CN104359487A - Real scene navigation system - Google Patents
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- CN104359487A CN104359487A CN201410637458.8A CN201410637458A CN104359487A CN 104359487 A CN104359487 A CN 104359487A CN 201410637458 A CN201410637458 A CN 201410637458A CN 104359487 A CN104359487 A CN 104359487A
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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
- G01C21/3647—Guidance involving output of stored or live camera images or video streams
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Abstract
The invention provides a real scene navigation system. The real scene navigation system comprises a GPS receiver, a driving direction obtaining module, a map navigation module, a real scene collection module and a display module, wherein the display module is used for displaying a real scene image collected by the real scene collection module in real time, displaying an optimal driving direction obtained by the map navigation module in the real scene image in real time so as to carry out real scene navigation. The real scene navigation system has the advantages that (1) navigation information is overlapped and displayed into the real scene image so that direct navigation guide is provided for a driver and the driving experience of the driver is improved; and (2) an auxiliary navigation function for displaying a POI icon and a navigation route in the real scene image is added and the driver can choose to start the auxiliary navigation function or not, so that the different navigation requirements of the driver are met and the navigation experience is further improved.
Description
Technical field
The invention belongs to field of navigation technology, be specifically related to a kind of real scene navigation system.
Background technology
Universal along with electronic technology and expanding economy and private car, the use of in-vehicle navigation apparatus is more and more universal.
In-vehicle navigation apparatus mainly comprises two parts, and a part is hardware device, mainly comprises gps receiver and display device; Another part is the navigation software that can control navigational hardware equipment.By in-vehicle navigation apparatus, provide the information such as automobile position, route calculation, voice guide, travel speed, real-time traffic to human pilot, thus auxiliary human pilot is driven, and makes human pilot arrive destination fast.
But, existing navigator is just navigated based on the electronic chart of pre-stored, human pilot is when using this navigator to carry out vehicle mounted guidance, need the concrete navigation information navigation information shown by electronic chart being converted into current residing actual environment, current direction of traffic could be determined, on the one hand, easily the notice of dispersion human pilot, is unfavorable for traffic safety; On the other hand, navigation experience is also reduced.Therefore, existing air navigation aid has been difficult to the demand meeting people.
Summary of the invention
For the defect that prior art exists, the invention provides a kind of real scene navigation system, can effectively solve the problem.
The technical solution used in the present invention is as follows:
The invention provides a kind of real scene navigation system, comprising:
Gps receiver, is navigated the current geographic position information of vehicle for real-time reception;
Direction of traffic acquisition module, is navigated the current direction of traffic of vehicle for Real-time Obtaining;
Digital map navigation module, for receiving and storing the name information of objective, with the described current geographic position information received by described gps receiver for origin, obtain the best navigation way of described origin to described objective, and then be navigated the best direction of traffic that the current position of vehicle arrives described objective described in obtaining;
Outdoor scene acquisition module, for according to presetting outdoor scene acquisition parameter, the real scene image in its viewfinder range of Real-time Collection; Wherein, described outdoor scene acquisition parameter comprises collection initial point, acquisition angles, collection direction, low coverage point value and long distance point value; The current location point of vehicle is navigated described in described collection initial point is; The current direction of traffic of vehicle is navigated described in described collection direction is;
Display module, for showing the described real scene image that described outdoor scene acquisition module collects in real time, meanwhile, showing the best direction of traffic that described digital map navigation module obtains in real time, carrying out real scene navigation in described real scene image.
Preferably, described outdoor scene acquisition module is for being navigated the camera of vehicle described in being installed on.
Preferably, described acquisition angles refers to the angle of pitch of described outdoor scene acquisition module.
Preferably, also comprise: image pre-processing module, carry out pre-service for the described real scene image collected described outdoor scene acquisition module, then, more pretreated real scene image is shown to described display module.
Preferably, described pre-service comprises: adjust the brightness of the described real scene image that described outdoor scene acquisition module collects and colourity.
