CN109300322B - Guideline drawing method, apparatus, device, and medium - Google Patents
Guideline drawing method, apparatus, device, and medium Download PDFInfo
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- CN109300322B CN109300322B CN201811291529.8A CN201811291529A CN109300322B CN 109300322 B CN109300322 B CN 109300322B CN 201811291529 A CN201811291529 A CN 201811291529A CN 109300322 B CN109300322 B CN 109300322B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
Abstract
The embodiment of the invention discloses a method, a device, equipment and a medium for drawing a guide line, wherein the method comprises the following steps: determining a vehicle outline area of a front vehicle from the acquired vehicle road image; and drawing direction guide lines for road areas except the vehicle outline area in the vehicle road image according to the vehicle outline area of the front vehicle. The method, the device, the equipment and the medium for drawing the guide line provided by the embodiment of the invention solve the problem that the direction guide line covers the front vehicle.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent traffic, in particular to a method, a device, equipment and a medium for drawing a guide line.
Background
The vehicle Driving assistance technology is also called Advanced Driving assistance System (ADAS for short). Vehicle assisted driving includes many functions including Augmented Reality (AR) navigation functions based on a direction guideline. The direction guide line is a guide line for indicating the traveling direction of the vehicle.
In general ADAS applications the direction guideline is drawn with a fixed length.
The inventor discovers that in the process of implementing the invention: referring to fig. 1, in a practical application scenario, since a distance between a current navigation vehicle and a vehicle in front is smaller than a fixed length of a direction guide line, a problem that the direction guide line covers the vehicle in front is caused.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a medium for drawing a guide line, which aim to solve the problem that a direction guide line covers a front vehicle.
In a first aspect, an embodiment of the present invention provides a guideline drawing method, including:
determining a vehicle outline area of a front vehicle from the acquired vehicle road image;
and drawing direction guide lines for road areas except the vehicle outline area in the vehicle road image according to the vehicle outline area of the front vehicle.
Further, the drawing of the direction guide line for the road area other than the vehicle contour area in the vehicle road image according to the vehicle contour area of the preceding vehicle includes:
determining the actual position area of the direction guide line under the world coordinate system according to the navigation path or the detected lane line;
converting the determined vehicle contour region of the front vehicle into a world coordinate system from an image coordinate system based on the parameters of the image acquisition device, and generating an actual contour region of the front vehicle;
and filtering out the actual contour area of the front vehicle in the actual position area of the direction guide line under the world coordinate system, and drawing the remaining actual position area.
Further, the determining an actual location area of the direction guide line in the world coordinate system according to the navigation path or the detected lane line includes:
if the lane line of the current driving lane is detected, determining the current driving lane area according to the detected lane line, and determining the actual position area of the direction guide line according to the current driving lane area;
and if the lane line of the current driving lane is not detected, determining the actual position area of the direction guide line based on the actual position of the vehicle in the world coordinate system and the navigation path.
Further, the mapping the remaining actual position area includes:
and converting the residual actual position area from the world coordinate system to the image coordinate system based on the parameters of the image acquisition device, generating a drawing area of the direction guide line, and drawing in the vehicle road image.
Further, the drawing of the direction guide line for the road area other than the vehicle contour area in the vehicle road image according to the vehicle contour area of the preceding vehicle includes:
determining a drawing area of the direction guide line in the vehicle road image according to the navigation path or the detected lane line;
and filtering the vehicle outline area in the drawing area, and drawing the residual area.
Further, the determining the vehicle contour region of the front vehicle from the collected vehicle road image comprises:
determining the position of the vehicle bottom shadow of the front vehicle from the acquired vehicle road image, wherein the vehicle bottom shadow is the projection position of the vehicle on the ground;
and determining a vehicle outline area of the front vehicle in the vehicle road image according to the vehicle bottom shadow position of the front vehicle.
In a second aspect, an embodiment of the present invention further provides a guideline drawing device, including:
the contour determination module is used for determining a vehicle contour area of a front vehicle from the acquired vehicle road image;
and the drawing module is used for drawing direction guide lines for road areas except the vehicle outline area in the vehicle road image according to the vehicle outline area of the front vehicle.
