CN107402020A - Path planning methods of exhibiting, device, storage medium and mobile terminal - Google Patents
Path planning methods of exhibiting, device, storage medium and mobile terminal Download PDFInfo
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- CN107402020A CN107402020A CN201710625420.2A CN201710625420A CN107402020A CN 107402020 A CN107402020 A CN 107402020A CN 201710625420 A CN201710625420 A CN 201710625420A CN 107402020 A CN107402020 A CN 107402020A
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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
- G01C21/3691—Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions
- G01C21/3694—Output thereof on a road map
Abstract
The present invention relates to a kind of path planning methods of exhibiting, device, storage medium and mobile terminal.Methods described includes：Obtain the start position information and end point location information of user terminal input；According to the start position information and end point location information generation path planning；Visibility characterization information corresponding to the section included in the path planning is obtained, and the corresponding road section of the visibility characterization information on the electronic map is shown.Above-mentioned path planning methods of exhibiting, device, storage medium and mobile terminal, facilitate user to grasp traffic, ensure safety.
Description
Technical field
The present invention relates to field of computer technology, more particularly to a kind of path planning methods of exhibiting, device, storage medium
And mobile terminal.
Background technology
Traffic system is that people's life is provided convenience, the especially development of electronic map so that the trip of people is more
It is convenient.During trip, user can at any time by the traffic of electronic map query destination, including travel route,
Travel time, the trip information such as road conditions and peripheral facility.And due to the particularity of traffic system so that trip is highly prone to weather
Influence, such as heavy snow, haze, rainstorm weather all can substantially reduce the safety coefficient during trip.
The content of the invention
The embodiment of the present invention provides a kind of path planning methods of exhibiting, device, storage medium and mobile terminal, can be on ground
Visibility characterization information corresponding to showing path planning on figure, ensure the safety of user.
A kind of path planning methods of exhibiting, methods described include：
Obtain the start position information and end point location information of user terminal input；
According to the start position information and end point location information generation path planning；
Visibility characterization information corresponding to the section included in the path planning is obtained, and the visibility is characterized
The corresponding road section of information on the electronic map is shown.
A kind of path planning exhibiting device, described device include：
Data obtaining module, for obtaining the start position information and end point location information of user terminal input；
Path-generating module, for generating path planning according to the start position information and end point location information；
Information display module, for obtaining visibility characterization information corresponding to the section included in the path planning,
And the corresponding road section of the visibility characterization information on the electronic map is shown.
A kind of storage medium, is stored thereon with computer program, and the program realizes following steps when being executed by processor：
Obtain the start position information and end point location information of user terminal input；
According to the start position information and end point location information generation path planning；
Visibility characterization information corresponding to the section included in the path planning is obtained, and the visibility is characterized
The corresponding road section of information on the electronic map is shown.
A kind of mobile terminal, including memory, processor and storage are on a memory and the meter that can run on a processor
Calculation machine program, following steps are realized during the computing device described program：
Obtain the start position information and end point location information of user terminal input；
According to the start position information and end point location information generation path planning；
Visibility characterization information corresponding to the section included in the path planning is obtained, and the visibility is characterized
The corresponding road section of information on the electronic map is shown.
Path planning methods of exhibiting, device, storage medium and mobile terminal provided in an embodiment of the present invention, it is whole according to user
The start position and final position generation path planning of input are held, and is shown in each section included in path planning corresponding
Visibility characterization information.User can check that the air in each section in path planning can be shown according to visibility characterization information
Degree, so facilitate user to grasp traffic, ensure safety.
Brief description of the drawings
Fig. 1 is the internal structure schematic diagram of electronic equipment in one embodiment；
Fig. 2 is the internal structure schematic diagram of server in one embodiment；
Fig. 3 is the flow chart of path planning methods of exhibiting in one embodiment；
Fig. 4 is the flow chart of path planning methods of exhibiting in another embodiment；
Fig. 5 is the schematic diagram that physical distance information is obtained in one embodiment；
Fig. 6 is the displaying schematic diagram of path planning in one embodiment；
Fig. 7 is the structural representation of path planning exhibiting device in one embodiment；
Fig. 8 is the structural representation of path planning exhibiting device in another embodiment；
Fig. 9 is the schematic diagram of image processing circuit in one embodiment.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It is appreciated that term " first " used in the present invention, " second " etc. can be used to describe various elements herein,
But these elements should not be limited by these terms.These terms are only used for distinguishing first element and another element.Citing comes
Say, without departing from the scope of the invention, the first client can be referred to as the second client, and similarly, can incite somebody to action
Second client is referred to as the first client.First client and the second client both clients, but it is not same visitor
Family end.
