CN112781600A - Vehicle navigation method, device and storage medium - Google Patents
Vehicle navigation method, device and storage medium Download PDFInfo
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- CN112781600A CN112781600A CN202011565369.9A CN202011565369A CN112781600A CN 112781600 A CN112781600 A CN 112781600A CN 202011565369 A CN202011565369 A CN 202011565369A CN 112781600 A CN112781600 A CN 112781600A
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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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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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
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
Abstract
The invention discloses a vehicle navigation method, a vehicle navigation device and a storage medium, wherein the vehicle navigation method comprises the steps that an image acquisition device acquires image data within a preset range; acquiring branch intersections in the acquired image data by adopting an image recognition technology; matching the navigation information with the obtained branch road junction to obtain a driving route indication mark; the driving route indicating mark is arranged in front of the visual field of the driver through the driving route indicating device; and the change of the visual field range of the driver is tracked, and the position of the projected driving route indication mark is changed in real time. By the method, the driving route indication mark is directly obtained to be directly matched with a travelling lane for navigation, the change of the visual field range of the driver is tracked, the position of the projected driving route indication mark is changed in real time, driving route indication is achieved under the condition that the driver does not distract, the vehicle driver can quickly respond, the driver can hold the route more accurately, and the driving experience of the driver is improved.
Description
Technical Field
The invention belongs to the technical field of navigation, and particularly relates to a vehicle navigation method, a vehicle navigation device and a storage medium.
Background
With the development of society, it is more and more common to adopt vehicles for traveling, and vehicles often encounter intersections with more branches in the driving process, such as highway overpasses, urban road overpasses, or intersections of urban road ground roads, elevated roads, underground roads and the like, and especially when many intersections with branches all travel in the same direction, or the intersections travel in similar directions first and then branch in multiple directions, it is difficult for vehicle drivers to accurately distinguish which intersection should be traveled in the driving process of the vehicles, so that the intersections are easy to go wrong, and the detour and the waste of time are caused. In addition, if the driver confirms in a deceleration or parking manner, a serious traffic accident is easily caused.
The existing mobile phone map navigation, automobile data recorder navigation, car navigation and other navigation equipment installed on the vehicle, or live-action map, intersection amplification map and other live-action navigation equipment, or GPS positioning, inertial navigation and other position acquisition equipment are only the navigation problems solved, and the live-action navigation has larger difference with the actual road condition and visual angle of the vehicle driving because most of the displayed live-actions are the live-actions simulated in a digital modeling mode or the live-actions of fixed shot photos; however, the navigation prompt is usually made by sound or a display screen, and the navigation instruction can be seen only when the attention of the vehicle driver is dispersed. Therefore, in the actual driving process, when there is a complex road condition of a multi-branch intersection, it is impossible to provide a driving route instruction for the vehicle driver to quickly respond and make a correct decision.
How to realize driving route indication under the condition that a driver does not pay attention is an increasingly urgent technical problem to be solved.
Disclosure of Invention
In view of the above problems, the present invention provides a vehicle navigation method, apparatus and storage medium, which achieves accurate navigation during lane driving, resulting in high navigation efficiency and accuracy.
The invention aims to provide a vehicle navigation method, which comprises the following steps,
the image acquisition device acquires image data within a preset range;
acquiring branch intersections in the acquired image data by adopting an image recognition technology;
matching the navigation information with the obtained branch road junction to obtain a driving route indication mark;
projecting a driving route indication mark to the front of the visual field of a driver;
and tracking the change of the visual field range of the driver to change the position of the projected driving route indicator in real time.
Optionally, before the image acquisition device acquires the image data within the preset range, calibrating the field angle acquired by the image acquisition device with the field angle of the driving route indication device, specifically including the following steps:
determining a type of the vehicle;
acquiring one or more vehicle information of vehicle height information, vehicle width information and position information of a vehicle glass based on the type of the vehicle;
and calibrating the field angles of the image acquisition device and the driving route indicating device according to the vehicle information.
