CN108204822A - A kind of vehicle AR navigation system and method based on ADAS - Google Patents
A kind of vehicle AR navigation system and method based on ADAS Download PDFInfo
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- CN108204822A CN108204822A CN201711371553.8A CN201711371553A CN108204822A CN 108204822 A CN108204822 A CN 108204822A CN 201711371553 A CN201711371553 A CN 201711371553A CN 108204822 A CN108204822 A CN 108204822A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/365—Guidance using head up displays or projectors, e.g. virtual vehicles or arrows projected on the windscreen or on the road itself
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
- G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of vehicle AR navigation system and method based on ADAS, which includes camera, vehicle-mounted machine display screen and mobile phone terminal；Camera, including video acquisition module, ADAS modules, navigation module and AR display modules；Video acquisition module is used for the road image in real-time collection vehicle driving process；ADAS modules are used to identify lane line, vehicle and pedestrian information；Navigation module is used to obtain satellite navigation information；AR display modules are used to be superimposed lane line, vehicle and pedestrian information in real-time road image, and draw virtual route, output real-time road image to vehicle-mounted machine display screen according to satellite navigation information；Vehicle-mounted machine display screen, for receiving and showing the real-time road image of camera output；Mobile phone terminal, for communicating with camera, parameter and the navigation purpose of camera are set by the application software on intelligent terminal.The present invention improves the safety of driving while navigation is provided.
Description
Technical field
The present invention relates to technical field of intelligent traffic more particularly to a kind of vehicle AR navigation system and side based on ADAS
Method.
Background technology
Vehicle assistant drive technology is also known as advanced driving assistance system (Advanced Driving Assistant
System, abbreviation ADAS).Vehicle assistant drive includes many functions, including lane shift alarm system (LDW), automatic emergency
It brakes (AEB), track keeps auxiliary (LKA), front truck collision warning systems (FCW), pedestrian protection system (PCW) etc..It realizes
These functions are all based on ADAS cameras and can recognize that the information such as vehicle, pedestrian, lane line.
At present in the domestic market, equipment and automobile data recorder majority with ADAS functions do not have navigation feature,
Minority only has conventional satellite digital map navigation.It is achieved in that the integrated map navigation module in ADAS device softwares, such as
Amap, Baidu map etc..
Include the shortcomings that ADAS equipment at present it is following some：
A. it cannot navigate, function is single；
B. do not have path instruction；
Following points the shortcomings that AR airmanships at present：
A. walking navigation is only applicable in, automobile navigation accuracy is poor；
B. it is mainly realized, is not integrated in mobile unit by cell phone software；
C. real-time pictures fail to show vehicle, pedestrian；
D. it is only capable of displaying direction arrow, it is impossible to show virtual route；
It is supported since vehicle assistant drive generally requires professional equipment, and AR navigation mainly passes through cell phone software reality at present
It is existing, so vehicle assistant drive technology and AR navigation are merged by product no on the market at present.
Invention content
The technical problem to be solved in the present invention be in the prior art without product by vehicle assistant drive technology and
The defects of AR navigation is merged, provides a kind of vehicle AR navigation system and method based on ADAS.
The technical solution adopted by the present invention to solve the technical problems is：
The present invention provides a kind of vehicle AR navigation system based on ADAS, which includes camera, vehicle-mounted machine display screen
And mobile phone terminal；Wherein：
Camera, including video acquisition module, ADAS modules, navigation module and AR display modules；
Video acquisition module is used for the road image in real-time collection vehicle driving process；
ADAS modules are used to identify lane line, vehicle and pedestrian information；
Navigation module is used to obtain satellite navigation information；
AR display modules are used to be superimposed lane line, vehicle and pedestrian information in real-time road image, and lead according to satellite
Information of navigating draws virtual route, output real-time road image to vehicle-mounted machine display screen；
Vehicle-mounted machine display screen, for receiving and showing the real-time road image of camera output；
For communicating with camera, the ginseng of camera is set by the application software on intelligent terminal for mobile phone terminal
Number is with navigation purpose.
