CN107941226A - Method and apparatus for the direction guide line for generating vehicle - Google Patents

Method and apparatus for the direction guide line for generating vehicle Download PDF

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Publication number
CN107941226A
CN107941226A CN201711140782.9A CN201711140782A CN107941226A CN 107941226 A CN107941226 A CN 107941226A CN 201711140782 A CN201711140782 A CN 201711140782A CN 107941226 A CN107941226 A CN 107941226A
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CN
China
Prior art keywords
track
turn
line
lane
guide line
Prior art date
Application number
CN201711140782.9A
Other languages
Chinese (zh)
Inventor
饶先拓
Original Assignee
百度在线网络技术(北京)有限公司
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Priority to CN201711140782.9A priority Critical patent/CN107941226A/en
Publication of CN107941226A publication Critical patent/CN107941226A/en

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network
    • G01C21/28Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30Map- or contour-matching
    • G01C21/32Structuring or formatting of map data
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/3407Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/3446Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes

Abstract

The method and apparatus that the embodiment of the present application discloses the direction guide line for generating vehicle.One embodiment of this method includes:In response to determining that the vehicle will reverse end for end to travel, determine current location and reverse end for end the distance of position;The travel direction of the vehicle is shot by vehicle-mounted camera, obtains shooting result;The lane line of current lane is identified from the shooting result and is identified to the lane line to track;Lane line and the lane line to from least one track to track in response to determining to identify the current lane, determine a track at least one track as track after u-turn;Lane line based on the current lane, after the u-turn track lane line and the distance, generation indicate the head end operation direction guide line.The embodiment of the present application can use the direction guide line of augmented reality generation instruction head end operation.

Description

Method and apparatus for the direction guide line for generating vehicle

Technical field

The invention relates to field of computer technology, and in particular to Internet technical field, it is more particularly, to raw Into the method and apparatus of the direction guide line of vehicle.

Background technology

Vehicle-mounted augmented reality (Augmented Reality, AR) navigation is currently in the starting stage, direction guide line and The unmatched situation in road surface happens occasionally.Especially in section is reversed end for end, because the road conditions at u-turn crossing are frequently more complicated, to leading The requirement higher of boat.

The content of the invention

The method and apparatus that the embodiment of the present application proposes the direction guide line for generating vehicle.

In a first aspect, the embodiment of the present application provides a kind of method for the direction guide line for being used to generate vehicle, including:Ring It should will reverse end for end to travel in definite vehicle, and determine current location and reverse end for end the distance of position;By vehicle-mounted camera to vehicle Travel direction is shot, and obtains shooting result;The lane line of current lane is identified from shooting result and is identified to track Lane line, wherein, to track include u-turn after track;In response to determining to identify the lane line of current lane and to car The lane line at least one track in road, determines a track at least one track as track after u-turn;Based on work as The lane line and distance in track after the lane line in preceding track, u-turn, the direction guide line of generation instruction head end operation.

In certain embodiments, this method further includes:In response to determining to identify to one of track and current lane Lane line, obtains from the shooting result of vehicle-mounted camera for the last time to the lane line to being identified to track and current lane The confidence level of the lane line identified for the last time;In response to determining that confidence level reaches believability threshold, based on last time The lane line identified, generates the lane line of current lane and the lane line to track after the u-turn previously determined into track, And lane line based on current lane, after u-turn track lane line and distance, the direction guide line of generation instruction head end operation; Or in response to determining that confidence level is not up to believability threshold, obtain current lane and into track it is unidentified go out lane line Track preset direction, and based on the lane line and preset direction identified, generate direction guide line.

In certain embodiments, the lane line based on current lane, u-turn after track lane line and distance, generation instruction The direction guide line of head end operation, including:Lane line and current location based on current lane, generation length are the u-turn of distance Front direction guide line, and based on the lane line in track after u-turn, the u-turn rear direction guide line of preset length is generated, wherein, adjust The position of one endpoint of head front direction guide line is current location;Based on u-turn front direction guide line and u-turn rear direction guiding Line, determines u-turn radius, and generates radius as u-turn radius and connection u-turn front direction guide line and u-turn rear direction guide line Arc connecting line;Generation is guided by the direction that u-turn front direction guide line, u-turn rear direction guide line and connecting line form Line.

In certain embodiments, obtain current lane and into track it is unidentified go out lane line track default side To, and based on the lane line and preset direction identified, direction guide line is generated, including:It is unidentified go out current lane Lane line and in the case of identifying the lane line at least one track into track, obtains the default side of current lane To;Based on two lane lines in track after u-turn identify, previously determined from least one track, u-turn rear car is determined The direction in road, and after u-turn on the direction in track, generate between two lane lines predeterminated position, length be preset length U-turn rear direction guide line;On the preset direction of current lane, using current location as endpoint, and with current in current lane The ratio of the width of position both sides, determines the u-turn front direction guide line of the length of distance;Based on u-turn front direction guide line and Rear direction guide line is reversed end for end, determines u-turn radius, and generates radius as u-turn radius and connection u-turn front direction guide line and tune The connecting line of the arc of head rear direction guide line;Generation is by u-turn front direction guide line, u-turn rear direction guide line and connecting line The direction guide line of composition.

In certain embodiments, this method further includes:Obtained from electronic map when the preceding lane information to track and right To the lane information in track.

In certain embodiments, obtain current lane and into track it is unidentified go out lane line track default side To, and based on the lane line and preset direction identified, direction guide line is generated, including:Identifying the car of current lane Diatom and unidentified go out to preset u-turn rear car road in the case of the lane line at least one track into track, obtaining Direction;Based on the lane line of the current lane identified, the direction of current lane is determined, and to work as on the direction of current lane Anteposition is set to endpoint, generates the u-turn front direction guide line of the length of distance;From the acquired lane information institute to track In the track of instruction, track after u-turn is determined, and generate the u-turn rear of preset length on the preset direction in track after u-turn To guide line;Based on u-turn front direction guide line and u-turn rear direction guide line, u-turn radius is determined, and generate radius as u-turn The connecting line of radius and the arc of connection u-turn front direction guide line and u-turn rear direction guide line;Generation is drawn by u-turn front direction The direction guide line of conducting wire, u-turn rear direction guide line and connecting line composition.

In certain embodiments, when the preceding lane information to track and width to including from track to the lane information in track Degree, further include track in the same direction and to track between spacing;And obtain current lane and to not knowing into track Do not go out the preset direction in the track of lane line, and based on the lane line and preset direction identified, generate direction guide line, bag Include:It is unidentified go out current lane lane line and to the lane line at least one track into track in the case of, obtain Preset direction to u-turn front truck road and the preset direction to u-turn rear car road;From the acquired lane information institute to track In the track of instruction, track after u-turn is determined, and generate the u-turn rear of preset length on the preset direction in track after u-turn To guide line;Work as preceding into the track indicated by the lane information in track, the definite preceding track of u-turn from acquired, and current On the preset direction in track, the u-turn rear direction guide line of designated length is generated using current location as endpoint;It is preceding to car based on working as The width in road and to the width in track, and track in the same direction and to track between spacing, determine u-turn radius, and Generation using reverse end for end radius as radius, u-turn front direction guide line and reverse end for end rear direction guide line connecting line;Generation is by reversing end for end The direction guide line of front direction guide line, u-turn rear direction guide line and connecting line composition.

In certain embodiments, the direction guide line of generation instruction head end operation, including:Generated using augmented reality Indicate the direction guide line of head end operation.

In certain embodiments, this method further includes:Obtain leading to the coordinate data to world coordinate system and vehicle The coordinate data of the coordinate system of boat display screen carries out the transition matrix of coordinate conversion;Using transition matrix, the direction that will be generated The coordinate data of guide line is transformed into the coordinate system of navigator display from world coordinate system.

Second aspect, the embodiment of the present application provide a kind of device for the direction guide line for being used to generate vehicle, including:Away from From determination unit 501, be configured in response to determining that vehicle will reverse end for end to travel, determine current location and reverse end for end position away from From;Shooting unit, is configured to vehicle-mounted camera and the travel direction of vehicle is shot, obtain shooting result;Identification Unit, be configured to from shooting result identify current lane lane line and identify to the lane line to track, wherein, to Track includes track after u-turn;Determination unit, is configured to lane line in response to determining to identify current lane and to car The lane line at least one track in road, determines a track at least one track as track after u-turn;Generation is single Member, be configured to the lane line based on current lane, u-turn after track lane line and distance, generation instruction head end operation side To guide line.

In certain embodiments, which further includes:Confidence level determination unit, is configured in response to determining to identify pair To the lane line of one of track and current lane, obtain from the shooting result of vehicle-mounted camera last time to to track and The confidence level for the lane line that the lane line and last time that current lane identifies identify;First generation unit, is configured to In response to determining that confidence level reaches believability threshold, based on the lane line identified for the last time, the track of current lane is generated Line and the lane line to track after the u-turn previously determined into track, and the lane line based on current lane, track after u-turn Lane line and distance, generation instruction head end operation direction guide line;Or second generation unit, it is configured in response to true Determine confidence level and be not up to believability threshold, obtain current lane and into track it is unidentified go out lane line track it is default Direction, and based on the lane line and preset direction identified, generate direction guide line.

In certain embodiments, generation unit, including:First generation module, is configured to the track based on current lane Line and current location, generation length are the u-turn front direction guide line of distance, and pre- based on the lane line in track after u-turn, generation If the u-turn rear direction guide line of length, wherein, the position for reversing end for end an endpoint of front direction guide line is current location;Second Generation module, is configured to, based on u-turn front direction guide line and u-turn rear direction guide line, determine u-turn radius, and generate half Footpath is u-turn radius and connection u-turn front direction guide line and the connecting line for the arc for reversing end for end rear direction guide line;Generation is by reversing end for end The direction guide line of front direction guide line, u-turn rear direction guide line and connecting line composition.

In certain embodiments, the second generation unit, including:First acquisition module, be configured to it is unidentified go out it is current The lane line in track and in the case of identifying the lane line at least one track into track, obtains the pre- of current lane Set direction;First guide line generation module, is configured to based on u-turn identify, previously determined from least one track Two lane lines in track afterwards, determine the direction in track after u-turn, and after u-turn on the direction in track, generate in two tracks Between line predeterminated position, length be preset length u-turn rear direction guide line;First determining module, is configured to current On the preset direction in track, using current location as endpoint, and with the ratio of the width of current location both sides in current lane, determine The u-turn front direction guide line of the length of distance;First direction guide line generation module, is configured to draw based on u-turn front direction Conducting wire and u-turn rear direction guide line, determine u-turn radius, and generate radius as u-turn radius and connection u-turn front direction guiding The connecting line of the arc of line and u-turn rear direction guide line;Generation by u-turn front direction guide line, u-turn rear direction guide line and The direction guide line of connecting line composition.

