CN108896066A - A kind of augmented reality head up display and its navigation implementation method - Google Patents
A kind of augmented reality head up display and its navigation implementation method Download PDFInfo
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- CN108896066A CN108896066A CN201810445946.7A CN201810445946A CN108896066A CN 108896066 A CN108896066 A CN 108896066A CN 201810445946 A CN201810445946 A CN 201810445946A CN 108896066 A CN108896066 A CN 108896066A
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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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- 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
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of augmented reality head up display and its navigation implementation methods.The AR head up display includes electronic device terminal, road curvature monitoring device and HUD with navigation information；The HUD receives the navigation information from the electronic device terminal and the present road radius of curvature information of road curvature monitoring device offer, code drafting is carried out on this basis, it exports vision signal and gives HUD display screen, the HUD for completing augmented reality navigation reality is shown.The present invention combines universal electronic device terminal to complete AR-HUD and realizes to navigation feature, and versatility is wide.Navigation information derives from electronic device terminal and non-vehicle itself, electronic map can update at any time, and updates convenient and efficient.Compared to existing vehicle mounted guidance, display mode is shown using AR and non-screen is shown, driver's observation navigation information is clear, and accuracy is high, and reduces navigation information and Actual path matched reaction time, improves travel safety.
Description
Fields
The present invention relates to a kind of automobile-used augmented reality head up display (AR-HUD), lift more particularly to a kind of augmented reality
The navigation implementation method of head display.
Background technique
With the continuous development of vehicle mounted guidance technology, people update and lead to the accuracy and navigation map of navigation instruction
The portability requirements of boat are higher and higher.Since current vehicle mounted guidance is using map rejuvenation is carried out using SD card substantially, so that updating
Method is more troublesome, so many drivers use Mobile Telephone Gps mode.It is map certainly using Mobile Telephone Gps mode advantage
It is dynamic to update, it is easy to carry.But for driver, need to divert sb.'s attention and distract when being navigated when driving
Power is easy to affect to traffic safety, while digital map navigation is shown on mobile phone, stands particularly with domestic complicated
It hands over, for loop wire road, it is necessary to which more energy match Mobile Telephone Gps and real road conditions, are more easier to cause to travel
Mistake and influence traffic safety.
Application No. is 201720048972.7 patents " a kind of vehicle-mounted high-precision lane navigation system " to disclose a kind of vehicle
Carry high-precision lane navigation system, including GNSS positioning device, vehicle-mounted vidicon, lane identification processor, navigation route data
Processor, navigation instruction image processor and AR-HUD display, vehicle-mounted vidicon connect lane identification processor, GNSS positioning
Device and lane identification processor are separately connected navigation route data processor, and the connection navigation of navigation route data processor refers to
Show that image processor, navigation instruction image processor connect AR-HUD display, the AR-HUD display is set to vehicle front
On wind glass.The method uses a large amount of imaging sensor and alignment sensor carries out the acquisition of actual road conditions, to guarantee
The high-precision of navigation, but the method component is more, realizes that difficulty is big.Meanwhile for component costs such as GNSS positioning devices
Height substantially can not be received for low and middle-grade automobiles.
Application No. is 201710075447.9 patent " a kind of HUD onboard navigation system ", disclose it is a kind of based on just
Portable device, which be wirelessly connected, builds onboard navigation system, and then is realizing Voice Navigation, can also project cartographic information
To windshield glass of automobile.The method acquires navigation information and is directly incident upon on windshield, related there is no realizing
AR effect, so for driver, navigation direction without and actual road conditions is combined, encounter and intersect road conditions or multiple
It also needs to compare navigation information and actual road conditions when road conditions processed.
Goal of the invention
The purpose of the present invention is：It can not achieve AR effect when being navigated to solve existing HUD, or by very
Various complex component is come the problem of realizing AR-HUD, the present invention provides the solution of completely new AR-HUD a kind of, including AR-
The hardware of HUD forms and its navigation implementation method.
The technical scheme is that：Refering to fig. 1, a kind of augmented reality head up display, including having navigation information
Electronic device terminal, road curvature monitoring device and HUD；The HUD receives the navigation information from the electronic device terminal
And the present road radius of curvature information that the road curvature monitoring device provides, code drafting is carried out on this basis, it is defeated
Vision signal gives HUD display screen out, and the HUD for completing augmented reality navigation reality is shown.
