CN108204822B - ADAS-based vehicle AR navigation system and method - Google Patents
ADAS-based vehicle AR navigation system and method Download PDFInfo
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- CN108204822B CN108204822B CN201711371553.8A CN201711371553A CN108204822B CN 108204822 B CN108204822 B CN 108204822B CN 201711371553 A CN201711371553 A CN 201711371553A CN 108204822 B CN108204822 B CN 108204822B
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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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Abstract
The invention discloses a vehicle AR navigation system and method based on ADAS, the system includes camera, vehicle carried machine display screen and mobile phone terminal; the camera comprises a video acquisition module, an ADAS module, a navigation module and an AR display module; the video acquisition module is used for acquiring road images in the driving process of the vehicle in real time; the ADAS module is used for identifying lane line, vehicle and pedestrian information; the navigation module is used for acquiring satellite navigation information; the AR display module is used for superposing lane lines, vehicle and pedestrian information on the real-time road image, drawing a virtual path according to the satellite navigation information and outputting the real-time road image to a display screen of the vehicle-mounted machine; the vehicle-mounted machine display screen is used for receiving and displaying the real-time road image output by the camera; and the mobile phone terminal is used for communicating with the camera and setting parameters and navigation destinations of the camera through application software on the intelligent terminal. The invention improves the driving safety while providing navigation.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to an ADAS-based vehicle AR navigation system and method.
Background
The vehicle Driving assistance technology is also called Advanced Driving assistance System (ADAS for short). Vehicle assisted driving includes many functions, including lane departure warning systems (LDW), Automatic Emergency Braking (AEB), Lane Keeping Assist (LKA), front vehicle collision warning systems (FCW), pedestrian protection systems (PCW), and so forth. The functions are realized based on the ADAS camera, and the information such as vehicles, pedestrians, lane lines and the like can be identified.
At present, in the domestic market, most of equipment with the ADAS function and automobile data recorders do not have the navigation function, and the few equipment with the ADAS function and the automobile data recorders only have the navigation of common satellite maps. The implementation mode is to integrate a map navigation module, such as a high-grade map, a Baidu map and the like, in the software of the ADAS device.
The disadvantages of current ADAS devices include the following:
a. navigation cannot be performed, and the function is single;
b. no path indication is provided;
the disadvantages of the current AR navigation technology are as follows:
a. the method is only suitable for walking navigation, and the vehicle navigation accuracy is poor;
b. the method is mainly realized through mobile phone software and is not integrated in vehicle-mounted equipment;
c. the real-time picture can not display vehicles and pedestrians;
d. only the directional arrow can be displayed, and the virtual path cannot be displayed;
because vehicle-assisted driving generally needs professional equipment support, and AR navigation is mainly realized through mobile phone software at present, no product in the market fuses vehicle-assisted driving technology and AR navigation together at present.
Disclosure of Invention
The invention aims to solve the technical problem of providing an ADAS-based vehicle AR navigation system and method aiming at the defect that no product integrates the vehicle auxiliary driving technology and AR navigation in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention provides an ADAS-based vehicle AR navigation system, which comprises a camera, a vehicle-mounted machine display screen and a mobile phone terminal, wherein the camera is arranged on the vehicle-mounted machine display screen; wherein:
the camera comprises a video acquisition module, an ADAS module, a navigation module and an AR display module;
the video acquisition module is used for acquiring road images in the driving process of the vehicle in real time;
the ADAS module is used for identifying lane line, vehicle and pedestrian information;
the navigation module is used for acquiring satellite navigation information;
the AR display module is used for superposing lane lines, vehicle and pedestrian information on the real-time road image, drawing a virtual path according to the satellite navigation information and outputting the real-time road image to a display screen of the vehicle-mounted machine;
the vehicle-mounted machine display screen is used for receiving and displaying the real-time road image output by the camera;
and the mobile phone terminal is used for communicating with the camera and setting parameters and navigation destinations of the camera through application software on the intelligent terminal.
Furthermore, the camera is an ADAS intelligent camera, and the display screen of the vehicle-mounted machine is connected with the ADAS intelligent camera through an AV line.