Optionally, the acquiring the branch road junction in the acquired image data by using the image recognition technology further comprises,
determining whether there is a lane line in the image data;
if the image data has the lane line, identifying the lane line in the image data, and dividing the lane and the advancing direction;
if the image data has no lane line, adopting an edge detection algorithm or a gradient detection algorithm to divide the advancing direction, and dividing the lane in the current advancing direction according to the width of the advancing direction.
Optionally, the step of matching the navigation information with the obtained branch intersection to obtain the driving route indication mark comprises,
acquiring one or more navigation information of driving direction information, distance information of a front intersection and direction information;
presetting a front branch intersection type based on the navigation information;
and matching the divided lanes with the lanes prompted by navigation based on the navigation information and the preset type of the front branch intersection.
Optionally, the matching the marked-out lane with the lane of the navigation prompt includes,
preferentially matching the branch intersection type with the largest number of divided lanes in one traveling direction; and/or the presence of a gas in the gas,
and under the condition that the divided lanes and the lanes prompted by the navigation cannot be matched to form the corresponding branch intersection type, taking the leftmost lane of the divided lanes as a first matching object, and performing matching in the same way.
Optionally, the tracking the change of the driver's view field to change the position of the projected driving route indicator in real time specifically includes the following steps:
determining the visual field range of a driver;
taking the visual field range of the driver as the range of the projected driving route indication mark;
and based on the driving direction, projecting the driving route indication mark until the direction projected by the current driving route indication mark is the right front of the driving of the vehicle.
Optionally, the position of the projected driving route indication mark is always consistent with the direction of the road branch intersection needing to be selected for traveling in front of the view of the driver.
Optionally, the method further comprises the step of,
and adjusting the display state of the driving route indication mark based on the light inside and outside the vehicle.
Another object of the present invention is to provide a vehicular navigation apparatus, comprising,
the image acquisition device is used for acquiring image data within a preset range;
the acquisition module is used for acquiring the branch road junction in the acquired image data by adopting an image recognition technology;
the calculation module is used for matching the navigation information with the acquired branch road junction to obtain a driving route indication mark;
a driving route indicating device for projecting the driving route indicating mark to the front of the driver visual field,
and the change of the visual field range of the driver is tracked, and the position of the projected driving route indication mark is changed in real time.
Another object of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a vehicle navigation method as set forth in any of the above.
The vehicle navigation method directly obtains the driving route indication mark to directly match with the advancing lane for navigation, changes the position of the projected driving route indication mark in real time by tracking the change of the visual field range of the driver, realizes the driving route indication under the condition that the driver does not distract, can lead the vehicle driver to quickly respond, leads the driver to hold the route more accurately, and improves the driving experience of the driver.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 illustrates a flow diagram of a vehicle navigation method in an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a vehicle calibration result reference in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle navigation device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms first, second and the like in the description and in the claims of the present invention are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that embodiments of the invention may be practiced otherwise than as specifically illustrated and described herein. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
The following describes the vehicle navigation method provided by the embodiment of the invention in detail through specific embodiments and application scenarios thereof with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides a vehicle navigation method, including that, first, an image acquisition device acquires image data within a preset range, and the image acquisition device is a camera; secondly, acquiring branch intersections in the acquired image data by adopting an image recognition technology; then, matching the navigation information with the obtained branch road junction to obtain a driving route indication mark; finally, the driving route indication mark is projected to the front of the visual field of the driver through the driving route indication device, specifically, the driving route indication mark is projected to the front windshield of the vehicle, of course, other devices which are positioned in the front of the visual field of the driver and do not influence the sight of the driver can be provided, and the position of the projected driving route indication mark is changed in real time by tracking the change of the visual field range of the driver. By the method, the driving route indication mark is directly obtained and is directly matched with a lane in the process of vehicle traveling for navigation, the position of the projected driving route indication mark is changed in real time by tracking the change of the visual field range of the driver, so that the driving route indication is more intuitively obtained under the condition that the driver does not distract, the vehicle driver can quickly respond, the driver can more accurately hold the route, and the driving experience of the driver is improved.