Preferably, by described digital map navigation module, obtain real-time navigation map;
Also comprise:
POI icon database, for storing the corresponding relation of several POI name informations and POI icon information;
POI icon arranges module, for receiving the appointment POI name information needing display;
Layer sets up module, and for the described real scene image that collected by described outdoor scene acquisition module as lower layer, the described real-time navigation map described digital map navigation module obtained is as upper layer; Wherein, described upper layer is positioned at directly over described lower layer; Described lower layer is just to the display window of described display module, and described upper layer is positioned at the outside of the display window of described display module;
Projection model sets up module, three-dimensional system of coordinate is set up in the layer at described real-time navigation map place, and projection model is set up in this three-dimensional system of coordinate, the projection view angles of this projection model is identical with the collection visual angle of described outdoor scene collecting device, and the projector space of this projection model is identical with the viewfinder range of described outdoor scene collecting device;
Projection module, the projection model set up module for adopting described projection model and set up, carries out projection operation to described real-time navigation map, obtains the real-time navigation map after projecting;
Whether judge module, for judging in the real-time navigation map after described projection, existing described POI icon and arranging appointment POI name information set by module;
Searching module, for when the judged result of described judge module is for being, searching described POI icon database, obtain and described appointment POI icon of specifying POI name information corresponding;
Depicting module, searches the described appointment POI icon that module finds for the correspondence position in the real-time navigation map after described projection described in drawing;
Display module, the appointment POI icon for described depicting module being drawn is shown to the correspondence position of described real scene image, and is finally shown by the real scene image drawing described appointment POI icon.
Preferably, described depicting module draws described appointment POI icon based on following strategy:
If POI icon display position and the distance be navigated between current vehicle position are L;
Then: the linear relationship between setting POI icon display size and distance L; That is: L value is larger, and the display of POI icon is less; L value is less, and the display of POI icon is larger.
Preferably, by described digital map navigation module, obtain real-time navigation map;
Also comprise:
Layer sets up unit, and for the described real scene image that collected by described outdoor scene acquisition module as lower layer, the described real-time navigation map described digital map navigation module obtained is as upper layer; Wherein, described upper layer is positioned at directly over described lower layer; Described lower layer is just to the display window of described display module, and described upper layer is positioned at the outside of the display window of described display module;
Projection model sets up unit, three-dimensional system of coordinate is set up in the layer at described real-time navigation map place, and projection model is set up in this three-dimensional system of coordinate, the projection view angles of this projection model is identical with the collection visual angle of described outdoor scene collecting device, and the projector space of this projection model is identical with the viewfinder range of described outdoor scene collecting device;
Projecting cell, the projection model set up unit for adopting described projection model and set up, carries out projection operation to described real-time navigation map, obtains the real-time navigation map after projecting;
Draw unit, in the real-time navigation map after described projection, draw best navigation way in current viewfinder range by pre-designed strategy of drawing;
Display module, for drawing described the correspondence position that best navigation way that unit draws is shown to described real scene image, and finally shows the real scene image drawing described best navigation way.
Preferably, described pre-designed strategy of drawing refers to: arrange the width of drawn best navigation way, color and animated show effect.
Real scene navigation system provided by the invention, has the following advantages:
(1) by navigation information Overlapping display in real scene image, thus provide navigation guide intuitively for human pilot, improve the driving experience of human pilot;
(2) in real scene image, add the assisting navigation function of POI icon diagram and navigation way display, human pilot can be selected start or do not start this assisting navigation function, therefore, meet the different navigation demand of human pilot, further increase navigation experience.
Accompanying drawing explanation
Fig. 1 is the structural representation of real scene navigation system provided by the invention;
Fig. 2 is the three-dimensional system of coordinate that the present invention sets up.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail:
As shown in Figure 1, the invention provides a kind of real scene navigation system, comprising:
Gps receiver, is navigated the current geographic position information of vehicle for real-time reception;
Direction of traffic acquisition module, is navigated the current direction of traffic of vehicle for Real-time Obtaining;
Digital map navigation module, for receiving and storing the name information of objective, with the described current geographic position information received by described gps receiver for origin, obtain the best navigation way of described origin to described objective, and then be navigated the best direction of traffic that the current position of vehicle arrives described objective described in obtaining;
Outdoor scene acquisition module, for according to presetting outdoor scene acquisition parameter, the real scene image in its viewfinder range of Real-time Collection; Wherein, described outdoor scene acquisition parameter comprises collection initial point, acquisition angles, collection direction, low coverage point value and long distance point value; The current location point of vehicle is navigated described in described collection initial point is; The current direction of traffic of vehicle is navigated described in described collection direction is; Wherein, acquisition angles refers to the angle of pitch of described outdoor scene acquisition module.
Display module, for showing the described real scene image that described outdoor scene acquisition module collects in real time, meanwhile, showing the best direction of traffic that described digital map navigation module obtains in real time, carrying out real scene navigation in described real scene image.
Certainly, in order to improve navigation experience further, after outdoor scene acquisition module collects original real scene image, first can carry out pre-service to real scene image, such as, the brightness of real scene image, colourity be adjusted etc., then, then by pretreated real scene image be shown to described display module.