Furthermore, the mobile phone terminal and the ADAS intelligent camera carry out data communication in a wireless connection mode.
The invention provides an ADAS-based vehicle AR navigation method, which comprises the following steps:
s1, acquiring a road image in the driving process of the vehicle in real time by the camera, and inputting the road image into the ADAS module and the AR display module;
s2, the ADAS module carries out image recognition, recognizes the coordinate positions, sizes and collision time of vehicles and pedestrians, recognizes left and right lane lines, and inputs the recognition results to the AR display module;
s3, the navigation module carries out positioning navigation through a satellite map and inputs the navigation map and the turning distance from the next intersection into the AR display module;
s4, drawing a real-time road image by the AR display module, and superposing lane line, vehicle and pedestrian information; drawing a rectangular frame of the identified vehicles and pedestrians on the real-time road image serving as a drawing base map, drawing collision time at the edge position of the corresponding rectangular frame, and drawing an identified lane line;
s5, drawing a navigation map which is 1/4 wide and 1/4 high at the lower left corner of the real-time road image;
s6, drawing virtual path instruction:
the virtual path is divided into a straight path and a turning path, the current vehicle advancing direction is judged according to the navigation information output by the navigation module,
if the next intersection needs to turn left or right and the distance between the next intersection and the intersection is less than or equal to 50 meters, drawing a turning path;
if the distance from the intersection is more than 50 meters, drawing a straight path;
if the next intersection needs to go straight, drawing a straight path;
s7, coloring the traveling path and the obstacle: judging whether the closed region determined by the two lines of the virtual path drawn in the step S6 is overlapped with the rectangular region of the vehicle and the pedestrian drawn in the step S4, if so, coloring the rectangular frame of the traveling path and the overlapped vehicle and pedestrian red to warn;
and S8, outputting the finally drawn image to a display screen of the vehicle-mounted device for display by the AR display module.
Further, the method for drawing the straight-going path in step S6 of the present invention specifically includes:
according to preset parameters, the real-time road image width W, the height H, the vehicle width car _ W, the height car _ H, the straight line L1 on the left side of the path is from the point ((W-car _ W)/2, H) to the point ((W-car _ W)/2, H/2), and the straight line L2 on the right side is from the point ((W + car _ W)/2, H) to ((W + car _ W)/2, H/2); these two straight lines are drawn as virtual straight paths.
Further, the method for drawing the turning path in step S6 of the present invention specifically includes:
according to preset parameters, real-time road image width W, height H, vehicle width car _ W, height car _ H, turning center point (left turn O _ left, right turn O _ right), turning radius R and turning radian W; the turning path is two arcs with the (O _ left/O _ right) as the center, the radius R-car _ w/2, the radius R + car _ w and the radian w; the two arcs are drawn as virtual turning paths.
The invention has the following beneficial effects: the vehicle AR navigation system and method based on the ADAS are used as ADAS equipment, and have more comprehensive navigation function; the vehicle, the pedestrian and the lane line position and the collision time can be displayed; the method can display a virtual travel path and judge whether the path has an obstacle or not; the vehicle auxiliary driving technology and the AR navigation technology are integrated into one system, and the driving safety is improved while navigation is provided.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic diagram of a system architecture of an embodiment of the present invention;
FIG. 2 is a schematic diagram of intra-module interaction according to an embodiment of the present invention;
FIG. 3 is a depiction of a navigation map in accordance with an embodiment of the present invention;
FIG. 4 is a schematic illustration of a straight path according to an embodiment of the present invention;
FIG. 5 is a turn path schematic of an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the ADAS-based vehicle AR navigation system according to the embodiment of the present invention includes a camera, a vehicle-mounted device display screen, and a mobile phone terminal; wherein:
the camera comprises a video acquisition module, an ADAS module, a navigation module and an AR display module; in the embodiment of the invention, the camera adopts an ADAS intelligent camera;
the video acquisition module is used for acquiring road images in the driving process of the vehicle in real time;
the ADAS module is used for identifying lane line, vehicle and pedestrian information;
the navigation module is used for acquiring satellite navigation information;
the AR display module is used for superposing lane lines, vehicle and pedestrian information on the real-time road image, drawing a virtual path according to the satellite navigation information and outputting the real-time road image to a display screen of the vehicle-mounted machine;
the vehicle-mounted machine display screen is used for receiving and displaying the real-time road image output by the camera; the display screen of the vehicle-mounted machine is connected with the camera through an AV (audio/video) line;
the mobile phone terminal is in data communication with the camera in a wireless connection mode; the intelligent terminal is used for communicating with the camera and setting parameters and navigation destinations of the camera through application software on the intelligent terminal.