In certain embodiments, which further includes:Acquiring unit, is configured to obtain from electronic map when preceding to car The lane information in road and to the lane information in track.

In certain embodiments, the second generation unit, including:Second acquisition module, is configured to identifying current vehicle The lane line in road and it is unidentified go out in the case of the lane line at least one track into track, obtaining to u-turn rear car road Preset direction;Second guide line generation module, is configured to the lane line based on the current lane identified, determines current vehicle The direction in road, and using current location as endpoint on the direction of current lane, generate the u-turn front direction guiding of the length of distance Line;Second determining module, is configured to from the track indicated by the acquired lane information to track, after determining u-turn Track, and after u-turn on the preset direction in track generate preset length u-turn rear direction guide line;Second direction guide line Generation module, is configured to, based on u-turn front direction guide line and u-turn rear direction guide line, determine u-turn radius, and generate half Footpath is u-turn radius and connection u-turn front direction guide line and the connecting line for the arc for reversing end for end rear direction guide line;Generation is by reversing end for end The direction guide line of front direction guide line, u-turn rear direction guide line and connecting line composition.

In certain embodiments, when the preceding lane information to track and width to including from track to the lane information in track Degree, further include track in the same direction and to track between spacing;And second generation unit, including:3rd acquisition module, Be configured to it is unidentified go out current lane lane line and to the lane line at least one track into track in the case of, Obtain the preset direction to u-turn front truck road and the preset direction to u-turn rear car road;3rd guide line generation module, configuration are used In from the track indicated by the acquired lane information to track, track after u-turn, and the track after u-turn are determined The u-turn rear direction guide line of preset length is generated on preset direction;3rd determining module, is configured to from acquired current Into the track indicated by the lane information in track, the preceding track of u-turn is determined, and on the preset direction of current lane, with current Position generates the u-turn rear direction guide line of designated length for endpoint;Connecting line determining module, is configured to be based on when preceding to car The width in road and to the width in track, and track in the same direction and to track between spacing, determine u-turn radius, and Generation using reverse end for end radius as radius, u-turn front direction guide line and reverse end for end rear direction guide line connecting line;Third direction draws Conducting wire generation module, is configured to the side that generation is made of u-turn front direction guide line, u-turn rear direction guide line and connecting line To guide line.

In certain embodiments, generation unit is further configured to:Instruction vehicle tune is generated using augmented reality The direction guide line of head.

In certain embodiments, device further includes:Matrix acquiring unit, is configured to obtain to world coordinate system The coordinate data of the coordinate system of the navigator display of coordinate data and vehicle carries out the transition matrix of coordinate conversion;Converting unit, It is configured to utilize transition matrix, the coordinate data of the direction guide line generated is transformed into navigation display from world coordinate system In the coordinate system of screen.

The third aspect, the embodiment of the present application provide a kind of vehicle, including:One or more processors;Storage device, is used In the one or more programs of storage, when one or more programs are executed by one or more processors so that at one or more The method that reason device realizes any embodiment in the method such as the direction guide line for being used to generate vehicle.

Fourth aspect, the embodiment of the present application provide a kind of computer-readable recording medium, are stored thereon with computer journey Sequence, is realized when which is executed by processor such as the method for any embodiment in the direction guiding line method for generating vehicle.

The method and apparatus of the direction guide line provided by the embodiments of the present application for being used to generate vehicle, first, in response to true Determining vehicle will reverse end for end to travel, and determine current location and reverse end for end the distance of position;Afterwards, the row by vehicle-mounted camera to vehicle Sail direction to be shot, obtain shooting result;Then, the lane line of current lane is identified from shooting result and is identified to car The lane line in road;Then, in response to determining to identify the lane line of current lane and at least one track into track Lane line, determines a track at least one track as track after u-turn;Finally, the lane line based on current lane, The lane line and distance in track after u-turn, the direction guide line of generation instruction head end operation.Embodiments herein can improve Indicate the accuracy of the direction guide line of u-turn, and then improve the accuracy of automobile navigation.

Brief description of the drawings

By reading the detailed description made to non-limiting example made with reference to the following drawings, the application's is other Feature, objects and advantages will become more apparent upon:

Fig. 1 is that this application can be applied to exemplary system architecture figure therein;

Fig. 2 is the flow chart for being used to generate one embodiment of the method for the direction guide line of vehicle according to the application;

Fig. 3 is the signal for being used to generate an application scenarios of the method for the direction guide line of vehicle according to the application Figure;

Fig. 4 is the flow for being used to generate another embodiment of the method for the direction guide line of vehicle according to the application Figure;

Fig. 5 is the flow for being used to generate another embodiment of the method for the direction guide line of vehicle according to the application Figure;

Fig. 6 is the flow for being used to generate another embodiment of the method for the direction guide line of vehicle according to the application Figure;

Fig. 7 is the flow for being used to generate another embodiment of the method for the direction guide line of vehicle according to the application Figure;

Fig. 8 is the flow for being used to generate another embodiment of the method for the direction guide line of vehicle according to the application Figure;

Fig. 9 is the flow for being used to generate another embodiment of the method for the direction guide line of vehicle according to the application Figure;

Figure 10 is shown according to the structure for being used to generate one embodiment of the device of the direction guide line of vehicle of the application It is intended to;

Figure 11 is adapted for the structure diagram of the computer system of the vehicle for realizing the embodiment of the present application.

Embodiment

The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to It illustrate only easy to describe, in attached drawing and invent relevant part with related.

It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the application can phase Mutually combination.Describe the application in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

Fig. 1, which is shown, can apply the application's to be used to generate the method for the direction guide line of vehicle or for generating vehicle Direction guide line device embodiment exemplary system architecture 100.

As shown in Figure 1, system architecture 100 can include terminal device 101,102,103, network 104 and vehicle 105.Net Network 104 between terminal device 101,102,103 and vehicle 105 provide communication link medium.Network 104 can include Various connection types, such as wired, wireless communication link or fiber optic cables etc..

User can be interacted with using terminal equipment 101,102,103 by network 104 with vehicle 105, to receive or send Message etc..Various telecommunication customer end applications, such as navigation type application, webpage can be installed on terminal device 101,102,103 Browser application, the application of shopping class, searching class application, instant messaging tools, mailbox client, social platform software etc..

Terminal device 101,102,103 can be the various electronic equipments for having display screen, include but not limited to vehicle-mounted aobvious Show device, smart mobile phone, tablet computer, pocket computer on knee and desktop computer etc..

Vehicle 105 can be to provide the vehicle of AR navigation Services, such as the AR to being shown on terminal device 101,102,103 Navigation screen provides the vehicle supported.Vehicle can dock the data such as received image and carry out the processing such as analyzing, and processing is tied Fruit (such as direction guide line) is sent to terminal device.

It should be noted that the embodiment of the present application provided be used for generate vehicle direction guide line method generally by Vehicle 105 performs, and correspondingly, is generally positioned at for generating the device of direction guide line of vehicle in vehicle 105.

It should be understood that the number of the terminal device, network and vehicle in Fig. 1 is only schematical.According to realizing needs, Can have any number of terminal device, network and vehicle.

With continued reference to Fig. 2, the reality for being used to generate the method for the direction guide line of vehicle according to the application is shown Apply the flow 200 of example.This is used for the method for generating the direction guide line of vehicle, comprises the following steps:

Step 201, in response to determining that vehicle will reverse end for end to travel, determine current location and reverse end for end the distance of position.

In the present embodiment, the method for the direction guide line for generating vehicle runs vehicle thereon if it is determined that should Vehicle will reverse end for end to travel, then respond:Determine the distance between above-mentioned current vehicle position and u-turn position.Direction guides Line is instruction vehicle traveling direction, and the lines of guiding vehicle traveling, can be applied in navigation system.The lines of direction guide line Width can be arbitrary.Initial position when position is head end operation is reversed end for end, i.e. thus vehicle starts to turn in u-turn.Adjust Head position scope can be above-mentioned vehicle electronic map (such as vehicle device map) it is definite, the above-mentioned vehicle of the scope so as to It is enough to be obtained from the lane information of electronic map.For example, u-turn position can be the position in stop line.Reversing end for end position can be with The change of vehicle location and change.Definite distance can be vehicle and be in the distance of each position of above range most Short distance.The lane information of electronic map can include section You Jitiao tracks, the width in every track, and which track It can reverse end for end, and the scope of u-turn position of each section per side track.It should be noted that lane information is electronically The relevant information of the information in the track of the fixation in figure, not lane line, such as the not positional information of lane line.

Step 202, the travel direction of vehicle is shot by vehicle-mounted camera, obtains shooting result.

In the present embodiment, above-mentioned vehicle shoots the travel direction of vehicle by vehicle-mounted camera thereon, obtains To shooting result.Herein, the shooting result obtained can be image or video.Traveling of the vehicle-mounted camera towards vehicle Direction is shot, because the shooting angle of camera is larger, is generally 180 degree.So the wider field of view of shooting, can shoot To to track.To being track in same section, for backward going to track.

Step 203, the lane line of current lane is identified from shooting result and is identified to the lane line to track.

In the present embodiment, above-mentioned vehicle identifies the lane line of current lane from shooting result, and from shooting result Middle identification is to the lane line in track.Herein, the lane line identified is the position coordinates of lane line.Current lane is car The track being currently located.Lane line is the lines drawn on vehicle travel, indicates vehicle row between two lane lines Sail.Identification can be the image recognition obtained from shooting from shooting result, or be identified from a two field picture of video.Can be with It is identified using various ways.Specifically, the positional information of lane line in the picture can be obtained first.Afterwards from cloud service The three-dimensional scene information in the section of vehicle traveling is obtained in device, includes current lane and to track in three-dimensional scene information Three-dimensional information.According to image and the registering relation of three-dimensional scene information, the two-dimensional position information of lane line in the picture is changed The three dimensional local information of lane line is obtained, while obtains the confidence level of the three dimensional local information of lane line.Confidence level obtains The degree that the position of lane line can trust that.Further, it is also possible to by it is predetermined to identify the model of lane line carry out Lane line determines.For example lane line determines that model can be to phenogram picture and the correspondence of track line position.Model may be used also To export the confidence level of track line position.The model can be mapping table or neutral net etc..Determined by model more , can be by the current lane that prestores and to the position relationship in track, determining current lane after the lane line in a track Lane line with to the lane line in track.Wherein, it is described to track after including u-turn to track.Track is being adjusted for vehicle after u-turn The track travelled after head.

Step 204, in response to determining to identify the lane line of current lane and at least one track into track Lane line, determines a track at least one track as track after u-turn.