In this embodiment, before the image acquisition device acquires the image data within the preset range, the method further includes calibrating the field angle acquired by the image acquisition device and the field angle of the driving route indicating device, and specifically includes the following steps:
firstly, determining the type of a vehicle; because the types of vehicles are different and the angles of front windshields of the vehicles are different, when the installation angle of the image acquisition device and the installation angle of the driving route indicating device are preset, the angle of the front windshields of the vehicles is fixed for different vehicle types, so that the vehicle types of the current vehicles need to be matched, and recommended installation angles and positions are given according to the vehicle types, so that the image acquisition device and the driving route indicating device are more convenient to install due to the determination of the vehicle types, and the driving route indicating marks are more accurate to obtain finally. Further, it should be noted that: the calibration core is to calibrate the road information acquired by the camera and the information projected by the driving route indicating device, the principle is mainly based on that the visual field central lines of the drivers of vehicles in different vehicle types are relatively fixed, and the drivers mainly steer left and right, move forward and ascend and descend with small amplitude, so that the height of the visual field (eyes) of the drivers is relatively fixed, and the projection effect of the driving route indicating device is not influenced, namely, the visual field range of the drivers is relatively fixed (the influence of the visual field height on the driving sight range is ignored) under each vehicle type.
Secondly, based on the type of the vehicle, one or more of the following vehicle information is acquired: vehicle height, vehicle width information, position of the vehicle glazing; under the condition that the vehicle type is known, the acquired vehicle information is also determined, and the installation accuracy of the equipment can be higher.
And then, calibrating the field angles of the image acquisition device and the driving route indicating device according to the vehicle information. Specifically, the image acquisition device is arranged in the middle of the glass of the vehicle, and the driving route indicating device is arranged on the center line of the driver seat; for example, referring to fig. 2, the image capturing device is a camera, the installation angle and the position of the image capturing device need to ensure that the field of view of the image captured by the image capturing device is right in front of the head of the vehicle, and the straight traveling direction of the vehicle is consistent with the center line of the image capturing device. The installation angle and the position of the driving route indicating device need to ensure that the central line projected by the driving route indicating device is right ahead of the head of the vehicle, and the straight traveling direction of the vehicle is consistent with the projected central line of the driving route indicating device. Such a setting can make the projected driving route direction mark more intuitive.
In a specific embodiment, the vehicle glass is used as a transverse reference, the center line of the driver seat is used as a longitudinal reference, and the image acquisition device and the field of vision of the driver are subjected to coordinate conversion through a space coordinate system to obtain a matching relation between the field of vision of the image acquisition device and the field of vision of the driving route indicating device. The projection area of the driving indication after calibration corresponds to the driving direction, the display range of the driving indication mark can float left and right in the projection area, so that the visual field position of the driver has a certain moving range, the personal information of the driver does not need to be specially limited, the arrangement can enable the projected driving route indication mark to be more intuitive, in fig. 2, four driving directions are taken as an exemplary illustration and projected onto a vehicle glass, the four driving directions are respectively the driving direction 1, the driving direction 2, the driving direction 3 and the driving direction 4, the driving indication projection is projected by a driving indication mark device, and 5 projection areas are formed by projection, namely the projection area 1, the projection area 2, the projection area 3, the projection area 4 and the projection area 5.
In this embodiment, the acquiring the branch road junction in the acquired image data by using the image recognition technology further includes determining whether the image data has a lane line; if the image data has the lane line, identifying the lane line in the image data, and dividing the lane and the advancing direction; if the image data has no lane line, adopting an edge detection algorithm or a gradient detection algorithm to divide the advancing direction, and dividing the lane in the current advancing direction according to the width of the advancing direction. Further, the method also comprises the step of identifying the type of the divided lane, and the type of the lane can be but is not limited to straight running, turning, branch intersection and the like.
Exemplarily, and dividing the lane in the current traveling direction according to the width of the traveling direction is divided as follows: the general lane width is: for example, if there is no lane line, the guardrail is used as the boundary of the traveling direction, and if the width of the traveling direction is 12 meters, the lane should be divided into 3 lanes because there is a need to have a space (usually 0.3 to 0.5 meters, or within 2 meters) between the lanes and the guardrail.