The intra-module interaction is shown in fig. 2.
The AR navigation method of the vehicle based on the ADAS comprises the following steps:
s1, acquiring a road image (P) in the driving process of the vehicle in real time by the ADAS intelligent camera, and inputting the road image (P) into the ADAS module and the AR display module;
s2, the ADAS module carries out image recognition, recognizes the coordinate positions, sizes (x, y, w, h) and collision time (t) of vehicles and pedestrians, recognizes left and right lane lines (L1, L2), and inputs the recognition results to the AR display module;
s3, the navigation module carries out positioning navigation through a satellite map and inputs a navigation map (M) and a turning distance from the next intersection (left turn or right turn) into the AR display module;
s4, drawing a real-time road image by the AR display module, and superposing lane line, vehicle and pedestrian information; drawing a rectangular frame (x, y, w, h) of the identified vehicles and pedestrians on the real-time road image as a base map, drawing the collision time (t) at the position of the upper edge of the corresponding rectangular frame, and drawing the identified lane lines (L1, L2), as shown in FIG. 3;
s5, drawing a navigation map which is 1/4 wide and 1/4 high at the lower left corner of the real-time road image; as shown in fig. 3;
s6, drawing virtual path instruction:
the virtual path is divided into a straight path and a turning path, the current vehicle advancing direction is judged according to the navigation information output by the navigation module,
if the next intersection needs to turn left or right and the distance between the next intersection and the intersection is less than or equal to 50 meters, drawing a turning path;
if the distance from the intersection is more than 50 meters, drawing a straight path;
if the next intersection needs to go straight, drawing a straight path;
as shown in fig. 4, the method for drawing the straight path specifically includes:
according to preset parameters, the real-time road image width W, the height H, the vehicle width car _ W, the height car _ H, the straight line L1 on the left side of the path is from the point ((W-car _ W)/2, H) to the point ((W-car _ W)/2, H/2), and the straight line L2 on the right side is from the point ((W + car _ W)/2, H) to ((W + car _ W)/2, H/2); these two straight lines are drawn as virtual straight paths.
As shown in fig. 5, the method for drawing the turning path specifically includes:
according to preset parameters, real-time road image width W, height H, vehicle width car _ W, height car _ H, turning center point (left turn O _ left, right turn O _ right), turning radius R and turning radian W; the turning path is two arcs with the (O _ left/O _ right) as the center, the radius R-car _ w/2, the radius R + car _ w and the radian w; the two arcs are drawn as virtual turning paths.
S7, coloring the traveling path and the obstacle: judging whether the closed region determined by the two lines of the virtual path drawn in the step S6 is overlapped with the rectangular region of the vehicle and the pedestrian drawn in the step S4, if so, coloring the rectangular frame of the traveling path and the overlapped vehicle and pedestrian red to warn;
and S8, outputting the finally drawn image to a display screen of the vehicle-mounted device for display by the AR display module.
