes. It may also be determined according to a predetermined rule, such as determining the middle lane, the outer lane, etc. The designated length is a length which is manually designated or is designated by machine equipment according to a certain rule.

In step 909, a turning radius is determined based on the width of the current lane and the width of the opposite lane, and the distance between the lane in the same direction and the opposite lane, and a connection line of the turning front direction guide line and the turning rear direction guide line is generated with the turning radius as a radius.

In this embodiment, the lane information of the current lane and the lane information of the opposite lane include the width of the lane and also include the distance between the lane in the same direction and the opposite lane. According to the width of each lane included in the lane information and the determined widths of the lane before turning and the lane after turning, the distance between the middle position of the lane before turning and the middle position of the lane after turning can be determined. Specifically, half of the distance may be determined as the turn radius. And generating a connecting line of the turning front direction guide line and the turning rear direction guide line by taking the turning radius as the radius.

Step 910, generating a direction guide line composed of a turn-around front direction guide line, a turn-around rear direction guide line and a connecting line.

In the present embodiment, the vehicle generates a direction guide line composed of a pre-turn direction and a connecting line. The direction guide line may be obtained by splicing the pre-turning direction guide line, the connecting line, and the post-turning direction guide line.

With further reference to fig. 10, as an implementation of the method shown in the above figures, the present application provides an embodiment of an apparatus for generating a direction guide line for a vehicle, which corresponds to the embodiment of the method shown in fig. 2, and which is particularly applicable in various electronic devices.

As shown in fig. 10, the apparatus 1000 for generating a direction guide line of a vehicle of the present embodiment includes: a distance determination unit 1001, a photographing unit 1002, a recognition unit 1003, a determination unit 1004, and a generation unit 1005. Wherein the distance determination unit 1001 is configured to determine the distance between the current position and the turning position in response to determining that the vehicle is going to turn around; the shooting unit 1002 is configured to shoot the driving direction of the vehicle through the vehicle-mounted camera to obtain a shooting result; a recognition unit 1003 configured to recognize a lane line of a current lane and recognize a lane line of an opposite lane from the photographing result; a determining unit 1004 configured to determine one lane of the at least one lane as a lane after turnaround in response to determining that the lane line of the current lane and the lane line of the at least one lane of the opposing lanes are recognized; a generating unit 1005 configured to generate a direction guide line indicating a turn of the vehicle based on a lane line of the current lane, a lane line of the lane after the turn, and the distance.

The distance determination unit 1001 responds if it determines that the vehicle is about to turn around: the distance to the turning position is determined. The direction guide line is a line indicating the traveling direction of the vehicle and guiding the vehicle to travel, and may be applied to a navigation system. The line width of the direction guideline may be arbitrary. The turning position is a starting position when the vehicle turns around, i.e., the vehicle starts turning when turning around. The range of the turning position may be determined by an electronic map of the vehicle (such as a car-mounted map), and the distance determination unit 1001 may thus be able to obtain the lane information from the electronic map. For example, the turn around position may be a position in the stop line. The lane information of the electronic map may include a range of several lanes of a road section, a width of each lane, and which lanes may turn around, and a turn-around position of each lane on each side of each road section. The distance determined here may be the shortest distance among the distances of the vehicle from the respective positions in the above range.

The shooting unit 1002 shoots the traveling direction of the vehicle through the on-board camera thereon, and obtains a shooting result. Here, the obtained photographing result may be an image or a video. The camera shoots towards the driving direction of the vehicle, because the shooting angle of the camera is large, and is generally 180 degrees. Therefore, the field of view for shooting is wide, and the opposite lane can be shot.

The recognition unit 1003 recognizes the lane line of the current lane from the shooting result, and recognizes the lane line of the opposite lane from the shooting result. Here, the lane line identified is the position coordinates of the lane line. The current lane is the lane in which the vehicle is currently located. The lane lines are lines drawn on the driving road of the vehicle to indicate the driving of the vehicle therein. The recognition from the shooting result may be recognition from an image obtained by shooting, or recognition from one frame image of the video. The identification can be performed in a number of ways. The opposite lane comprises a turn-around rear lane.