Fig. 1 is the internal structure schematic diagram of electronic equipment in one embodiment.As shown in figure 1, the electronic equipment includes leading to
Cross processor, non-volatile memory medium, built-in storage and the network interface, display screen and input unit of system bus connection.
Wherein, the non-volatile memory medium of electronic equipment is stored with operating system and computer-readable instruction.The computer-readable finger
Make when being executed by processor to realize a kind of path planning methods of exhibiting.The processor is used to provide calculating and control ability, branch
Support the operation of whole electronic equipment.Built-in storage in electronic equipment is the computer-readable instruction in non-volatile memory medium
Operation provide environment.Network interface is used to carry out network service with server, such as sends visibility characterization information and obtains request
Visibility characterization information returned to server, the reception server etc..The display screen of electronic equipment can be LCDs or
Person's electric ink display screen etc., input unit can be on the touch layer or electronic equipment casing covered on display screen
Button, trace ball or Trackpad or the external keyboard of setting, Trackpad or mouse etc..The electronic equipment can be
Mobile phone, tablet personal computer or personal digital assistant or Wearable etc..It will be understood by those skilled in the art that shown in Fig. 1
Structure, the only part-structure related to application scheme block diagram, do not form and it be applied to application scheme
On electronic equipment restriction, specific electronic equipment can include than more or less parts shown in figure, or combination
Some parts, or arranged with different parts.
Fig. 2 is the internal structure schematic diagram of server in one embodiment.As shown in Fig. 2 the server is including passing through
Processor, non-volatile memory medium, built-in storage and the network interface of bus of uniting connection.Wherein, the server is non-volatile
Property storage medium is stored with operating system and computer-readable instruction.To realize when the computer-readable instruction is executed by processor
A kind of path planning methods of exhibiting.The processor of the server is used to provide calculating and control ability, supports whole server
Operation.The terminal that the network interface of the server is used for according to this with outside is communicated by network connection, for example receiving terminal is sent
Visibility characterization information obtain request and return to visibility characterization information etc. to terminal.Server can use independent service
Device either multiple server groups into server cluster realize.It will be understood by those skilled in the art that the knot shown in Fig. 2
The block diagram of structure, the only part-structure related to application scheme, do not form what application scheme was applied thereon
The restriction of server, specific server can be included than more or less parts shown in figure, or some parts of combination,
Or arranged with different parts.
Fig. 3 is the flow chart of path planning methods of exhibiting in one embodiment.As shown in figure 3, the path planning displaying side
Method includes step 302 to step 306.Wherein：
Step 302, the start position information and end point location information of user terminal input are obtained.
In embodiment provided by the invention, user terminal refers to the equipment that network outermost is in computer network,
It is mainly used in the input of positional information and the output of result etc..It is understood that the user terminal can with but it is unlimited
Then mobile phone, tablet personal computer, wearable device etc..Start position information refers to the start position for the route that user's needs are gone on a journey
Relevant information, end point location information refer to the relevant information in the final position for the route that user's needs are gone on a journey.
In one embodiment, user inputs start position information and end point location information by user terminal, can with but
It is not limited to what is inputted by forms such as word, voice, picture recognitions.
Step 304, path planning is generated according to start position information and end point location information.
In the present embodiment, path planning refers to reach home the route that position passed through from start position, the planning road
Footpath can be one or more of.Usually, every path planning is made up of multiple sections, and user goes out from start position
Hair, reached home position along path planning traveling can.
Step 306, visibility characterization information corresponding to the section included in path planning is obtained, and visibility is characterized
The corresponding road section of information on the electronic map is shown.
