CN106197465A - The HUD data display method of a kind of intelligent navigation and device - Google Patents
The HUD data display method of a kind of intelligent navigation and device Download PDFInfo
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- CN106197465A CN106197465A CN201610805344.9A CN201610805344A CN106197465A CN 106197465 A CN106197465 A CN 106197465A CN 201610805344 A CN201610805344 A CN 201610805344A CN 106197465 A CN106197465 A CN 106197465A
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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
- G01C21/365—Guidance using head up displays or projectors, e.g. virtual vehicles or arrows projected on the windscreen or on the road itself
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Abstract
The invention belongs to vehicle electronics field, it is provided that the HUD data display method of a kind of intelligent navigation and device, the method includes: obtain forward direction senior drive assist system information, anti-before touch warning message；Obtain road early warning information and 360 and offer blind area early warning information is provided；Obtain vehicle early warning information and navigation information；By senior drive assist system information, anti-before touch warning message, road early warning information, 360 offer blind area early warning information, vehicle early warning information and navigation information are provided are shown by HUD.The technical scheme that the present invention provides has the advantage that safety is high.
Description
Technical field
The present invention relates to electronics automotive field, particularly relate to HUD data display method and the device of a kind of intelligent navigation.
Background technology
New line digital indicator (English full name: Heads Up Display, English abbreviation: HUD), windscreen instrument shows
Show, be again head-up display system.It can being shown on windscreen important data message intelligence.Make the driver need not
Bowing it is seen that relevant information, be put into by more energy on observation surface conditions, meanwhile it can also reduce
Driver observes distant road situation and the visual fatigue closely checking navigation, information of vehicles sight line frequent transitions causes, with
And the monitoring of automobile blind area, left and right when driving, anti-collision warning, left and right line ball alerts, thus it is current to point out driver to remind
Running car road conditions, for those commonly used Mobile Telephone Gps softwares and the long-time car owner travelled, existing intelligence HUD
Only intelligent display navigation information, it is impossible to the information such as information of vehicles, anti-collision warning shown into, so existing HUD is to vapour
The safety contribution of car is low, causes vehicle safety low.
Summary of the invention
An object of the present invention is to provide the HUD data display method of a kind of intelligent navigation, and it mainly solves existing
The shortcoming that safety is low.
First aspect, it is provided that the HUD data display method of a kind of intelligent navigation, described method includes:
Obtain forward direction senior drive assist system information, anti-before touch warning message；
Obtain road early warning information and 360 and offer blind area early warning information is provided；
Obtain vehicle early warning information and navigation information；
By senior drive assist system information, anti-before touch warning message, road early warning information, 360 to look around offer blind area pre-
Alarming information, vehicle early warning information and navigation information are shown by HUD.
Optionally, described by senior drive assist system information, anti-before touch warning message, road early warning information, 360 look around
Blind area early warning information vehicle early warning information and navigation information is provided to show specifically by HUD, including:
According to senior drive assist system information, anti-before touch warning message, road early warning information, 360 look around offer blind area
Early warning information vehicle early warning information and navigation information judge the information the most urgent for current state, the most urgent information are existed
HUD amplifies in showing；The most urgent described information is collision information.
Optionally, described 360 look around offer blind area early warning information specifically, including:
Obtain four images of the photographic head shooting being arranged in four angles of vehicle；
Obtain the pixel range [a1, b1] in 4 images, [a2, b2], [a3, b3], [a4, b4], this pixel range is pressed
Following formula carry out distort reduction treatment:
Xn=xn* (255-a1)/(b1-a1)；
Wherein, Xn is the value of the nth point pixel after distortion reduction treatment, the actual pixels point value of xn nth point, and a1 is figure
As the pixel lower limit of 1, the pixel higher limit of b1 image 1；
Yn=yn* (255-a2)/(b2-a2)；
Wherein, Yn is the value of the nth point pixel after distortion reduction treatment, the actual pixels point value of yn nth point, and a2 is figure
As the pixel lower limit of 2, the pixel higher limit of b2 image 2；
Zn=zn* (255-a3)/(b3-a3)；
Wherein, Zn is the value of the nth point pixel after distortion reduction treatment, the actual pixels point value of zn nth point, and a3 is figure
As the pixel lower limit of 3, the pixel higher limit of b3 image 3；
Wn=wn* (255-a4)/(b4-a4)；
Wherein, Wn is the value of the nth point pixel after distortion reduction treatment, the actual pixels point value of wn nth point, and a4 is figure
As the pixel lower limit of 4, the pixel higher limit of b4 image 4.
4 images after reduction are carried out visual angle conversion, becomes one 360 to look around 4 image mosaic after visual angle effect
Image；
360 panoramic view pictures are carried out enhancement process and obtains 360 ° of panorama top views that vehicle's surroundings is seamless；
According to the obstacle distance at 360 ° of panoramic view picture detection dead angles, when distance is less than setpoint distance, carry out early warning, and
HUD highlights.
