CN110375764A - Lane change reminding method, system, vehicle and storage medium - Google Patents
Lane change reminding method, system, vehicle and storage medium Download PDFInfo
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- CN110375764A CN110375764A CN201910641735.5A CN201910641735A CN110375764A CN 110375764 A CN110375764 A CN 110375764A CN 201910641735 A CN201910641735 A CN 201910641735A CN 110375764 A CN110375764 A CN 110375764A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3629—Guidance using speech or audio output, e.g. text-to-speech
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
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Abstract
The embodiment of the invention discloses a kind of lane change reminding method, system, vehicle and storage mediums.This method comprises: the navigation routine for the current vehicle that augmented reality processor obtains the vehicle position information for the current vehicle that positioning device is sent and navigation device is sent, the road image in front of current vehicle that lane identification processor is acquired according to forward sight camera, the edge position information at the target edge of road where determining current vehicle, and edge position information is sent to augmented reality processor, augmented reality processor edge position information and vehicle position information based on the received, determine the lane where current vehicle, and when the target steering direction of the steering direction in current vehicle place lane and navigation routine Present navigation is inconsistent, lane change prompt is carried out in a manner of augmented reality.Compared with prior art, lane change prompt also may be implemented without high-precision map in the embodiment of the present invention, so that driver is understood navigation information in time, reduces the risk taken a wrong way.
Description
Technical field
The present embodiments relate to field of navigation technology more particularly to a kind of lane change reminding method, system, vehicle and storages
Medium.
Background technique
Currently, onboard navigation system can only be to the simple language of the carry out such as vehicle position information and left-hand rotation, right-hand rotation and straight trip
Sound prompt, or prompted by the navigation device on vehicle.Driver is needed conscientiously to listen by way of voice prompting
Voice is taken, needing driver to bow just in such a way that navigation device is shown can see, both modes can all disperse to drive
The attention of member, and the information such as the lane that vehicle is currently located and the lane that should be travelled can not be prompted, so that
Driver is easy to take a wrong way.
To solve the above-mentioned problems, the prior art carries high-precision map on vehicle, realizes vehicle by high-precision map
The positioning of road grade, this high-precision map can only cover through street and expressway, can not cover in addition to through street and expressway
City road or rural road etc., and existed only in the high-end vehicles of part at present, there is certain limitation, can not be effective
Reduce the risk taken a wrong way.
Summary of the invention
The embodiment of the present invention provides a kind of lane change reminding method, system, vehicle and storage medium, to effectively prevent driver
The risk taken a wrong way.
In a first aspect, the embodiment of the present invention provides a kind of lane change reminding method, comprising:
Augmented reality processor obtains the vehicle position information and navigation device hair for the current vehicle that positioning device is sent
The navigation routine of the current vehicle sent；
The road image in front of the current vehicle that lane identification processor is acquired according to forward sight camera, determine described in
The edge position information at the target edge of road where current vehicle, and the edge position information is sent to the enhancing now
Real processor；
The augmented reality processor edge position information and vehicle position information based on the received determine and described work as front truck
Lane where, and the steering direction in lane and the target of the navigation routine Present navigation are driven where the current vehicle
Sail direction it is inconsistent when, lane change prompt is carried out in a manner of augmented reality.
Second aspect, the embodiment of the present invention also provide a kind of lane change prompt system, comprising: forward sight camera, navigation device,
Positioning device, lane identification processor and augmented reality processor；
The forward sight camera is connect with the lane identification processor, the lane identification processor also with the enhancing
Reality processor connection, the augmented reality processor are also connect with the positioning device and navigation device respectively；
The forward sight camera is sent to for acquiring the road image in front of current vehicle, and by the road image
The lane identification processor；
The navigation device, the beginning and end for being inputted according to driver, determines corresponding navigation routine, so that institute
It states driver and the current vehicle is driven according to the navigation routine；
The lane identification processor, for road image based on the received, road where determining the current vehicle
The edge position information at target edge, and the edge position information is sent to the augmented reality processor；
The positioning device, for obtaining the vehicle position information of the current vehicle in real time；
The augmented reality processor, for edge position information and vehicle position information based on the received, determine described in
Lane where current vehicle, and the steering direction in lane and the navigation routine Present navigation where the current vehicle
When target steering direction is inconsistent, lane change prompt is carried out in a manner of augmented reality.
The third aspect, the embodiment of the present invention also provide a kind of vehicle, comprising:
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes lane change reminding method as described in relation to the first aspect.