In the present invention, outdoor scene acquisition module can adopt the camera being installed on vehicle front, by adjusting the collection direction of camera, camera collection direction is made to be human pilot direction of visual lines, also the current direction of traffic being navigated vehicle is, by the real scene figure of outdoor scene acquisition module Real-time Collection vehicle front, and concrete navigation data is shown in this real scene figure, therefore, achieve the real scene navigation of three-dimensional reality scene, human pilot when driving, can know direction of traffic very easily, improves the navigation experience of human pilot.
Real scene navigation system provided by the invention, after stating the basic function of real scene navigation in realization, according to actual needs, also can increase all kinds of navigation subsidiary function flexibly, meets the difference driving demand of human pilot.The concrete function form of the present invention to set navigation subsidiary function does not limit, and only introduces two kinds of concrete navigation subsidiary functions below:
(1) POI icon Presentation Function
POI icon Presentation Function refers to: in the real scene image that outdoor scene acquisition module collects, show the POI icon in current acquisition range, wherein, POI icon refers to the interest icon that human pilot pre-sets, such as, dining room icon, burgery icon, charging station icon, refuelling station's icon, hospital's icon, supermarket icon or toilet icon etc.; And, the display position of POI icon is buildings corresponding in real scene image, such as, when driving, if there is hospital architecture thing in current real scene image, then emphasis display hospital icon on this hospital architecture thing, that is, achieve POI icon to show with mating of outdoor scene buildings, thus enable human pilot navigate to rapidly interested buildings.Concrete, realized by following technology:
POI icon database, for storing the corresponding relation of several POI name informations and POI icon information; POI icon database according to actual needs, can regularly upgrade, and constantly adds the interested POI icon of all kinds of human pilot.In addition, the specific design pattern of the present invention to POI icon does not also limit, as long as can realize by observing POI icon, people can be made fast to know POI title representated by it, such as, for the POI icon of burgery, can be designed as the picture of a hamburger; For the POI icon in dining room, can be designed as the picture of knife and fork; For the POI icon in supermarket, can be designed as the picture of a shopping cart.
POI icon arranges module, for receiving the appointment POI name information needing display; That is, owing to storing a large amount of POI name informations and the corresponding relation of POI icon information in POI icon database, and for the concrete needs of driver, if sometime, its demand is that quick position arrives a neighbouring refuelling station, then arrange module by POI icon, and the appointment POI name information that arranging needs display is refuelling station, then in subsequent process, only can locate and show the POI icon of annex refuelling station.
Layer sets up module, and for the described real scene image that collected by described outdoor scene acquisition module as lower layer, the described real-time navigation map described digital map navigation module obtained is as upper layer; Wherein, described upper layer is positioned at directly over described lower layer; Described lower layer is just to the display window of described display module, and described upper layer is positioned at the outside of the display window of described display module;
Projection model sets up module, three-dimensional system of coordinate is set up in the layer at described real-time navigation map place, and projection model is set up in this three-dimensional system of coordinate, the projection view angles of this projection model is identical with the collection visual angle of described outdoor scene collecting device, and the projector space of this projection model is identical with the viewfinder range of described outdoor scene collecting device;
Projection module, the projection model set up module for adopting described projection model and set up, carries out projection operation to described real-time navigation map, obtains the real-time navigation map after projecting;
The original real-time navigation map exported due to digital map navigation module and real scene image be not under the same coordinate system, therefore, for a certain identical element, such as, hospital A, the virtual element of original real-time navigation map cannot overlap with the outdoor scene element in real scene image, causes being difficult to real-time navigation map and real scene image to carry out efficient association.Therefore, in the present invention, above-mentioned projection operation is carried out to original real-time navigation map, thus make the real-time navigation map after projection and real scene image carry out efficient association, again because the real-time navigation map after projection is positioned at the lower floor of real scene image, therefore, the effect that the identical element achieving real-time navigation map and real scene image overlaps, such as, a certain hospital architecture thing that real scene image shows, overlaps with the hospital architecture thing in real-time navigation map.
Whether judge module, for judging in the real-time navigation map after described projection, existing described POI icon and arranging appointment POI name information set by module;
Searching module, for when the judged result of described judge module is for being, searching described POI icon database, obtain and described appointment POI icon of specifying POI name information corresponding;
Depicting module, searches the described appointment POI icon that module finds for the correspondence position in the real-time navigation map after described projection described in drawing; Wherein, can arrange and different draw strategy, draw at correspondence position and specify POI icon, such as, if POI icon display position and the distance be navigated between current vehicle position are L; Then: the linear relationship between setting POI icon display size and distance L; That is: L value is larger, and the display of POI icon is less; L value is less, and the display of POI icon is larger.