Further, the usually described electronics setting terminal, which is attached with AR-HUD using bluetooth, communicates, road curvature prison
Measurement equipment is attached using CAN bus with AR-HUD and is communicated.In actual use, the navigation APP of electronic device terminal is opened,
Navigation information is exported by the APP and AR-HUD is sent to by bluetooth approach, is drawn by AR-HUD combination road curvature information
Figure and display；
Further, electronic device terminal uses Android system or IOS system, and navigation APP has two functions：1. calling
Bluetooth module realization is attached with AR-HUD；2. obtaining real-time navigation information using Gao De or the navigation SDK of Baidu, i.e., directly
Row turns left or turns right information and to be sent to AR-HUD；In addition to this, the navigation APP can also send HUD control as needed
Signal, i.e. display height, position, depression angle and the size of display brightness and navigation picture of AR-HUD, is adjusted to AR-HUD
AR effect；
Further, for providing the radius of curvature of present road, which can come the road curvature monitoring device
From automobile itself, ADAS products substitution also can be used, road curvature monitoring device contains for monitoring present road curvature half
The camera of diameter, so that it is determined that the bending degree of present road；
Further, the HUD realizes AR function using W-HUD mode, and control section therein is main in terms of navigation
Has following four function：1. bluetooth communication is called to receive the navigation information that electronic device terminal is sent；2. receiving road
The road curvature radius information that curvature monitoring device is sent；It is drawn 3. integrated navigation information and road curvature radius information carry out code
System, the line that tracks are drawn；3. exporting vision signal gives HUD display screen.
Based on the navigation realizing method of above-mentioned augmented reality head up display, specifically comprise the following steps：
Step 1：To display screen according to navigation track line arrow quantity N carry out height sub-area, obtain N number of on display screen
Region；The height sub-area uses human eye vision " near big and far smaller " principle, i.e., for for display screen, more downward section is bigger,
Specific section size can customize, but cannot violate area principle.The top margin in each section and indulging for bottom edge are obtained after subregion
Coordinate.
Step 2：Road radius of curvature conducting wire is obtained according to road curvature radius value：It is exported by road curvature monitoring device
Radius of curvature value, using screen bottom edge intermediate point as starting point by curvature radius calculation formula obtain conducting wire on all coordinate values.
Step 3：Road curvature radius conducting wire is intercepted according to the area number N of step 1, obtains the vertex in each region
And bottom point：Top margin and bottom by the coordinate value of all the points on step 2 mean curvature radius conducting wire, with section each in step 1
The ordinate on side obtains the friendship of radius of curvature conducting wire and each section top margin and bottom edge in conjunction with radius of curvature traverse calculation formula
Meeting point, these joints are vertex and the bottom point coordinate in each section.
Step 4：The triangle line arrow that tracks is carried out according to the vertex in each section and bottom point coordinate to draw：Assert bottom point
Coordinate is the bottom edge midpoint of triangle, and apex coordinate is triangular apex coordinate, and predefined triangle is isosceles triangle, is carried out
Track the drafting of line arrow.
The beneficial effects of the invention are as follows：AR-HUD is completed to navigation feature reality in conjunction with universal electronic device terminal
Existing, versatility is wide.Navigation information derives from electronic device terminal and non-vehicle itself, electronic map can update at any time, and updates
It is convenient and efficient.Compared to existing vehicle mounted guidance, display mode is shown using AR and non-screen is shown, driver observes navigation letter
Clear, accuracy height is ceased, and reduces navigation information and Actual path matched reaction time, improves travel safety.
Detailed description of the invention
Fig. 1 is the principle assumption diagram of augmented reality head up display proposed by the present invention
Fig. 2 is the specific structure composition schematic diagram of augmented reality head up display in embodiment
Fig. 3 is electronic device terminal APP software flow pattern in embodiment
Fig. 4 is AR-HUD software flow pattern in embodiment
Fig. 5 is that picture is demarcated in embodiment
Fig. 6 is the navigation implementation method process in embodiment
Fig. 7 is display effect of navigating in embodiment
In figure, 1- electronic device terminal, 2-AR-HUD controller, 3-AR-HUD optical display module, 4-
AR-HUD windshield display area, the display area 5-AR, 6- road curvature monitoring device, 7- Road, 8- are sought
Trace icon, the display area 9-, 10- road curvature radius conducting wire.
Specific embodiment
With reference to the accompanying drawings and examples, a specific embodiment of the invention is described in further detail.