Fourth aspect, the embodiment of the present invention also provide a kind of storage medium, are stored thereon with computer program, the program quilt
When processor executes, lane change reminding method as described in relation to the first aspect may be implemented.
The embodiment of the present invention provides a kind of lane change reminding method, system, vehicle and storage medium, is handled by augmented reality
The current vehicle that device obtains the vehicle position information for the current vehicle that positioning device is sent and navigation device is sent is led
Air route line, the road image in front of the current vehicle that lane identification processor is acquired according to forward sight camera, determine described in
The edge position information at the target edge of road where current vehicle, and the edge position information is sent to the enhancing now
Real processor, the augmented reality processor edge position information and vehicle position information based on the received determine described current
Lane where vehicle, and when the target of the steering direction in current vehicle place lane and the navigation routine Present navigation
When steering direction is inconsistent, lane change prompt is carried out in a manner of augmented reality.Compared with prior art, the embodiment of the present invention is not necessarily to
Lane change prompt also may be implemented in high-precision map, so that driver is understood navigation information in time, reduces the risk taken a wrong way.
Detailed description of the invention
Fig. 1 is a kind of flow chart for lane change reminding method that the embodiment of the present invention one provides；
Fig. 2 is a kind of flow chart of lane change reminding method provided by Embodiment 2 of the present invention；
Fig. 3 is a kind of partial process view of lane change reminding method provided by Embodiment 2 of the present invention；
Fig. 4 is a kind of schematic diagram of lane change prompt information provided by Embodiment 2 of the present invention；
Fig. 5 is a kind of structure chart for lane change prompt system that the embodiment of the present invention three provides；
Fig. 6 is a kind of structure chart for augmented reality processor that the embodiment of the present invention three provides；
Fig. 7 is the structure chart for another lane change prompt system that the embodiment of the present invention three provides；
Fig. 8 is a kind of structure chart for vehicle that the embodiment of the present invention four provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.In addition, in the absence of conflict, this
The feature in embodiment and embodiment in invention can be combined with each other.
Embodiment one
Fig. 1 is a kind of flow chart for lane change reminding method that the embodiment of the present invention one provides, and the present embodiment is applicable to mention
Preceding prompting driver's lane change, prevents the case where taking a wrong way, and this method can be executed by lane change prompt system, which can lead to
The mode for crossing software and/or hardware is realized, and is integrated in the car.Specifically, this method comprises the following steps:
S110, augmented reality processor obtain the vehicle position information and navigation dress for the current vehicle that positioning device is sent
Set the navigation routine of the current vehicle of transmission.
Augmented reality (Augmented Reality, AR) technology is a kind of to blend virtual information and real world
Technology realizes the enhancing to real world.The augmented reality processor of the present embodiment is a kind of processor that outdoor scene can be enhanced,
When detecting that driver needs lane change, lane change prompt is carried out by way of augmented reality, prevents driver from taking a wrong way.Positioning
Device is arranged on current vehicle, for positioning the vehicle position information of current vehicle, specifically can be GPS (Global
Positioning System, global positioning system), wherein vehicle position information includes the longitude and latitude of current vehicle.It is real
When border positions, some point on current vehicle can be chosen as datum mark, pass through the location information of positioning datum point, realization pair
The positioning of current vehicle, embodiment without limiting, such as can be the central point of vehicle to the selection of datum mark.Navigation device
It is a kind of beginning and end inputted according to driver, exports the device of suitable path, to guide driver to drive, such as can be with
It is automatic navigator or navigation mobile phone etc..It should be noted that navigation device in addition to can according to driver input starting point and
Terminal exports suitable path, the steering direction and current vehicle in each lane of road where can also determining current vehicle
The steering direction at next crossing.
It is communicated to connect in application, navigation device and positioning device are established with augmented reality processor respectively, it is existing to enhance
What the steering direction and positioning device of navigation routine, each lane that real processor is determined according to navigation device positioned works as front truck
Vehicle position information, judge whether to need lane change in advance.
The road image in front of the current vehicle that S120, lane identification processor are acquired according to forward sight camera, really
The edge position information at the target edge of road where the fixed current vehicle, and the edge position information is sent to described
Augmented reality processor.
