CN102012230A - Road live view navigation method - Google Patents
Road live view navigation method Download PDFInfo
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- CN102012230A CN102012230A CN 201010269448 CN201010269448A CN102012230A CN 102012230 A CN102012230 A CN 102012230A CN 201010269448 CN201010269448 CN 201010269448 CN 201010269448 A CN201010269448 A CN 201010269448A CN 102012230 A CN102012230 A CN 102012230A
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Abstract
The invention relates to a road live view navigation method, which comprises the following steps of: (1) acquiring a road live-view image by image acquisition equipment arranged on a running automotive vehicle and acquiring the current running information of the automotive vehicle by utilizing a navigator on the vehicle; (2) screening a clear road live-view image by the navigator on the vehicle, so that an included angle between a tangent line, which passes through a base point, of a road center line in the screened road live-view image and the running direction of the automotive vehicle is between 0 and 30 DEG C; (3) matching the screened road live-view image and an electronic map and establishing a mapping relationship; and (4) labeling guiding information in the screened road live-view image by the navigator on the vehicle according to navigating path planning information stored by the navigator and the mapping relationship between the road in the road live-view image and the road in the electronic map, and performing live-view navigation according to the guiding information. When the navigating method is used, the road live-view navigation is simplified, so that the ordinary electronic map also can be used as a carrier of the road live-view navigation, and the road live-view navigation is realized.
Description
Technical field
The present invention relates to a kind of road scenes air navigation aid, especially relate to and use common vehicle to carry out the road scenes collection, and mate and shine upon, carry out the method that road scenes navigates via navigating instrument and conditional electronic map.
Background technology
Along with the quick growth of urban economy, the improving constantly of living standards of the people, the increase of private car owning amount is very rapid.Although the paces that road infrastructure is built have all been strengthened in each big city in recent years, traffic conflict still becomes increasingly conspicuous.And along with the continuous propelling of urban construction, the traffic of urban road is very complicated, traditional navigation product is by voice and electronic chart guiding, be difficult to allow driver's consciousness and actual conditions be in step with, the problem of missing the crossing or even going to the wrong way the crossing in the process of using navigation feature, often occurs.
Common electronic chart just carries out digitizing to traditional map and shows, therefore many modes with the ground illustrated example show map.Such map often has very big gap with the situation of reality, can not be real, and the situation of real-time reflection reality.Navigation based on the ordinary electronic map can't provide running information accurately merely.
Along with Google Earth streetscape, the appearance of outdoor scene type maps such as city, the user can see in a geographic position and the corresponding 360 degree real scenes of physical location, has greatly improved the validity and the practicality of map.In addition, Kai Lide, Yi Tutong etc. have also released the navigation product based on the 3D outdoor scene.Yet the core and the bottleneck of existing air navigation aid based on outdoor scene are outdoor scene type electronic chart.Such outdoor scene type electronic chart need be gathered a large amount of road scenes images or set up a large amount of three-dimensional outdoor scene models, and its workload is very huge.Outdoor scene type electronic map updating is also very difficult, still can't satisfy on a large scale the road scenes collection of high frequency time and set up task at present.
Because the loss of learning of outdoor scene type electronic chart and incomplete, the real scene navigation that carries out truly based on outdoor scene type electronic chart seems very difficult.
Summary of the invention
The object of the present invention is to provide a kind of road scenes air navigation aid.
For achieving the above object, the technical solution adopted in the present invention is: this road scenes air navigation aid comprises the steps:
(1) gather road scenes figure in real time and utilize the navigating instrument of installing on the motor vehicle that travels to obtain motor vehicle current driving information by the image capture device of installing on the motor vehicle that travels, described current driving information comprises the longitude and the latitude at the current place of motor vehicle;
(2) navigating instrument of installing on the motor vehicle that travels filters out road scenes figure clearly from the road scenes figure that is collected, and the road axis among the road scenes figure that is filtered out is 0～30 ° at the angle of the travel direction of the tangent line at its basic point place and motor vehicle;
(3) road scenes figure and the electronic chart that is filtered out mated, make road among the road scenes figure and the road in the electronic chart set up mapping relations;
(4) travel the navigating instrument installed on the motor vehicle according to its navigation path planning information of storing and road among the road scenes figure and the mapping relations between the road in the electronic chart, in the road scenes figure that is filtered out, mark navigation information, carry out real scene navigation according to described navigation information.