Further, the rendering module includes:
the actual position determining unit is used for determining the actual position area of the direction guide line under the world coordinate system according to the navigation path or the detected lane line;
the actual contour determining unit is used for converting the determined vehicle contour region of the front vehicle into a world coordinate system from an image coordinate system based on the parameters of the image acquisition device, and generating the actual contour region of the front vehicle;
and the guide line drawing unit is used for filtering out the actual contour area of the front vehicle in the actual position area of the direction guide line under the world coordinate system and drawing the residual actual position area.
Further, the actual position determining unit is specifically configured to:
if the lane line of the current driving lane is detected, determining the current driving lane area according to the detected lane line, and determining the actual position area of the direction guide line according to the current driving lane area;
and if the lane line of the current driving lane is not detected, determining the actual position area of the direction guide line based on the actual position of the vehicle in the world coordinate system and the navigation path.
Further, the guideline drawing unit is specifically configured to:
and converting the residual actual position area from the world coordinate system to the image coordinate system based on the parameters of the image acquisition device, generating a drawing area of the direction guide line, and drawing in the vehicle road image.
Further, the rendering module includes:
a drawing region determining unit for determining a drawing region of the direction guide line in the vehicle road image according to the navigation path or the detected lane line;
and the guide line drawing unit is used for filtering the vehicle outline area in the drawing area and drawing the residual area.
Further, the contour determination module includes:
the vehicle bottom shadow determining unit is used for determining the position of the vehicle bottom shadow of the front vehicle from the collected vehicle road image, wherein the vehicle bottom shadow is the projection position of the vehicle on the ground;
and the vehicle contour determining unit is used for determining a vehicle contour area of the front vehicle in the vehicle road image according to the vehicle bottom shadow position of the front vehicle.
In a third aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
the image acquisition device is used for acquiring a vehicle road image comprising a front vehicle;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the guideline drawing method according to any one of the embodiments of the invention.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the guideline drawing method according to any one of the embodiments of the present invention.
The embodiment of the invention determines the vehicle outline area of the front vehicle from the collected vehicle road image; the direction guide line is drawn for the road area except the vehicle contour area in the vehicle road image, that is, the direction guide line is not drawn for the vehicle contour area in the vehicle road image. Thereby solving the problem that the drawn direction guide line covers the front vehicle.
Drawings
FIG. 1 is a schematic view of a prior art vehicle with a direction guide line pressing the cover;
fig. 2 is a flowchart of a guideline plotting method according to an embodiment of the invention;
fig. 3 is a flowchart of a guideline drawing method according to a second embodiment of the invention;
fig. 4 is a flowchart of a guideline drawing method according to a third embodiment of the invention;
fig. 5 is a flowchart of a guideline drawing method according to a fourth embodiment of the invention;
FIG. 6 is a diagram illustrating a one-to-one correspondence relationship between an image plane and a world coordinate system according to a fourth embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating a drawing effect of a direction guideline according to a fourth embodiment of the invention;
fig. 8 is a structural view of a guideline drawing device according to a fifth embodiment of the invention;
fig. 9 is a schematic structural diagram of an apparatus according to a sixth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 2 is a flowchart of a guideline drawing method according to an embodiment of the invention. The present embodiment is applicable to a case where the direction guide line drawing is performed for the vehicle. The method may be performed by a guideline-drawing device, which may be implemented in software and/or hardware. Referring to fig. 2, the guideline drawing method provided in the present embodiment includes:
and S110, determining a vehicle outline area of the front vehicle from the acquired vehicle road image.
Wherein the vehicle road image is a road image including a preceding vehicle. The vehicle road image is collected by the image collecting device. Alternatively, the device may be placed in any location where an image of the vehicle's road may be captured.
Typically, the image capture device is disposed on the host vehicle.
The detection of the vehicle contour region based on the vehicle road image can be any detection method of the vehicle contour feature, can be realized by using a pre-trained classifier, and can also be realized according to the vehicle contour edge feature.
Typically, the determining the vehicle contour region of the preceding vehicle from the captured vehicle road image includes:
determining the position of the vehicle bottom shadow of the front vehicle from the acquired vehicle road image, wherein the vehicle bottom shadow is the projection position of the vehicle on the ground;
and determining a vehicle outline area of the front vehicle in the vehicle road image according to the vehicle bottom shadow position of the front vehicle.