Optionally, described 4 image mosaic after visual angle effect become 360 panoramic view pictures concrete, including:
Obtain two adjacent images, extract the characteristic point in two images；Identify two identical spies in two images
Levying a little, an image keeps constant, and the angle of another image rotates two the identical features made in another image
At least one characteristic point in point overlaps with the same characteristic point in an image, then obtains two characteristic points of an image
Distance L2 of distance L1 and another two characteristic points of image, will remove a figure apart from L2 stretching or reduce and make L2 ' identical with L1
Picture with after the overlay chart picture of another image, an image is obtained together with another image overlay an angle being spliced into
Image, in like manner realize the image at other three angles, get up the image overlay at four angles i.e. to obtain 360 panoramic view pictures.
Optionally, described vehicle early warning information includes: car oil table information, velocity information, brake information, light information, rain
Brush information and tire pressure.
Second aspect, it is provided that the HUD data presentation device of a kind of intelligent navigation, described device includes:
Acquiring unit, for obtain forward direction senior drive assist system information, anti-before touch warning message；Acquisition road is pre-
Alarming information and 360 looks around offer blind area early warning information；Obtain vehicle early warning information and navigation information；
HUD display unit, for by senior drive assist system information, anti-before touch warning message, road early warning information,
360 look around offer blind area early warning information, vehicle early warning information and navigation information is shown by HUD.
Optionally, described HUD display unit, specifically for according to senior drive assist system information, anti-before touch alarm signal
Breath, road early warning information, 360 look around offer blind area early warning information vehicle early warning information and navigation information judge for current state
The most urgent information, amplifies the most urgent information in HUD shows；The most urgent described information is collision information.
Optionally, described acquiring unit specifically for:
Obtain four images of the photographic head shooting being arranged in four angles of vehicle；
Obtain the pixel range [a1, b1] in 4 images, [a2, b2], [a3, b3], [a4, b4], this pixel range is pressed
Following formula carry out distort reduction treatment:
Xn=xn* (255-a1)/(b1-a1)；
Wherein, Xn is the value of the nth point pixel after distortion reduction treatment, the actual pixels point value of xn nth point, and a1 is figure
As the pixel lower limit of 1, the pixel higher limit of b1 image 1；
Yn=yn* (255-a2)/(b2-a2)；
Wherein, Yn is the value of the nth point pixel after distortion reduction treatment, the actual pixels point value of yn nth point, and a2 is figure
As the pixel lower limit of 2, the pixel higher limit of b2 image 2；
Zn=zn* (255-a3)/(b3-a3)；
Wherein, Zn is the value of the nth point pixel after distortion reduction treatment, the actual pixels point value of zn nth point, and a3 is figure
As the pixel lower limit of 3, the pixel higher limit of b3 image 3；
Wn=wn* (255-a4)/(b4-a4)；
Wherein, Wn is the value of the nth point pixel after distortion reduction treatment, the actual pixels point value of wn nth point, and a4 is figure
As the pixel lower limit of 4, the pixel higher limit of b4 image 4.
4 images after reduction are carried out visual angle conversion, becomes one 360 to look around 4 image mosaic after visual angle effect
Image；
360 panoramic view pictures are carried out enhancement process and obtains 360 ° of panorama top views that vehicle's surroundings is seamless；
According to the obstacle distance at 360 ° of panoramic view picture detection dead angles, when distance is less than setpoint distance, carry out early warning, and
HUD highlights.
Optionally, described 4 image mosaic after visual angle effect become 360 panoramic view pictures concrete, including:
Obtain two adjacent images, extract the characteristic point in two images；Identify two identical spies in two images
Levying a little, an image keeps constant, and the angle of another image rotates two the identical features made in another image
At least one characteristic point in point overlaps with the same characteristic point in an image, then obtains two characteristic points of an image
Distance L2 of distance L1 and another two characteristic points of image, will remove a figure apart from L2 stretching or reduce and make L2 ' identical with L1
Picture with after the overlay chart picture of another image, an image is obtained together with another image overlay an angle being spliced into
Image, in like manner realize the image at other three angles, get up the image overlay at four angles i.e. to obtain 360 panoramic view pictures.
Optionally, described vehicle early warning information includes: car oil table information, velocity information, brake information, light information, rain
Brush information and tire pressure.
Although those of ordinary skill in the art are it will be appreciated that referenced in schematic embodiment, accompanying drawing are carried out by detailed description below,
But the present invention is not limited in these embodiments.But, the scope of the present invention is widely, and is intended to be bound only by appended right
Require to limit the scope of the present invention.
Accompanying drawing explanation
By the detailed description that non-limiting example is made made with reference to the following drawings of reading, other of the present invention
Feature, purpose and advantage will become more apparent upon:
The flow chart of the Fig. 1 HUD data display method of intelligent navigation for providing according to a preferred embodiment of the invention；
The flow process of the Fig. 2 HUD data display method of intelligent navigation for providing according to another preferred embodiment of the present invention
Figure；
The structure chart of the Fig. 3 HUD data presentation device of intelligent navigation for providing according to the present invention；
The hardware architecture diagram of the vehicle intelligent terminal that Fig. 4 provides for the present invention.