Further, the present invention is in described step (2), and the road axis among the road scenes figure that is filtered out is 0～15 ° at the angle of the travel direction of the tangent line at its basic point place and motor vehicle.
Further, the present invention is in described step (1), and described current driving information also comprises the travel speed that motor vehicle is current.
Compared with prior art, the invention has the beneficial effects as follows:
(1) gathers road scenes figure in real time by the image capture device of installing on the motor vehicle that travels, solved the prior collection road scenes of existing outdoor scene type electronic chart or set up the huge problem of workload of a large amount of three-dimensional outdoor scene models.Existing outdoor scene type electronic map updating is also very difficult, still can't satisfy on a large scale at present, and the road scenes collection of high frequency time and set up task, and the present invention is because of adopting real-time collection road scenes figure, so there is not the outdoor scene problem of upgrading electronic chart.
(2) select effective realistic picture by the computing machine Automatic sieve, avoided the workload problem of artificial screening, can gather road scenes in real time, and carry out real scene navigation simultaneously, do not need to carry out in advance the collection and the storage of road scenes.And selecting its road axis is the road scenes figure of 0～30 ° (preferred 0～15 °) at the angle of the travel direction of the tangent line at its basic point place and motor vehicle, can guarantee that the road scenes figure that is screened is effective.
(3) the present invention by the real-time collection and the matching technique of road scenes, comes out the real fully reproduction of complex crossing on common electronic chart, guides driver's target approach track in clear and distinctive mode, thereby realizes the road scenes navigation.
(4) the real-time streetscape information that will finish dealing with of navigating instrument not only can be used as real scene navigation, and can be used as the vehicle ' record, thereby the data analysis foundation of traffic accident is provided for competent authorities.
Description of drawings
Fig. 1 is a road scenes navigation principle block diagram of the present invention.
Fig. 2 is the workflow diagram of road scenes navigation of the present invention.
Fig. 3 is the synoptic diagram of the road scenes figure that filters out of the present invention.
Fig. 4 is the synoptic diagram of the navigation information that marks in road scenes figure of the present invention.
Embodiment
As shown in Figure 2, road scenes air navigation aid of the present invention is carried out according to the following steps:
(1) as shown in Figure 1, the present invention gathers road scenes figure in real time by the image capture device of installing on the motor vehicle 2 that travels 4, and utilizes the navigating instrument of installing on the motor vehicle that travels 3 to obtain the current driving information of motor vehicle.Among the present invention, the current driving information spinner will comprise longitude and the latitude of the GPS1 at motor vehicle 2 current places, further also can comprise the travel speed that motor vehicle is current.Image capture device 4 is connected on the navigating instrument 3 by USB interface.
(2) navigating instrument of installing on the motor vehicle 23 that travels filters out road scenes figure clearly from the road scenes figure that is collected.As shown in Figure 3, road axis k among the road scenes figure that the present invention requires to be filtered out at the angle ∠ BAC of the travel direction AC of the tangent line AB at its basic point A place and motor vehicle in 0～30 ° scope, can guarantee that like this road scenes figure that is screened is effective, and angle ∠ BAC is a preferred version of the present invention in 0～15 ° of scope.Wherein, the basic point A of road axis k is meant the intersection point that is positioned at border, road scenes figure middle and lower part and road axis.