And S120, drawing direction guide lines for road areas except the vehicle outline area in the vehicle road image according to the vehicle outline area of the front vehicle.
The direction guide line drawn is a direction guide line of the host vehicle, and the direction guide line is a line guiding the navigation path of the host vehicle. Typically, the line has a width.
Specifically, the drawing of the direction guide line for the road area other than the vehicle contour area in the vehicle road image according to the vehicle contour area of the preceding vehicle may include:
after the drawing region of the direction guide line is determined according to the drawing rule of the direction guide line, the vehicle contour region is filtered from the drawing region, and the direction guide line drawing is performed on the remaining region.
The direction guide line may be drawn by any rule, specifically, a rule set based on a road image of the vehicle, or a rule set based on an actual position of the vehicle in the world coordinate system.
For example, the rule set based on the vehicle road image may be a drawing region in which a rectangular region of set pixels in front of the host vehicle in the vehicle road image is set as a direction guide line. The rule set based on the actual position of the host vehicle in the world coordinate system may be such that a region 20 meters long and set in width ahead of the host vehicle is set as the drawing region of the direction guideline, in accordance with the position of the host vehicle in the world coordinate system. The length can be determined according to actual needs, and the set width can be determined according to the width of the vehicle body of the vehicle.
Optionally, the drawing, according to the vehicle contour region of the preceding vehicle, a direction guide line for a road region other than the vehicle contour region in the vehicle road image may further include:
determining relative position information of the front vehicle and the vehicle according to the vehicle contour area of the front vehicle and the parameters of the image acquisition device;
and drawing a direction guide line according to the relative position information of the front vehicle and the host vehicle.
Wherein, the parameters of the image acquisition device refer to the internal parameters and the external parameters of the image acquisition device. The parameters of the image acquisition device are determined by image calibration. The image acquisition device may be a camera or a video camera, etc.
Specifically, the determining the relative position information of the preceding vehicle and the own vehicle according to the vehicle contour area of the preceding vehicle and the parameters of the image acquisition device includes:
based on the parameters of the image acquisition device, mapping the vehicle contour region of the front vehicle from the image coordinate system to the world coordinate system to generate the actual vehicle contour region of the front vehicle;
and determining the relative position information of the front vehicle and the host vehicle according to the actual vehicle contour area of the front vehicle and the actual position of the host vehicle in the world coordinate system.
Wherein a reference coordinate system is selected in the environment to describe the position of the camera and is used to describe the position of any object in the environment, which coordinate system is called the world coordinate system. In order to facilitate determination of the relative positions of the preceding vehicle and the host vehicle, the host vehicle position may be used as the origin of the world coordinate system.
According to the technical scheme of the embodiment of the invention, the vehicle outline area of the front vehicle is determined from the collected vehicle road image; the direction guide line is drawn for the road area except the vehicle contour area in the vehicle road image, that is, the direction guide line is not drawn for the vehicle contour area in the vehicle road image. Thereby solving the problem that the drawn direction guide line covers the front vehicle.
Example two
Fig. 3 is a flowchart of a guideline drawing method according to a second embodiment of the invention. The present embodiment is an alternative proposed on the basis of the above-described embodiments. Referring to fig. 3, the guideline drawing method provided in the present embodiment includes:
s210, determining a vehicle outline area of a front vehicle from the acquired vehicle road image.
And S220, determining the actual position area of the direction guide line in the world coordinate system according to the navigation path or the detected lane line.
Specifically, the determining an actual position area of the direction guide line in the world coordinate system according to the navigation path or the detected lane line includes:
if the lane line of the current driving lane is detected, determining the current driving lane area according to the detected lane line, and determining the actual position area of the direction guide line according to the current driving lane area;
and if the lane line of the current driving lane is not detected, determining the actual position area of the direction guide line based on the actual position of the vehicle in the world coordinate system and the navigation path.
Typically, determining the actual position region of the direction guide line according to the current driving lane region includes:
the current traveling lane area at a set distance from the host vehicle is used as an actual position area of the direction guide line.