In the present embodiment, above-mentioned vehicle if it is determined that identify current lane lane line and into track at least The lane line in one track, then respond:Determine a track at least one track as track after u-turn.It is usually right Track into track can serve as the track travelled after head end operation, can determine that wherein a track is as u-turn at random Track afterwards.It can also be determined according to rule set in advance, for example determine middle track, kerb lane etc..

After u-turn is determined after track, according to the lane line at least one track into track identified, i.e., The lane line in track after being reversed end for end.

Step 205, the lane line based on current lane, u-turn after track lane line and distance, generation instruction vehicle tune The direction guide line of head.

In the present embodiment, after lane line and u-turn of the above-mentioned vehicle based on above-mentioned current lane track lane line, with And the distance of current location and u-turn position, the direction guide line of generation instruction head end operation.For example it can be guided with preset direction The position relationship of line and lane line, and the pattern of guide line, pattern can include length, width and color etc..Utilize knowledge The position for the lane line being clipped to and above-mentioned position relationship, obtain the position of direction guide line.And should using the generation of default pattern Direction guide line on position.In addition, the position relationship of direction guide line and lane line can also be changed, also can root According to the current shift in position of vehicle.For example the direction guide line of current lane can be the current position of vehicle and u-turn position Connecting line.Herein, direction guide line can include u-turn front direction guide line, u-turn rear direction guide line, and u-turn Connecting line between front direction guide line and u-turn rear direction guide line.Front direction guide line is reversed end for end to indicate vehicle before u-turn The guide line how to travel.The guide line how u-turn rear direction guide line travels for instruction vehicle after u-turn.U-turn front The length of above-mentioned distance can be equal to guide line.

In some optional implementations of the present embodiment, augmented reality generation instruction head end operation can be used Direction guide line.

With continued reference to Fig. 3, Fig. 3 is the applied field for being used to generate the method for the direction guide line of vehicle according to the present embodiment One schematic diagram of scape.In the application scenarios of Fig. 3, vehicle 301 in response to determine will reverse end for end to travel, determine current location and Reverse end for end the distance 302 of position;The travel direction of vehicle 301 is shot by vehicle-mounted camera, obtains shooting result 303; The lane line 304 of current lane is identified from shooting result and is identified to the lane line to track;Work as in response to determining to identify The lane line in preceding track and the lane line to three tracks into track, determine a track in three tracks as u-turn Track afterwards;Lane line 304 based on current lane, u-turn after track lane line 305 and distance 302, generation instruction vehicle tune The direction guide line 306 of head.

The method that above-described embodiment of the application provides can improve the accuracy of the direction guide line of instruction u-turn, and then Improve the accuracy of automobile navigation.

With further reference to Fig. 4, it illustrates another embodiment of the method for the direction guide line for generating vehicle Flow 400.This is used for the flow 400 for generating the method for the direction guide line of vehicle, comprises the following steps:

Step 401, in response to determining that vehicle will reverse end for end to travel, determine current location and reverse end for end the distance of position.

In the present embodiment, the method for the direction guide line for generating vehicle runs vehicle thereon if it is determined that should Vehicle will reverse end for end to travel, then respond:Determine the distance between u-turn position.Direction guide line is that instruction vehicle is advanced Direction, the lines of guiding vehicle traveling, can be applied in navigation system.The line thickness of direction guide line can be any 's.Initial position when position is head end operation is reversed end for end, i.e. thus vehicle starts to turn in u-turn.The scope for reversing end for end position can Electronic map (such as vehicle device map) to be above-mentioned vehicle is definite, above-mentioned vehicle so as to from the track of electronic map believe Obtained in breath.For example, u-turn position can be the position in stop line.The lane information of electronic map can have several including section Bar track, the width in every track, and which track can be reversed end for end, and the model of u-turn position of each section per side track Enclose.Here definite distance can be vehicle and the shortest distance in the distance of each position in above range.

Step 402, the travel direction of vehicle is shot by vehicle-mounted camera, obtains shooting result.

In the present embodiment, above-mentioned vehicle shoots the travel direction of vehicle by vehicle-mounted camera thereon, obtains To shooting result.Herein, the shooting result obtained can be image or video.The travel direction of camera towards vehicle carries out Shooting, because the shooting angle of camera is larger, is generally 180 degree.So the wider field of view of shooting, can photograph to car Road.

Step 403, the lane line of current lane is identified from shooting result and is identified to the lane line to track.

In the present embodiment, above-mentioned vehicle identifies the lane line of current lane from shooting result, and from shooting result Middle identification is to the lane line in track.Herein, the lane line identified is the position coordinates of lane line.Current lane is car The track being currently located.Lane line is the lines drawn on vehicle travel, indicates vehicle row between two lane lines Sail.Identification can be the image recognition obtained from shooting from shooting result, or be identified from a two field picture of video.Can be with Identification using various ways into driveway line.It is described to track include u-turn after track.

Step 404, in response to determining to identify to the lane line of one of track and current lane, obtaining from vehicle-mounted pick-up The car that last time identifies the lane line to being identified to track and current lane and last time in the shooting result of head The confidence level of diatom.

In the present embodiment, above-mentioned vehicle is determining to identify to the lane line of one of track and current lane.Namely It only have identified to the lane line in track, or only have identified the lane line of current lane.It is last then to obtain above-mentioned vehicle Once to the lane line identified to track and current lane, and the confidence level of acquired lane line.That is, vehicle obtains it It is newest once to the lane line to being identified to track and current lane, and obtain vehicle carry out it is newest once identify when to institute The confidence level that the lane line of identification determines.Here identification is the knowledge carried out for the shooting result of the vehicle-mounted camera of vehicle Not.

Step 405, in response to determining that confidence level reaches believability threshold, based on the lane line identified for the last time, really Determine the lane line of current lane and the lane line to track after the u-turn previously determined into track.

In the present embodiment, above-mentioned vehicle if it is determined that obtain confidence level reach default believability threshold, that is, be more than Or equal to believability threshold, then respond:The lane line identified based on above-mentioned last time, generates the track of current lane Line, and the lane line in track after u-turn is generated, track is to a track previously determined into track after u-turn here. Determine that the time can be after the lane line that vehicle obtains that above-mentioned last time identifies.Specifically, can be by above-mentioned acquisition Lane line of the lane line that last time identifies as track after the lane line of current lane and u-turn.Can also to it is above-mentioned most The lane line once identified afterwards is handled, so as to obtain the lane line of current lane and the lane line in track after u-turn.

In some optional implementations of the present embodiment, based on the lane line identified for the last time, determine current The lane line in track and the lane line to track after the u-turn previously determined into track, including:Obtain last relative to obtaining The delta data of the driving parameters of vehicle during the lane line once identified, and identified based on delta data and last time Lane line, generates the lane line of current lane and the lane line to track after the u-turn previously determined into track.

In the present embodiment, because the lane line determined using vehicle-mounted camera can be displayed on the screen, In the case of not being fully retrieved lane line, the delta data of the driving parameters of vehicle can be utilized, is determined shown by display screen Lane line.Driving parameters are the parameter that can change with the traveling of vehicle, including position and corner.Driving parameters can be car What sensor collected, vehicle sensors can include gyroscope, inertial navigation system and alignment system (such as global location System GPS) etc..Since delta data here be obtaining the lane line that above-mentioned last time identifies, to current time Untill, data that driving parameters are changed.For example the delta data of the driving parameters of vehicle acquisition is (with the vehicle phase before 5 seconds Than) 100 meters are northwards moved, 5 degree are deflected eastwards.

Step 406, the lane line based on current lane, u-turn after track lane line and distance, generation instruction vehicle tune The direction guide line of head.

In the present embodiment, after lane line and u-turn of the above-mentioned vehicle based on above-mentioned current lane track lane line, it is raw Into the direction guide line of instruction head end operation.Such as can be with preset direction guide line and the position relationship of lane line, and guiding The pattern of line, pattern can include length, width and color etc..Closed using the position of the lane line recognized and above-mentioned position System, obtains the position of direction guide line.And the direction guide line using the generation of default pattern in this position.In addition, direction is drawn The position relationship of conducting wire and lane line can also be changed, namely direction guide line can become according to the current position of vehicle It is dynamic.For example the direction guide line of current lane can be the current position of vehicle and some location point in u-turn position range Connecting line.The direction guide line generated can be presented in the form of coordinate data.

Step 407, obtain to the coordinate data and the seat of the coordinate system of the navigator display of vehicle to world coordinate system Mark the transition matrix that data carry out coordinate conversion.

In the present embodiment, above-mentioned vehicle is from the data space of vehicle or other electronic equipments, obtain to The coordinate data of the coordinate system of the navigator display of coordinate data and vehicle to world coordinate system carries out the conversion of coordinate conversion Matrix.The transition matrix can be a constant.

Step 408, using transition matrix, the coordinate data of the direction guide line generated is transformed into from world coordinate system In the coordinate system of navigator display.

In the present embodiment, above-mentioned vehicle is using the transition matrix obtained, by the coordinate data of the direction guide line of generation It is transformed into from world coordinate system in the coordinate system of navigator display.

The present embodiment is carried out using the lane line identified for the last time in the case where can not currently identify lane line Degradation processing, avoids the situation that can not generate direction guide line.

With further reference to Fig. 5, it illustrates another embodiment of the method for the direction guide line for generating vehicle Flow 500.This is used for the flow 500 for generating the method for the direction guide line of vehicle, comprises the following steps:

Step 501, in response to determining that vehicle will reverse end for end to travel, determine current location and reverse end for end the distance of position.

In the present embodiment, the method for the direction guide line for generating vehicle runs vehicle thereon if it is determined that should Vehicle will reverse end for end to travel, then respond:Determine the distance between u-turn position.Direction guide line is that instruction vehicle is advanced Direction, the lines of guiding vehicle traveling, can be applied in navigation system.The line thickness of direction guide line can be any 's.Initial position when position is head end operation is reversed end for end, i.e. thus vehicle starts to turn in u-turn.The scope for reversing end for end position can Electronic map (such as vehicle device map) to be above-mentioned vehicle is definite, above-mentioned vehicle so as to from the track of electronic map believe Obtained in breath.For example, u-turn position can be the position in stop line.The lane information of electronic map can have several including section Bar track, the width in every track, and which track can be reversed end for end, and the model of u-turn position of each section per side track Enclose.Here definite distance can be vehicle and the shortest distance in the distance of each position in above range.

Step 502, the travel direction of vehicle is shot by vehicle-mounted camera, obtains shooting result.

In the present embodiment, above-mentioned vehicle shoots the travel direction of vehicle by vehicle-mounted camera thereon, obtains To shooting result.Herein, the shooting result obtained can be image or video.The travel direction of camera towards vehicle carries out Shooting, because the shooting angle of camera is larger, is generally 180 degree.So the wider field of view of shooting, can photograph to car Road.