In one embodiment, visibility characterization information refers to the information for characterizing air visibility, passes through the visibility meter
Sign information user is recognized that the air visibility in each section, facilitates user to go on a journey.Specifically, visibility characterization information can
By but one or more in being not limited in the form of numeral, picture, video, histogram etc..Electronic map refers to numeral side
The map that formula is stored and consulted, it can check that relevant position and the road conditions in each geographical position etc. are believed by electronic map
Breath.
It is understood that the electronic map can be an application program on user terminal, user can be answered by this
Start position information and end point location information are inputted with program, and is entered the path planning by the displaying interface of the application program
Row displaying.
In embodiment provided by the invention, visibility characterization information can be stored in database, wherein data
Storehouse refers to store and manages the warehouse of data.The database can store in the user terminal, can also store in the server.
Visibility characterization information establishes corresponding relation with section unique identifier.
After path planning is generated, section and corresponding section unique identifier that path planning is included are obtained, is passed through
Section unique identifier searches visibility characterization information corresponding to each section, and by the visibility characterization information in electronic map
On be shown.Wherein, section unique identifier refers to the identifier for distinguishing each section.For example, section unique identifier can
To refer to longitude and latitude corresponding to each section, coding and title etc. corresponding to each section.
Above-mentioned path planning methods of exhibiting, the start position inputted according to user terminal and final position generation planning road
Footpath, and visibility characterization information corresponding to displaying in each section included in path planning.User can be according to visibility
The air visibility in each section that characterization information is checked in path planning, so facilitate user to grasp traffic, ensure
Row safety.
Fig. 4 is the flow chart of path planning methods of exhibiting in another embodiment.As shown in figure 4, the path planning is shown
Method includes step 402 to step 406.Wherein：
Step 402, the start position information and end point location information of user terminal input are obtained.
In one embodiment, user can received by user terminal input position positioning instruction, user terminal
After the positioning instruction of position, the geographical position letter according to corresponding to being searched the position unique identifier included in the positioning instruction of position
Breath, start position information or end point location information as user's input.
Specifically, user can input first position information by user terminal, and user terminal receives user's input
After the information of first position, obtain and the geographical location information related to first position information, Ran Houyong are shown on terminal interface
Family selects second place information, the starting point position finally entered as user further according to the geographical location information shown on terminal interface
Confidence ceases or end point location information.
For example, user inputs first position information " Shenzhen " on the subscriber terminal, then can be shown on user terminal interface
The geographical location information " Baoan district of Shenzhen city " of association, " Nanshan District, Shenzhen City ", " Enterprises of Futian District " etc., then user's root again
Second place information " Nanshan District, Shenzhen City " is further selected according to the geographical location information of displaying, as the starting point position finally entered
Confidence ceases or end point location information.
In other embodiment provided by the invention, after can also be user's input position positioning instruction, user terminal is straight
GPS (Global Positioning System, global positioning system) positioning terminal present position was connected, and should
The start position information or end point location information that terminal present position inputs as user terminal.
Step 404, path planning is generated according to start position information and end point location information.
Specifically, planning road can be generated according to start position information, end point location information and preset path planning algorithm
Footpath.Wherein, preset path planning algorithm refers to the algorithm for path planning pre-set.For example, preset path planning is calculated
Method can be by start position, obtain the starting point corresponding to section, be further continued for search section corresponding to next section, so
Circulate to form a binary tree being made up of multiple sections.The position that can reach home finally is selected in this binary tree
Binary tree branch, generate path planning.
Step 406, section scene image corresponding to each section and physical distance information in path planning are obtained.
In one embodiment, section scene image refers to image corresponding to scene where each section in path planning,
The air visibility of scene where the section scene image can clearly illustrate each section.Section scene image can pass through
Image collecting device is acquired, and then uploading onto the server is stored.Wherein, image collecting device refers to gather image
Device.Such as image collecting device can be the devices such as camera, the camera on mobile terminal, video camera.Physical distance is believed
Breath refers to the phase for representing physical distance of the image collecting device into section scene image between object corresponding to each pixel
Related parameter.Because section scene image is made up of several pixels, therefore each pixel in the scene image of section
Point has corresponding physical distance information.