Forward sight camera is mounted in the vehicle-mounted camera in front of current vehicle, for acquire in front of current vehicle one section away from
It is sent to lane identification processor from interior road image, and by the road image, so that lane identification processor is according to the road
The edge position information at the target edge of road where road image determines current vehicle, wherein target edge is previously selected
The edge wide for subsequent determining lane, embodiment is without restriction, such as the road edge on the left of current vehicle can be set
It is set to target edge, the road edge on right side can also be set as target edge.Edge position information is target edge place
Position, can directly be latitude and longitude information, be also possible to convert the obtained position equation of latitude and longitude information.Lane identification processing
Device is arranged on current vehicle, if being additionally provided with advanced automated driving system (Highly Automated on current vehicle
Driving, HAD), it also can integrate in HAD, be mainly used for the edge position that road image based on the received determines target edge
Confidence breath.
Specifically, the target edge in lane identification processor identification road image, obtains a series of edge data points
Latitude and longitude information is fitted to obtain the corresponding position equation of the data point according to the latitude and longitude information of the data point, as target side
The location information on edge, embodiment are fitted the latitude and longitude information according to the data point to obtain the corresponding position equation of the data point
Detailed process is without restriction, such as the latitude and longitude information of data point can be directly inputted model of fit, defeated by model of fit
The corresponding position equation of the data point out.Optionally, the position equation at the target edge that the present embodiment obtains is cubic polynomial
Equation, shaped like y=ax1 3+bx1 2+cx1+ d, wherein a, b, c and d are constant, x1For the longitude and latitude of edge data point.Lane identification
Position equation of the processor in addition to that can determine target edge, can also determine the corresponding position equation of every lane line, according to
The position equation of adjacent two lane lines is the width in the lane that can determine that adjacent two lane lines are formed, and is judged whether to be subsequent
Lane change is needed to provide foundation, wherein the determination process of lane line corresponding position equation is similar with target edge.Target edge and vehicle
The corresponding position equation of diatom can be with associated storage, when vehicle is travelled again on the road after determining, can be directly sharp
With no longer needing to calculate.
It is understood that in addition to edge and lane line comprising road in the road image of forward sight camera acquisition, also
Can be comprising information such as other vehicle and pedestrians, in order to improve the accuracy of position equation, lane identification processor receives mileage chart
As after, road image can be filtered and noise reduction process, the barrier except road is filtered out.
S130, the augmented reality processor edge position information and vehicle position information based on the received, determine described in
Lane where current vehicle, and the steering direction in lane and the navigation routine Present navigation where the current vehicle
When target steering direction is inconsistent, lane change prompt is carried out in a manner of augmented reality.
Different lanes is corresponding with corresponding steering direction, including straight trip, left-hand rotation, right-hand rotation and u-turn, every lane
Steering direction is predetermined, and the steering direction in each lane of present road can be determined according to navigation device.Navigation routine
The target steering direction of Present navigation be current vehicle pass through next crossing steering direction, such as turn left, turn right, straight trip or
U-turn.
Specifically, target edge is by taking the road edge on the left of current vehicle as an example, it can be according to the edge position at target edge
The vehicle position information of confidence breath and current vehicle determines current vehicle to the distance at target edge, and determination is worked as according to this distance
Lane where vehicle in front, such as target edge are less than the width in the first from left road at a distance from current vehicle, then can determine current
Vehicle is in the first from left road.It can also determine the lane where current vehicle according to the quantity of current vehicle left-hand lane line, such as when
Lane line on the left of vehicle in front has two, then current vehicle is in the second from left road.The present embodiment sets the edge and outermost vehicle of road
The lane line in road is overlapped, and the first from left road is the lane adjacent with target edge, and the second from left road is the lane adjacent with the first from left road.Work as front truck
After lane where determines, that is, the target of the steering direction in lane and navigation routine Present navigation where can determine current vehicle
Whether steering direction is consistent, if the two is consistent, does not need progress lane change prompt and otherwise needs to carry out lane change prompt.
Illustratively, it is assumed that the steering direction in lane is straight trip where vehicle in front, and the target steering direction of Present navigation is
Turn left, then needs that driver is prompted to shift to an earlier date lane change to the left, avoid taking a wrong way.When determination needs lane change, optionally, can pass through
The picture of lane change is shown to driver by the mode of augmented reality, so that driver changes lane in time, embodiment is to specific
Display mode is without limiting, for example, can be by the image projection after augmented reality in front of current vehicle windscreen
The position on set distance and the practical road surface of fitting, driver is by windscreen i.e. it can be seen that lane change prompt information, avoids
The prior art needs driver to bow the case where checking lane change information and taking sb's mind off sth, and has ensured driving safety, wherein preceding wind
The front of glass pane is the direction that current vehicle advances, and embodiment is to the size of set distance without limiting.It can also pass through
Voice prompting driver's lane change, such as when needing lane change to the left, voice prompting driver " please lane change to the left " can be passed through.