Further, camera of the invention is ADAS intelligent video camera heads, and vehicle-mounted machine display screen connects ADAS by AV lines
Intelligent video camera head.
Further, mobile phone terminal of the invention carries out data by way of wireless connection with ADAS intelligent video camera heads and leads to
Letter.
The present invention provides a kind of vehicle AR air navigation aids based on ADAS, includes the following steps：
Road image in the real-time collection vehicle driving process of S1, camera, is input to ADAS modules and AR display modules；
S2, ADAS module carry out image identification, identify vehicle, the coordinate position of pedestrian, size and collision time, identify
Go out left and right lane line, recognition result is input to AR display modules；
S3, navigation module are by satellite map location navigation, by navigation map and turning apart from next crossing apart from defeated
Enter to AR display modules；
S4, AR display module draw real-time road image, and are superimposed lane line, vehicle, pedestrian information；With Real-time Road figure
As to draw base map, drawing the vehicle identified, pedestrian's rectangle frame on it, collision being drawn in corresponding rectangle frame upper marginal position
Time draws the lane line identified；
S5,1/4 wide and 1/4 high navigation map is drawn in the lower left corner of real-time road image；
S6, virtual route instruction is drawn：
Virtual route is divided into straight trip path and turning path, judges current vehicle according to the navigation information that navigation module exports
Direction of travel,
If next crossing need to turn left or turn right, and is less than or equal to 50 meters apart from crossing, then turning path is drawn；
If being more than 50 meters apart from crossing, straight trip path is drawn；
If next crossing needs to keep straight on, straight trip path is drawn；
S7, coloring travel path and barrier：The determining enclosed area of virtual route two lines institute drawn in judgment step S6
Whether the vehicle and pedestrian rectangular area drawn in domain and step S4 has overlapping, if there is overlapping, by travel path and overlapping
Vehicle and pedestrian rectangle frame is colored as red to warn；
The image finally drawn is output to vehicle-mounted machine display screen and shown by S8, AR display module.
Further, the method in drafting straight trip path is specially in step S6 of the invention：
According to parameter preset, the wide W of real-time road image, high H, overall width car_w, high car_h, path left side straight line L1 is point
((W-car_w)/2, H) to point ((W-car_w)/2, H/2) and right side straight line L2 be point ((W+car_w)/2, H) to ((W+
car_w)/2,H/2)；This two straight lines are drawn as virtual straight trip path.
Further, the method for drafting turning path is specially in step S6 of the invention：
According to parameter preset, real-time road image wide W, high H, overall width car_w, high car_h, turning centre point (left-hand rotation O_
Left, right-hand rotation O_right), turning radius R, turning radian w；Turning path is the radius for the center of circle with (O_left/O_right)
Two camber lines of R-car_w/2 and radius R+car_w, radian w；This two camber lines are drawn as virtual turning path.
The beneficial effect comprise that：The vehicle AR navigation system and method based on ADAS of the present invention, as
ADAS equipment has navigation feature more comprehensively；It can show vehicle, pedestrian, track line position and collision time；It can show void
Inbound path is planned to implement, and judges whether there is barrier on path；Vehicle assistant drive technology is merged with AR airmanships into one
In system, while navigation is provided, the safety of driving is improved.
Description of the drawings
Below in conjunction with accompanying drawings and embodiments, the invention will be further described, in attached drawing：
Fig. 1 is the system structure diagram of the embodiment of the present invention；
Fig. 2 is interaction schematic diagram in the module of the embodiment of the present invention；
Fig. 3 is the drafting navigation map of the embodiment of the present invention；
Fig. 4 is the straight trip path schematic diagram of the embodiment of the present invention；
Fig. 5 is the turning path schematic diagram of the embodiment of the present invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
As shown in Figure 1, the vehicle AR navigation system based on ADAS of the embodiment of the present invention, which includes camera, vehicle
Carrier aircraft display screen and mobile phone terminal；Wherein：
Camera, including video acquisition module, ADAS modules, navigation module and AR display modules；In the embodiment of the present invention
Middle camera uses ADAS intelligent video camera heads；
Video acquisition module is used for the road image in real-time collection vehicle driving process；
ADAS modules are used to identify lane line, vehicle and pedestrian information；
Navigation module is used to obtain satellite navigation information；
AR display modules are used to be superimposed lane line, vehicle and pedestrian information in real-time road image, and lead according to satellite
Information of navigating draws virtual route, output real-time road image to vehicle-mounted machine display screen；
Vehicle-mounted machine display screen, for receiving and showing the real-time road image of camera output；Vehicle-mounted machine display screen passes through
AV lines connect camera；
Mobile phone terminal, mobile phone terminal and camera are by way of wireless connection into row data communication；For with camera
It communicates, parameter and the navigation purpose of camera are set by the application software on intelligent terminal.