The determination unit 1004 responds, if it is determined that the lane line of the current lane and the lane line of at least one of the opposing lanes are recognized: and determining one lane of the at least one lane as a lane after the turn. The opposite lane is a lane running in the opposite direction in the same road section. The lane after turning around is the lane for the vehicle to run after turning around. Generally, lanes in the opposite lanes can be used as lanes for driving after the vehicle turns around, and one of the lanes can be randomly determined to be used as a lane after the vehicle turns around. It may also be determined according to a predetermined rule, such as determining the middle lane, the outer lane, etc.

The generating unit 1005 generates a direction guide line indicating a turn of the vehicle based on the lane line of the current lane and the lane line of the lane after the turn, and the distance between the vehicle and the turn position. For example, the position relationship between the direction guide line and the lane line, and the pattern of the guide line, which may include length, width, and color, may be preset. The position of the direction guide line is obtained using the recognized position of the lane line and the positional relationship. And generating a direction guide line at the position by using a preset pattern. In addition, the positional relationship between the direction guide line and the lane line may also be varied, that is, may be varied according to the current position of the vehicle.

In some optional implementations of this embodiment, the apparatus further includes: a reliability determination unit configured to acquire, in response to a determination that a lane line of one of the opposite lane and the current lane is recognized, a reliability of a lane line recognized last time and a lane line recognized last time from the shooting result of the vehicle-mounted camera to the opposite lane and the current lane; a first generating unit configured to generate a lane line of a current lane and a lane line of a previously determined lane after turnaround in the opposite lanes based on the last recognized lane line in response to determining that the degree of reliability reaches a threshold degree of reliability, and generate a direction guide line indicating a turn of the vehicle based on the lane line of the current lane, the lane line of the lane after the turn, and the distance; or a second generating unit configured to acquire a preset direction of a lane in which the lane line is not recognized, from among the current lane and the oncoming lane, in response to the determination that the reliability does not reach the reliability threshold, and generate a direction guide line based on the recognized lane line and the preset direction.

In some optional implementations of this embodiment, the generating unit includes: the first generating module is configured to generate a turn-around front direction guide line with a distance based on a lane line of a current lane and a current position, and generate a turn-around rear direction guide line with a preset length based on a lane line of a turn-around rear lane, wherein the position of one end point of the turn-around front direction guide line is the current position; a second generating module configured to determine a turning radius based on the turning front direction guide line and the turning rear direction guide line, and generate an arc-shaped connecting line having a radius of the turning radius and connecting the turning front direction guide line and the turning rear direction guide line; generating a direction guide line composed of a turn-around front direction guide line, a turn-around rear direction guide line and a connecting line.

In some optional implementation manners of this embodiment, the second generating unit includes: the first acquisition module is configured to acquire a preset direction of a current lane under the condition that a lane line of the current lane is not recognized and a lane line of at least one lane in opposite lanes is recognized; the first guide line generating module is configured to determine the direction of the lane after turning based on two lane lines of a lane after turning determined in advance from at least one lane, and generate a guide line with the length being a preset length at a preset position between the two lane lines in the direction of the lane after turning; the first determining module is configured for determining a turn-around front direction guide line of the length of the distance in a preset direction of the current lane by taking the current position as an endpoint and the ratio of the widths of two sides of the current position in the current lane; a first direction guide line generation module configured to determine a turning radius based on the turning front direction guide line and the turning rear direction guide line, and generate an arc-shaped connection line having a radius of the turning radius and connecting the turning front direction guide line and the turning rear direction guide line; generating a direction guide line composed of a turn-around front direction guide line, a turn-around rear direction guide line and a connecting line.

In some optional implementations of this embodiment, the apparatus further includes: an acquisition unit configured to acquire lane information of a current facing lane and lane information of a facing lane from an electronic map.