Image acquisition device, can be by the section scene image and section unique mark to after the scene image of section
Symbol establishes one-to-one relationship, and the section scene image established after corresponding relation is stored in database.According to section
After visibility characterization information corresponding to scene image and physical distance acquisition of information, by visibility characterization information, section scene
Image, physical distance information are stored in database.After generate path planning, directly according to being included in path planning
Section unique identifier corresponding to each section, visibility characterization information corresponding to lookup.
In embodiment provided by the invention, dual camera can be installed on image collecting device, surveyed by dual camera
Image collecting device is measured to the physical distance information between object.It can also be and believed by range sensor to obtain physical distance
Breath, wherein range sensor refers to the device that can measure physical distance.
Specifically, the image of object is shot respectively by the first camera and second camera；The is obtained according to the image
One angle and the second angle, wherein, the first angle is the first camera to horizontal line where object and the first camera to second
Angle between horizontal line where camera, the second angle are that second camera arrives to horizontal line where object with second camera
Angle between horizontal line where first camera；According to the first angle, the second angle and the first camera to second camera
The distance between, image collecting device is obtained to the physical distance information between object.
Fig. 5 is the schematic diagram that physical distance information is obtained in one embodiment.As shown in figure 5, pass through the first camera 502
Shoot the image of object 506 respectively with second camera 504, the first included angle A 1 and the second angle can be obtained according to the image
A2, the distance between second camera 504 T then is arrived further according to the first included angle A 1, the second included angle A 2 and the first camera 502,
Physical distance of first camera 402 to the place horizontal line of second camera 504 between any point and object 506 can be obtained
D。
Step 408, the mist concentration parameter in the scene image of section is obtained according to parameter preset model, according to mist concentration parameter
With physical distance acquisition of information corresponding to visibility characterization information, and the corresponding road by visibility characterization information on the electronic map
Section is shown.
In embodiment provided by the invention, mist concentration parameter refers to the ginseng for representing the mist concentration of image Scene
Number, parameter preset model refer to the data model for obtaining the mist concentration parameter in image, can obtained according to parameter preset model
Mist concentration parameter in the scene image of section.Furthermore it is also possible to section scene image is handled according to mist concentration parameter, also
It is former into original fog free images.
In embodiment provided by the invention, according to mist concentration parameter and physical distance acquisition of information visibility parameter；Root
According to the corresponding relation of visibility parameter and visibility parameter and visibility characterization information, visibility characterization information is obtained.Wherein,
Visibility parameter refers to the numerical parameter for representing the air visibility size of image Scene.Under normal circumstances, visibility parameter
Air visibility size is represented in the form of numerical value, the form of expression that visibility characterization information can have elephant with figure, color etc. is come
Represent visibility size so that the air visibility of performance is more directly perceived.It is understood that visibility characterization information can also
It is numerical information.
Specifically, the corresponding relation of visibility parameter and visibility characterization information pre-establishes, and is getting energy
After degree of opinion parameter, visibility characterization information is directly got by the corresponding relation can.For example, visibility parameter is general
It is the numerical parameter between 0 to 1, numerical value is bigger to represent that visibility is higher.Visibility characterization information can refer on electronic map
The color in the position location region presented, the corresponding relation can be visibility parameter between 0 to 0.2, visibility meter
Reference breath takes on a red color；For visibility parameter between 0.2 to 0.6, visibility characterization information is in yellow；Visibility parameter is 0.6 to 1
Between, visibility characterization information is in green.