Interaction is as shown in Figure 2 in its module.
The vehicle AR air navigation aids based on ADAS of the embodiment of the present invention, include the following steps：
Road image (P) in the real-time collection vehicle driving process of S1, ADAS intelligent video camera head, be input to ADAS modules and
AR display modules；
S2, ADAS module carry out image identification, identify vehicle, the coordinate position of pedestrian, size (x, y, w, h) and collision
It time (t), identifies left and right lane line (L1, L2), recognition result is input to AR display modules；
S3, navigation module (are turned left or right by satellite map location navigation by navigation map (M) and apart from next crossing
Turn) turning distance input to AR display modules；
S4, AR display module draw real-time road image, and are superimposed lane line, vehicle, pedestrian information；With Real-time Road figure
As to draw base map, the vehicle identified, pedestrian's rectangle frame (x, y, w, h) being drawn on it, in corresponding rectangle frame top edge position
It puts and draws collision time (t), draw the lane line (L1, L2) identified, as shown in Figure 3；
S5,1/4 wide and 1/4 high navigation map is drawn in the lower left corner of real-time road image；As shown in Figure 3；
S6, virtual route instruction is drawn：
Virtual route is divided into straight trip path and turning path, judges current vehicle according to the navigation information that navigation module exports
Direction of travel,
If next crossing need to turn left or turn right, and is less than or equal to 50 meters apart from crossing, then turning path is drawn；
If being more than 50 meters apart from crossing, straight trip path is drawn；
If next crossing needs to keep straight on, straight trip path is drawn；
As shown in figure 4, the method for drawing straight trip path is specially：
According to parameter preset, the wide W of real-time road image, high H, overall width car_w, high car_h, path left side straight line L1 is point
((W-car_w)/2, H) to point ((W-car_w)/2, H/2) and right side straight line L2 be point ((W+car_w)/2, H) to ((W+
car_w)/2,H/2)；This two straight lines are drawn as virtual straight trip path.
As shown in figure 5, the method for drawing turning path is specially：
According to parameter preset, real-time road image wide W, high H, overall width car_w, high car_h, turning centre point (left-hand rotation O_
Left, right-hand rotation O_right), turning radius R, turning radian w；Turning path is the radius for the center of circle with (O_left/O_right)
Two camber lines of R-car_w/2 and radius R+car_w, radian w；This two camber lines are drawn as virtual turning path.
S7, coloring travel path and barrier：The determining enclosed area of virtual route two lines institute drawn in judgment step S6
Whether the vehicle and pedestrian rectangular area drawn in domain and step S4 has overlapping, if there is overlapping, by travel path and overlapping
Vehicle and pedestrian rectangle frame is colored as red to warn；
The image finally drawn is output to vehicle-mounted machine display screen and shown by S8, AR display module.
The advantages of this AR navigation system following points：
A. as ADAS equipment, has navigation feature more comprehensively；
B. vehicle, pedestrian, track line position and collision time can be shown；
C. it can show virtual travel path, and judge whether there is barrier on path；
Vehicle assistant drive technology is merged with AR airmanships in a system, while navigation is provided, is improved
The safety driven.