(3) the travel navigating instrument 3 installed on the motor vehicle 2 mates clear, the effective road scenes figure that filtered out and the electronic chart in the navigating instrument 3 by the following method, makes road among the road scenes figure and the road in the electronic chart set up mapping relations.Concrete grammar is as follows:
At first, navigating instrument 3 will navigate to position corresponding on the electronic chart according to longitude and the latitude information of the GPS1 of effective driving information of the current motor vehicle 2 of the road scenes figure that is filtered out; Secondly, the lane information on the road scenes figure of recognition objective road, and with the electronic chart of navigating instrument 3 on lane information between set up related; At last, according to road among the road scenes figure and the mapping relations between the road in the electronic chart, in the navigation interface of navigating instrument 3, show road scenes figure.
Road and the road in the electronic chart in road scenes figure are set up in the mapping process, can be by the current travel speed of motor vehicle 2, and finish the screening of road scenes figure and mate the needed time, the collection of road scenes figure and the time-delay between the real-time navigation are revised, to show the road scenes figure of real-time navigation better.
(4) navigating instrument 3 installed on the motor vehicle 2 intrinsic navigation path planning information and road among the road scenes figure and the mapping relations between the road in the electronic chart of travelling according to itself storage, in the road scenes figure that is filtered out, mark navigation information, carry out real scene navigation according to described navigation information.In addition, the navigating instrument of installing on the motor vehicle 2 that travels 3 can be according to GPS1 longitude and the latitude information of road scenes figure, and effective road scenes diagram data is classified and stored.As shown in Figure 4, the navigation information that is marked comprises: craspedodrome a, left-hand rotation b, right-hand rotation c, lane change d, lane change e and tune f left to the right.
Claims (3)
1. a road scenes air navigation aid is characterized in that comprising the steps:
(1) gather road scenes figure in real time and utilize the navigating instrument of installing on the motor vehicle that travels to obtain motor vehicle current driving information by the image capture device of installing on the motor vehicle that travels, described current driving information comprises the longitude and the latitude at the current place of motor vehicle;
(2) navigating instrument of installing on the motor vehicle that travels filters out road scenes figure clearly from the road scenes figure that is collected, and the road axis among the road scenes figure that is filtered out is 0～30 ° at the angle of the travel direction of the tangent line at its basic point place and motor vehicle;
(3) road scenes figure and the electronic chart that is filtered out mated, make road among the road scenes figure and the road in the electronic chart set up mapping relations;
(4) travel the navigating instrument installed on the motor vehicle according to its navigation path planning information of storing and road among the road scenes figure and the mapping relations between the road in the electronic chart, in the road scenes figure that is filtered out, mark navigation information, carry out real scene navigation according to described navigation information.
2. road scenes air navigation aid according to claim 1 is characterized in that: in described step (2), the road axis among the road scenes figure that is filtered out is 0～15 ° at the angle of the travel direction of the tangent line at its basic point place and motor vehicle.
3. road scenes air navigation aid according to claim 1 and 2 is characterized in that: in described step (1), described current driving information also comprises the travel speed that motor vehicle is current.