The air navigation aid provided in the embodiment of the present invention, function are to carry out the line that tracks that navigates according to the road curvature of navigation
Drafting, this method is applicable in the augmented reality head up display for being not limited to mention in the embodiment of the present invention, can be also used for being directed to
The other application of augmented reality navigation.
Such as Fig. 1, the electronic device terminal and AR-HUD of augmented reality head up display are using bluetooth progress in the present embodiment
Connection communication.In actual use, the navigation APP for opening electronic device terminal exports navigation information by the APP and passes through bluetooth
Mode is sent to ARHUD, is drawn by AR-HUD and is shown, while containing adjustment AR-HUD display effect on the APP that navigates
Menu bar, driver can be adjusted according to itself driving habits.
Referring to Fig.2, the specific structure composition of the augmented reality head up display in the present embodiment is as follows：Electronic device terminal
(1) it can place above console in the car, as long as guaranteeing to be no more than 3 meters with AR-HUD distance.AR-HUD uses mesh
Preceding general W-HUD mode, be substantially all including be located at console below AR-HUD controller (2), be located at windshield under
Display local (4) this three parts in the optical display module (3) and windshield of side are controlled by image processor, that is, AR-HUD
Treated that image is generally shown on the display area AR (5) for device (2) processed and optical display module part (3).
The electronic device terminal (1) includes smart phone, tablet computer and navigator etc.；
The electronic device terminal (1) uses Android system or IOS system, and navigation APP mainly has three functions：1.
Bluetooth module realization is called to be attached with ARHUD；2. obtaining real-time navigation information using Gao De or the navigation SDK of Baidu.
3. send control signal give AR-HUD adjust AR effect, wherein control signal include the display height of AR-HUD, display brightness with
And position, inclination angle and the size of virtual image.
Fig. 3 show the software flow pattern of Mobile Telephone Gps APP in the present embodiment.After software starting, navigation can be called first
SDK obtains geographical location information, determines itself position.After the completion of the work, the APP page occurs opening bluetooth, and searches
The bluetooth of rope attachment.
After searching the bluetooth title of automobile AR-HUD, driver double-clicks the bluetooth title, and APP can send Bluetooth pairing
It requests to give automobile AR-HUD, and waits the response of automobile AR-HUD.Indicate that both sides establish Bluetooth communication after response.At this time
Driver can be adjusted the display height etc. of AR-HUD by the APP that navigates.If you do not need to adjusting, then can directly exist
Input destination address on navigation APP, navigation APP carries out route planning, and by navigation information (please such as keep straight on, it is right after 1.5 kilometers
Turn) it is output on AR-HUD in real time.
AR-HUD realizes that control section therein mainly has following functions in terms of navigation using W-HUD mode：1. adjusting
The navigation information that electronic device terminal is sent is received with bluetooth communication；2. pair navigation information carries out code drafting；3. output
Vision signal is to display screen；It is adjusted 4. receiving navigation APP control signal and carrying out itself.
It is the software flow pattern that algorithm is realized in AR-HUD navigation in the present embodiment refering to Fig. 4.After automobile starting, AR-HUD
The functional module of itself (such as display module, CAN communication module, bluetooth module) is initialized first, initialization is completed
Afterwards, into the Bluetooth pairing solicited status for waiting until navigation APP.When receive navigation APP pairing request after, to navigation APP into
Row Bluetooth pairing response, both sides formally establish Bluetooth communication at this time.Then AR-HUD enters equal Wait Orders or navigation information state.
If received as coomand mode, command analysis is carried out according to the prespecified communication protocol of both sides, and is acted accordingly
It executes, such as height adjustment, inclination angle adjustment；If received as navigation information, AR-HUD carries out figure according to navigation information
It draws (the line chart mark that tracks transformation), figure adjustment (example is carried out according to the prespecified communicating protocol parameter of both sides after completing
If inclination angle is 15, then figure carries out 15 degree of adjustment of inclination).Optical display device is directly output to after the completion of Image Adjusting.