Detailed description of the invention
It should be mentioned that, some exemplary embodiments are described as before being discussed in greater detail exemplary embodiment
The process described as flow chart or method.Although flow chart operations is described as order process, but therein permitted
Multioperation can be implemented concurrently, concomitantly or simultaneously.Additionally, the order of operations can be rearranged.When it
When having operated, described process can be terminated, it is also possible to have the additional step being not included in accompanying drawing.Described process
Can correspond to method, function, code, subroutine, subprogram etc..
Alleged " computer equipment " within a context, also referred to as " computer ", refer to by running preset program or to refer to
Order performs the intelligent electronic device of the predetermined process process such as numerical computations and/or logical calculated, its can include processor with
Memorizer, processor the survival performing to prestore in memory instruction performs predetermined process process, or by ASIC,
The hardware such as FPGA, DSP performs predetermined process process, or is combined by said two devices and realize.Computer equipment includes but does not limits
In server, PC, notebook computer, panel computer, smart mobile phone etc..
Method (some of them are illustrated by flow chart) discussed hereafter can pass through hardware, software, firmware, centre
Part, microcode, hardware description language or its combination in any are implemented.When implementing by software, firmware, middleware or microcode
Time, program code or code segment in order to implement necessary task can be stored in machine or computer-readable medium (is such as deposited
Storage media) in.(one or more) processor can implement the task of necessity.
Concrete structure disclosed herein and function detail are the most representational, and are for describing showing of the present invention
The purpose of example embodiment.But the present invention can be implemented by many alternative forms, and is not interpreted as
It is limited only by the embodiments set forth herein.
Although it should be appreciated that here may have been used term " first ", " second " etc. to describe unit,
But these unit should not be limited by these terms.These terms are used to be only used to a unit and another unit
Make a distinction.For example, in the case of without departing substantially from the scope of exemplary embodiment, it is single that first module can be referred to as second
Unit, and second unit can be referred to as first module similarly.Term "and/or" used herein above include one of them or
Any and all combination of more listed associated item.
Term used herein above is only used to describe specific embodiment and be not intended to limit exemplary embodiment.Unless
Context refers else clearly, and singulative the most used herein above " ", " one " also attempt to include plural number.Also should
When being understood by, term used herein above " include " and/or " comprising " specify stated feature, integer, step, operation,
Unit and/or the existence of assembly, and do not preclude the presence or addition of other features one or more, integer, step, operation, unit,
Assembly and/or a combination thereof.
It should further be mentioned that in some replace implementation, the function/action being previously mentioned can be attached according to being different from
The order indicated in figure occurs.For example, depending on involved function/action, the two width figures in succession illustrated actually may be used
Substantially simultaneously to perform or sometimes can perform in a reverse order.
Below in conjunction with the accompanying drawings the present invention is described in further detail.
According to an aspect of the invention, it is provided the HUD data display method of a kind of intelligent navigation.Wherein, vehicle mounted electric
Subset includes but not limited to: the smart machines such as onboard navigation system, smart mobile phone, panel computer, vehicle-carrying notebook computer.
In one embodiment, above-mentioned 360 look around joining method may be used in smart machine, it should be noted that institute
State smart machine to be only for example, if other existing or that be likely to occur the from now on network equipment and subscriber equipmenies are applicable to this
Bright, within also should being included in scope, and it is incorporated herein with way of reference.
Refer to the HUD data that Fig. 1, Fig. 1 are the intelligent navigation of the offer according to a preferred embodiment of the invention show
Method, the method is as it is shown in figure 1, comprise the steps:
Step S101, senior drive assist system (the English full name: Advanced Driving of acquisition forward direction
Assistant System, English abbreviation: ADAS) information, anti-before touch warning (FCW) information；
In above-mentioned steps S101, FCW can carry out moment monitoring front vehicles by radar system, it is judged that this car in front truck it
Between distance, orientation and relative velocity, when there is potential risk of collision, driver is alerted.FCW system itself will not
Any brake measure is taked to remove collision free or control vehicle.
Advanced drive assist system (Advanced Driver Assistant System) in above-mentioned steps, is called for short
ADAS, is to utilize the sensor miscellaneous being installed on car, the environmental data inside and outside very first time collecting cart, carries out
Quiet, the identification of dynamic object, detect and the technical process such as tracking such that it is able to allowing driver discover in the fastest time can
The danger that can occur, to arouse attention and to improve the active safety technologies of safety.The sensor that ADAS uses mainly has shooting
Head, radar, laser and ultrasound wave etc., can detect light, heat, pressure or other is for monitoring the variable of vehicle condition, usual position
Before and after vehicle on bumper, lateral telescope, control stick inside or windshield.ADAS technology in early days is mainly with passive type
Warning is main, when vehicle detection to potential danger, can send alarm and reminding motorist and note abnormal vehicle or road conditions.