Determining the actual position area of the direction guide line based on the actual position and the navigation path of the host vehicle in the world coordinate system comprises:
taking a route with a set distance from the actual position of the vehicle as a direction guide route along the navigation route;
and determining the actual position area of the direction guide line according to the direction guide path.
Alternatively, determining the actual location area of the direction guide line according to the direction guide path may include:
according to the roadside distances between the host vehicle and the two sides of the direction guide path, the region between two edge lines of the direction guide path, the distances between which are equal to the roadside distances, is used as the actual position region of the direction guide line.
Determining the actual location area of the direction guide line according to the direction guide path may also include:
the area of the direction guide path located directly in front of the vehicle and having a set width is used as the actual position area of the direction guide line.
And S230, converting the determined vehicle contour region of the front vehicle into a world coordinate system from an image coordinate system based on the parameters of the image acquisition device, and generating an actual contour region of the front vehicle.
Specifically, the image capture device parameters may be internal and external parameters of the camera.
S240, filtering out an actual contour area of the front vehicle in the actual position area of the direction guide line under the world coordinate system, and drawing the remaining actual position area.
Specifically, the drawing the remaining actual position area includes:
and converting the residual actual position area from the world coordinate system to the image coordinate system based on the parameters of the image acquisition device, generating a drawing area of the direction guide line, and drawing in the vehicle road image.
The execution order of the steps is not limited in this embodiment. Alternatively, S220 may be performed prior to S210, and S230 may be performed prior to S220.
According to the technical scheme of the embodiment of the invention, the actual contour area of the front vehicle in the actual position area of the direction guide line is filtered in the world coordinate system, and the remaining actual position area is drawn. Therefore, the three-dimensional image operation is convenient to be carried out based on OpenGL (Open Graphics Library).
EXAMPLE III
Fig. 4 is a flowchart of a guideline drawing method according to a third embodiment of the invention. The present embodiment is an alternative proposed on the basis of the above-described embodiments. Referring to fig. 4, the guideline drawing method provided in the present embodiment includes:
s310, determining a vehicle outline area of a front vehicle from the collected vehicle road image.
And S320, determining a drawing area of the direction guide line in the vehicle road image according to the navigation path or the detected lane line.
Specifically, determining a drawing area of a direction guide line in a vehicle road image according to a navigation path includes:
and converting the navigation path to an image coordinate system based on the parameters of the image acquisition device, and determining a drawing area of the direction guide line from the vehicle road image according to the converted navigation path.
Optionally, determining a drawing area of the direction guide line in the vehicle road image according to the detected lane line includes:
and determining an image area of the current driving lane according to the lane line detected from the vehicle road image, and determining a drawing area of the direction guide line according to the image area of the current driving lane.
And S330, filtering the vehicle outline area in the drawing area, and drawing the residual area.
It should be noted that the execution order of the above steps is not limited in this embodiment, and optionally, S320 may be executed before S310.
According to the technical scheme of the embodiment of the invention, the vehicle contour region in the direction guide line drawing region is filtered in the image coordinate system, and the remaining region is drawn. The operations of converting the vehicle contour region into the world coordinate system and converting the remaining actual position region from the world coordinate system into the image coordinate system are omitted.
Example four
Fig. 5 is a flowchart of a guideline drawing method according to a fourth embodiment of the invention. The present embodiment is an alternative proposed on the basis of the above-described embodiments. In this embodiment, an image capturing device is provided on the host vehicle, and referring to fig. 5, the method for drawing a guide line according to this embodiment includes:
and S410, extracting a road surface image from the acquired vehicle road image based on the internal reference and the external reference of the image acquisition device.
And S420, scanning the extracted road surface image from the bottom end of the image to the top end of the image, and taking the area where the scanned horizontal edge with the size similar to that of the vehicle is located as a candidate vehicle area.
And S430, verifying the candidate vehicle region by using the feature classifier, and taking the candidate vehicle region which is successfully verified as the vehicle outline region of the front vehicle.
And S440, determining the actual position area of the direction guide line in the world coordinate system according to the navigation path or the detected lane line.
And S450, converting the determined vehicle contour region of the front vehicle into a world coordinate system from an image coordinate system based on the parameters of the image acquisition device, and generating an actual contour region of the front vehicle.