Step 503, the lane line of current lane is identified from shooting result and is identified to the lane line to track.

In the present embodiment, above-mentioned vehicle identifies the lane line of current lane from shooting result, and from shooting result Middle identification is to the lane line in track.Herein, the lane line identified is the position coordinates of lane line.Current lane is car The track being currently located.Lane line is the lines drawn on vehicle travel, indicates vehicle row between two lane lines Sail.Identification can be the image recognition obtained from shooting from shooting result, or be identified from a two field picture of video.Can be with Identification using various ways into driveway line.It is described to track include u-turn after track.

Step 504, in response to determining to identify to the lane line of one of track and current lane, obtaining from vehicle-mounted pick-up The car that last time identifies the lane line to being identified to track and current lane and last time in the shooting result of head The confidence level of diatom.

In the present embodiment, above-mentioned vehicle is determining to identify to the lane line of one of track and current lane.Namely It only have identified to the lane line in track, or only have identified the lane line of current lane.Then obtain above-mentioned vehicle For the last time to the lane line identified to track and current lane, and the confidence level of acquired lane line.That is, vehicle obtains Take its newest once to the lane line to being identified to track and current lane, and obtain vehicle carry out it is newest when once identifying The confidence level determined to the lane line identified.Here identification is that the shooting result for the vehicle-mounted camera for being directed to vehicle carries out Identification.

Step 505, in response to determining that confidence level is not up to believability threshold, obtain current lane and into track not Identify the preset direction in the track of lane line, and based on the lane line and preset direction identified, generate direction guide line.

In the present embodiment, if above-mentioned vehicle determines that confidence level is not up to believability threshold, respond:Determine current Track and into track it is unidentified go out lane line track, i.e., from current lane and into track determine one.Obtain institute The preset direction in definite track.And based on the lane line and above-mentioned preset direction identified, generate direction guide line.This In identify is to perform the lane line of current lane that step 503 identifies or to the lane line in track.

The present embodiment carries out degradation processing in the case where can not currently identify lane line, and direction can not be generated by avoiding The situation of guide line, further increases the accuracy of generated direction guide line.

With further reference to Fig. 6, it illustrates another embodiment of the method for the direction guide line for generating vehicle Flow 600.This is used for the flow 600 for generating the method for the direction guide line of vehicle, comprises the following steps:

Step 601, in response to determining that vehicle will reverse end for end to travel, determine current location and reverse end for end the distance of position.

In the present embodiment, the method for the direction guide line for generating vehicle runs vehicle thereon if it is determined that should Vehicle will reverse end for end to travel, then respond:Determine the distance between u-turn position.Direction guide line is that instruction vehicle is advanced Direction, the lines of guiding vehicle traveling, can be applied in navigation system.The line thickness of direction guide line can be any 's.Initial position when position is head end operation is reversed end for end, i.e. thus vehicle starts to turn in u-turn.The scope for reversing end for end position can Electronic map (such as vehicle device map) to be above-mentioned vehicle is definite, above-mentioned vehicle so as to from the track of electronic map believe Obtained in breath.For example, u-turn position can be the position in stop line.The lane information of electronic map can have several including section Bar track, the width in every track, and which track can be reversed end for end, and the model of u-turn position of each section per side track Enclose.Here definite distance can be vehicle and the shortest distance in the distance of each position in above range.

Step 602, the travel direction of vehicle is shot by vehicle-mounted camera, obtains shooting result.

In the present embodiment, above-mentioned vehicle shoots the travel direction of vehicle by vehicle-mounted camera thereon, obtains To shooting result.Herein, the shooting result obtained can be image or video.The travel direction of camera towards vehicle carries out Shooting, because the shooting angle of camera is larger, is generally 180 degree.So the wider field of view of shooting, can photograph to car Road.

Step 603, the lane line of current lane is identified from shooting result and is identified to the lane line to track.

In the present embodiment, above-mentioned vehicle identifies the lane line of current lane from shooting result, and from shooting result Middle identification is to the lane line in track.Herein, the lane line identified is the position coordinates of lane line.Current lane is car The track being currently located.Lane line is the lines drawn on vehicle travel, indicates vehicle row between two lane lines Sail.Identification can be the image recognition obtained from shooting from shooting result, or be identified from a two field picture of video.Can be with Identification using various ways into driveway line.It is described to track include u-turn after track.

Step 604, in response to determining to identify the lane line of current lane and at least one track into track Lane line, determines a track at least one track as track after u-turn.

In the present embodiment, above-mentioned vehicle if it is determined that identify current lane lane line and into track at least The lane line in one track, then respond:Determine a track at least one track as track after u-turn.To car Road is track in same section, backward going.Track is the track that vehicle travels after u-turn after u-turn.It is usually right Track into track can serve as the track travelled after head end operation, can determine that wherein a track is as u-turn at random Track afterwards.It can also be determined according to rule set in advance, for example determine middle track, kerb lane etc..

Step 605, the lane line based on current lane and current location, generation length guide for the u-turn front direction of distance Line, and based on the lane line in track after u-turn, generate the u-turn rear direction guide line of preset length.

In the present embodiment, lane line of the above-mentioned vehicle based on the above-mentioned current lane identified, generation length are above-mentioned The u-turn front direction guide line of distance.And based on the lane line in track after u-turn, the u-turn rear direction for generating preset length is drawn Conducting wire.Wherein, the position for reversing end for end an endpoint of front direction guide line is current location.Rear direction guide line is reversed end for end as instruction car The guide line how travelled after u-turn.The length of above-mentioned distance can be equal to by reversing end for end the length of vehicle in front guide line, namely From vehicle to the length of u-turn position.

Step 606, based on u-turn front direction guide line and u-turn rear direction guide line, u-turn radius is determined, and generate half Footpath is u-turn radius and connection u-turn front direction guide line and the connecting line for the arc for reversing end for end rear direction guide line;Generation is by reversing end for end The direction guide line of front direction guide line, u-turn rear direction guide line and connecting line composition.

In the present embodiment, above-mentioned vehicle is based on u-turn front direction guide line and u-turn rear direction guide line, determines u-turn Radius.The connecting line of the arc of the u-turn front direction guide line of generation connection afterwards and u-turn rear direction guide line.The side of ultimately producing To guide line.Direction guide line can be spelled by above-mentioned u-turn front direction guide line, connecting line and u-turn rear direction guide line Connect.Here the radius of the connecting line of arc is above-mentioned u-turn radius.Here connecting line is connection u-turn front direction The lines of guide line and u-turn rear direction guide line, the direction that instruction vehicle is turned in u-turn.Radius is reversed end for end to reverse end for end for connection The radius of the arc of front direction guide line and u-turn rear direction guide line.Specifically, u-turn half can be determined using various ways Footpath.For example vertical line can be done respectively on u-turn front direction guide line and on u-turn rear direction guide line, wherein reversing end for end front direction Guide line intersects at u-turn location point with vertical line.And after making intersection point and u-turn front direction guide line and the u-turn of two vertical lines The distance of direction guide line is identical.Here the length of the distance of any one direction guide line in intersection point and two direction guide lines Degree is the length for reversing end for end radius.Circle can also be done between u-turn front direction guide line and u-turn rear direction guide line, make circle Tangent with two direction guide lines, the point of contact of u-turn front direction guide line therein and circle is above-mentioned u-turn location point.

The present embodiment carries out degradation processing in the case where can not currently identify lane line, and direction can not be generated by avoiding The situation of guide line, further increases the accuracy of generated direction guide line.

With further reference to Fig. 7, it illustrates another embodiment of the method for the direction guide line for generating vehicle Flow 700.This is used for the flow 700 for generating the method for the direction guide line of vehicle, comprises the following steps:

Step 701, in response to determining that vehicle will reverse end for end to travel, determine current location and reverse end for end the distance of position.

In the present embodiment, the method for the direction guide line for generating vehicle runs vehicle thereon if it is determined that should Vehicle will reverse end for end to travel, then respond:Determine the distance between u-turn position.Direction guide line is that instruction vehicle is advanced Direction, the lines of guiding vehicle traveling, can be applied in navigation system.The line thickness of direction guide line can be any 's.Initial position when position is head end operation is reversed end for end, i.e. thus vehicle starts to turn in u-turn.The scope for reversing end for end position can Electronic map (such as vehicle device map) to be above-mentioned vehicle is definite, above-mentioned vehicle so as to from the track of electronic map believe Obtained in breath.For example, u-turn position can be the position in stop line.The lane information of electronic map can have several including section Bar track, the width in every track, and which track can be reversed end for end, and the model of u-turn position of each section per side track Enclose.Here definite distance can be vehicle and the shortest distance in the distance of each position in above range.

Step 702, the travel direction of vehicle is shot by vehicle-mounted camera, obtains shooting result.

In the present embodiment, above-mentioned vehicle shoots the travel direction of vehicle by vehicle-mounted camera thereon, obtains To shooting result.Herein, the shooting result obtained can be image or video.The travel direction of camera towards vehicle carries out Shooting, because the shooting angle of camera is larger, is generally 180 degree.So the wider field of view of shooting, can photograph to car Road.

Step 703, the lane line of current lane is identified from shooting result and is identified to the lane line to track.

In the present embodiment, above-mentioned vehicle identifies the lane line of current lane from shooting result, and from shooting result Middle identification is to the lane line in track.Herein, the lane line identified is the position coordinates of lane line.Current lane is car The track being currently located.Lane line is the lines drawn on vehicle travel, indicates vehicle row between two lane lines Sail.Identification can be the image recognition obtained from shooting from shooting result, or be identified from a two field picture of video.Can be with Identification using various ways into driveway line.It is described to track include u-turn after track.

Step 704, in response to it is unidentified go out current lane lane line and identify at least one car into track The lane line in road, obtains from the shooting result of vehicle-mounted camera for the last time to the car to being identified to track and current lane The confidence level for the lane line that diatom and last time identify.

In the present embodiment, above-mentioned vehicle in response to determine it is unidentified go out current lane lane line and identify to car The lane line at least one track in road.Then obtain car of the above-mentioned vehicle for the last time to being identified to track and current lane Diatom, and the confidence level of acquired lane line.That is, to obtain its newest once to knowing to track and current lane for vehicle The lane line not gone out, and obtain the confidence level determined when vehicle carries out newest once identification to the lane line identified.Here Identification is the identification carried out for the shooting result of the vehicle-mounted camera of vehicle.

Step 705, in response to determining that confidence level is not up to believability threshold, the preset direction of current lane is obtained.