In some optional implementation manners of this embodiment, the second generating unit includes: the second acquisition module is configured to acquire the preset direction of the lane after turning around under the condition that the lane line of the current lane is identified and the lane line of at least one lane in the opposite lanes is not identified; the second guide line generating module is configured to determine the direction of the current lane based on the identified lane line of the current lane, and generate a turn-around front direction guide line with the length of the distance by taking the current position as an endpoint in the direction of the current lane; the second determining module is configured to determine a lane after turning from lanes indicated by the acquired lane information of the opposite lane, and generate a guide line with a preset length in a preset direction of the lane after turning; a second direction guide line generation module configured to determine a turning radius based on the turning front direction guide line and the turning rear direction guide line, and generate an arc-shaped connection line having a radius of the turning radius and connecting the turning front direction guide line and the turning rear direction guide line; generating a direction guide line composed of a turn-around front direction guide line, a turn-around rear direction guide line and a connecting line.

In some optional implementations of the present embodiment, the lane information of the current lane and the lane information of the opposite lane include a width of the lane, and further include a distance between the lane in the same direction and the opposite lane, and the opposite lane includes a lane after the turn around; and a second generation unit including: the third acquisition module is configured to acquire a preset direction of a lane before turning around and a preset direction of a lane after turning around under the condition that at least one lane line of the current lane and the lane line of the opposite lane is not identified; the third guide line generating module is configured to determine a lane after turning from lanes indicated by the acquired lane information of the opposite lane, and generate a guide line with a preset length in the preset direction of the lane after turning; the third determining module is configured to determine a lane before turning from lanes indicated by the acquired lane information of the current lane, and generate a guide line with a specified length behind turning by taking the current position as an endpoint in a preset direction of the current lane; the connecting line determining module is configured for determining a turning radius based on the width of a current lane, the width of an opposite lane and the distance between the lanes in the same direction and the opposite lane, and generating connecting lines which take the turning radius as the radius and are used for guiding lines in the front direction of the turning and guiding lines in the rear direction of the turning; and the third direction guide line generating module is configured for generating a direction guide line consisting of a turn-around front direction guide line, a turn-around rear direction guide line and a connecting line.

In some optional implementations of this embodiment, the generating unit is further configured to: a direction guideline indicating a vehicle turn is generated using augmented reality techniques.

In some optional implementations of this embodiment, the apparatus further includes: a matrix acquisition unit configured to acquire a conversion matrix for coordinate conversion of coordinate data of a world coordinate system and coordinate data of a coordinate system of a navigation display screen of a vehicle; a conversion unit configured to convert the generated coordinate data of the direction guideline from the world coordinate system into a coordinate system of the navigation display screen using a conversion matrix.

Referring now to FIG. 11, a block diagram of a computer system 1100 suitable for use in implementing a vehicle in accordance with an embodiment of the present application is shown. The vehicle shown in fig. 11 is merely an example, and should not bring any limitation to the function and the range of use of the embodiment of the present application.

As shown in fig. 11, the computer system 1100 includes a Central Processing Unit (CPU)1101, which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)1102 or a program loaded from a storage section 1108 into a Random Access Memory (RAM) 1103. In the RAM 1103, various programs and data necessary for the operation of the system 1100 are also stored. The CPU 1101, ROM 1102, and RAM 1103 are connected to each other by a bus 1104. An input/output (I/O) interface 1105 is also connected to bus 1104.

The following components are connected to the I/O interface 1105: an input portion 1106 including a keyboard, mouse, and the like; an output portion 1107 including a signal output unit such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 1108 including a hard disk and the like; and a communication section 1109 including a network interface card such as a LAN card, a modem, or the like. The communication section 1109 performs communication processing via a network such as the internet. A driver 1110 is also connected to the I/O interface 1105 as necessary. A removable medium 1111 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1110 as necessary, so that a computer program read out therefrom is mounted into the storage section 1108 as necessary.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication portion 1109 and/or installed from the removable medium 1111. The above-described functions defined in the method of the present application are performed when the computer program is executed by a Central Processing Unit (CPU) 1101. It should be noted that the computer readable medium described herein can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present application may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor includes a distance determination unit, a photographing unit, a recognition unit, and a generation unit. Here, the names of these units do not constitute a limitation to the unit itself in some cases, and for example, the distance determination unit may also be described as a "unit that determines the distance between the current position and the turning position".