The embodiment of the present invention one provides a kind of lane change reminding method, obtains positioning device by augmented reality processor and sends
Current vehicle vehicle position information and navigation device send the current vehicle navigation routine, lane identification processing
The road image in front of the current vehicle that device is acquired according to forward sight camera, the mesh of road where determining the current vehicle
The edge position information at edge is marked, and the edge position information is sent to the augmented reality processor, the enhancing is existing
Real processor edge position information and vehicle position information based on the received, determine the lane where the current vehicle, and work as
When the steering direction in lane where the current vehicle and the inconsistent target steering direction of the navigation routine Present navigation, with
The mode of augmented reality carries out lane change prompt.Compared with prior art, the embodiment of the present invention can also be real without high-precision map
Existing lane change prompt, makes driver understand navigation information in time, reduces the risk taken a wrong way.
Embodiment two
Fig. 2 is a kind of flow chart of lane change reminding method provided by Embodiment 2 of the present invention, and the present embodiment is in above-mentioned reality
It applies and is embodied on the basis of example, correspondingly, this method comprises the following steps:
S210, augmented reality processor obtain the vehicle position information and navigation dress for the current vehicle that positioning device is sent
Set the navigation routine of the current vehicle of transmission.
The road image in front of the current vehicle that S220, lane identification processor are acquired according to forward sight camera, really
The edge position information at the target edge of road where the fixed current vehicle, and the edge position information is sent to described
Augmented reality processor.
Specifically, lane identification processor can be determined as follows the edge position information at target edge:
Lane identification processor road image based on the received, the edge of road where identifying the current vehicle；
The lane identification processor determines target edge in the edge；
The lane identification processor determines the position side at the target edge according to the parameter information at the target edge
Journey, the edge position information as the target edge.
The edge of road is the outer edge of road where current vehicle, the present embodiment using the outer edge of road in the same direction as
For edge.When vehicle driving, forward sight camera can acquire the left and right two road of a distance in front of current vehicle in real time
Edge, wherein left margin is the road edge on the left of current vehicle, and the right edge is the road edge on the right side of current vehicle.
After vehicle identification processor identifies two road edge, can be selected in the edge of two road according to demand one as mesh
Mark edge.The parameter information at target edge is the latitude and longitude information of edge point, determines target according to the latitude and longitude information of edge point
The position equation at edge, the edge position information as target edge, wherein the determination process of target edge placement equation can be with
With reference to the associated description of above-described embodiment, details are not described herein again.
S230, the lane identification processor are according to the road image, the vehicle of road where identifying the current vehicle
The corresponding lane line of road quantity and every lane.
It include each lane and lane line that present road is related in the road image of forward sight camera acquisition, lane is known
Other processor identifies road image, that is, can determine the corresponding lane line of quantity and every lane in lane, embodiment
To specific recognition methods without limiting.Optionally, lane identification processor before recognition can first to road image into
The pretreatments such as row filtering filter out the barrier other than place's road, improve the accuracy of identification.
S240, the lane identification processor determine the width between adjacent lane line, and the lane as this lane is wide,
And by the lane is wide and lane quantity is sent to the augmented reality processor.
Width between adjacent two lane lines is that the lane in lane corresponding to two adjacent lane lines is wide, different lanes
Lane width may be the same or different.It is understood that two lane lines of straight road are parallel, even if not being flat
Forthright also can be approximated to be in parallel by processing, therefore after determining the corresponding position equation of each lane line, adjacent to two
It is poor that the corresponding position equation of lane line is made, and the lane that lane corresponding to adjacent lane line can be obtained is wide.
S250, the augmented reality processor edge position information and vehicle position information based on the received, determine described in
Lane where current vehicle, and the steering direction in lane and the navigation routine Present navigation where the current vehicle
When target steering direction is inconsistent, lane change prompt is carried out in a manner of augmented reality.
Edge position information and vehicle position information can determine current vehicle institute to augmented reality processor based on the received
Lane and whether need lane change, correspondingly, with reference to Fig. 3, S250 includes:
S2501, the augmented reality processor edge position information and vehicle position information based on the received, determine described in
The relative distance of current vehicle and the target edge.
Relative distance is current vehicle to the linear distance at target edge, according to the position equation at target edge and works as front truck
Latitude and longitude information be can determine current vehicle to target edge distance.Specific determination process can refer to the prior art
Midpoint to line distance calculating process, details are not described herein again.
The lane of S2502, the augmented reality processor relative distance and the current vehicle left-hand lane
It is wide.