In the present embodiment, above-mentioned vehicle is if it is determined that confidence level is not up to believability threshold, namely less than confidence level threshold Value, then respond:Obtain the preset direction of current lane.Above-mentioned vehicle can be from local or the acquisition pair of other electronic equipments The pre-set direction of current lane.

Step 706, two tracks based on track after u-turn identify, previously determined from least one track Line, determines the direction in track after u-turn, and after u-turn on the direction in track, generates the predeterminated position between two lane lines , length be preset length u-turn rear direction guide line.

In the present embodiment, two lane lines of the above-mentioned vehicle based on track after the u-turn identified, determine u-turn rear car The direction in road.Above-mentioned vehicle on the direction in track, generates the u-turn of the predeterminated position between two lane lines after u-turn afterwards Rear direction guide line.The length of the u-turn rear direction guide line is preset length.The starting point of the u-turn rear direction guide line can be with It is the target location in electronic map.Such as after u-turn track, with above-mentioned u-turn position corresponding.Such as can be with Be the preceding track stop line of u-turn position on straight line.

Here for above-mentioned vehicle, formerly institute is true from above-mentioned at least one track into track in track after u-turn Fixed track.Specifically, can be after vehicle identification goes out at least one track into track, at least one into track Track after reversing end for end is determined in bar track.

Herein, the direction in track indicates the direction of vehicle traveling for track, can determine in several ways.Specifically Ground, can obtain the line in the centre position in this two lane lines by two lane lines in track after the u-turn that identifies The coordinate of bar.The lines in the centre position obtained here indicate both direction.Because will it is confirmed that to the direction in track, Vehicle makes the simple direction for judging track after can determining to reverse end for end from the two directions.For example sensing can be passed through Device gets the current direction of motion, and the angle of the direction of motion of the direction in track and vehicle is more than 90 after the u-turn to be determined Degree.

Step 707, on the preset direction of current lane, using current location as endpoint, and with present bit in current lane The ratio of the width of both sides is put, determines the u-turn front direction guide line of the length of distance.

In the present embodiment, above-mentioned vehicle is on the preset direction of current lane, using the current location of vehicle as endpoint, and With the ratio of the width of current location both sides in current lane, to determine the guide line of u-turn front direction.Reverse end for end front direction guiding Another endpoint of line is to reverse end for end position.The length of the u-turn front direction guide line can be from vehicle to u-turn position away from From length.In the preceding track of the u-turn, the ratio of the width of u-turn front direction guide line both sides is unified, namely before u-turn The ratio of the width of the both sides of any two point on the center line of direction guide line or u-turn front direction guide line is identical.

Step 708, based on u-turn front direction guide line and u-turn rear direction guide line, determine u-turn radius, and generate with Reverse end for end radius for radius, u-turn front direction guide line and reverse end for end rear direction guide line connecting line;Generation is by u-turn front direction The direction guide line of guide line, u-turn rear direction guide line and connecting line composition.

In the present embodiment, above-mentioned vehicle is based on u-turn front direction guide line and u-turn rear direction guide line, determines u-turn Radius.The connecting line of the arc of the u-turn front direction guide line of generation connection afterwards and u-turn rear direction guide line.The side of ultimately producing To guide line.Direction guide line can be spelled by above-mentioned u-turn front direction guide line, connecting line and u-turn rear direction guide line Connect.Here the radius of the connecting line of arc is above-mentioned u-turn radius.Here connecting line is connection u-turn front direction The lines of guide line and u-turn rear direction guide line, the direction that instruction vehicle is turned in u-turn.Radius is reversed end for end to reverse end for end for connection The radius of the arc of front direction guide line and u-turn rear direction guide line.Specifically, u-turn half can be determined using various ways Footpath.

The present embodiment carries out degradation processing in the case where can not currently identify lane line, and direction can not be generated by avoiding The situation of guide line, further increases the accuracy of generated direction guide line.

With further reference to Fig. 8, it illustrates another embodiment of the method for the direction guide line for generating vehicle Flow 800.This is used for the flow 800 for generating the method for the direction guide line of vehicle, comprises the following steps:

Step 801, in response to determining that vehicle will reverse end for end to travel, determine current location and reverse end for end the distance of position.

In the present embodiment, the method for the direction guide line for generating vehicle runs vehicle thereon if it is determined that should Vehicle will reverse end for end to travel, then respond:Determine the distance between u-turn position.Direction guide line is that instruction vehicle is advanced Direction, the lines of guiding vehicle traveling, can be applied in navigation system.The line thickness of direction guide line can be any 's.Initial position when position is head end operation is reversed end for end, i.e. thus vehicle starts to turn in u-turn.The scope for reversing end for end position can Electronic map (such as vehicle device map) to be above-mentioned vehicle is definite, above-mentioned vehicle so as to from the track of electronic map believe Obtained in breath.For example, u-turn position can be the position in stop line.The lane information of electronic map can have several including section Bar track, the width in every track, and which track can be reversed end for end, and the model of u-turn position of each section per side track Enclose.Here definite distance can be vehicle and the shortest distance in the distance of each position in above range.

Step 802, the travel direction of vehicle is shot by vehicle-mounted camera, obtains shooting result.

In the present embodiment, above-mentioned vehicle shoots the travel direction of vehicle by vehicle-mounted camera thereon, obtains To shooting result.Herein, the shooting result obtained can be image or video.Camera towards vehicle travel direction into Row shooting, because the shooting angle of camera is larger, is generally 180 degree.So shooting wider field of view, can photograph to Track.

Step 803, the lane line of current lane is identified from shooting result and is identified to the lane line to track.

In the present embodiment, above-mentioned vehicle identifies the lane line of current lane from shooting result, and from shooting result Middle identification is to the lane line in track.Herein, the lane line identified is the position coordinates of lane line.Current lane is car The track being currently located.Lane line is the lines drawn on vehicle travel, indicates vehicle row between two lane lines Sail.Identification can be the image recognition obtained from shooting from shooting result, or be identified from a two field picture of video.Can be with Identification using various ways into driveway line.Wherein, to track after including u-turn to track.

Step 804, in response to identify current lane lane line and it is unidentified go out at least one car into track The lane line in road, obtains from the shooting result of vehicle-mounted camera for the last time to the car to being identified to track and current lane The confidence level for the lane line that diatom and last time identify.

In the present embodiment, above-mentioned vehicle in response to determine to identify current lane lane line and it is unidentified go out to car The lane line at least one track in road.Then obtain car of the above-mentioned vehicle for the last time to being identified to track and current lane Diatom, and the confidence level of acquired lane line.That is, to obtain its newest once to knowing to track and current lane for vehicle The lane line not gone out, and obtain the confidence level determined when vehicle carries out newest once identification to the lane line identified.Here Identification is the identification carried out for the shooting result of the vehicle-mounted camera of vehicle.

Step 805, in response to determining that confidence level is not up to believability threshold, the preset direction to u-turn rear car road is obtained.

In the present embodiment, above-mentioned vehicle is if it is determined that confidence level is not up to believability threshold, namely less than confidence level threshold Value, then respond:Obtain the preset direction to u-turn rear car road.Above-mentioned vehicle can be obtained from local or other electronic equipments Take to reversing end for end the pre-set direction in rear car road.

Step 806, the lane line based on the current lane identified, determines the direction of current lane, and in current lane Direction on using current location as endpoint, generate the u-turn front direction guide line of the length of distance.

In the present embodiment, lane line of the above-mentioned vehicle based on the current lane identified, determines the direction of current lane. Also, for above-mentioned vehicle using current location as endpoint on the direction of current lane, front direction guide line is reversed end for end in generation.The side in track To determination mode with same or similar in step 706, details are not described herein.

Step 807, obtained from electronic map when preceding to the lane information in track and to the lane information to track.

In the present embodiment, above-mentioned vehicle is obtained from electronic map when the preceding lane information to track, and acquisition pair To the lane information in track.When the track in the preceding direction to track for the track where vehicle in section.

Step 808, from the track indicated by the acquired lane information to track, track after u-turn is determined, and The u-turn rear direction guide line of preset length is generated on the preset direction in track after u-turn.

In the present embodiment, at least one track indicated by above-mentioned vehicle from the acquired lane information to track In, determine track after u-turn.And after u-turn on the preset direction in track, generate the u-turn rear direction guiding of preset length Line.Specifically, reverse end for end rear direction guide line can using after u-turn track, with the position of u-turn position correspondence as starting point.

Step 809, based on u-turn front direction guide line and u-turn rear direction guide line, determine u-turn radius, and generate with Reverse end for end radius for radius, u-turn front direction guide line and reverse end for end rear direction guide line connecting line;Generation is by u-turn front direction The direction guide line of guide line, u-turn rear direction guide line and connecting line composition.

In the present embodiment, above-mentioned vehicle is based on u-turn front direction guide line and u-turn rear direction guide line, determines u-turn Radius.The connecting line of the arc of the u-turn front direction guide line of generation connection afterwards and u-turn rear direction guide line.The side of ultimately producing To guide line.Direction guide line can be spelled by above-mentioned u-turn front direction guide line, connecting line and u-turn rear direction guide line Connect.Here the radius of the connecting line of arc is above-mentioned u-turn radius.Here connecting line is connection u-turn front direction The lines of guide line and u-turn rear direction guide line, the direction that instruction vehicle is turned in u-turn.Radius is reversed end for end to reverse end for end for connection The radius of the arc of front direction guide line and u-turn rear direction guide line.Specifically, u-turn half can be determined using various ways Footpath.

The present embodiment carries out degradation processing in the case where can not currently identify lane line, and direction can not be generated by avoiding The situation of guide line, further increases the accuracy of generated direction guide line.

With further reference to Fig. 9, it illustrates another embodiment of the method for the direction guide line for generating vehicle Flow 900.This is used for the flow 900 for generating the method for the direction guide line of vehicle, comprises the following steps:

Step 901, in response to determining that vehicle will reverse end for end to travel, determine current location and reverse end for end the distance of position.

In the present embodiment, the method for the direction guide line for generating vehicle runs vehicle thereon if it is determined that should Vehicle will reverse end for end to travel, then respond:Determine the distance between u-turn position.Direction guide line is that instruction vehicle is advanced Direction, the lines of guiding vehicle traveling, can be applied in navigation system.The line thickness of direction guide line can be any 's.Initial position when position is head end operation is reversed end for end, i.e. thus vehicle starts to turn in u-turn.The scope for reversing end for end position can Electronic map (such as vehicle device map) to be above-mentioned vehicle is definite, above-mentioned vehicle so as to from the track of electronic map believe Obtained in breath.For example, u-turn position can be the position in stop line.The lane information of electronic map can have several including section Bar track, the width in every track, and which track can be reversed end for end, and the model of u-turn position of each section per side track Enclose.Here definite distance can be vehicle and the shortest distance in the distance of each position in above range.