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| CN 201010269448 CN102012230A (en) | 2010-08-27 | 2010-08-27 | Road live view navigation method |
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| CN 201010269448 CN102012230A (en) | 2010-08-27 | 2010-08-27 | Road live view navigation method |
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| CN102636174A (en) * | 2012-04-01 | 2012-08-15 | 北京百度网讯科技有限公司 | Road data inheriting method and device |
| CN102706355A (en) * | 2012-05-18 | 2012-10-03 | 北京腾瑞万里科技有限公司 | Navigation method and mobile terminal |
| CN102889892A (en) * | 2012-09-13 | 2013-01-23 | 东莞宇龙通信科技有限公司 | Live-action navigation method and navigation terminal |
| CN103185593A (en) * | 2011-12-30 | 2013-07-03 | 上海博泰悦臻电子设备制造有限公司 | Navigation method and navigation device |
| CN103234547A (en) * | 2013-04-18 | 2013-08-07 | 易图通科技（北京）有限公司 | Method and device for displaying road scene in vacuum true three-dimensional navigation |
| CN103606301A (en) * | 2013-11-27 | 2014-02-26 | 南通芯迎设计服务有限公司 | Parking and vehicle locating method based on intelligent terminal |
| CN103946897A (en) * | 2011-10-11 | 2014-07-23 | 罗伯特·博世有限公司 | Method and device for calibrating an environment sensor |
| CN104359487A (en) * | 2014-11-13 | 2015-02-18 | 沈阳美行科技有限公司 | Real scene navigation system |
| CN104697545A (en) * | 2013-12-04 | 2015-06-10 | 大陆汽车投资（上海）有限公司 | Method and apparatus for processing navigation prompt information |
| CN104833368A (en) * | 2015-05-12 | 2015-08-12 | 寅家电子科技（上海）有限公司 | Live-action navigation system and method |
| CN105091895A (en) * | 2015-07-21 | 2015-11-25 | 寅家电子科技（上海）有限公司 | Concern prompt system and method |
| CN105333878A (en) * | 2015-11-26 | 2016-02-17 | 深圳如果技术有限公司 | Road condition video navigation system and method |
| CN105444773A (en) * | 2015-11-26 | 2016-03-30 | 中山大学 | Navigation method and system based on real scene recognition and augmented reality |
| WO2016074487A1 (en) * | 2014-11-13 | 2016-05-19 | 中兴通讯股份有限公司 | Navigation device with driving recording function, terminal and method |
| CN105913755A (en) * | 2016-05-27 | 2016-08-31 | 大连楼兰科技股份有限公司 | Internet-of-vehicles virtual reality building model display system and Internet-of-vehicles virtual reality building model display method |
| CN106057088A (en) * | 2016-05-27 | 2016-10-26 | 大连楼兰科技股份有限公司 | Internet-of-vehicles virtual reality theme park display method |
| CN106441298A (en) * | 2016-08-26 | 2017-02-22 | 陈明 | Method for map data man-machine interaction with robot view image |
| CN108074009A (en) * | 2016-11-11 | 2018-05-25 | 菜鸟智能物流控股有限公司 | Motion route generation method and device, mobile terminal and server |
| CN108319895A (en) * | 2017-12-29 | 2018-07-24 | 百度在线网络技术（北京）有限公司 | The method and apparatus at the crossing in electronic map for identification |
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| CN109427199A (en) * | 2017-08-24 | 2019-03-05 | 北京三星通信技术研究有限公司 | For assisting the method and device of the augmented reality driven |
| CN110531753A (en) * | 2018-05-24 | 2019-12-03 | 通用汽车环球科技运作有限责任公司 | Control system, control method and the controller of autonomous vehicle |
| CN110530385A (en) * | 2019-08-21 | 2019-12-03 | 西安华运天成通讯科技有限公司 | City navigation method and its system based on image recognition |
| CN110795994A (en) * | 2019-09-16 | 2020-02-14 | 腾讯科技（深圳）有限公司 | Intersection image selection method and device |
| CN113256713A (en) * | 2021-06-10 | 2021-08-13 | 浙江华睿科技有限公司 | Pallet position identification method and device, electronic equipment and storage medium |
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| CN104697545A (en) * | 2013-12-04 | 2015-06-10 | 大陆汽车投资（上海）有限公司 | Method and apparatus for processing navigation prompt information |
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| CN104359487B (en) * | 2014-11-13 | 2017-06-23 | 沈阳美行科技有限公司 | A kind of real scene navigation system |
| CN104359487A (en) * | 2014-11-13 | 2015-02-18 | 沈阳美行科技有限公司 | Real scene navigation system |
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| CN108319895A (en) * | 2017-12-29 | 2018-07-24 | 百度在线网络技术（北京）有限公司 | The method and apparatus at the crossing in electronic map for identification |
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Application publication date: 20110413 |