By taking the road edge on the left of current vehicle as an example, augmented reality processor is determined to work as at the target edge of the present embodiment
After vehicle in front to the relative distance at target edge, the lane for comparing relative distance and current vehicle left-hand lane is wide, according to comparing
As a result the lane where current vehicle is determined, wherein the lane on the left of current vehicle is the lane adjacent with target edge.
S2503, the augmented reality processor determine the lane where the current vehicle according to comparison result.
For ease of description, the adjacent lane in target edge is known as the first from left road, other are followed successively by the second from left road and Zuo Sandao (such as
Fruit presence), if the lane that relative distance is greater than the first from left road is wide, show current vehicle not in the first from left road, continue comparison it is opposite away from
It is wide from the cumulative lane in the first from left road and the second from left road, if relative distance is wide less than cumulative lane, it can determine current vehicle institute
Lane be the second from left road.Illustratively, there are three lanes, the relative distance at target edge to current vehicle to be for present road
A, the lane width in the first from left road are b, and the lane width in the second from left road is c, and the lane width of Zuo Sandao is d, and a <b, then can determine current
Vehicle is in the first from left road.
The steering direction in lane where S2504, the current vehicle and the target of the navigation routine Present navigation drive
Whether direction is consistent, if so, executing S2505, otherwise, executes S2507.
After lane where current vehicle determines, that is, it may compare the steering direction and navigation routine Present navigation in the lane
Whether target steering direction is consistent, is determined whether to carry out lane change prompt according to comparison result.
S2505, the augmented reality processor generate lane change prompt information.
When the target steering direction of the steering direction in current vehicle place lane and navigation routine Present navigation is inconsistent,
Augmented reality processor generates lane change prompt information, to prompt driver to shift to an earlier date lane change according to lane change prompt information.Illustratively,
With reference to Fig. 4, Fig. 4 is a kind of schematic diagram of lane change prompt information provided by Embodiment 2 of the present invention, and there are two vehicles for present road
Road, respectively the first from left road and the second from left road, the steering direction in the first from left road are to turn left, and the steering direction in the second from left road is straight trip, work as front truck
In the first from left road, target steering direction is straight trip, and the two direction is inconsistent, and enhancing processor generates the lane change prompt of lane change to the right
Information, as shown in Figure 4, wherein black arrow is the lane change prompt information after augmented reality, is bonded practical road surface.
The lane change prompt information is projected in the current vehicle front windshield glass by S2506, the augmented reality processor
The setting regions of glass prompts driver's lane change in a manner of augmented reality.
Check that lane change information, embodiment utilize optical reflection principle for the ease of driver, treated by augmented reality
Lane change prompt information is projected in the setting regions in front of current vehicle windscreen, and driver can be looked by windscreen
It sees lane change prompt information, no longer needs to bow, ensured driving safety, wherein setting regions is apart from one spacing of windscreen
From and the practical road surface of fitting region, the embodiment distance is without restriction.
S2507, the augmented reality processor are prompted without lane change.
If the steering direction in lane is consistent with the target steering direction of navigation routine Present navigation where current vehicle,
Without carrying out lane change prompt, continue to travel in current lane.
Second embodiment of the present invention provides a kind of lane change reminding methods, on the basis of the above embodiments, identification target edge,
Lane line, lane is wide, determines the edge position information at target edge and the relative distance at target edge and current vehicle, passes through
Compare the lane where the wide determining current vehicle of relative distance and lane, after lane determines, according to the steering direction in the lane and
Target steering direction determines whether lane change, and when needing lane change, generates lane change prompt information, is projected in a manner of augmented reality
In the setting regions of current vehicle windscreen, driver's sensed in advance lane change prompt information can have both been allowed, prevent from taking a wrong way,
It can focus on driving again, ensure safety.
On the basis of the above embodiments, driver's lane change can also be reminded in the following way:
The target steering direction of the steering direction in lane and the navigation routine Present navigation where the current vehicle
When inconsistent, the augmented reality processor generates lane change prompt information；
The lane change prompt information is sent to speech player by the augmented reality processor, so that the voice plays
Device passes through driver's lane change described in voice prompting.
In addition to that lane change prompt information can be projected on the windscreen of current vehicle by way of augmented reality,
Voice can also be played by speech player.For example, playing voice by speech player, prompt is driven when needing lane change
The person's of sailing lane change can not have to remind, prevent the attention of dispersion driver or driving for interference driver when not needing lane change
It sails.