In one embodiment, the step of obtaining the mist concentration parameter of section scene image based on dark primary elder generation checking method is wrapped
Include：
Obtain atmospherical scattering model
I (x)=J (x) t (x)+A (1-t (x))
Wherein, I (x) is the image information observed, and J (x) is the radiation information from target, that is, the nothing after recovery
Mist image, x represent the locus of a certain pixel in image, and t (x) is transmissivity, and A is the air light value of infinite point.Air
Light value A can be calculated by the gray-scale map of section scene image and be obtained, also pass through air light value and weather condition and current time
Corresponding relation obtain.Under normal conditions, estimation of the pixel of maximum intensity in image as air light value can be selected.Assuming that
Air light value A is given value, the very low passage of channel value, and the channel value be present in tri- passages of RGB in the scene image of section
Close to zero, then can obtain：
Can get transmissivity by above formula is：
WhereinAs image containing mist can introduce one 0 to 1 in the dark primary value in x fields
Between weights ω transmissivity is adjusted, then the i.e. transmissivity expression formula of defogging parameter finally asked for is as follows：
In order to ensure defog effect, a threshold value t can be set to transmissivity0, then the light intensity of scenery when fogless
For：
From above formula, mist concentration parameter can include transmissivity t (x) and air light value A.Usually, transmitted in above formula
Rate is bigger, represents that the mistiness degree in the scene image of section is smaller, section scene image and original fog free images are closer；Phase
Instead, then illustrate that the mistiness degree in the scene image of section is bigger.
Transmissivity t (x) and visibility parameter L relational expression is as follows：
Wherein, d is physical distance information corresponding to the scene image of section, and C is a constant.Then can be according to road by above formula
The mist concentration parameter and physical distance acquisition of information visibility parameter L of section scene image.
In one embodiment, road segment classification corresponding to each section in path planning can also be obtained；According to visibility
Parameter and road segment classification, obtain visibility characterization information corresponding to each section in path planning.Wherein, road segment classification refers to use
In the attribute for the characteristic for distinguishing different sections of highway.For example, road segment classification can include highway, municipal highway, sky way, township
Village's highway etc..
Usually, road segment classification is different, and the requirement to Vehicle Speed is also different, that is, corresponding air visibility
Requirement it is also different.For example, the speed of operation of highway requirement is than very fast, then just has to higher in air visibility
In the case of just allow to travel；The speed of operation of municipal highway is relatively slow, then the requirement of air visibility will relatively low one
A bit.Specifically, road segment classification is different, and visibility parameter can be different from the corresponding relation of visibility characterization information.
In one embodiment, user terminal is inputted after start position information and end point location information, can be by starting point
Positional information and end point location information send to server, server and can generated according to start position information and end point location information
Path planning, and obtain visibility characterization information corresponding to each section in path planning.Then by the path planning of generation and
Visibility characterization information corresponding to each section returns to user terminal, and is shown by user terminal.Fig. 6 is a reality
Apply the displaying schematic diagram of path planning in example.Start position 602, final position 604, path planning 606 and energy are illustrated in Fig. 6
Degree of opinion characterization information 608.
Above-mentioned path planning methods of exhibiting, the start position inputted according to user terminal and final position generation planning road
Footpath, and visibility characterization information corresponding to displaying in each section included in path planning.User can be according to visibility
The air visibility in each section that characterization information is checked in path planning, so facilitate user to grasp traffic, ensure
Row safety.
Fig. 7 is the structural representation of path planning exhibiting device in one embodiment.As shown in fig. 7, the path planning exhibition
Showing device 700 includes data obtaining module 702, path-generating module 704 and information display module 706.Wherein：
Data obtaining module 702, for obtaining the start position information and end point location information of user terminal input.
Path-generating module 704, for generating path planning according to start position information and end point location information.
Information display module 706, for obtaining visibility characterization information corresponding to the section included in path planning, and
The corresponding road section of visibility characterization information on the electronic map is shown.
Fig. 8 is the structural representation of path planning exhibiting device in another embodiment.As shown in figure 8, the path planning
Exhibiting device 800 includes data obtaining module 802, path-generating module 804, type acquisition module 806 and information display module
808.Wherein：
Data obtaining module 802, for obtaining the start position information and end point location information of user terminal input.
Path-generating module 804, for generating path planning according to start position information and end point location information.
Type acquisition module 806, for obtaining road segment classification corresponding to each section in path planning.
Information display module 808, for obtaining visibility characterization information corresponding to the section included in path planning, and
The corresponding road section of visibility characterization information on the electronic map is shown.