The AR navigation system has the following advantages:
a. as ADAS equipment, the navigation function is more comprehensive;
b. the vehicle, the pedestrian and the lane line position and the collision time can be displayed;
c. the method can display a virtual travel path and judge whether the path has an obstacle or not;
the vehicle auxiliary driving technology and the AR navigation technology are integrated into one system, and the driving safety is improved while navigation is provided.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (4)
1. An AR navigation method of an ADAS-based vehicle AR navigation system is characterized in that the method is realized by the ADAS-based vehicle AR navigation system, and the system comprises a camera, a vehicle-mounted machine display screen and an intelligent terminal; wherein:
the camera comprises a video acquisition module, an ADAS module, a navigation module and an AR display module;
the video acquisition module is used for acquiring road images in the driving process of the vehicle in real time;
the ADAS module is used for identifying lane line, vehicle and pedestrian information;
the navigation module is used for acquiring satellite navigation information;
the AR display module is used for superposing lane lines, vehicle and pedestrian information on the real-time road image, drawing a virtual path according to the satellite navigation information and outputting the real-time road image to a display screen of the vehicle-mounted machine;
the vehicle-mounted machine display screen is used for receiving and displaying the real-time road image output by the camera;
the intelligent terminal is used for communicating with the camera and setting parameters and navigation destinations of the camera through application software on the intelligent terminal;
the camera is an ADAS intelligent camera, and the display screen of the vehicle-mounted machine is connected with the ADAS intelligent camera through an AV (audio/video) line;
the intelligent terminal and the ADAS intelligent camera are in data communication in a wireless connection mode;
the method comprises the following steps:
s1, acquiring a road image in the driving process of the vehicle in real time by the camera, and inputting the road image into the ADAS module and the AR display module;
s2, the ADAS module carries out image recognition, recognizes the coordinate positions, sizes and collision time of vehicles and pedestrians, recognizes left and right lane lines, and inputs the recognition results to the AR display module;
s3, the navigation module carries out positioning navigation through a satellite map and inputs the navigation map and the turning distance from the next intersection into the AR display module;
s4, drawing a real-time road image by the AR display module, and superposing lane line, vehicle and pedestrian information; drawing a rectangular frame of the identified vehicles and pedestrians on the real-time road image serving as a drawing base map, drawing collision time at the edge position of the corresponding rectangular frame, and drawing an identified lane line;
s5, drawing a navigation map which is 1/4 wide and 1/4 high at the lower left corner of the real-time road image;
s6, drawing virtual path instruction:
the virtual path is divided into a straight path and a turning path, the current vehicle advancing direction is judged according to the navigation information output by the navigation module,
if the next intersection needs to turn left or right and the distance between the next intersection and the intersection is less than or equal to 50 meters, drawing a turning path;
if the distance from the intersection is more than 50 meters, drawing a straight path;
if the next intersection needs to go straight, drawing a straight path;
s7, coloring the traveling path and the obstacle: judging whether the closed region determined by the two lines of the virtual path drawn in the step S6 is overlapped with the rectangular region of the vehicle and the pedestrian drawn in the step S4, if so, coloring the rectangular frame of the traveling path and the overlapped vehicle and pedestrian red to warn;
and S8, outputting the finally drawn image to a display screen of the vehicle-mounted device for display by the AR display module.
2. The AR navigation method of an ADAS-based vehicle AR navigation system of claim 1, wherein the smart terminal is a cell phone terminal.
3. The AR navigation method of an ADAS-based vehicle AR navigation system according to claim 1, wherein the method of drawing the straight-going path in step S6 is specifically:
according to preset parameters, the real-time road image width W, the height H, the vehicle width car _ W, the height car _ H, the straight line L1 on the left side of the path is from the point ((W-car _ W)/2, H) to the point ((W-car _ W)/2, H/2), and the straight line L2 on the right side is from the point ((W + car _ W)/2, H) to ((W + car _ W)/2, H/2); these two straight lines are drawn as virtual straight paths.
4. The AR navigation method of an ADAS-based vehicle AR navigation system as claimed in claim 1, wherein the method of drawing the turning path in step S6 is specifically:
according to preset parameters, real-time road image width W, height H, vehicle width car _ W, height car _ H, coordinates of turning center points are (O _ left, O _ right), turning radius R and turning radian W; the turning path is two arcs with a point with coordinates of (O _ left, O _ right) as a center, a radius R-car _ w/2, a radius R + car _ w and a radian w; the two arcs are drawn as virtual turning paths.
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