In this embodiment, the matching the navigation information with the obtained branch intersection to obtain the driving route indication identifier includes, first, obtaining one or more of the following navigation information: driving direction, distance information and direction information of a front intersection; then, based on the navigation information, presetting a front branch road junction type; wherein, the type of the branch road junction is consistent with the type of the lane, including but not limited to straight going, turning, branch road junction, etc. And finally, matching the divided lanes with the lanes prompted by navigation based on the navigation information and the preset type of the front branch intersection. Specifically, the matching relationship between the lane direction and the number of lanes is realized by adopting a feature matching method, for example, the landmark features on some lanes are selected for matching, wherein the landmark features can be, but are not limited to, the leftmost guardrail of a lane, the guardrails of lane branches, the ground marking lines of lane branches, the rightmost guardrail of a lane, the yellow lines on a lane and the solid lines on a lane, and the landmark features are used as the features of the image acquired by the image acquisition device and the intersection condition of the navigation prompt for matching.
In this embodiment, the step of matching the divided lane with the lane of the navigation prompt further includes that the divided lane cannot be completely matched with the lane of the navigation prompt, that is, the result of the lane identified by the camera is not consistent with the navigation, and the step of matching is performed according to the following principle: 1) preferentially matching the branch intersection type with the largest number of divided lanes in one advancing direction based on the navigation prompt; matching other lanes on the basis, wherein if the navigation prompt is that a 4-lane straight lane and a 2-lane right-turn branch intersection exist in front of the image acquisition device, when the image acquisition device identifies that the 4 lanes are in an independent traveling direction, the divided lanes are automatically matched to the 4-lane straight lane in front of the navigation prompt; then, in the driving process, if a new lane type appears, continuing to perform matching based on the navigation prompt; 2) and based on the navigation prompt, under the condition that the two can not be matched to form the corresponding branch road junction type (lane type), taking the leftmost lane of the divided lanes as a first matching object, and matching by analogy. For example, when the image acquisition device identifies that the leftmost lane is a left-turn lane, the image acquisition device matches the navigation prompt, and then sequentially matches other single lanes. For example: when the camera recognizes that the lane is left-turning and the navigation prompt is a straight-going condition, the camera prompts the information as standard, and after the camera turns left for a certain angle, the camera continues to track the collected image data of the camera, and corrects the indication direction of the driving route indication mark according to the data collected in real time, so as to guide the straight-going direction of the navigation prompt. In the process of real-time matching of the divided lanes, the condition that lane results identified by the camera are inconsistent with navigation is fully considered, so that real-time navigation is more accurate.
In this embodiment, the step of matching the navigation information with the obtained branch intersection to obtain the driving route indication further includes forming a driving route indication corresponding to the lane or the branch intersection based on the type of the matched lane or branch intersection, where the driving route indication may be an indication with an arrow, such as a straight arrow or a turning arrow.
In this embodiment, the matched lane lines may be displayed on a glass of the vehicle, that is, displayed in the projection area, or may be displayed on the road surface in front of the vehicle (that is, not displayed in the projection area of the glass, and the driver's intuitive sense is that the projected driving route indication mark is projected on the road surface in front of the vehicle). Therefore, the lane and the driving route indication marks displayed on the lane are clearer, and the use experience of a user is improved. Preferably, the driving route indicator always coincides with the lane in which the vehicle is traveling in the lane display process, and one driving route indicator can be seen in the field of view of the driver and on the lane in which the vehicle is traveling. Further preferably, the distance of the driving route indication mark can be, but is not limited to, 20 meters, 50 meters, 200 meters and the like.
In this embodiment, the driving route indicating device only projects the driving route indicating identification when projecting, thereby making the navigation simpler and more convenient, also can reduce the complexity of the driving route indicating device, promoted the computational efficiency of navigation on the whole, also reduced navigation equipment's volume.