Embodiment three
Fig. 5 is a kind of structure chart for lane change prompt system that the embodiment of the present invention three provides, which can execute above-mentioned
Lane change reminding method described in embodiment, specifically, the system includes:
Forward sight camera 310, navigation device 330, positioning device 350, lane identification processor 320 and augmented reality processing
Device 340；
Forward sight camera 310 is connect with lane identification processor 320, and lane identification processor 320 is also and at augmented reality
It manages device 340 to connect, augmented reality processor 340 is also connect with positioning device 350 and navigation device 330 respectively；
Forward sight camera 310 is sent to vehicle for acquiring the road image in front of current vehicle, and by the road image
Road recognition processor 320；
Navigation device 330, the beginning and end for being inputted according to driver, determines corresponding navigation routine, so that institute
It states driver and the current vehicle is driven according to the navigation routine；
Lane identification processor 320, for road image based on the received, the mesh of road where determining the current vehicle
The edge position information at edge is marked, and the edge position information is sent to augmented reality processor 340；
Positioning device 350, for obtaining the vehicle position information of the current vehicle in real time；
Augmented reality processor 340 is worked as described in determination for edge position information and vehicle position information based on the received
Lane where vehicle in front, and when the mesh of the steering direction in current vehicle place lane and the navigation routine Present navigation
When mark steering direction is inconsistent, lane change prompt is carried out in a manner of augmented reality.
Specifically, at forward sight camera 310 and lane identification processor 320, lane identification processor 320 and augmented reality
Reason device 340 and augmented reality processor 340 and positioning device 350 and navigation device 330 can pass through CAN (Controller
Area Network, controller local area network) bus or Ethernet establish communication connection.
With reference to Fig. 6, Fig. 6 is a kind of structure chart for augmented reality processor that the embodiment of the present invention three provides, augmented reality
Processor 340 includes: that CAN/ Ethernet drive module 3401, coordinate transferring 3402, protocol resolution module 3403, data are melted
Mold block 3404, dimension transformation module 3405, graphic plotting module 3406 and driver module 3407.Wherein, CAN/ ether
Net drive module 3401 is used to establish with lane identification processor 320 and positioning device 350 etc. by CAN bus or Ethernet logical
Letter connection.Coordinate needed for coordinate transferring 3402 is used to for the road image under world coordinate system to be mapped to lane change prompt
System, such as rectangular coordinate system.For parsing to received information, acquisition agreement includes specific protocol resolution module 3403
Encryption is sent to augmented reality processing after content, such as the edge position information at the determining target edge of lane identification processor 320
Device 340, augmented reality processor 340 are decrypted it by protocol resolution module 3403 after receiving the information, obtain target
The edge position information at edge.Data fusion module 3404 is used to carry out fusion treatment to the data after parsing, it is determined whether needs
Want lane change.The lane change prompt information that dimension transformation module 3405 is used to draw is three-dimensional by two-dimensional transformations, increases visual effect.
Graphic plotting module 3406 is used for when needing lane change, generates lane change prompt information, leftward or rightward by current lane to indicate
Lane change.Driver module 3407 is used to for the lane change prompt information of generation being projected in the setting area of current vehicle windscreen
Domain.
The detailed process of lane change prompt can refer to above-described embodiment, and details are not described herein again.
The embodiment of the present invention three provides a kind of lane change prompt system, obtains positioning device by augmented reality processor and sends
Current vehicle vehicle position information and navigation device send the current vehicle navigation routine, lane identification processing
The road image in front of the current vehicle that device is acquired according to forward sight camera, the mesh of road where determining the current vehicle
The edge position information at edge is marked, and the edge position information is sent to the augmented reality processor, the enhancing is existing
Real processor edge position information and vehicle position information based on the received, determine the lane where the current vehicle, and work as
When the steering direction in lane where the current vehicle and the inconsistent target steering direction of the navigation routine Present navigation, with
The mode of augmented reality carries out lane change prompt.Compared with prior art, the embodiment of the present invention can also be real without high-precision map
Existing lane change prompt, makes driver understand navigation information in time, reduces the risk taken a wrong way.
On the basis of the above embodiments, lane identification processor 320 is also used to road image based on the received, identification
The corresponding lane line of lane quantity and every lane of road where the current vehicle；
Determine the width between adjacent lane line, the lane as this lane is wide, and by the lane is wide and number of track-lines
Amount is sent to augmented reality processor 340.