Display module, the appointment POI icon for described depicting module being drawn is shown to the correspondence position of described real scene image, and is finally shown by the real scene image drawing described appointment POI icon.
Because the real-time navigation map after projection is completely corresponding with the upper and lower element of real scene image, therefore, a certain position A in real-time navigation map draws and specifies POI icon, can draw appointment POI icon be shown on real scene image, thus achieve POI icon and show with mating of outdoor scene buildings, facilitate human pilot to navigate to rapidly interested buildings.
(2) navigation way Presentation Function
Navigation way Presentation Function refers to: in the real scene image that outdoor scene acquisition module collects, show the navigation way in current acquisition range, and, shown navigation way is stackable on the corresponding road of real scene image, thus facilitate human pilot intuitively to know direction of traffic, arrive destination rapidly.Concrete, realized by following technology:
Layer sets up unit, and for the described real scene image that collected by described outdoor scene acquisition module as lower layer, the described real-time navigation map described digital map navigation module obtained is as upper layer; Wherein, described upper layer is positioned at directly over described lower layer; Described lower layer is just to the display window of described display module, and described upper layer is positioned at the outside of the display window of described display module;
Projection model sets up unit, three-dimensional system of coordinate is set up in the layer at described real-time navigation map place, and projection model is set up in this three-dimensional system of coordinate, the projection view angles of this projection model is identical with the collection visual angle of described outdoor scene collecting device, and the projector space of this projection model is identical with the viewfinder range of described outdoor scene collecting device;
Projecting cell, the projection model set up unit for adopting described projection model and set up, carries out projection operation to described real-time navigation map, obtains the real-time navigation map after projecting;
Draw unit, in the real-time navigation map after described projection, draw best navigation way in current viewfinder range by pre-designed strategy of drawing; Wherein, pre-designed strategy of drawing includes but not limited to: arrange the width of drawn best navigation way, color and animated show effect etc., thus improves visual experience degree and the navigation fidelity of driver.
Display module, for drawing described the correspondence position that best navigation way that unit draws is shown to described real scene image, and finally shows the real scene image drawing described best navigation way.
For the fidelity that outstanding navigation way shows, can with the form show navigator route of road, that is, navigation way has a wider width, such as 3 ~ 6 centimetres, therefore, if be presented at by navigation way in the real roads in real scene image, there is the deficiency that navigation way blocks real roads, therefore, navigation way can be shown to sky, symmetrical up and down with the real roads in real scene image.Specific implementation process is:
If do not carry out navigation way upset, then need the three-dimensional system of coordinate set up as shown in Figure 2, now, eye position is positioned at initial point, and projecting direction is Z axis negative direction, and the navigation way of display is perpendicular to sight line; And if need to carry out navigation way upset, then projecting direction is rotated 270 degree along X-axis, navigation way is rotated to a plane on the upside of eyes and parallel with the horizontal plane of sight line, navigation way can be realized and swim in effect among sky.
It is emphasized that in the present invention, the layer related in navigation way Presentation Function sets up unit, module is set up with the layer in POI icon Presentation Function, can pass through an Implement of Function Module, also can pass through two Implement of Function Modules, the present invention does not limit this.Projection model is set up to unit, projecting cell, drawn unit sets up module, projection module and depicting module respectively relation with projection model, and to set up unit identical with the relation that layer sets up module with layer, repeats no more.
In sum, real scene navigation system provided by the invention, has the following advantages:
(1) by navigation information Overlapping display in real scene image, thus provide navigation guide intuitively for human pilot, improve the driving experience of human pilot;
(2) in real scene image, add the assisting navigation function of POI icon diagram and navigation way display, human pilot can be selected start or do not start this assisting navigation function, therefore, meet the different navigation demand of human pilot, further increase navigation experience.
(3) on technology realizes, there is the advantages such as implementation procedure is simple, configuration complexity is low, travelling speed is fast, onboard navigation system can be applied to, also as APP, the terminal devices such as mobile phone can be installed to, have and use flexile advantage.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should look protection scope of the present invention.