In this embodiment, the vehicle navigation method further includes changing the position of the projected driving route indicator in real time by tracking the change of the field of view of the driver, where the driving route indicator is calculated in real time based on the route seen by the driver, instead of being planned in advance by the navigation system. The driving direction of the driver is effectively ensured to be consistent with the real direction needing to be advanced, and the condition that the navigation deviation occurs only depending on a navigation system is avoided, such as: the direction given by the navigation system is only planned to be taken, and if the driver does not actually go to the direction but goes to the direction adjacent to the direction, the panoramic map cannot determine that the driving direction of the driver has deviation, and then the navigation system can prompt the driving route to have deviation after the deviation is accumulated to be large enough. Further, tracking the change of the visual field range of the driver and changing the position of the projected driving route indication mark in real time specifically comprises the following steps:
determining the visual field range of the driver; the visual field range of the driver can be the driving direction of the vehicle, and comprises a branch intersection and a specific lane, wherein the branch intersection and the specific lane can be used for the vehicle to continuously travel.
And taking the visual field range of the driver as the range of the projected driving route indication mark. Further, the visual angle of the driver at the driving position +/-60 degrees is used as the range for projecting the driving route indication mark.
And based on the driving direction, projecting the driving route indicator until the projected direction of the current driving route indicator is right ahead of the driving of the vehicle, namely the driver is right ahead of the visual field. Specifically, when the navigation prompt needs to go to the left or the right, whether the lane information needing to go of the navigation prompt is consistent with the lane information facing the head of the current driver is judged, wherein if the lane information needing to go of the navigation prompt is consistent with the lane information facing the head of the current driver, the driving route indicates to point to the right front of the field of view of the driver, and if the lane information needing to go of the navigation prompt is not consistent with the lane information facing the head of the current driver, the driving route indicates to point to the direction needing to turn in the field of view of the driver until the lane information needing to go of the navigation prompt is. Further, under the conditions that the vehicle travels straight, turns and even needs to enter a branch intersection, the existing navigation judges the traveling direction in a mode of GPS Beidou positioning and inertial navigation, the judgment result is given in a delayed mode and has hysteresis, and therefore, no method is available for judging whether the current traveling direction is consistent with the direction indicated by the navigation. Therefore, the driver can move forward by the direction of the driving route indication mark, and after the driver moves forward for a certain distance, the navigation system can also prompt the navigation prompt information of moving forward and straight. Therefore, the driving route identification and the navigation prompt information are combined in the driving process of the vehicle, the navigation prompt information is still adopted for auxiliary confirmation while the route is visually indicated, the driving navigation of the vehicle is more accurate and reliable, and the condition of walking by mistake can be effectively reduced.
Taking the example that the vehicle is about to enter the branch intersection as an example, the vehicle provides the navigation guidance of the branch intersection by the driving route indication mark after entering the branch intersection. Before entering the branch intersection, the driving route indication mark indicates a driver to walk to the correct branch intersection, the image information of the branch intersection is obtained through the camera, and the driving route indication mark is used for guiding the driving direction in real time. Therefore, the invention judges the wrong direction of the walking through the driving route indication, avoids judging the wrong direction of the walking through navigation, and improves the accuracy and the efficiency of the navigation.
In this embodiment, the position of the projected driving route indicator is always consistent with the direction of the road branch intersection which needs to be selected to travel ahead of the driver's view.
In this embodiment, the vehicle navigation method further includes adjusting a display state of the driving route indicator based on light inside and outside the vehicle. Specifically, the color, shape, intensity, frequency and the like of the indication mark light spot are adjusted according to the ambient light inside and outside the vehicle, so that the interference of the projected driving route indication mark to the sight of the driver of the vehicle in the driving process of the vehicle is eliminated. More specifically, the linear light spot indication marks are replaced by point-shaped light spot indication marks, dotted lines and other light spot indication marks, the normally bright light spots are replaced by flashing light spots with certain frequency, and the interference of the driving route indication marks on the sight of the vehicle driver is eliminated by means of replacing white light spots with green light spots and the like.