Above-mentioned path planning exhibiting device, the start position inputted according to user terminal and final position generation planning road
Footpath, and visibility characterization information corresponding to displaying in each section included in path planning.User can be according to visibility
The air visibility in each section that characterization information is checked in path planning, so facilitate user to grasp traffic, ensure
Row safety.
In one of the embodiments, information display module 808 is additionally operable to obtain in path planning corresponding to each section
Section scene image and physical distance information；Mist concentration parameter in the scene image of section, root are obtained according to parameter preset model
According to visibility characterization information corresponding to mist concentration parameter and physical distance acquisition of information.
In another embodiment, information display module 808 is additionally operable to be obtained according to mist concentration parameter and physical distance information
Take visibility parameter；According to the corresponding relation of visibility parameter and visibility parameter and visibility characterization information, obtain corresponding
Visibility characterization information.
In other embodiment provided by the invention, information display module 808 is additionally operable to according to visibility parameter and section
Type, obtain visibility characterization information corresponding to each section in path planning.
The division of modules is only used for for example, in other embodiments in above-mentioned path planning exhibiting device, can
Path planning exhibiting device is divided into different modules as required, with complete the whole of above-mentioned path planning exhibiting device or
Partial function.
The embodiment of the present invention additionally provides a kind of storage medium.A kind of storage medium, is stored thereon with computer program, should
Following steps are realized when program is executed by processor：
Obtain the start position information and end point location information of user terminal input；
According to start position information and end point location information generation path planning；
Visibility characterization information corresponding to the section included in path planning is obtained, and by visibility characterization information in electricity
Corresponding road section on sub- map is shown.
In one embodiment, the visibility corresponding to the section obtained included in path planning performed by processor
Characterization information includes：
Obtain section scene image corresponding to each section and physical distance information in path planning；
Mist concentration parameter in the scene image of section is obtained according to parameter preset model, according to mist concentration parameter and physics away from
From visibility characterization information corresponding to acquisition of information.
In one embodiment, the energy according to corresponding to mist concentration parameter and physical distance acquisition of information being executed by processor
Degree of opinion characterization information includes：
According to mist concentration parameter and physical distance acquisition of information visibility parameter；
According to the corresponding relation of visibility parameter and visibility parameter and visibility characterization information, can see corresponding to acquisition
Spend characterization information.
In another embodiment, the method being executed by processor also includes：
Obtain road segment classification corresponding to each section in path planning；
According to the corresponding relation of visibility parameter and visibility parameter and visibility characterization information, can see corresponding to acquisition
Degree characterization information includes：
According to visibility parameter and road segment classification, visibility characterization information corresponding to each section in path planning is obtained.
The embodiment of the present invention also provides a kind of computer equipment.Above computer equipment includes image processing circuit, figure
As process circuit can utilize hardware and/or component software to realize, it may include define ISP (Image Signal
Processing, picture signal processing) pipeline various processing units.Fig. 9 is that image processing circuit shows in one embodiment
It is intended to.As shown in figure 9, for purposes of illustration only, the various aspects of the image processing techniques related to the embodiment of the present invention are only shown.
As shown in figure 9, image processing circuit includes ISP processors 940 and control logic device 950.Imaging device 910 is caught
View data handled first by ISP processors 940, ISP processors 940 view data is analyzed with catch can be used for it is true
The image statistics of fixed and/or imaging device 910 one or more control parameters.Imaging device 910 may include there is one
The camera of individual or multiple lens 912 and imaging sensor 914.Imaging sensor 914 may include colour filter array (such as
Bayer filters), imaging sensor 914 can obtain the luminous intensity caught with each imaging pixel of imaging sensor 914 and wavelength
Information, and the one group of raw image data that can be handled by ISP processors 940 is provided.Sensor 920 can be connect based on sensor 920
Raw image data is supplied to ISP processors 940 by mouth type.The interface of sensor 920 can utilize SMIA (Standard
Mobile Imaging Architecture, Standard Mobile Imager framework) interface, other serial or parallel camera interfaces or
The combination of above-mentioned interface.
ISP processors 940 handle raw image data pixel by pixel in various formats.For example, each image pixel can
Bit depth with 8,10,12 or 14 bits, ISP processors 940 can be carried out at one or more images to raw image data
Reason operation, statistical information of the collection on view data.Wherein, image processing operations can be by identical or different bit depth precision
Carry out.