For up-to-date ADAS technology, active intervention is the most common.
Step S102, acquisition road early warning information and 360 look around offer blind area early warning information；
Above-mentioned road early warning information specifically may include that the information of vehicles of road, the integration of road and icing or other
Information, information of such as repairing the roads etc., in above-mentioned steps, 360 to look around offer blind area early warning information be the distinctive information of the application, its
Describe in detail in the examples below.
Step S103, acquisition vehicle early warning information and navigation information；
Above-mentioned vehicle early warning information specifically may include that the early warning information on onboard instruments, such as, oil meter information, speed
Information, the information of brake information, light information, rain brush information, tire pressure etc. vehicle interior, it is soft that navigation information is navigation
The information of part, the information in the navigation of the highest moral, Kai Lide navigation.
Step S104, by senior drive assist system information, anti-before touch warning message, road early warning information, 360 look around and carry
Shown by HUD for blind area early warning information vehicle early warning information and navigation information.
Optionally, the implementation method of above-mentioned steps S104 is specifically as follows:
According to senior drive assist system information, anti-before touch warning message, road early warning information, 360 look around offer blind area
Early warning information vehicle early warning information and navigation information judge the information the most urgent for current state, the most urgent information are existed
HUD amplifies in showing.
The most urgent above-mentioned information is specifically as follows: collision information.
The technical scheme that above-mentioned HUD shows can show in the way of using projection, and it can also pass through its other party certainly
Formula shows.
The technical scheme that the present invention provides by above-mentioned senior drive assist system information, anti-before to touch warning message, road pre-
Alarming information, 360 look around offer blind area early warning information vehicle early warning information and navigation information all shown by HUD, so it has
Information shows all, it is possible to the advantage effectively reminded driver.
Refer to the HUD data that Fig. 2, Fig. 2 are the intelligent navigation of the offer according to another preferred embodiment of the present invention show
Showing method, the method is as in figure 2 it is shown, comprise the steps:
Step S201, senior drive assist system (the English full name: Advanced Driving of acquisition forward direction
Assistant System, English abbreviation: ADAS) information, anti-before touch warning (FCW) information；
In above-mentioned steps S201, FCW can carry out moment monitoring front vehicles by radar system, it is judged that this car in front truck it
Between distance, orientation and relative velocity, when there is potential risk of collision, driver is alerted.FCW system itself will not
Any brake measure is taked to remove collision free or control vehicle.
Advanced drive assist system (Advanced Driver Assistant System) in above-mentioned steps, is called for short
ADAS, is to utilize the sensor miscellaneous being installed on car, the environmental data inside and outside very first time collecting cart, carries out
Quiet, the identification of dynamic object, detect and the technical process such as tracking such that it is able to allowing driver discover in the fastest time can
The danger that can occur, to arouse attention and to improve the active safety technologies of safety.The sensor that ADAS uses mainly has shooting
Head, radar, laser and ultrasound wave etc., can detect light, heat, pressure or other is for monitoring the variable of vehicle condition, usual position
Before and after vehicle on bumper, lateral telescope, control stick inside or windshield.ADAS technology in early days is mainly with passive type
Warning is main, when vehicle detection to potential danger, can send alarm and reminding motorist and note abnormal vehicle or road conditions.
For up-to-date ADAS technology, active intervention is the most common.
Step S202, acquisition road early warning information and 360 look around offer blind area early warning information；
Above-mentioned road early warning information specifically may include that the information of vehicles of road, the integration of road and icing or other
Information, information of such as repairing the roads etc.；
In above-mentioned steps 360 are looked around offer blind area early warning information and specifically be may include that
Obtain four images of the photographic head shooting being arranged in four angles of vehicle；
Obtain the pixel range [a1, b1] in 4 images, [a2, b2], [a3, b3], [a4, b4], this pixel range is pressed
Following formula carry out distort reduction treatment:
Xn=xn* (255-a1)/(b1-a1)；
Wherein, Xn is the value of the nth point pixel after distortion reduction treatment, the actual pixels point value of xn nth point, and a1 is figure
As the pixel lower limit of 1, the pixel higher limit of b1 image 1；
Yn=yn* (255-a2)/(b2-a2)；
Wherein, Yn is the value of the nth point pixel after distortion reduction treatment, the actual pixels point value of yn nth point, and a2 is figure
As the pixel lower limit of 2, the pixel higher limit of b2 image 2；
Zn=zn* (255-a3)/(b3-a3)；
Wherein, Zn is the value of the nth point pixel after distortion reduction treatment, the actual pixels point value of zn nth point, and a3 is figure
As the pixel lower limit of 3, the pixel higher limit of b3 image 3；
Wn=wn* (255-a4)/(b4-a4)；
Wherein, Wn is the value of the nth point pixel after distortion reduction treatment, the actual pixels point value of wn nth point, and a4 is figure
As the pixel lower limit of 4, the pixel higher limit of b4 image 4.