Referring to fig. 6, assuming that the road 200 is flat, the vehicle 100 travels on the road 200. The road surface position points (e.g., P1 and P2) and the image pixels (e.g., P1 and P2) in the image plane 300 are in a one-to-one correspondence with known image capturing device parameters, with the optical axis 301 as shown in fig. 5, from which the actual contour area of the preceding vehicle can be calculated.
And S460, filtering out the actual contour area of the front vehicle in the actual position area of the direction guide line under the world coordinate system, and drawing the remaining actual position area.
Drawing effect referring to fig. 7, the vehicle direction guide line is cut off to the projection position of the front vehicle back on the ground.
It should be noted that, in this embodiment, the execution order of each step is not limited, and optionally, S440 may be executed before S430 or S450 may be executed before S440.
According to the technical scheme of the embodiment of the invention, the actual contour area of the front vehicle is determined according to the projection position of the back of the front vehicle on the ground; and then filtering out the actual contour area of the front vehicle in the actual position area of the direction guide line under the world coordinate system, and drawing the remaining actual position area. Therefore, the problem that the leading line is easy to cover the front vehicle is effectively solved on the basis of front vehicle detection, and user experience is improved.
It should be noted that, after the technical teaching of the present embodiment, a person skilled in the art may motivate a combination of any one of the embodiments described in the above embodiments to draw a direction guide line.
EXAMPLE five
Fig. 8 is a structural diagram of a guideline drawing device according to a fifth embodiment of the invention. Referring to fig. 8, the present embodiment provides a guideline drawing device including: a contour determination module 10 and a rendering module 20.
The contour determination module 10 is used for determining a vehicle contour area of a front vehicle from the acquired vehicle road image;
and the drawing module 20 is used for drawing direction guide lines for road areas except the vehicle outline area in the vehicle road image according to the vehicle outline area of the front vehicle.
The embodiment of the invention determines the vehicle outline area of the front vehicle from the collected vehicle road image; the direction guide line is drawn for the road area except the vehicle contour area in the vehicle road image, that is, the direction guide line is not drawn for the vehicle contour area in the vehicle road image. Thereby solving the problem that the drawn direction guide line covers the front vehicle.
Further, the rendering module includes: an actual position determining unit, and a guideline drawing unit.
The system comprises a real position determining unit, a navigation unit and a direction guiding unit, wherein the real position determining unit is used for determining the real position area of a direction guiding line under a world coordinate system according to a navigation path or a detected lane line;
the actual contour determining unit is used for converting the determined vehicle contour region of the front vehicle into a world coordinate system from an image coordinate system based on the parameters of the image acquisition device, and generating the actual contour region of the front vehicle;
and the guide line drawing unit is used for filtering out the actual contour area of the front vehicle in the actual position area of the direction guide line under the world coordinate system and drawing the residual actual position area.
Further, the actual position determining unit is specifically configured to:
if the lane line of the current driving lane is detected, determining the current driving lane area according to the detected lane line, and determining the actual position area of the direction guide line according to the current driving lane area;
and if the lane line of the current driving lane is not detected, determining the actual position area of the direction guide line based on the actual position of the vehicle in the world coordinate system and the navigation path.
Further, the guideline drawing unit is specifically configured to:
and converting the residual actual position area from the world coordinate system to the image coordinate system based on the parameters of the image acquisition device, generating a drawing area of the direction guide line, and drawing in the vehicle road image.
Further, the rendering module includes: a rendering region determining unit and a guideline rendering unit.
The system comprises a drawing area determining unit, a direction guiding line determining unit and a direction guiding line determining unit, wherein the drawing area determining unit is used for determining a drawing area of the direction guiding line in a vehicle road image according to a navigation path or a detected lane line;
and the guide line drawing unit is used for filtering the vehicle outline area in the drawing area and drawing the residual area.
Further, the contour determination module includes: the vehicle bottom shadow determining unit and the vehicle contour determining unit.
The system comprises a vehicle bottom shadow determining unit, a vehicle front image acquiring unit and a vehicle front image acquiring unit, wherein the vehicle bottom shadow determining unit is used for determining the vehicle bottom shadow position of a front vehicle from an acquired vehicle road image, and the vehicle bottom shadow is the projection position of the vehicle on the ground;
and the vehicle contour determining unit is used for determining a vehicle contour area of the front vehicle in the vehicle road image according to the vehicle bottom shadow position of the front vehicle.