On the basis of the above embodiments, lane identification processor 320 is specifically used for road image based on the received, knows
The edge of road where the not described current vehicle；
The lane identification processor determines target edge in the edge；
The lane identification processor determines the position side at the target edge according to the parameter information at the target edge
Journey, the edge position information as the target edge.
On the basis of the above embodiments, augmented reality processor 340 is specifically used for edge position information based on the received
And vehicle position information, determine the relative distance of the current vehicle Yu the target edge；
The lane for comparing the relative distance and the current vehicle left-hand lane is wide；
According to comparison result, the lane where the current vehicle is determined.
On the basis of the above embodiments, augmented reality processor 340 is specifically used for the lane where the current vehicle
Steering direction and the navigation routine Present navigation target steering direction it is inconsistent when, the augmented reality processor generates
Lane change prompt information；
The lane change prompt information is projected in the setting regions of the current vehicle windscreen, with augmented reality
Mode prompts driver's lane change.
It on the basis of the above embodiments, is that another lane change that the embodiment of the present invention three provides prompts with reference to Fig. 7, Fig. 7
The structure chart of system, the system further include: speech player 360, speech player 360 are connect with augmented reality processor 340,
It is different for the steering direction in lane where the current vehicle and the target steering direction of the navigation routine Present navigation
When cause, pass through driver's lane change described in voice prompting.
The lane change prompt system that the embodiment of the present invention three provides can be used for executing lane change prompt provided by the above embodiment
Method has corresponding function and beneficial effect.
Example IV
Fig. 8 is a kind of structure chart for vehicle that the embodiment of the present invention four provides, specifically, with reference to Fig. 8, which includes:
Processor 410, memory 420, forward sight camera 430, navigation device 440, positioning device 450 and speech player 460, vehicle
The quantity of middle processor 410 can be one or more, in Fig. 8 for two, respectively 4101 He of lane identification processor
Augmented reality processor 4102, processor 410, memory 420, forward sight camera 430, navigation device 440, positioning dress in vehicle
Setting 450 can be connected with speech player 460 by bus or other modes, in Fig. 8 for being connected by bus.
Wherein, forward sight camera 430 is sent out for acquiring the road image in front of current vehicle, and by the road image
Give lane identification processor 4101.Navigation device 440, the beginning and end for being inputted according to driver, determines corresponding
Navigation routine can also determine current vehicle institute so that the driver drives the current vehicle according to the navigation routine
In the steering direction in each lane of road and the steering direction at next crossing of current vehicle.Positioning device 450 is used for
The vehicle position information of the current vehicle is obtained in real time.Speech player 460 is used for when needing lane change, passes through voice prompting
Driver's lane change.
Memory 420 is used as a kind of computer readable storage medium, can be used for storing software program, journey can be performed in computer
Sequence and module, such as the corresponding program instruction/module of lane change reminding method in the embodiment of the present invention.Processor 410 passes through fortune
Software program, instruction and the module that row is stored in memory 420, thereby executing the various function application and number of server
According to processing, that is, realize the lane change reminding method of above-described embodiment.
Memory 420 mainly includes storing program area and storage data area, wherein storing program area can store operation system
Application program needed for system, at least one function；Storage data area, which can be stored, uses created data etc. according to terminal.This
Outside, memory 420 may include high-speed random access memory, can also include nonvolatile memory, for example, at least one
Disk memory, flush memory device or other non-volatile solid state memory parts.In some instances, memory 420 can be into one
Step includes the memory remotely located relative to processor 410, these remote memories can pass through network connection to vehicle.On
The example for stating network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
The vehicle and lane change reminding method provided by the above embodiment that the embodiment of the present invention four provides belong to same invention structure
Think, the technical detail of detailed description not can be found in above-described embodiment in the present embodiment, and the present embodiment has execution lane change
The identical beneficial effect of reminding method.
Embodiment five
The embodiment of the present invention five also provides a kind of storage medium, is stored thereon with computer program, and the program is by processor
Lane change reminding method as described in the above embodiment the present invention is realized when execution.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
The operation in lane change reminding method that executable instruction is not limited to the described above, can also be performed provided by the embodiment of the present invention
Relevant operation in lane change reminding method, and have corresponding function and beneficial effect.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
Standby (can be robot, personal computer, server or the network equipment etc.) executes change described in each embodiment of the present invention
Road reminding method.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of lane change reminding method characterized by comprising
What the vehicle position information and navigation device for the current vehicle that augmented reality processor acquisition positioning device is sent were sent
The navigation routine of the current vehicle；
The road image in front of the current vehicle that lane identification processor is acquired according to forward sight camera determines described current
The edge position information at the target edge of road where vehicle, and the edge position information is sent at the augmented reality
Manage device；
The augmented reality processor edge position information and vehicle position information based on the received, determine the current vehicle institute
Lane, and where the current vehicle steering direction in lane and the navigation routine Present navigation target driving side
To it is inconsistent when, lane change prompt is carried out in a manner of augmented reality.