4 images after reduction are carried out visual angle conversion, becomes one 360 to look around 4 image mosaic after visual angle effect
Image；
360 panoramic view pictures are carried out enhancement process and obtains 360 ° of panorama top views that vehicle's surroundings is seamless；
According to the obstacle distance at 360 ° of panoramic view picture detection dead angles, when distance is less than setpoint distance, carry out early warning, and
HUD highlights.
Optionally, above-mentioned 4 image mosaic after visual angle effect become 360 panoramic view pictures concrete, including:
Obtain two adjacent images, extract the characteristic point in two images；Identify two identical spies in two images
Levying a little, an image keeps constant, and the angle of another image rotates two the identical features made in another image
At least one characteristic point in point overlaps with the same characteristic point in an image, then obtains two characteristic points of an image
Distance L2 of distance L1 and another two characteristic points of image, will remove a figure apart from L2 stretching or reduce and make L2 ' identical with L1
Picture with after the overlay chart picture of another image, an image is obtained together with another image overlay an angle being spliced into
Image, in like manner realize the image at other three angles, get up the image overlay at four angles i.e. to obtain 360 panoramic view pictures.
Step S203, acquisition vehicle early warning information and navigation information；
Above-mentioned vehicle early warning information specifically may include that the early warning information on onboard instruments, such as, oil meter information, speed
Information, the information of brake information, light information, rain brush information, tire pressure etc. vehicle interior, it is soft that navigation information is navigation
The information of part, the information in the navigation of the highest moral, Kai Lide navigation.
Step S204, by senior drive assist system information, anti-before touch warning message, road early warning information, 360 look around and carry
Display is amplified by HUD for the collision information in blind area early warning information, vehicle early warning information and navigation information.
The technical scheme that above-mentioned HUD shows can show in the way of using projection, and it can also pass through its other party certainly
Formula shows.
The technical scheme that the present invention provides by above-mentioned senior drive assist system information, anti-before to touch warning message, road pre-
Alarming information, 360 look around offer blind area early warning information vehicle early warning information and navigation information all shown by HUD, so it has
Information shows all, it is possible to the advantage effectively reminded driver.
HUD data presentation device refering to a kind of intelligent navigation that Fig. 3, Fig. 3 provide for the application, it is characterised in that institute
State device to include:
Acquiring unit 301, for obtain forward direction senior drive assist system information, anti-before touch warning message；Obtain road
Road early warning information and 360 looks around offer blind area early warning information；Obtain vehicle early warning information and navigation information；
HUD display unit 302, for by senior drive assist system information, anti-before touch warning message, road early warning letter
Breath, 360 offer blind area early warning information, vehicle early warning information and navigation information are provided are shown by HUD.
Optionally, above-mentioned HUD display unit 302, specifically for according to senior drive assist system information, anti-before touch warning
Information, road early warning information, 360 look around offer blind area early warning information vehicle early warning information and navigation information judge for current shape
The information that state is the most urgent, amplifies the most urgent information in HUD shows；The most urgent described information is collision information.
Optionally, acquiring unit 301 specifically for:
Obtain four images of the photographic head shooting being arranged in four angles of vehicle；
Obtain the pixel range [a1, b1] in 4 images, [a2, b2], [a3, b3], [a4, b4], this pixel range is pressed
Following formula carry out distort reduction treatment:
Xn=xn* (255-a1)/(b1-a1)；
Wherein, Xn is the value of the nth point pixel after distortion reduction treatment, the actual pixels point value of xn nth point, and a1 is figure
As the pixel lower limit of 1, the pixel higher limit of b1 image 1；
Yn=yn* (255-a2)/(b2-a2)；
Wherein, Yn is the value of the nth point pixel after distortion reduction treatment, the actual pixels point value of yn nth point, and a2 is figure
As the pixel lower limit of 2, the pixel higher limit of b2 image 2；
Zn=zn* (255-a3)/(b3-a3)；
Wherein, Zn is the value of the nth point pixel after distortion reduction treatment, the actual pixels point value of zn nth point, and a3 is figure
As the pixel lower limit of 3, the pixel higher limit of b3 image 3；
Wn=wn* (255-a4)/(b4-a4)；
Wherein, Wn is the value of the nth point pixel after distortion reduction treatment, the actual pixels point value of wn nth point, and a4 is figure
As the pixel lower limit of 4, the pixel higher limit of b4 image 4.
4 images after reduction are carried out visual angle conversion, becomes one 360 to look around 4 image mosaic after visual angle effect
Image；
360 panoramic view pictures are carried out enhancement process and obtains 360 ° of panorama top views that vehicle's surroundings is seamless；
According to the obstacle distance at 360 ° of panoramic view picture detection dead angles, when distance is less than setpoint distance, carry out early warning, and
HUD highlights.