As another aspect, the present application also provides a computer-readable medium, which may be contained in the apparatus described in the above embodiments; or may be present separately and not assembled into the device. The computer readable medium carries one or more programs which, when executed by the apparatus, cause the apparatus to determine a current position and a distance to a turn location in response to determining that the vehicle is about to turn; shooting the driving direction of the vehicle through a vehicle-mounted camera to obtain a shooting result; recognizing a lane line of a current lane and recognizing a lane line of an opposite lane from the photographing result; in response to determining that the lane line of the current lane and the lane line of the at least one lane of the opposite lanes are identified, determining one lane of the at least one lane as a lane after the turn around; and generating a direction guide line indicating the turning of the vehicle based on the lane line of the current lane, the lane line of the lane after turning and the distance.

The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the invention. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.

Claims

1. A method for generating a direction guideline for a vehicle, comprising:

in response to determining that the vehicle is about to turn around to travel, determining a current location and a distance to the turn around location;

shooting the driving direction of the vehicle through a vehicle-mounted camera to obtain a shooting result;

identifying a lane line of a current lane and identifying a lane line of an opposite lane from the shooting result, wherein the opposite lane comprises a turn-around lane;

in response to determining that a lane line of the current lane and a lane line of at least one of the opposing lanes are identified, determining one of the at least one lane as a post-turn lane;

generating a direction guide line indicating the turning of the vehicle based on the lane line of the current lane, the lane line of the lane after the turning, and the distance;

the method further comprises the following steps:

acquiring the credibility of the lane line recognized for the opposite lane and the current lane for the last time and the credibility of the lane line recognized for the last time from the shooting result of the vehicle-mounted camera in response to the fact that the lane line of one of the opposite lane and the current lane is recognized;

and in response to determining that the reliability does not reach a reliability threshold, acquiring a preset direction of a lane of which a lane line is not recognized in the current lane and the opposite lane, and generating a direction guide line based on the recognized lane line and the preset direction.

2. The method for generating a direction guideline for a vehicle of claim 1, wherein the method further comprises:

in response to determining that the confidence level reaches a confidence threshold, generating a lane line of the current lane and a lane line of a previously determined turn-around lane of the oncoming lane based on the last identified lane line, and generating a direction guide line indicating the turn-around of the vehicle based on the lane line of the current lane, the lane line of the previously determined turn-around lane of the oncoming lane, and the distance.

3. The method for generating a direction guide line for a vehicle according to one of claims 1 or 2, wherein the generating a direction guide line indicating a turn of the vehicle based on the lane line of the current lane, the lane line of the turn-around lane, and the distance includes:

generating a turn-around front direction guide line with the length being the distance based on the lane line of the current lane and the current position, and generating a turn-around rear direction guide line with a preset length based on the lane line of the turn-around rear lane, wherein the position of one end point of the turn-around front direction guide line is the current position;

determining a turning radius based on the turning front direction guide line and the turning rear direction guide line, and generating an arc-shaped connecting line with the radius of the turning radius and connecting the turning front direction guide line and the turning rear direction guide line; generating a direction guide line composed of the turn-around front direction guide line, the turn-around rear direction guide line and the connecting line.