Step 902, the travel direction of vehicle is shot by vehicle-mounted camera, obtains shooting result.

In the present embodiment, above-mentioned vehicle shoots the travel direction of vehicle by vehicle-mounted camera thereon, obtains To shooting result.Herein, the shooting result obtained can be image or video.Camera towards vehicle travel direction into Row shooting, because the shooting angle of camera is larger, is generally 180 degree.So shooting wider field of view, can photograph to Track.

Step 903, the lane line of current lane is identified from shooting result and is identified to the lane line to track.

In the present embodiment, above-mentioned vehicle identifies the lane line of current lane from shooting result, and from shooting result Middle identification is to the lane line in track.Herein, the lane line identified is the position coordinates of lane line.Current lane is car The track being currently located.Lane line is the lines drawn on vehicle travel, indicates vehicle row between two lane lines Sail.Identification can be the image recognition obtained from shooting from shooting result, or be identified from a two field picture of video.Can be with Identification using various ways into driveway line.Wherein, to track after including u-turn to track.

Step 904, in response to it is unidentified go out current lane lane line and the car at least one track into track Diatom, obtain from the shooting result of vehicle-mounted camera last time to the lane line to being identified to track and current lane and The confidence level for the lane line that last time identifies.

In the present embodiment, above-mentioned vehicle in response to it is unidentified go out current lane lane line and into track at least The lane line in one track, i.e., in response to vehicle it is unidentified go out lane line, then obtain above-mentioned vehicle last time to track and The lane line that current lane identifies, and the confidence level of acquired lane line.That is, vehicle obtain its it is newest once to to The lane line that track and current lane identify, and obtain vehicle carry out it is newest true to the lane line that is identified when once identifying Fixed confidence level.Here identification is the identification carried out for the shooting result of the vehicle-mounted camera of vehicle.

Step 905, in response to determining that confidence level is not up to believability threshold, obtain to the preset direction in u-turn front truck road and To the preset direction in u-turn rear car road.

In the present embodiment, above-mentioned vehicle is if it is determined that confidence level is not up to believability threshold, namely less than confidence level threshold Value, then respond:Obtain the preset direction to u-turn rear car road and current lane.Above-mentioned vehicle can from local or other Electronic equipment is obtained to u-turn rear car road and the pre-set direction of current lane.Here the preceding track of u-turn exists for instruction vehicle The track of traveling before u-turn.

Step 906, obtained from electronic map when preceding to the lane information in track and to the lane information to track.

In the present embodiment, above-mentioned vehicle obtains the lane information of current lane from electronic map, and obtain to The lane information in track.To track after including u-turn to track.

Step 907, from the track indicated by the acquired lane information to track, track after u-turn is determined, and The u-turn rear direction guide line of preset length is generated on the preset direction in track after u-turn.

In the present embodiment, at least one track indicated by above-mentioned vehicle from the acquired lane information to track In, determine track after u-turn.And after u-turn on the preset direction in track, generate the u-turn rear direction guiding of preset length Line.Specifically, reverse end for end rear direction guide line can using after u-turn track, with the position of u-turn position correspondence as starting point.

Step 908, preceding into the track indicated by the lane information in track, the definite preceding track of u-turn is worked as from acquired, And on the preset direction in the preceding track of u-turn, the u-turn front direction guide line of designated length is generated using current location as endpoint.

In the present embodiment, above-mentioned vehicle ought be preceding at least one car indicated by the lane information in track from acquired In road, the preceding track of u-turn is determined.And on the preset direction in the preceding track of u-turn, designated length is generated by endpoint of current location U-turn front direction guide line.Above-mentioned vehicle can determine a track as u-turn front truck at random from indicated track Road.It can also be determined according to rule set in advance, for example determine middle track, kerb lane etc..Designated length is behaved For the length specified or machinery equipment is specified according to certain rule.

Step 909, based on when the preceding width to track and to the width in track, and track in the same direction and to car Spacing between road, determine u-turn radius, and generate using reverse end for end radius as radius, u-turn front direction guide line and u-turn rear To the connecting line of guide line.

In the present embodiment, when the preceding lane information to track and width to including from track to the lane information in track Degree, further include track in the same direction and to track between spacing.The width in the every track included according to lane information, And the width in the identified preceding track of u-turn and track after u-turn, it may be determined that reverse end for end preceding track centre position and u-turn rear car The distance in road centre position.Specifically, the half of the distance can be determined as reversing end for end radius.And generate to reverse end for end radius as half Footpath, u-turn front direction guide line and reverse end for end rear direction guide line connecting line.

Step 910, the direction being made of u-turn front direction guide line, u-turn rear direction guide line and connecting line is generated to guide Line.

In the present embodiment, the direction guide line that above-mentioned vehicle generation is made of u-turn front direction and connecting line.Draw in direction Conducting wire can be obtained by above-mentioned u-turn front direction guide line, connecting line and u-turn rear direction guiding splicing.

The present embodiment carries out degradation processing in the case where can not currently identify lane line, and direction can not be generated by avoiding The situation of guide line, further increases the accuracy of generated direction guide line.

With further reference to Figure 10, as the realization to method shown in above-mentioned each figure, it is used to generate this application provides one kind One embodiment of the device of the direction guide line of vehicle, the device embodiment is corresponding with the embodiment of the method shown in Fig. 2, should Device specifically can be applied in various electronic equipments.

As shown in Figure 100 1, the device 1000 of the direction guide line for generating vehicle of the present embodiment includes:Distance is really Order member 1001, shooting unit 1002, recognition unit 1003, determination unit 1004 and generation unit 1005.Wherein, distance determines Unit 1001, is configured to, in response to determining that vehicle will reverse end for end to travel, determine current location and reverse end for end the distance of position;Shooting Unit 1002, is configured to vehicle-mounted camera and the travel direction of vehicle is shot, obtain shooting result;Recognition unit 1003, it is configured to identify the lane line of current lane from shooting result and identifies to the lane line to track;Determination unit 1004, it is configured to the lane line in response to determining to identify current lane and the track at least one track into track Line, determines a track at least one track as track after u-turn;Generation unit 1005, is configured to be based on current vehicle The lane line and distance in track after the lane line in road, u-turn, the direction guide line of generation instruction head end operation.

Distance determining unit 1001 is then responded if it is determined that the vehicle will reverse end for end to travel:Determine and reverse end for end position The distance between.Direction guide line is instruction vehicle traveling direction, and the lines of guiding vehicle traveling, can be applied to navigation system In.The line thickness of direction guide line can be arbitrary.Initial position when position is head end operation is reversed end for end, i.e. vehicle is being adjusted Thus start to turn during head.The scope of u-turn position can be that the electronic map (such as vehicle device map) of above-mentioned vehicle is definite, Distance determining unit 1001 from the lane information of electronic map so as to obtaining.For example, u-turn position can be stop line In position.The lane information of electronic map can include section You Jitiao tracks, the width in every track, and which track It can reverse end for end, and the scope of u-turn position of each section per side track.Here definite distance can be vehicle with being in Shortest distance in the distance of each position of above range.

Shooting unit 1002 shoots the travel direction of vehicle by vehicle-mounted camera thereon, obtains shooting knot Fruit.Herein, the shooting result obtained can be image or video.The travel direction of camera towards vehicle is shot, because It is larger for the shooting angle of camera, it is generally 180 degree.So the wider field of view of shooting, can photograph to track.

Recognition unit 1003 identifies the lane line of current lane from shooting result, and from shooting result identification to The lane line in track.Herein, the lane line identified is the position coordinates of lane line.Current lane is currently located for vehicle Track.Lane line is the lines drawn on vehicle travel, indicates that vehicle travels wherein.Identification can from shooting result To be identified from the obtained image recognition of shooting, or from a two field picture of video.It can be identified using various ways. It is described to track include u-turn after track.

Determination unit 1004 is if it is determined that identify the lane line of current lane and at least one track into track Lane line, then respond:Determine a track at least one track as track after u-turn.To being same to track In one section, backward going track.Track is the track that vehicle travels after u-turn after u-turn.Usually into track Track can serve as the track travelled after head end operation, can determine wherein track as track after u-turn at random. It can also be determined according to rule set in advance, for example determine middle track, kerb lane etc..

The lane line in track after lane line and u-turn of the generation unit 1005 based on above-mentioned current lane, and above-mentioned vehicle Distance with reversing end for end position, the direction guide line of generation instruction head end operation.Such as can be with preset direction guide line and lane line Position relationship, and the pattern of guide line, pattern can include length, width and color etc..Utilize the track recognized The position of line and above-mentioned position relationship, obtain the position of direction guide line.And the side using the generation of default pattern in this position To guide line.In addition, the position relationship of direction guide line and lane line can also be changed, also can be current according to vehicle Shift in position.

In some optional implementations of the present embodiment, which further includes:Confidence level determination unit, is configured to In response to determining to identify to the lane line of one of track and current lane, obtaining from the shooting result of vehicle-mounted camera most The confidence level of the lane line once identified afterwards to the lane line to being identified to track and current lane and last time;First Generation unit, is configured in response to determining that confidence level reaches believability threshold, raw based on the lane line identified for the last time Lane line into current lane and the lane line to track after the u-turn previously determined into track, and the car based on current lane The lane line and distance in track after diatom, u-turn, the direction guide line of generation instruction head end operation;Or second generation unit, Be configured in response to determining that confidence level is not up to believability threshold, obtain current lane and into track it is unidentified go out car The preset direction in the track of diatom, and based on the lane line and preset direction identified, generate direction guide line.

In some optional implementations of the present embodiment, generation unit, including:First generation module, is configured to Lane line and current location based on current lane, generation length are the u-turn front direction guide line of distance, and are based on after reversing end for end The lane line in track, generates the u-turn rear direction guide line of preset length, wherein, reverse end for end an endpoint of front direction guide line Position is current location;Second generation module, is configured to based on u-turn front direction guide line and reverses end for end rear direction guide line, really Set the tone a radius, and generate radius as u-turn radius and connection u-turn front direction guide line and the arc for reversing end for end rear direction guide line Connecting line;The direction guide line that generation is made of u-turn front direction guide line, u-turn rear direction guide line and connecting line.

In some optional implementations of the present embodiment, the second generation unit, including:First acquisition module, configuration For it is unidentified go out current lane lane line and identify the situation of the lane line at least one track into track Under, obtain the preset direction of current lane;First guide line generation module, be configured to based on it is identifying, from least one In track after previously determined u-turn track two lane lines, determine the direction in track after u-turn, and the track after u-turn On direction, u-turn rear direction guide line that generate between two lane lines predeterminated position, that length is preset length;First is true Cover half block, is configured on the preset direction of current lane, using current location as endpoint, and with current location in current lane The ratio of the width of both sides, determines the u-turn front direction guide line of the length of distance;First direction guide line generation module, configuration For based on u-turn front direction guide line and u-turn rear direction guide line, determining u-turn radius, and generate radius as u-turn radius And the connecting line of the arc of connection u-turn front direction guide line and u-turn rear direction guide line;Generation is guided by u-turn front direction The direction guide line of line, u-turn rear direction guide line and connecting line composition.