About the realization of AR effect, key is the drafting of figure, in the present embodiment, graphic plotting using profession figure
Routine interface openGl is drawn.It is as follows that it implements method：After device electrifying startup, the display area HUD can be projected
One calibration picture for having demarcated in advance, which contains the Road of normal width and corresponding road tracks line
Icon, refering to Fig. 5.The calibration detailed process is：The picture that two have been demarcated is cast out in the display area HUD.Wherein one
Kind picture is real road line, be cannot be adjusted, and one is the line chart mark that tracks, and can carry out size, position and the adjustment of depression angle,
Adjustment tracks line chart mark and size, position and the depression angle of real road line are wanted to coincide, that is, complete described in calibration process, thus
Guarantee that this road icon that tracks can be shown on accurate position.For the driver of standard heights and standard sitting posture,
Two road line in calibration picture can be just overlapped with Road seen by person, and the line guarantee in size design that tracks
Feel with having patch, for the driver of non-standard height or sitting posture, seeks trace sizes, position in adjustable calibration picture
And depression angle, reach satisfied display effect.After calibration is completed, AR-HUD, which will record, calibrated seeks trace sizes and display
Region, the line that tracks in actual motion are drawn all here it is shown that region is drawn.In actual motion, if road curvature
Monitoring device monitoring road curvature radius be not more than be previously set threshold value when, regard as road be it is unbending, directly according to
The line that tracks of calibration is indicated；But when radius of curvature is greater than setting, the line chart mark that tracks carries out corresponding according to radius of curvature value
Bending.Illustratively, in the present embodiment, the threshold value being previously set is 40 meters.
Based on above-mentioned augmented reality head up display situation, the embodiment of the present invention provides a kind of navigation realizing method, such as Fig. 6
It is shown, specifically comprise the following steps：
Step 1：It determines the line arrow quantity that tracks of navigating, tracks the progress of line arrow quantity highly according to navigation to display screen
Subregion；
Arrow quantity is set in the present embodiment as 5, therefore is divided into 1~5 totally 5 according to the display area vertical height of display screen
A area, the vertical height in each area can sets itself, but setting will meet the principle of " near big and far smaller " of human eye viewing object,
Vertical height is incremented by according to 1.2 times in the present embodiment, i.e. 2 area's height are 1.2 times of 1 area's height, and 3 area's height are 2 area's height
1.2 times, and so on.
Step 2：Road curvature radius conducting wire is drawn according to road curvature value；
Radius of curvature conducting wire is drawn according to the radius of curvature of road curvature monitoring device acquisition.It is collected in the present embodiment
Road radius of curvature is infinity, i.e., road is straight line.What is drawn in display screen at this time is then a vertical line.Except this embodiment
Except, if to collect road curvature radius be 100R, road is bending line, drawn in display screen at this time then for one
Curve.
Step 3：Road curvature radius conducting wire is intercepted according to area's number of step 1, obtains the vertex in each region
And bottom point；
By two above step, from display area it can be seen that region line and radius of curvature conducting wire have joint, this
Step obtains the coordinate of joint, that is, obtains vertex and the bottom point coordinate in each region.
Step 4：The triangle line arrow that tracks is carried out according to the vertex in each region and bottom point coordinate to draw；
In the present embodiment, the isosceles triangle that the thread triangle that tracks is 120 degree as apex angle is set, triangular apex is each
The vertex in region, the bottom edge midpoint of triangle are the bottom point in each region, can calculate its of triangle completely according to this principle
Its 2 bottom edge origin.Thus 3 coordinates can draw out the wire triangle navigational arrows that track accordingly.
Display effect of navigating is illustrated in figure 7 in embodiment, and driver can see above windshield, navigational arrows
It is fitted on road surface, and has corresponding navigation text prompt below, it is clear, reduce the navigation reaction time, improves
Travel safety.
Preferably, the radius of curvature value of road curvature monitoring device acquisition is all coordinate values or the portion of radius of curvature conducting wire
When dividing coordinate value, can directly it be drawn using coordinate value according to this kind of air navigation aid.
Claims (6)
1. a kind of augmented reality head up display, which is characterized in that bent including electronic device terminal, road with navigation information
Rate monitoring device and HUD；The HUD receives navigation information and road curvature monitoring from the electronic device terminal
The present road radius of curvature information that equipment provides carries out code drafting on this basis, exports vision signal and show to HUD
Screen, the HUD for completing augmented reality navigation reality are shown.
2. a kind of augmented reality head up display as described in claim 1, which is characterized in that electronics setting terminal with
AR-HUD is attached communication using bluetooth, and road curvature monitoring device is attached using CAN bus with AR-HUD and is communicated.?
In actual use, the navigation APP of electronic device terminal is opened, exported navigation information by the APP and is sent to by bluetooth approach
AR-HUD is drawn and is shown by AR-HUD combination road curvature information.