ISP processors 940 can also receive pixel data from video memory 930.For example, from the interface of sensor 920 by original
Beginning pixel data is sent to video memory 930, and the raw pixel data in video memory 930 is available to ISP processors
940 is for processing.Video memory 930 can be independent in a part, storage device or electronic equipment for storage arrangement
Private memory, and may include DMA (Direct Memory Access, direct direct memory access (DMA)) feature.
When receiving the raw image data from the interface of sensor 920 or from video memory 930, ISP processing
Device 940 can carry out one or more image processing operations, such as time-domain filtering.View data after processing can be transmitted to be stored to image
Device 930, to carry out other processing before shown.ISP processors 940 can also be from the reception processing of video memory 930
Data, the image real time transfer in original domain and in RGB and YCbCr color spaces is carried out to above-mentioned processing data.After processing
View data may be output to display 980, for user watch and/or by graphics engine or GPU (Graphics
Processing Unit, graphics processor) further processing.In addition, the output of ISP processors 940 also can be transmitted and be deposited to image
Reservoir 930, and display 980 can read view data from video memory 930.In one embodiment, video memory 930
It can be configured as realizing one or more frame buffers.In addition, the output of ISP processors 940 can be transmitted to encoder/decoder
970, so as to encoding/decoding image data.The view data of coding can be saved, and on the equipment of display 980 is shown in it
Preceding decompression.
View data after ISP processing can be transmitted to defogging module 960, to carry out defogging to image before shown
Processing.Defogging module 960, which carries out defogging processing to view data, may include to obtain section scene image according to parameter preset model
In mist concentration parameter, and defogging processing etc. is carried out to section scene image according to defogging parameter.Wherein, defogging module 960 can
For CPU in mobile terminal (Central Processing Unit, central processing unit) or GPU (Graphics Processing
Unit, graphics processor) etc..After view data is carried out defogging processing by defogging module 960, the picture number after can defogging be handled
According to encoder/decoder 970 is sent to, so as to encoding/decoding image data.The view data of coding can be saved, and aobvious
Show with being decompressed before in the equipment of display 980.It is understood that the view data after defogging module 960 is handled can not
Encoded device/decoder 970, directly issue display 980 and shown.View data after the processing of ISP processors 940 is also
Encoder/decoder 970 can be first passed through to handle, then handled again by defogging module 960.
The statistics that ISP processors 940 determine, which can be transmitted, gives the unit of control logic device 950.For example, statistics can wrap
Include the image sensings such as automatic exposure, AWB, automatic focusing, flicker detection, black level compensation, the shadow correction of lens 912
The statistical information of device 914.Control logic device 950 may include the processor and/or micro-control for performing one or more routines (such as firmware)
Device processed, one or more routines according to the statistics of reception, can determine control parameter and the ISP processing of imaging device 910
The control parameter of device 940.For example, control parameter may include the control parameter of sensor 920 (such as gain, the integration of spectrum assignment
Time), camera flash control parameter, the group of the control parameter of lens 912 (such as focus on or zoom focal length) or these parameters
Close.ISP control parameters may include the gain level for being used for AWB and color adjustment (for example, RGB processing during) and
Color correction matrix, and the shadow correction parameter of lens 912.
It it is below the step of realizing path planning methods of exhibiting with image processing techniques in Fig. 9：
Obtain the start position information and end point location information of user terminal input；
According to the start position information and end point location information generation path planning；
Visibility characterization information corresponding to the section included in the path planning is obtained, and the visibility is characterized
The corresponding road section of information on the electronic map is shown.
In one embodiment, visibility characterization information corresponding to the section obtained included in the path planning
Including：
Obtain section scene image corresponding to each section and physical distance information in the path planning；
Mist concentration parameter in the scene image of section is obtained according to parameter preset model, according to the mist concentration parameter and thing
Manage visibility characterization information corresponding to range information acquisition.