In some optional implementations of the present embodiment, which further includes:Acquiring unit, is configured to from electronics Obtained in map when the preceding lane information to track and to the lane information in track.

In some optional implementations of the present embodiment, the second generation unit, including:Second acquisition module, configuration For identify the lane line of current lane and it is unidentified go out to the situation of the lane line in from least one track to track Under, obtain the preset direction to u-turn rear car road;Second guide line generation module, is configured to based on the current lane identified Lane line, determine the direction of current lane, and using current location as endpoint on the direction of current lane, generate the length of distance The u-turn front direction guide line of degree;Second determining module, is configured to from indicated by the acquired lane information to track Track in, determine u-turn after track, and after u-turn on the preset direction in track generate preset length u-turn rear direction draw Conducting wire;Second direction guide line generation module, is configured to based on u-turn front direction guide line and reverses end for end rear direction guide line, really Set the tone a radius, and generate radius as u-turn radius and connection u-turn front direction guide line and the arc for reversing end for end rear direction guide line Connecting line;The direction guide line that generation is made of u-turn front direction guide line, u-turn rear direction guide line and connecting line.

In some optional implementations of the present embodiment, when the preceding lane information to track and to the track in track Information includes the width in track, further include track in the same direction and to track between spacing, to track include u-turn Track afterwards;And second generation unit, including:3rd acquisition module, be configured to it is unidentified go out current lane lane line In the case of the lane line at least one track into track, obtain to the preset direction in u-turn front truck road and to u-turn The preset direction in track afterwards;3rd guide line generation module, is configured to from acquired signified to the lane information to track In the track shown, track after u-turn is determined, and generate the u-turn rear direction of preset length on the preset direction in track after u-turn Guide line;3rd determining module, being configured to ought be preceding into the track indicated by the lane information in track from acquired, determines Preceding track is reversed end for end, and on the preset direction of current lane, the u-turn rear direction of designated length is generated using current location as endpoint Guide line;Connecting line determining module, is configured to based on when the preceding width to track and to the width in track, and in the same direction Track and to track between spacing, determine u-turn radius, and generate using reverse end for end radius as radius, u-turn front direction draw The connecting line of conducting wire and u-turn rear direction guide line;Third direction guide line generation module, is configured to generation by u-turn front To the direction guide line of guide line, u-turn rear direction guide line and connecting line composition.

In some optional implementations of the present embodiment, generation unit is further configured to:Use augmented reality The direction guide line of technology generation instruction head end operation.

In some optional implementations of the present embodiment, which further includes:Matrix acquiring unit, is configured to obtain Take and coordinate conversion is carried out with the coordinate data to world coordinate system and the coordinate data of the coordinate system of the navigator display of vehicle Transition matrix;Converting unit, is configured to utilize transition matrix, by the coordinate data of the direction guide line generated from the world Coordinate system is transformed into the coordinate system of navigator display.

Below with reference to Figure 11, it illustrates suitable for for realizing the computer system 1100 of the vehicle of the embodiment of the present application Structure diagram.Vehicle shown in Figure 11 is only an example, should not be to the function and use scope band of the embodiment of the present application Carry out any restrictions.

As shown in figure 11, computer system 1100 includes central processing unit (CPU) 1101, its can according to be stored in only Read the program in memory (ROM) 1102 or be loaded into from storage part 1108 in random access storage device (RAM) 1103 Program and perform various appropriate actions and processing.In RAM 1103, also it is stored with system 1100 and operates required various journeys Sequence and data.CPU 1101, ROM 1102 and RAM 1103 are connected with each other by bus 1104.Input/output (I/O) interface 1105 are also connected to bus 1104.

I/O interfaces 1105 are connected to lower component:Importation 1106 including keyboard, mouse etc.;Including such as cathode The output par, c 1107 of ray tube (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.;Storage part including hard disk etc. 1108;And the communications portion 1109 of the network interface card including LAN card, modem etc..Communications portion 1109 passes through Communication process is performed by the network of such as internet.Driver 1110 is also according to needing to be connected to I/O interfaces 1105.It is detachable to be situated between Matter 1111, such as disk, CD, magneto-optic disk, semiconductor memory etc., are installed on driver 1110 as needed, so as to Storage part 1108 is mounted into as needed in the computer program read from it.

Especially, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description Software program.For example, embodiment of the disclosure includes a kind of computer program product, it includes being carried on computer-readable medium On computer program, the computer program include be used for execution flow chart shown in method program code.In such reality Apply in example, which can be downloaded and installed by communications portion 1109 from network, and/or from detachable media 1111 are mounted.When the computer program is performed by central processing unit (CPU) 1101, perform and limited in the present processes Above-mentioned function.It should be noted that computer-readable medium described herein can be computer-readable signal media or Person's computer-readable recording medium either the two any combination.Computer-readable recording medium for example can be --- But be not limited to --- electricity, magnetic, optical, electromagnetic, system, device or the device of infrared ray or semiconductor, or it is any more than group Close.The more specifically example of computer-readable recording medium can include but is not limited to:With being electrically connected for one or more conducting wires Connect, portable computer diskette, hard disk, random access storage device (RAM), read-only storage (ROM), erasable type may be programmed it is read-only Memory (EPROM or flash memory), optical fiber, portable compact disc read-only storage (CD-ROM), light storage device, magnetic memory Part or above-mentioned any appropriate combination.In this application, computer-readable recording medium can any be included or store The tangible medium of program, the program can be commanded the either device use or in connection of execution system, device.And In the application, computer-readable signal media can include believing in a base band or as the data that a carrier wave part is propagated Number, wherein carrying computer-readable program code.The data-signal of this propagation can take various forms, including but not It is limited to electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be computer Any computer-readable medium beyond readable storage medium storing program for executing, the computer-readable medium can send, propagate or transmit use In by instruction execution system, device either device use or program in connection.Included on computer-readable medium Program code any appropriate medium can be used to transmit, include but not limited to:Wirelessly, electric wire, optical cable, RF etc., Huo Zheshang Any appropriate combination stated.

Flow chart and block diagram in attached drawing, it is illustrated that according to the system of the various embodiments of the application, method and computer journey Architectural framework in the cards, function and the operation of sequence product.At this point, each square frame in flow chart or block diagram can generation The part of one module of table, program segment or code, the part of the module, program segment or code include one or more use In the executable instruction of logic function as defined in realization.It should also be noted that marked at some as in the realization replaced in square frame The function of note can also be with different from the order marked in attached drawing generation.For example, two square frames succeedingly represented are actually It can perform substantially in parallel, they can also be performed in the opposite order sometimes, this is depending on involved function.Also to note Meaning, the combination of each square frame and block diagram in block diagram and/or flow chart and/or the square frame in flow chart can be with holding The dedicated hardware based system of functions or operations as defined in row is realized, or can use specialized hardware and computer instruction Combination realize.

Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hard The mode of part is realized.Described unit can also be set within a processor, for example, can be described as:A kind of processor bag Include distance determining unit, shooting unit, recognition unit, recognition unit and generation unit.Wherein, the title of these units is at certain In the case of do not form restriction to the unit in itself, for example, distance determining unit is also described as " determining current location With the unit of the distance of u-turn position ".

As on the other hand, present invention also provides a kind of computer-readable medium, which can be Included in device described in above-described embodiment;Can also be individualism, and without be incorporated the device in.Above-mentioned calculating Machine computer-readable recording medium carries one or more program, when said one or multiple programs are performed by the device so that should Device determines current location and reverses end for end the distance of position in response to determining that vehicle will reverse end for end to travel;Pass through vehicle-mounted camera pair The travel direction of vehicle is shot, and obtains shooting result;The lane line of current lane and identification pair are identified from shooting result To the lane line in track;In response to determining to identify the lane line of current lane and the car at least one track into track Diatom, determines a track at least one track as track after u-turn;Lane line based on current lane, u-turn rear car The lane line and distance in road, the direction guide line of generation instruction head end operation.

Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art Member should be appreciated that invention scope involved in the application, however it is not limited to the technology that the particular combination of above-mentioned technical characteristic forms Scheme, while should also cover in the case where not departing from foregoing invention design, carried out by above-mentioned technical characteristic or its equivalent feature The other technical solutions for being combined and being formed.Such as features described above has similar work(with (but not limited to) disclosed herein The technical solution that the technical characteristic of energy is replaced mutually and formed.

Claims (18)