The guideline drawing device provided by the embodiment of the invention can execute the guideline drawing method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE six
Fig. 9 is a schematic structural diagram of an apparatus according to a sixth embodiment of the present invention. FIG. 9 illustrates a block diagram of an exemplary device 12 suitable for use in implementing embodiments of the present invention. The device 12 shown in fig. 9 is only an example and should not bring any limitation to the function and scope of use of the embodiments of the present invention.
As shown in FIG. 9, device 12 is in the form of a general purpose computing device. The components of device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16. The apparatus 12 further comprises image acquisition means 17 for acquiring an image of the vehicle road including the preceding vehicle.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 9, and commonly referred to as a "hard drive"). Although not shown in FIG. 9, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing, such as implementing the guideline drawing method provided by the embodiment of the present invention, by running a program stored in the system memory 28.
EXAMPLE seven
Seventh embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the guideline drawing method according to any one of the embodiments of the present invention. The method comprises the following steps: determining a vehicle outline area of a front vehicle from the acquired vehicle road image;
and drawing direction guide lines for road areas except the vehicle outline area in the vehicle road image according to the vehicle outline area of the front vehicle.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (14)
1. A guideline drawing method, comprising:
determining a vehicle outline area of a front vehicle from the acquired vehicle road image;
and drawing direction guide lines for road areas except the vehicle outline area in the vehicle road image according to the vehicle outline area of the front vehicle.
2. The method according to claim 1, wherein the drawing of the direction guideline for the road area other than the vehicle contour area in the vehicle road image according to the vehicle contour area of the preceding vehicle comprises:
determining the actual position area of the direction guide line under the world coordinate system according to the navigation path or the detected lane line;
converting the determined vehicle contour region of the front vehicle into a world coordinate system from an image coordinate system based on the parameters of the image acquisition device, and generating an actual contour region of the front vehicle;
and filtering out the actual contour area of the front vehicle in the actual position area of the direction guide line under the world coordinate system, and drawing the remaining actual position area.
3. The method of claim 2, wherein determining the actual location area of the direction guideline in the world coordinate system based on the navigation path or the detected lane line comprises:
if the lane line of the current driving lane is detected, determining the current driving lane area according to the detected lane line, and determining the actual position area of the direction guide line according to the current driving lane area;
and if the lane line of the current driving lane is not detected, determining the actual position area of the direction guide line based on the actual position of the vehicle in the world coordinate system and the navigation path.
4. The method of claim 2, wherein said mapping the remaining actual location area comprises:
and converting the residual actual position area from the world coordinate system to the image coordinate system based on the parameters of the image acquisition device, generating a drawing area of the direction guide line, and drawing in the vehicle road image.
5. The method according to claim 1, wherein the drawing of the direction guideline for the road area other than the vehicle contour area in the vehicle road image according to the vehicle contour area of the preceding vehicle comprises:
determining a drawing area of the direction guide line in the vehicle road image according to the navigation path or the detected lane line;
and filtering the vehicle outline area in the drawing area, and drawing the residual area.
6. The method of claim 1, wherein determining a vehicle contour region of a preceding vehicle from the captured vehicle road image comprises:
determining the position of the vehicle bottom shadow of the front vehicle from the acquired vehicle road image, wherein the vehicle bottom shadow is the projection position of the vehicle on the ground;
and determining a vehicle outline area of the front vehicle in the vehicle road image according to the vehicle bottom shadow position of the front vehicle.
7. A guide line drawing device characterized by comprising:
the contour determination module is used for determining a vehicle contour area of a front vehicle from the acquired vehicle road image;
and the drawing module is used for drawing direction guide lines for road areas except the vehicle outline area in the vehicle road image according to the vehicle outline area of the front vehicle.
8. The apparatus of claim 7, wherein the rendering module comprises:
the actual position determining unit is used for determining the actual position area of the direction guide line under the world coordinate system according to the navigation path or the detected lane line;
the actual contour determining unit is used for converting the determined vehicle contour region of the front vehicle into a world coordinate system from an image coordinate system based on the parameters of the image acquisition device, and generating the actual contour region of the front vehicle;
and the guide line drawing unit is used for filtering out the actual contour area of the front vehicle in the actual position area of the direction guide line under the world coordinate system and drawing the residual actual position area.