Optionally, described 4 image mosaic after visual angle effect become 360 panoramic view pictures concrete, including:
Obtain two adjacent images, extract the characteristic point in two images；Identify two identical spies in two images
Levying a little, an image keeps constant, and the angle of another image rotates two the identical features made in another image
At least one characteristic point in point overlaps with the same characteristic point in an image, then obtains two characteristic points of an image
Distance L2 of distance L1 and another two characteristic points of image, will remove a figure apart from L2 stretching or reduce and make L2 ' identical with L1
Picture with after the overlay chart picture of another image, an image is obtained together with another image overlay an angle being spliced into
Image, in like manner realize the image at other three angles, get up the image overlay at four angles i.e. to obtain 360 panoramic view pictures.
Optionally, described vehicle early warning information includes: car oil table information, velocity information, brake information, light information, rain
Brush information and tire pressure.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of the spirit or essential attributes of the present invention, it is possible to realize the present invention in other specific forms.Therefore, no matter
From the point of view of which point, all should regard embodiment as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all by fall in the implication of equivalency and scope of claim
Change is included in the present invention.Should not be considered as limiting involved claim by any reference in claim.This
Outward, it is clear that " including ", a word was not excluded for other unit or step, and odd number is not excluded for plural number.In system claims, statement is multiple
Unit or device can also be realized by software or hardware by a unit or device.The first, the second word such as grade is used for table
Show title, and be not offered as any specific order.
Flow chart and block diagram in accompanying drawing show the system of multiple embodiments according to the present invention, method and computer journey
Architectural framework in the cards, function and the operation of sequence product.In this, each square frame in flow chart or block diagram can generation
One module of table, program segment or a part for code, a part for described module, program segment or code comprises one or more use
Executable instruction in the logic function realizing regulation.It should also be noted that at some as in the realization replaced, square frame is marked
The function of note can also occur to be different from the order marked in accompanying drawing.Such as, two continuous print square frames can essentially base
Originally being performed in parallel, they can also perform sometimes in the opposite order, and this is depending on involved function.It is also noted that
It is, the combination of the square frame in each square frame in block diagram and/or flow chart and block diagram and/or flow chart, can be with performing rule
The special hardware based system of fixed function or action realizes, or can be by the group of specialized hardware with computer instruction
Incompatible realization.
Seeing Fig. 4, the embodiment of the present invention also provides for a kind of vehicle intelligent equipment 400, this vehicle intelligent equipment 400 include but
Being not limited to: mobile phone, panel computer, intelligent vehicle-carrying navigation, as shown in Figure 4, this portable electric appts includes: equipment 40 includes place
Reason device 401, memorizer 402, transceiver 403, projector 405 and bus 404.Transceiver 403 is used for receiving between external equipment
Send out data.The quantity of the processor 401 in equipment 400 can be one or more.In some embodiments of the application, processor
401, memorizer 402 and transceiver 403 can be connected by bus system or other modes.Equipment 400 may be used for perform Fig. 1,
Method as shown in Figure 2.The implication of the term related to about the present embodiment and citing, be referred to Fig. 1 and Fig. 2 corresponding
Explanation.Here is omitted.
Photographic head 405, is used for realizing HUD and shows；
Wherein, memorizer 402 stores program code.Processor 401 is for calling the program generation of storage in memorizer 402
Code, for performing step as shown in Figure 1 or 2.
It should be noted that processor 401 here can be a treatment element, it is also possible to be multiple treatment elements
It is referred to as.Such as, this treatment element can be central processing unit (Central Processing Unit, CPU), it is also possible to be special
Determine integrated circuit (Application Specific Integrated Circuit, ASIC), or be configured to implement this
One or more integrated circuits of application embodiment, such as: one or more microprocessors (digital signal
Processor, DSP), or, one or more field programmable gate array (Field Programmable Gate Array,
FPGA)。
Memorizer 403 can be a storage device, it is also possible to is the general designation of multiple memory element, and is used for storing and can hold
Line program code or application program running gear run required parameter, data etc..And memorizer 403 can include storing at random
Device (RAM), it is also possible to include nonvolatile memory (non-volatile memory), such as disk memory, flash memory
(Flash) etc..
Bus 404 can be that industry standard architecture (Industry Standard Architecture, ISA) is total
Line, external equipment interconnection (Peripheral Component, PCI) bus or extended industry-standard architecture (Extended
Industry Standard Architecture, EISA) bus etc..This bus can be divided into address bus, data/address bus, control
Bus processed etc..For ease of representing, Fig. 4 only represents with a thick line, it is not intended that an only bus or a type of
Bus.
This subscriber equipment can also include input/output unit, is connected to bus 404, with by bus and processor 401
Connect etc. other parts.This input/output unit can be that operator provide an inputting interface, in order to operator are by being somebody's turn to do
Inputting interface selects to deploy to ensure effective monitoring and control of illegal activities item, it is also possible to be other interface, can be by the external miscellaneous equipment of this interface.