3. a kind of augmented reality head up display as described in claim 1, which is characterized in that the electronic device terminal uses
Android system or IOS system, navigation APP have two functions：1. bluetooth module realization is called to be attached with AR-HUD；2. adopting
Real-time navigation information is obtained with Gao De or the navigation SDK of Baidu, that is, keeping straight on, turning left or turning right information and is sent to AR-HUD；
In addition to this, the navigation APP can also send HUD control signal, i.e. the display height of AR-HUD, display brightness as needed
And position, depression angle and the size of navigation picture, AR effect is adjusted to AR-HUD.
4. a kind of augmented reality head up display as described in claim 1, which is characterized in that the road curvature monitoring device
For providing the radius of curvature of present road, which can come from automobile itself, and ADAS products substitution, road also can be used
Curvature monitoring device contains the camera for monitoring present road radius of curvature, so that it is determined that the bending degree of present road.
5. a kind of augmented reality head up display as described in claim 1, which is characterized in that the HUD uses W-HUD mode
Realize AR function, control section therein mainly has following four function in terms of navigation：1. bluetooth communication is called to connect
Receive the navigation information that electronic device terminal is sent；2. receiving the road curvature radius information that road curvature monitoring device is sent；3.
Integrated navigation information and road curvature radius information carry out code drafting, the line that tracks is drawn；3. it is aobvious to HUD to export vision signal
Display screen.
6. being specifically comprised the following steps based on the navigation realizing method of augmented reality head up display as described in claim 1：
Step 1：To display screen according to navigation track line arrow quantity N carry out height sub-area, obtain N number of region on display screen；
The height sub-area uses human eye vision " near big and far smaller " principle, i.e., for for display screen, more downward section is bigger, specific area
Between size can customize, but area principle cannot be violated.The top margin in each section and the ordinate on bottom edge are obtained after subregion；
Step 2：Road radius of curvature conducting wire is obtained according to road curvature radius value：The song exported by road curvature monitoring device
Rate radius value obtains all coordinate values on conducting wire by curvature radius calculation formula using screen bottom edge intermediate point as starting point；
Step 3：Road curvature radius conducting wire is intercepted according to the area number N of step 1, obtains the vertex and bottom in each region
Point：By the coordinate value of all the points on step 2 mean curvature radius conducting wire, with the top margin in section each in step 1 and bottom edge
Ordinate obtains the joint of radius of curvature conducting wire and each section top margin and bottom edge in conjunction with radius of curvature traverse calculation formula,
These joints are vertex and the bottom point coordinate in each section；
Step 4：The triangle line arrow that tracks is carried out according to the vertex in each section and bottom point coordinate to draw：Assert bottom point coordinate
For the bottom edge midpoint of triangle, apex coordinate is triangular apex coordinate, and predefined triangle is isosceles triangle, is tracked
The drafting of line arrow.
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| CN110108294A (en) * | 2019-04-17 | 2019-08-09 | 百度在线网络技术（北京）有限公司 | The operating system and method for ARHUD navigation |
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| CN111121815B (en) * | 2019-12-27 | 2023-07-07 | 重庆利龙中宝智能技术有限公司 | Path display method, system and computer storage medium based on AR-HUD navigation |
| CN111508046A (en) * | 2020-03-13 | 2020-08-07 | 重庆利龙科技产业(集团)有限公司 | Vehicle alarm icon drawing method and system based on OpenG L and storage medium |
| CN111508046B (en) * | 2020-03-13 | 2023-08-22 | 重庆利龙中宝智能技术有限公司 | Vehicle alarm icon drawing method, system and storage medium based on OpenGL |
| WO2022016953A1 (en) * | 2020-07-22 | 2022-01-27 | Oppo广东移动通信有限公司 | Navigation method and apparatus, storage medium and electronic device |
| CN114646320A (en) * | 2022-02-09 | 2022-06-21 | 江苏泽景汽车电子股份有限公司 | Path guiding method and device, electronic equipment and readable storage medium |
| CN115797506A (en) * | 2022-12-16 | 2023-03-14 | 江苏泽景汽车电子股份有限公司 | Method and device for drawing lane line object, terminal equipment and storage medium |
| CN115797506B (en) * | 2022-12-16 | 2023-11-17 | 江苏泽景汽车电子股份有限公司 | Method, device, terminal equipment and storage medium for drawing lane line object |
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