It should be understood that for those of ordinary skills, can be improved or converted according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (7)
1. a kind of vehicle AR navigation system based on ADAS, which is characterized in that the system include camera, vehicle-mounted machine display screen and
Intelligent terminal；Wherein：
Camera, including video acquisition module, ADAS modules, navigation module and AR display modules；
Video acquisition module is used for the road image in real-time collection vehicle driving process；
ADAS modules are used to identify lane line, vehicle and pedestrian information；
Navigation module is used to obtain satellite navigation information；
AR display modules are used to be superimposed lane line, vehicle and pedestrian information in real-time road image, and believe according to satellite navigation
Breath draws virtual route, output real-time road image to vehicle-mounted machine display screen；
Vehicle-mounted machine display screen, for receiving and showing the real-time road image of camera output；
Intelligent terminal, for communicating with camera, by application software on intelligent terminal set camera parameter and
Navigation purpose.
2. the vehicle AR navigation system according to claim 1 based on ADAS, which is characterized in that camera is ADAS intelligence
Camera, vehicle-mounted machine display screen connect ADAS intelligent video camera heads by AV lines.
3. the vehicle AR navigation system according to claim 2 based on ADAS, which is characterized in that intelligent terminal and ADAS intelligence
Energy camera is by way of wireless connection into row data communication.
4. the vehicle AR navigation system according to claim 1 or 2 based on ADAS, which is characterized in that the intelligent terminal
For mobile phone terminal.
5. a kind of AR air navigation aids of the vehicle AR navigation system described in claim 1 based on ADAS, which is characterized in that including
Following steps：
Road image in the real-time collection vehicle driving process of S1, camera, is input to ADAS modules and AR display modules；
S2, ADAS module carry out image identification, identify vehicle, the coordinate position of pedestrian, size and collision time, identify a left side
Recognition result is input to AR display modules by right-lane line；
S3, navigation module are arrived navigation map and the turning distance input apart from next crossing by satellite map location navigation
AR display modules；
S4, AR display module draw real-time road image, and are superimposed lane line, vehicle, pedestrian information；Using real-time road image as
Base map is drawn, draws the vehicle identified, pedestrian's rectangle frame on it, when corresponding rectangle frame upper marginal position draws collision
Between, draw the lane line identified；
S5,1/4 wide and 1/4 high navigation map is drawn in the lower left corner of real-time road image；
S6, virtual route instruction is drawn：
Virtual route is divided into straight trip path and turning path, and the navigation information exported according to navigation module judges that current vehicle is advanced
Direction,
If next crossing need to turn left or turn right, and is less than or equal to 50 meters apart from crossing, then turning path is drawn；
If being more than 50 meters apart from crossing, straight trip path is drawn；
If next crossing needs to keep straight on, straight trip path is drawn；
S7, coloring travel path and barrier：The determining closed area of virtual route two lines institute drawn in judgment step S6 and
Whether the vehicle and pedestrian rectangular area drawn in step S4 has overlapping, if there is overlapping, by travel path and the vehicle of overlapping
Red is colored as with pedestrian's rectangle frame to warn；
The image finally drawn is output to vehicle-mounted machine display screen and shown by S8, AR display module.
6. the vehicle AR air navigation aids according to claim 5 based on ADAS, which is characterized in that straight trip is drawn in step S6
The method in path is specially：
According to parameter preset, the wide W of real-time road image, high H, overall width car_w, high car_h, path left side straight line L1 is point ((W-
Car_w)/2, H) to point ((W-car_w)/2, H/2) and right side straight line L2 for point ((W+car_w)/2, H) to ((W+car_w)/
2,H/2)；This two straight lines are drawn as virtual straight trip path.
7. the vehicle AR air navigation aids according to claim 5 based on ADAS, which is characterized in that turning is drawn in step S6
The method in path is specially：
According to parameter preset, real-time road image wide W, high H, overall width car_w, high car_h, turning centre point (left-hand rotation O_left,
Right-hand rotation O_right), turning radius R, turning radian w；Turning path is the radius R- for the center of circle with (O_left/O_right)
Two camber lines of car_w/2 and radius R+car_w, radian w；This two camber lines are drawn as virtual turning path.
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