2. the method according to claim 1, wherein further include:
The lane identification processor according to the road image, the lane quantity of road where identifying the current vehicle and
The corresponding lane line in every lane；
The lane identification processor determines the width between adjacent lane line, and the lane as this lane is wide, and will be described
Lane is wide and lane quantity is sent to the augmented reality processor.
3. the method according to claim 1, wherein the lane identification processor is acquired according to forward sight camera
The current vehicle in front of road image, the edge placement letter at the target edge of road where determining the current vehicle
Breath, comprising:
Lane identification processor road image based on the received, the edge of road where identifying the current vehicle；
The lane identification processor determines target edge in the edge；
The lane identification processor determines the position equation at the target edge according to the parameter information at the target edge,
Edge position information as the target edge.
4. according to the method described in claim 2, it is characterized in that, augmented reality processor edge placement based on the received
Information and vehicle position information determine the lane where the current vehicle, comprising:
The augmented reality processor edge position information and vehicle position information based on the received, determine the current vehicle with
The relative distance at the target edge；
The lane of the augmented reality processor relative distance and the current vehicle left-hand lane is wide；
The augmented reality processor determines the lane where the current vehicle according to comparison result.
5. the method according to claim 1, wherein the steering direction in the lane where the current vehicle
When inconsistent with the target steering direction of the navigation routine Present navigation, lane change prompt is carried out in a manner of augmented reality, is wrapped
It includes:
The steering direction in lane and the target steering direction of the navigation routine Present navigation are different where the current vehicle
When cause, the augmented reality processor generates lane change prompt information；
The lane change prompt information is projected in the setting area of the current vehicle windscreen by the augmented reality processor
Domain prompts driver's lane change in a manner of augmented reality.
6. the method according to claim 1, wherein the steering direction in the lane where the current vehicle
When inconsistent with the target steering direction of the navigation routine Present navigation, lane change prompt is carried out in a manner of augmented reality, is wrapped
It includes:
The steering direction in lane and the target steering direction of the navigation routine Present navigation are different where the current vehicle
When cause, the augmented reality processor generates lane change prompt information；
The lane change prompt information is sent to speech player by the augmented reality processor, so that the speech player is logical
Cross driver's lane change described in voice prompting.
7. a kind of lane change prompt system characterized by comprising forward sight camera, navigation device, positioning device, lane identification
Processor and augmented reality processor；
The forward sight camera is connect with the lane identification processor, the lane identification processor also with the augmented reality
Processor connection, the augmented reality processor are also connect with the positioning device and navigation device respectively；
The forward sight camera for acquiring the road image in front of current vehicle, and the road image is sent to described
Lane identification processor；
The navigation device, the beginning and end for being inputted according to driver, determines corresponding navigation routine, so that described drive
The person of sailing drives the current vehicle according to the navigation routine；
The lane identification processor, for road image based on the received, the target of road where determining the current vehicle
The edge position information at edge, and the edge position information is sent to the augmented reality processor；
The positioning device, for obtaining the vehicle position information of the current vehicle in real time；
The augmented reality processor determines described current for edge position information and vehicle position information based on the received
Lane where vehicle, and when the target of the steering direction in current vehicle place lane and the navigation routine Present navigation
When steering direction is inconsistent, lane change prompt is carried out in a manner of augmented reality.
8. system according to claim 7, which is characterized in that the lane identification processor is also used to based on the received
Road image, the corresponding lane line of lane quantity and every lane of road where identifying the current vehicle；
Determine the width between adjacent lane line, the lane as this lane is wide, and by the lane is wide and lane quantity is sent out
Give the augmented reality processor.
9. a kind of vehicle characterized by comprising
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as lane change reminding method of any of claims 1-6.
10. a kind of storage medium, is stored thereon with computer program, which is characterized in that, can be with when the program is executed by processor
Realize such as lane change reminding method of any of claims 1-6.
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| CN201910641735.5A CN110375764A (en) | 2019-07-16 | 2019-07-16 | Lane change reminding method, system, vehicle and storage medium |
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| CN201910641735.5A CN110375764A (en) | 2019-07-16 | 2019-07-16 | Lane change reminding method, system, vehicle and storage medium |
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