Claims (9)
1. a real scene navigation system, is characterized in that, comprising:
Gps receiver, is navigated the current geographic position information of vehicle for real-time reception;
Direction of traffic acquisition module, is navigated the current direction of traffic of vehicle for Real-time Obtaining;
Digital map navigation module, for receiving and storing the name information of objective, with the described current geographic position information received by described gps receiver for origin, obtain the best navigation way of described origin to described objective, and then be navigated the best direction of traffic that the current position of vehicle arrives described objective described in obtaining;
Outdoor scene acquisition module, for according to presetting outdoor scene acquisition parameter, the real scene image in its viewfinder range of Real-time Collection; Wherein, described outdoor scene acquisition parameter comprises collection initial point, acquisition angles, collection direction, low coverage point value and long distance point value; The current location point of vehicle is navigated described in described collection initial point is; The current direction of traffic of vehicle is navigated described in described collection direction is;
Display module, for showing the described real scene image that described outdoor scene acquisition module collects in real time, meanwhile, showing the best direction of traffic that described digital map navigation module obtains in real time, carrying out real scene navigation in described real scene image.
2. real scene navigation system according to claim 1, is characterized in that, described outdoor scene acquisition module is for being navigated the camera of vehicle described in being installed on.
3. real scene navigation system according to claim 1, is characterized in that, described acquisition angles refers to the angle of pitch of described outdoor scene acquisition module.
4. real scene navigation system according to claim 1, it is characterized in that, also comprise: image pre-processing module, carry out pre-service for the described real scene image collected described outdoor scene acquisition module, then, then by pretreated real scene image be shown to described display module.
5. real scene navigation system according to claim 4, is characterized in that, described pre-service comprises: adjust the brightness of the described real scene image that described outdoor scene acquisition module collects and colourity.
6. real scene navigation system according to claim 5, is characterized in that, by described digital map navigation module, obtains real-time navigation map;
Also comprise:
POI icon database, for storing the corresponding relation of several POI name informations and POI icon information;
POI icon arranges module, for receiving the appointment POI name information needing display;
Layer sets up module, and for the described real scene image that collected by described outdoor scene acquisition module as lower layer, the described real-time navigation map described digital map navigation module obtained is as upper layer; Wherein, described upper layer is positioned at directly over described lower layer; Described lower layer is just to the display window of described display module, and described upper layer is positioned at the outside of the display window of described display module;
Projection model sets up module, three-dimensional system of coordinate is set up in the layer at described real-time navigation map place, and projection model is set up in this three-dimensional system of coordinate, the projection view angles of this projection model is identical with the collection visual angle of described outdoor scene collecting device, and the projector space of this projection model is identical with the viewfinder range of described outdoor scene collecting device;
Projection module, the projection model set up module for adopting described projection model and set up, carries out projection operation to described real-time navigation map, obtains the real-time navigation map after projecting;
Whether judge module, for judging in the real-time navigation map after described projection, existing described POI icon and arranging appointment POI name information set by module;
Searching module, for when the judged result of described judge module is for being, searching described POI icon database, obtain and described appointment POI icon of specifying POI name information corresponding;
Depicting module, searches the described appointment POI icon that module finds for the correspondence position in the real-time navigation map after described projection described in drawing;
Display module, the appointment POI icon for described depicting module being drawn is shown to the correspondence position of described real scene image, and is finally shown by the real scene image drawing described appointment POI icon.
7. real scene navigation system according to claim 6, is characterized in that, described depicting module draws described appointment POI icon based on following strategy:
If POI icon display position and the distance be navigated between current vehicle position are L;
Then: the linear relationship between setting POI icon display size and distance L; That is: L value is larger, and the display of POI icon is less; L value is less, and the display of POI icon is larger.
8. real scene navigation system according to claim 5, is characterized in that, by described digital map navigation module, obtains real-time navigation map;
Also comprise:
Layer sets up unit, and for the described real scene image that collected by described outdoor scene acquisition module as lower layer, the described real-time navigation map described digital map navigation module obtained is as upper layer; Wherein, described upper layer is positioned at directly over described lower layer; Described lower layer is just to the display window of described display module, and described upper layer is positioned at the outside of the display window of described display module;
Projection model sets up unit, three-dimensional system of coordinate is set up in the layer at described real-time navigation map place, and projection model is set up in this three-dimensional system of coordinate, the projection view angles of this projection model is identical with the collection visual angle of described outdoor scene collecting device, and the projector space of this projection model is identical with the viewfinder range of described outdoor scene collecting device;
Projecting cell, the projection model set up unit for adopting described projection model and set up, carries out projection operation to described real-time navigation map, obtains the real-time navigation map after projecting;
Draw unit, in the real-time navigation map after described projection, draw best navigation way in current viewfinder range by pre-designed strategy of drawing;
Display module, for drawing described the correspondence position that best navigation way that unit draws is shown to described real scene image, and finally shows the real scene image drawing described best navigation way.
9. real scene navigation system according to claim 8, is characterized in that, described pre-designed strategy of drawing refers to: arrange the width of drawn best navigation way, color and animated show effect.
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