In one embodiment, the visibility meter according to corresponding to the mist concentration parameter and physical distance acquisition of information
Reference breath includes：
According to the mist concentration parameter and physical distance acquisition of information visibility parameter；
According to the corresponding relation of the visibility parameter and visibility parameter and visibility characterization information, corresponding to acquisition
Visibility characterization information.
In another embodiment, methods described also includes：
Obtain road segment classification corresponding to each section in the path planning；
The corresponding relation according to the visibility parameter and visibility parameter and visibility characterization information, acquisition pair
The visibility characterization information answered includes：
According to the visibility parameter and road segment classification, visibility meter corresponding to each section in the path planning is obtained
Reference ceases.
One of ordinary skill in the art will appreciate that realize all or part of flow in above-described embodiment method, being can be with
The hardware of correlation is instructed to complete by computer program, described program can be stored in a non-volatile computer and can be read
In storage medium, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage is situated between
Matter can be magnetic disc, CD, read-only memory (Read-Only Memory, ROM) etc..
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of path planning methods of exhibiting, it is characterised in that methods described includes：
Obtain the start position information and end point location information of user terminal input；
According to the start position information and end point location information generation path planning；
Obtain visibility characterization information corresponding to the section included in the path planning, and by the visibility characterization information
Corresponding road section on the electronic map is shown.
2. path planning methods of exhibiting according to claim 1, it is characterised in that described to obtain institute in the path planning
Comprising section corresponding to visibility characterization information include：
Obtain section scene image corresponding to each section and physical distance information in the path planning；
Mist concentration parameter in the scene image of section is obtained according to parameter preset model, according to the mist concentration parameter and physics away from
From visibility characterization information corresponding to acquisition of information.
3. path planning methods of exhibiting according to claim 2, it is characterised in that it is described according to the mist concentration parameter and
Visibility characterization information includes corresponding to physical distance acquisition of information：
According to the mist concentration parameter and physical distance acquisition of information visibility parameter；
According to the corresponding relation of the visibility parameter and visibility parameter and visibility characterization information, can see corresponding to acquisition
Spend characterization information.
4. path planning methods of exhibiting according to claim 3, it is characterised in that methods described also includes：
Obtain road segment classification corresponding to each section in the path planning；
The corresponding relation according to the visibility parameter and visibility parameter and visibility characterization information, corresponding to acquisition
Visibility characterization information includes：
According to the visibility parameter and road segment classification, visibility meter reference corresponding to each section in the path planning is obtained
Breath.
5. a kind of path planning exhibiting device, it is characterised in that described device includes：
Data obtaining module, for obtaining the start position information and end point location information of user terminal input；
Path-generating module, for generating path planning according to the start position information and end point location information；
Information display module, for obtaining visibility characterization information corresponding to the section included in the path planning, and will
The corresponding road section of the visibility characterization information on the electronic map is shown.
6. path planning exhibiting device according to claim 5, it is characterised in that described information display module is additionally operable to obtain
Take section scene image corresponding to each section and physical distance information in the path planning；Obtained according to parameter preset model
Mist concentration parameter in the scene image of section, according to visibility meter corresponding to the mist concentration parameter and physical distance acquisition of information
Reference ceases.
7. path planning exhibiting device according to claim 6, it is characterised in that described information display module is additionally operable to root
According to the mist concentration parameter and physical distance acquisition of information visibility parameter；According to the visibility parameter and visibility parameter
With the corresponding relation of visibility characterization information, visibility characterization information corresponding to acquisition.
8. path planning exhibiting device according to claim 7, it is characterised in that described device also includes：
Type acquisition module, for obtaining road segment classification corresponding to each section in the path planning；
Described information display module is additionally operable to, according to the visibility parameter and road segment classification, obtain each in the path planning
Visibility characterization information corresponding to section.
9. a kind of storage medium, is stored thereon with computer program, it is characterised in that is realized such as when the program is executed by processor
Path planning methods of exhibiting any one of Claims 1-4.
10. a kind of mobile terminal, including memory, processor and storage are on a memory and the calculating that can run on a processor
Machine program, it is characterised in that the rule as any one of Claims 1-4 are realized during the computing device described program
Draw path methods of exhibiting.
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