Those skilled in the art is it can be understood that arrive, for convenience and simplicity of description, the system of foregoing description,
The specific works process of device and unit, is referred to the corresponding process in preceding method embodiment, does not repeats them here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method, permissible
Realize by another way.Device embodiment described above is only schematically, such as, and the division of described unit,
Being only a kind of logic function to divide, actual can have other dividing mode when realizing, and the most such as, multiple unit or assembly can
To combine or to be desirably integrated into another system, or some features can be ignored, or does not performs.Another point, shown or beg for
The coupling each other of opinion or direct-coupling or communication connection can be indirect by some communication interfaces, device or unit
Coupling or communication connection, can be electrical, machinery or other form.
The described unit illustrated as separating component can be or may not be physically separate, shows as unit
The parts shown can be or may not be physical location, i.e. may be located at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected according to the actual needs to realize the mesh of the present embodiment scheme
's.
It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.
If described function is using the form realization of SFU software functional unit and as independent production marketing or use, permissible
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is the most in other words
The part contributing prior art or the part of this technical scheme can embody with the form of software product, this meter
Calculation machine software product is stored in a storage medium, including some instructions with so that a computer equipment (can be individual
People's computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.
And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (ROM, Read-Only Memory), random access memory are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；To the greatest extent
The present invention has been described in detail by pipe with reference to foregoing embodiments, it will be understood by those within the art that: it depends on
So the technical scheme described in foregoing embodiments can be modified, or the most some or all of technical characteristic is entered
Row equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme, it all should be contained in the middle of the claim of the present invention and the scope of description.
Claims (10)
1. the HUD data display method of an intelligent navigation, it is characterised in that described method includes:
Obtain forward direction senior drive assist system information, anti-before touch warning message；
Obtain road early warning information and 360 and offer blind area early warning information is provided；
Obtain vehicle early warning information and navigation information；
By senior drive assist system information, anti-before touch warning message, road early warning information, 360 look around offer blind area early warning letter
Breath, vehicle early warning information and navigation information are shown by HUD.
Method the most according to claim 1, it is characterised in that described by senior drive assist system information, anti-before touch report
Alarming information, road early warning information, 360 look around offer blind area early warning information vehicle early warning information and navigation information shown by HUD
Specifically, including:
According to senior drive assist system information, anti-before touch warning message, road early warning information, 360 look around offer blind area early warning
Information vehicle early warning information and navigation information judge the information the most urgent for current state, the most urgent information are shown at HUD
Show middle amplification；The most urgent described information is collision information.
Method the most according to claim 1, it is characterised in that described 360 look around offer blind area early warning information specifically, bag
Include:
Obtain four images of the photographic head shooting being arranged in four angles of vehicle；
Obtain the pixel range [a1, b1] in 4 images, [a2, b2], [a3, b3], [a4, b4], to this pixel range by following
Formula carry out distort reduction treatment:
Xn=xn* (255-a1)/(b1-a1)；
Wherein, Xn is the value of the nth point pixel after distortion reduction treatment, and the actual pixels point value of xn nth point, a1 is image 1
Pixel lower limit, the pixel higher limit of b1 image 1；
Yn=yn* (255-a2)/(b2-a2)；
Wherein, Yn is the value of the nth point pixel after distortion reduction treatment, and the actual pixels point value of yn nth point, a2 is image 2
Pixel lower limit, the pixel higher limit of b2 image 2；
Zn=zn* (255-a3)/(b3-a3)；
Wherein, Zn is the value of the nth point pixel after distortion reduction treatment, and the actual pixels point value of zn nth point, a3 is image 3
Pixel lower limit, the pixel higher limit of b3 image 3；
Wn=wn* (255-a4)/(b4-a4)；
Wherein, Wn is the value of the nth point pixel after distortion reduction treatment, and the actual pixels point value of wn nth point, a4 is image 4
Pixel lower limit, the pixel higher limit of b4 image 4.
4 images after reduction are carried out visual angle conversion, 4 image mosaic after visual angle effect are become 360 panoramic view pictures；
360 panoramic view pictures are carried out enhancement process and obtains 360 ° of panorama top views that vehicle's surroundings is seamless；
According to the obstacle distance at 360 ° of panoramic view pictures detection dead angles, when distance is less than setpoint distance, carry out early warning, and
Highlight on HUD.
Method the most according to claim 3, it is characterised in that described 4 image mosaic after visual angle effect are become one
360 panoramic view pictures are concrete, including:
Obtain two adjacent images, extract the characteristic point in two images；Identify two identical characteristic points in two images,
One image keeps constant, the angle of another image is rotated in two the identical characteristic points made in another image
At least one characteristic point overlaps with the same characteristic point in an image, then obtains distance L1 of two characteristic points of an image
With distance L2 of another two characteristic points of image, an image and separately will be removed apart from L2 stretching or reduce and make L2 ' identical with L1
After the overlay chart picture of one image, an image is obtained together with another image overlay the image at the angle being spliced into,
In like manner realize the image at other three angles, get up the image overlay at four angles i.e. to obtain 360 panoramic view pictures.
Method the most according to claim 1, it is characterised in that described vehicle early warning information includes: car oil table information, speed
Information, brake information, light information, rain brush information and tire pressure.