9. The apparatus according to claim 8, wherein the actual position determining unit is specifically configured to:
if the lane line of the current driving lane is detected, determining the current driving lane area according to the detected lane line, and determining the actual position area of the direction guide line according to the current driving lane area;
and if the lane line of the current driving lane is not detected, determining the actual position area of the direction guide line based on the actual position of the vehicle in the world coordinate system and the navigation path.
10. The device according to claim 8, characterized in that the guideline drawing unit is specifically configured to:
and converting the residual actual position area from the world coordinate system to the image coordinate system based on the parameters of the image acquisition device, generating a drawing area of the direction guide line, and drawing in the vehicle road image.
11. The apparatus of claim 7, wherein the rendering module comprises:
a drawing region determining unit for determining a drawing region of the direction guide line in the vehicle road image according to the navigation path or the detected lane line;
and the guide line drawing unit is used for filtering the vehicle outline area in the drawing area and drawing the residual area.
12. The apparatus of claim 7, wherein the profile determination module comprises:
the vehicle bottom shadow determining unit is used for determining the position of the vehicle bottom shadow of the front vehicle from the collected vehicle road image, wherein the vehicle bottom shadow is the projection position of the vehicle on the ground;
and the vehicle contour determining unit is used for determining a vehicle contour area of the front vehicle in the vehicle road image according to the vehicle bottom shadow position of the front vehicle.
13. An apparatus, characterized in that the apparatus comprises:
one or more processors;
the image acquisition device is used for acquiring a vehicle road image comprising a front vehicle;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the guideline drawing method of any one of claims 1-6.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the guideline drawing method according to any one of claims 1-6.
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| CN109916426B (en) * | 2019-03-06 | 2021-06-01 | 百度在线网络技术（北京）有限公司 | Guide arrow drawing method, device, equipment and medium |
| CN109887078B (en) * | 2019-03-12 | 2023-04-07 | 阿波罗智联(北京)科技有限公司 | Sky drawing method, device, equipment and medium |
| CN110163930B (en) * | 2019-05-27 | 2023-06-27 | 北京百度网讯科技有限公司 | Lane line generation method, device, equipment, system and readable storage medium |
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| US9269263B2 (en) * | 2012-02-24 | 2016-02-23 | Magna Electronics Inc. | Vehicle top clearance alert system |
| JP6281289B2 (en) * | 2014-01-10 | 2018-02-21 | アイシン精機株式会社 | Perimeter monitoring apparatus and program |
| JP6273976B2 (en) * | 2014-03-31 | 2018-02-07 | 株式会社デンソー | Display control device for vehicle |
| KR20150140449A (en) * | 2014-06-05 | 2015-12-16 | 팅크웨어(주) | Electronic apparatus, control method of electronic apparatus and computer readable recording medium |
| TWI502166B (en) * | 2014-11-19 | 2015-10-01 | Alpha Imaging Technology Corp | Image monitoring system, and method |
| WO2016166887A1 (en) * | 2015-04-17 | 2016-10-20 | 三菱電機株式会社 | Display control apparatus, display system, display control method, and display control program |
| KR101714185B1 (en) * | 2015-08-05 | 2017-03-22 | 엘지전자 주식회사 | Driver Assistance Apparatus and Vehicle Having The Same |
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| JP6699370B2 (en) * | 2016-06-06 | 2020-05-27 | アイシン精機株式会社 | Vehicle image processing device |
| CN108256446B (en) * | 2017-12-29 | 2020-12-11 | 百度在线网络技术（北京）有限公司 | Method, device and equipment for determining lane line in road |
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Effective date of registration: 20211014 Address after: 100176 101, floor 1, building 1, yard 7, Ruihe West 2nd Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee after: Apollo Zhilian (Beijing) Technology Co.,Ltd. Address before: 100085 Baidu Building, 10 Shangdi Tenth Street, Haidian District, Beijing Patentee before: BAIDU ONLINE NETWORK TECHNOLOGY (BEIJING) Co.,Ltd. |