Referring to fig. 3, in an embodiment of the present invention, a vehicle navigation apparatus capable of executing the navigation method includes an image acquisition device, an acquisition module, a calculation module, and a driving route indication device, where the image acquisition device is configured to acquire image data within a preset range; the acquisition module is used for acquiring the branch road junction in the acquired image data by adopting an image recognition technology; the calculation module is used for matching the navigation information with the acquired branch road junction to obtain a driving route indication mark; the driving route indicating device is used for projecting the driving route indicating mark to the front of the visual field of the driver and tracking the change of the visual field of the driver to change the position of the projected driving route indicating mark in real time. The driving route indication mark is obtained by real-time calculation based on the route seen by the driver, and is not planned in advance like a navigation system. Effectively ensures that the driving direction of the driver is consistent with the real direction needing to be advanced, avoids the condition of navigation deviation caused by only depending on a navigation system,
an embodiment of the present invention further introduces a computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the vehicle navigation method described above.
The processor is the processor in the electronic device in the above embodiment. Readable storage media, including computer-readable storage media, such as Read-only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, etc.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of embodiments of the present invention is not limited to performing functions in the order illustrated or discussed, but may include performing functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A vehicle navigation method, comprising,
the image acquisition device acquires image data within a preset range;
acquiring branch intersections in the acquired image data by adopting an image recognition technology;
matching the navigation information with the obtained branch road junction to obtain a driving route indication mark;
and projecting the driving route indication mark to the front of the visual field of the driver, and tracking the change of the visual field range of the driver to change the position of the projected driving route indication mark in real time.
2. The vehicle navigation method according to claim 1, wherein before the image acquisition device acquires the image data within the preset range, calibrating the field angle acquired by the image acquisition device with the field angle of the driving route indicating device, specifically comprising the following steps:
determining a type of the vehicle;
acquiring one or more vehicle information of vehicle height information, vehicle width information and position information of a vehicle glass based on the type of the vehicle;
and calibrating the field angles of the image acquisition device and the driving route indicating device according to the vehicle information.
3. The vehicle navigation method of claim 1, wherein the obtaining the branch road junction in the captured image data using image recognition technology further comprises,
determining whether there is a lane line in the image data;
if the image data has the lane line, identifying the lane line in the image data, and dividing the lane and the advancing direction;
if the image data has no lane line, adopting an edge detection algorithm or a gradient detection algorithm to divide the advancing direction, and dividing the lane in the current advancing direction according to the width of the advancing direction.
4. The vehicle navigation method of claim 3, wherein the matching the navigation information with the obtained branch road junction to obtain the driving route indication mark comprises,
acquiring one or more navigation information of driving direction information, distance information of a front intersection and direction information;
presetting a front branch intersection type based on the navigation information;
and matching the divided lanes with the lanes prompted by navigation based on the navigation information and the preset type of the front branch intersection.
5. The vehicle navigation method according to claim 4, wherein the matching of the marked-out lane with a lane of a navigation prompt includes,
preferentially matching the branch intersection type with the largest number of divided lanes in one traveling direction; and/or the presence of a gas in the gas,
and under the condition that the divided lanes and the lanes prompted by the navigation cannot be matched to form the corresponding branch intersection type, taking the leftmost lane of the divided lanes as a first matching object, and performing matching in the same way.
6. The vehicle navigation method according to claim 1, wherein the step of tracking the change of the driver's visual field range to change the position of the projected driving route indicator in real time comprises the following steps:
determining the visual field range of a driver;
taking the visual field range of the driver as the range of the projected driving route indication mark;
and based on the driving direction, projecting the driving route indication mark until the direction projected by the current driving route indication mark is the right front of the driving of the vehicle.
7. The vehicle navigation method according to claim 6, wherein the position of the projected driving route indicator always coincides with the direction of the road branch intersection which the driver needs to select to travel ahead of the view.
8. The vehicle navigation method according to claim 7, further comprising,
and adjusting the display state of the driving route indication mark based on the light inside and outside the vehicle.
9. A vehicle navigation device, comprising,
the image acquisition device is used for acquiring image data within a preset range;
the acquisition module is used for acquiring the branch road junction in the acquired image data by adopting an image recognition technology;
the calculation module is used for matching the navigation information with the acquired branch road junction to obtain a driving route indication mark;
a driving route indicating device for projecting the driving route indicating mark to the front of the driver visual field,
and the change of the visual field range of the driver is tracked, and the position of the projected driving route indication mark is changed in real time.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a vehicle navigation method according to any one of claims 1 to 8.
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