6. the HUD data presentation device of an intelligent navigation, it is characterised in that described device includes:
Acquiring unit, for obtain forward direction senior drive assist system information, anti-before touch warning message；Obtain road early warning letter
Breath and 360 looks around offer blind area early warning information；Obtain vehicle early warning information and navigation information；
HUD display unit, for by senior drive assist system information, anti-before touch warning message, road early warning information, 360 rings
Depending on providing blind area early warning information, vehicle early warning information and navigation information to be shown by HUD.
Device the most according to claim 6, it is characterised in that described HUD display unit, specifically for according to senior driving
Aid system information, anti-before touch warning message, road early warning information, 360 look around offer blind area early warning information vehicle early warning information
Judge the information the most urgent for current state with navigation information, the most urgent information is amplified in HUD shows；Described the tightest
Anxious information is collision information.
Device the most according to claim 7, it is characterised in that described acquiring unit specifically for:
Obtain four images of the photographic head shooting being arranged in four angles of vehicle；
Obtain the pixel range [a1, b1] in 4 images, [a2, b2], [a3, b3], [a4, b4], to this pixel range by following
Formula carry out distort reduction treatment:
Xn=xn* (255-a1)/(b1-a1)；
Wherein, Xn is the value of the nth point pixel after distortion reduction treatment, and the actual pixels point value of xn nth point, a1 is image 1
Pixel lower limit, the pixel higher limit of b1 image 1；
Yn=yn* (255-a2)/(b2-a2)；
Wherein, Yn is the value of the nth point pixel after distortion reduction treatment, and the actual pixels point value of yn nth point, a2 is image 2
Pixel lower limit, the pixel higher limit of b2 image 2；
Zn=zn* (255-a3)/(b3-a3)；
Wherein, Zn is the value of the nth point pixel after distortion reduction treatment, and the actual pixels point value of zn nth point, a3 is image 3
Pixel lower limit, the pixel higher limit of b3 image 3；
Wn=wn* (255-a4)/(b4-a4)；
Wherein, Wn is the value of the nth point pixel after distortion reduction treatment, and the actual pixels point value of wn nth point, a4 is image 4
Pixel lower limit, the pixel higher limit of b4 image 4.
4 images after reduction are carried out visual angle conversion, 4 image mosaic after visual angle effect are become 360 panoramic view pictures；
360 panoramic view pictures are carried out enhancement process and obtains 360 ° of panorama top views that vehicle's surroundings is seamless；
According to the obstacle distance at 360 ° of panoramic view pictures detection dead angles, when distance is less than setpoint distance, carry out early warning, and
Highlight on HUD.
Device the most according to claim 8, it is characterised in that described 4 image mosaic after visual angle effect are become one
360 panoramic view pictures are concrete, including:
Obtain two adjacent images, extract the characteristic point in two images；Identify two identical characteristic points in two images,
One image keeps constant, the angle of another image is rotated in two the identical characteristic points made in another image
At least one characteristic point overlaps with the same characteristic point in an image, then obtains distance L1 of two characteristic points of an image
With distance L2 of another two characteristic points of image, an image and separately will be removed apart from L2 stretching or reduce and make L2 ' identical with L1
After the overlay chart picture of one image, an image is obtained together with another image overlay the image at the angle being spliced into,
In like manner realize the image at other three angles, get up the image overlay at four angles i.e. to obtain 360 panoramic view pictures.
Device the most according to claim 6, it is characterised in that described vehicle early warning information includes: car oil table information, speed
Degree information, brake information, light information, rain brush information and tire pressure.
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| CN201610805344.9A CN106197465B (en) | 2016-09-06 | 2016-09-06 | A kind of the HUD data display method and device of intelligent navigation |
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| CN201610805344.9A CN106197465B (en) | 2016-09-06 | 2016-09-06 | A kind of the HUD data display method and device of intelligent navigation |
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| CN106740474A (en) * | 2016-12-23 | 2017-05-31 | 深圳市豪恩汽车电子装备有限公司 | Panorama reverse image processing method and processing device |
| CN107491760A (en) * | 2017-08-22 | 2017-12-19 | 无锡北斗星通信息科技有限公司 | A kind of method of the hazardous vehicles of detection immediately |
| CN108180921A (en) * | 2017-12-22 | 2018-06-19 | 联创汽车电子有限公司 | Utilize the AR-HUD navigation system and its air navigation aid of GPS data |
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| US20090086094A1 (en) * | 2007-10-01 | 2009-04-02 | Lee Baek-Woon | Apparatus and method of converting image signal for four-color display device |
| CN103402066A (en) * | 2013-07-19 | 2013-11-20 | 浙江吉利汽车研究院有限公司 | Head rising display system for vehicle |
| CN105599682A (en) * | 2016-02-03 | 2016-05-25 | 广州勘帝德电子科技有限公司 | Automobile driving assisting system and method based on dead zone detection and looking-around image monitoring |
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| CN106197465B (en) | 2019-07-23 |
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