1. a kind of method for the direction guide line for being used to generate vehicle, including:
In response to determining that the vehicle will reverse end for end to travel, determine current location and reverse end for end the distance of position;
The travel direction of the vehicle is shot by vehicle-mounted camera, obtains shooting result;
From the shooting result identify current lane lane line and identify to the lane line to track, wherein, it is described to Track includes track after u-turn;
Lane line and the track at least one track into track in response to determining to identify the current lane Line, determines a track at least one track as track after u-turn;
Lane line based on the current lane, the lane line in track and the distance after the u-turn, generation indicate the car U-turn direction guide line.
2. the method for the direction guide line according to claim 1 for being used to generate vehicle, wherein, the method further includes:
It is described to the lane line of one of track and the current lane, obtaining from the vehicle-mounted pick-up in response to determining to identify Last time knows the lane line to being identified to track and the current lane and last time in the shooting result of head The confidence level for the lane line not gone out;
In response to determining that the confidence level reaches believability threshold, the lane line identified based on the last time, generates institute The lane line of current lane and the lane line to track after the u-turn previously determined into track are stated, and based on described current The lane line in track and the distance after the lane line in track, the u-turn, generation indicate the direction guiding of the head end operation Line;Or
In response to determine the confidence level be not up to believability threshold, obtain the current lane and it is described into track not Identify the preset direction in the track of lane line, and based on the lane line and the preset direction identified, the guiding of generation direction Line.
3. the method for being used to generate the direction guide line of vehicle according to one of claim 1 or 2, wherein, it is described to be based on The lane line in track and the distance after the lane line of the current lane, the u-turn, generation indicate the head end operation Direction guide line, including:
Lane line and current location based on the current lane, generation length are the u-turn front direction guide line of the distance, And based on the lane line in track after the u-turn, the u-turn rear direction guide line of preset length is generated, wherein, in front of the u-turn Position to an endpoint of guide line is the current location;
Based on the u-turn front direction guide line and the u-turn rear direction guide line, u-turn radius is determined, and generate radius and be The connecting line of the u-turn radius and the arc of the connection u-turn front direction guide line and the u-turn rear direction guide line;It is raw Into the direction guide line being made of the u-turn front direction guide line, u-turn rear direction guide line and the connecting line.
4. the method for the direction guide line according to claim 2 for being used to generate vehicle, wherein, the acquisition is described current Track and it is described into track it is unidentified go out lane line track preset direction, and based on the lane line that has identified and The preset direction, generates direction guide line, including:
It is unidentified go out the current lane lane line and identify the track at least one track into track In the case of line, the preset direction of the current lane is obtained;
Based on two lane lines in track after u-turn identify, previously determined from least one track, institute is determined The direction in track after reversing end for end is stated, and after the u-turn on the direction in track, generates and position is preset between two lane lines Put, length is the u-turn rear direction guide line of preset length;
On the preset direction of the current lane, using the current location as endpoint, and with current location in current lane two The ratio of the width of side, determines the u-turn front direction guide line of the length of the distance;
Based on the u-turn front direction guide line and the u-turn rear direction guide line, u-turn radius is determined, and generate radius and be The connecting line of the u-turn radius and the arc of the connection u-turn front direction guide line and the u-turn rear direction guide line;It is raw Into the direction guide line being made of the u-turn front direction guide line, u-turn rear direction guide line and the connecting line.
5. the method for the direction guide line according to claim 2 for being used to generate vehicle, wherein, the method further includes:
Obtained from electronic map when the preceding lane information to track and the lane information to track.
6. the method for the direction guide line according to claim 5 for being used to generate vehicle, wherein, the acquisition is described current Track and it is described into track it is unidentified go out lane line track preset direction, and based on the lane line that has identified and The preset direction, generates direction guide line, including:
Identify the lane line of current lane and it is unidentified go out at least one track into track lane line In the case of, obtain the preset direction to u-turn rear car road;
Based on the lane line of the current lane identified, the direction of the current lane is determined, and in the current lane Direction on using current location as endpoint, generate the u-turn front direction guide line of the length of the distance;
From the track indicated by the acquired lane information to track, track after u-turn is determined, and in the tune The u-turn rear direction guide line of preset length is generated after head on the preset direction in track;
Based on the u-turn front direction guide line and the u-turn rear direction guide line, u-turn radius is determined, and generate radius and be The connecting line of the u-turn radius and the arc of the connection u-turn front direction guide line and the u-turn rear direction guide line;It is raw Into the direction guide line being made of the u-turn front direction guide line, u-turn rear direction guide line and the connecting line.
7. the method for the direction guide line according to claim 5 for being used to generate vehicle, wherein, it is described when preceding to track Lane information and the width to including track to the lane information in track, further include track in the same direction and to track Between spacing;And
It is described obtain the current lane and it is described into track it is unidentified go out lane line track preset direction, and base In the lane line and the preset direction that have identified, direction guide line is generated, including:
It is unidentified go out the current lane lane line and at least one track into track lane line feelings Under condition, the preset direction to u-turn front truck road and the preset direction to u-turn rear car road are obtained;
From the track indicated by the acquired lane information to track, track after u-turn is determined, and in the tune The u-turn rear direction guide line of preset length is generated after head on the preset direction in track;
From when in the track indicated by the preceding lane information to track, determining the preceding track of u-turn described in acquired, and current On the preset direction in track, the u-turn rear direction guide line of designated length is generated using current location as endpoint;
Based on when the preceding width to track and to the width in track, and track in the same direction and to track between Away from, determine u-turn radius, and generate using it is described u-turn radius as it is radius, it is described u-turn front direction guide line and the u-turn after The connecting line of direction guide line;
The direction guide line that generation is made of the u-turn front direction guide line, u-turn rear direction guide line and the connecting line.
8. the method for the direction guide line according to claim 1 for being used to generate vehicle, wherein, described in the generation instruction The direction guide line of head end operation, including:
The direction guide line of the head end operation is indicated using augmented reality generation.
9. the method for the direction guide line according to claim 1 for being used to generate vehicle, wherein, the method further includes:
Obtain to the coordinate data to world coordinate system and the coordinate data of the coordinate system of the navigator display of the vehicle into The transition matrix of row coordinate conversion;
Using the transition matrix, the coordinate data of the direction guide line generated is transformed into from the world coordinate system described In the coordinate system of navigator display.
10. a kind of device for the direction guide line for being used to generate vehicle, including:
Distance determining unit 501, is configured to, in response to determining that the vehicle will reverse end for end to travel, determine current location and u-turn The distance of position;
Shooting unit, is configured to vehicle-mounted camera and the travel direction of the vehicle is shot, obtain shooting result;
Recognition unit, is configured to identify the lane line of current lane from the shooting result and identifies to the track to track Line, wherein, it is described to track after including u-turn to track;
Determination unit, be configured to lane line in response to determining to identify the current lane and it is described into track extremely The lane line in a few track, determines a track at least one track as track after u-turn;
Generation unit, be configured to the lane line based on the current lane, after the u-turn lane line in track and it is described away from From generation indicates the direction guide line of the head end operation.
11. the device of the direction guide line according to claim 10 for being used to generate vehicle, wherein, described device is also wrapped Include:
Confidence level determination unit, is configured to described to the car of one of track and the current lane in response to determining to identify Diatom, obtains from the shooting result of the vehicle-mounted camera for the last time to described to being identified to track and the current lane The confidence level for the lane line that the lane line and last time gone out identifies;
First generation unit, is configured in response to determining that the confidence level reaches believability threshold, based on the last time The lane line identified, generates the lane line of the current lane and described to track after the u-turn previously determined into track Lane line, and the lane line based on the current lane, the lane line in track and the distance after the u-turn, generation instruction institute State the direction guide line of head end operation;Or
Second generation unit, is configured to, in response to determining that the confidence level is not up to believability threshold, obtain the current vehicle Road and it is described into track it is unidentified go out lane line track preset direction, and based on the lane line that identifies and described Preset direction, generates direction guide line.
12. the device for being used to generate the direction guide line of vehicle according to one of claim 10 or 11, wherein, the life Into unit, including:
First generation module, is configured to the lane line based on the current lane and current location, generation length for it is described away from From u-turn front direction guide line, and based on the lane line in track after the u-turn, the u-turn rear direction for generating preset length is drawn Conducting wire, wherein, the position of an endpoint of the u-turn front direction guide line is the current location;
Second generation module, is configured to, based on the u-turn front direction guide line and the u-turn rear direction guide line, determine Radius is reversed end for end, and generates radius and draws for the u-turn radius and the connection u-turn front direction guide line and the u-turn rear direction The connecting line of the arc of conducting wire;Generation is by u-turn front direction guide line, u-turn rear direction guide line and the connecting line group Into direction guide line.
13. the device of the direction guide line according to claim 11 for being used to generate vehicle, wherein, second generation is single Member, including:
First acquisition module, be configured to it is unidentified go out the current lane lane line and identify described into track At least one track lane line in the case of, obtain the preset direction of the current lane;
First guide line generation module, is configured to based on tune identify, previously determined from least one track Two lane lines in track after head, determine the direction in track after the u-turn, and after the u-turn on the direction in track, generation Between two lane lines predeterminated position, length be preset length u-turn rear direction guide line;
First determining module, is configured on the preset direction of the current lane, using the current location as endpoint, and with The ratio of the width of current location both sides in current lane, determines the u-turn front direction guide line of the length of the distance;
First direction guide line generation module, is configured to draw based on the u-turn front direction guide line and the u-turn rear direction Conducting wire, determines u-turn radius, and generates radius as the u-turn radius and the connection u-turn front direction guide line and the tune The connecting line of the arc of head rear direction guide line;Generation is by u-turn front direction guide line, u-turn rear direction guide line and the institute State the direction guide line of connecting line composition.
14. the device of the direction guide line according to claim 11 for being used to generate vehicle, wherein, described device is also wrapped Include:
Acquiring unit, is configured to obtain when the preceding lane information to track and the track to track from electronic map Information.
15. the device of the direction guide line according to claim 14 for being used to generate vehicle, wherein, second generation is single Member, including:
Second acquisition module, be configured to identify the lane line of current lane and it is unidentified go out it is described into track extremely In the case of the lane line in a few track, the preset direction to u-turn rear car road is obtained;
Second guide line generation module, is configured to the lane line based on the current lane identified, determines described current The direction in track, and using current location as endpoint on the direction of the current lane, generate the u-turn of the length of the distance Front direction guide line;
Second determining module, is configured to from the track indicated by the acquired lane information to track, determines Track after u-turn, and after the u-turn on the preset direction in track generate preset length u-turn rear direction guide line;
Second direction guide line generation module, is configured to draw based on the u-turn front direction guide line and the u-turn rear direction Conducting wire, determines u-turn radius, and generates radius as the u-turn radius and the connection u-turn front direction guide line and the tune The connecting line of the arc of head rear direction guide line;Generation is by u-turn front direction guide line, u-turn rear direction guide line and the institute State the direction guide line of connecting line composition.
16. the device of the direction guide line according to claim 14 for being used to generate vehicle, wherein, it is described when preceding to track Lane information and the width to including track to the lane information in track, further include track in the same direction and to car Spacing between road;And
Second generation unit, including:
3rd acquisition module, be configured to it is unidentified go out the current lane lane line and it is described into track at least In the case of the lane line in one track, the preset direction to u-turn front truck road and the preset direction to u-turn rear car road are obtained;
3rd guide line generation module, is configured to from the track indicated by the acquired lane information to track In, determine track after u-turn, and generate the u-turn rear direction guiding of preset length on the preset direction in track after the u-turn Line;
3rd determining module, be configured to from described in acquired when in the track indicated by the preceding lane information to track, really Set the tone a preceding track, and on the preset direction of current lane, the u-turn rear of designated length is generated using current location as endpoint To guide line;
Connecting line determining module, is configured to based on when the preceding width to track and to the width in track, and car in the same direction Road and to track between spacing, determine u-turn radius, and generate using it is described u-turn radius as radius, described u-turn before The connecting line of direction guide line and the u-turn rear direction guide line;
Third direction guide line generation module, is configured to generation by the u-turn front direction guide line, u-turn rear direction guiding The direction guide line of line and connecting line composition.
17. a kind of vehicle, including:
One or more processors;
Storage device, for storing one or more programs,
When one or more of programs are performed by one or more of processors so that one or more of processors are real The now method as described in any in claim 1-9.
18. a kind of computer-readable recording medium, is stored thereon with computer program, realized such as when which is executed by processor Any method in claim 1-9.
CN201711140782.9A 2017-11-16 2017-11-16 Method and apparatus for the direction guide line for generating vehicle CN107941226A (en)

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