4. The method for generating a direction guide line for a vehicle according to claim 1, wherein the acquiring a preset direction of a lane in which no lane line is recognized from among the current lane and the opposite lane, and generating a direction guide line based on the recognized lane line and the preset direction includes:

acquiring a preset direction of the current lane under the condition that the lane line of the current lane is not recognized and the lane line of at least one lane in the opposite lanes is recognized;

determining the direction of the lane after turning based on the two identified lane lines of the lane after turning determined in advance from the at least one lane, and generating a guide line with the length being a preset length at a preset position between the two lane lines in the direction of the lane after turning;

determining a turn-around front direction guide line of the length of the distance by taking the current position as an endpoint and the width proportion of two sides of the current position in the current lane in the preset direction of the current lane;

5. The method for generating a direction guideline for a vehicle of claim 1, wherein the method further comprises:

and acquiring the lane information of the current lane and the lane information of the opposite lane from the electronic map.

6. The method for generating a direction guide line for a vehicle according to claim 5, wherein the acquiring a preset direction of a lane in which no lane line is recognized from among the current lane and the opposite lane, and generating a direction guide line based on the recognized lane line and the preset direction includes:

acquiring a preset direction of a lane after turning around under the condition that a lane line of a current lane is identified and a lane line of at least one lane in the opposite lanes is not identified;

determining the direction of the current lane based on the identified lane line of the current lane, and generating a turn-around front direction guide line with the length of the distance by taking the current position as an endpoint in the direction of the current lane;

determining a lane after turning from the lanes indicated by the acquired lane information of the opposite lane, and generating a guide line with a preset length in the preset direction of the lane after turning;

7. The method for generating a direction guide line of a vehicle according to claim 5, wherein the lane information of the current lane and the lane information of the opposite lane include a width of a lane and further include a distance between the lane in the same direction and the opposite lane; and

the method further comprises the following steps:

acquiring a preset direction of a lane before turning around and a preset direction of a lane after turning around under the condition that a lane line of the current lane and a lane line of at least one lane in the opposite lanes are not identified;

determining a lane before turning from the lanes indicated by the acquired lane information of the current lane, and generating a turn-around front direction guide line with a specified length by taking the current position as an endpoint in a preset direction of the lane before turning;

determining a turning radius based on the width of a current lane and the width of an opposite lane and the distance between the lanes in the same direction and the opposite lane, and generating a connecting line which takes the turning radius as a radius and is used for the front turning direction guide line and the rear turning direction guide line;

generating a direction guide line composed of the turn-around front direction guide line, the turn-around rear direction guide line and the connecting line.

8. The method for generating a direction guide line for a vehicle according to claim 1, wherein said generating a direction guide line indicating a turn of the vehicle comprises:

generating a direction guideline indicating that the vehicle is turning using augmented reality techniques.

9. The method for generating a direction guideline for a vehicle of claim 1, wherein the method further comprises:

acquiring a transformation matrix for carrying out coordinate transformation on coordinate data of a world coordinate system and coordinate data of a coordinate system of a navigation display screen of the vehicle;

converting the generated coordinate data of the direction guideline from the world coordinate system into the coordinate system of the navigation display screen using the conversion matrix.

10. An apparatus for generating a direction guideline for a vehicle, comprising:

a distance determination unit configured to determine a distance between a current position and a turning position in response to a determination that the vehicle is to be turned around;

the shooting unit is configured to shoot the driving direction of the vehicle through the vehicle-mounted camera to obtain a shooting result;

a recognition unit configured to recognize a lane line of a current lane and recognize a lane line of an opposite lane from the photographing result, wherein the opposite lane includes a lane after turning around;

a determining unit configured to determine one of the at least one lane as a lane after turnaround in response to determining that the lane line of the current lane and the lane line of the at least one lane of the oncoming lane are identified;

a generating unit configured to generate a direction guide line indicating a turn of the vehicle based on a lane line of the current lane, a lane line of the lane after the turn, and the distance;

the device further comprises:

a reliability determination unit configured to acquire, in response to a determination that a lane line of one of the opposite lane and the current lane is recognized, reliability of a lane line recognized for both the opposite lane and the current lane for the last time and the lane line recognized for the last time from the shooting result of the vehicle-mounted camera;

a second generating unit configured to, in response to determining that the reliability does not reach a reliability threshold, acquire a preset direction of a lane of which a lane line is not recognized, of the current lane and the opposite lane, and generate a direction guide line based on the recognized lane line and the preset direction.

11. The apparatus for generating a direction guide line for a vehicle of claim 10, wherein the apparatus further comprises: a first generating unit configured to generate, in response to determining that the reliability reaches a reliability threshold, a lane line of the current lane and a lane line of a previously determined turn-around lane of the opposite lane based on the last recognized lane line, and generate a direction guide line indicating a turn-around of the vehicle based on the lane line of the current lane, the lane line of the previously determined turn-around lane of the opposite lane, and the distance.

12. The apparatus for generating a direction guide line for a vehicle according to one of claims 10 or 11, wherein the generating unit includes:

a first generating module, configured to generate a turn-around front direction guide line with a length equal to the distance based on a lane line of the current lane and a current position, and generate a turn-around rear direction guide line with a preset length based on a lane line of the turn-around rear lane, where a position of one end point of the turn-around front direction guide line is the current position;

a second generating module configured to determine a turning radius based on the turning front direction guide line and the turning rear direction guide line, and generate an arc-shaped connecting line having a radius equal to the turning radius and connecting the turning front direction guide line and the turning rear direction guide line; generating a direction guide line composed of the turn-around front direction guide line, the turn-around rear direction guide line and the connecting line.

13. The apparatus for generating a direction guide line for a vehicle according to claim 10, wherein the second generating unit includes:

the first acquisition module is configured to acquire a preset direction of the current lane under the condition that a lane line of the current lane is not recognized and a lane line of at least one lane in the opposite lanes is recognized;

the first guide line generating module is configured to determine a direction of the lane after turning based on two identified lane lines of a lane after turning determined in advance from the at least one lane, and generate a guide line in the direction of the lane after turning, which is at a preset position between the two lane lines and has a preset length, in the direction of the lane after turning;

the first determining module is configured to determine a turn-around front direction guide line of the length of the distance by taking the current position as an endpoint and the width proportion of two sides of the current position in the current lane in the preset direction of the current lane;

a first direction guide line generation module configured to determine a turning radius based on the turning front direction guide line and the turning rear direction guide line, and generate an arc-shaped connection line having a radius equal to the turning radius and connecting the turning front direction guide line and the turning rear direction guide line; generating a direction guide line composed of the turn-around front direction guide line, the turn-around rear direction guide line and the connecting line.

14. The apparatus for generating a direction guide line for a vehicle of claim 10, wherein the apparatus further comprises:

an acquisition unit configured to acquire lane information of a current facing lane and lane information of the facing lane from an electronic map.

15. The apparatus for generating a direction guide line for a vehicle according to claim 14, wherein the second generating unit includes:

the second acquisition module is configured to acquire the preset direction of the lane after turning around under the condition that the lane line of the current lane is identified and the lane line of at least one lane in the opposite lanes is not identified;

the second guide line generating module is configured to determine the direction of the current lane based on the identified lane line of the current lane, and generate a turn-around front direction guide line of the length of the distance by taking the current position as an endpoint in the direction of the current lane;

the second determining module is configured to determine a lane after turning from lanes indicated by the acquired lane information of the opposite lane, and generate a guide line with a preset length in a preset direction of the lane after turning;

a second direction guide line generation module configured to determine a turning radius based on the turning front direction guide line and the turning rear direction guide line, and generate an arc-shaped connection line having a radius equal to the turning radius and connecting the turning front direction guide line and the turning rear direction guide line; generating a direction guide line composed of the turn-around front direction guide line, the turn-around rear direction guide line and the connecting line.

16. The apparatus for generating a direction guide line of a vehicle according to claim 14, wherein the lane information of the current lane and the lane information of the opposite lane include a width of a lane and further include a distance between the lane in the same direction and the opposite lane; and

the device is further configured to acquire a preset direction of a lane before turning around and a preset direction of a lane after turning around in a case where a lane line of the current lane and a lane line of at least one lane of the opposite lanes are not identified;

17. A vehicle, comprising:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-9.

18. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-9.