WO2018068387A1

WO2018068387A1 - Lane identification method, and mobile terminal

Info

Publication number: WO2018068387A1
Application number: PCT/CN2016/110363
Authority: WO
Inventors: 刘均; 宋朝忠; 欧阳张鹏
Original assignee: 深圳市元征科技股份有限公司
Priority date: 2016-10-14
Filing date: 2016-12-16
Publication date: 2018-04-19
Also published as: CN106364403A

Abstract

A lane identification method, and mobile terminal. The method comprises: a mobile terminal acquiring, by means a camera of a vehicle, a road width of a current road traveled by the vehicle (S101); and the mobile terminal calculating, according to the road width and a predetermined lane width, positions of lane lines, and displaying, on an in-vehicle display screen, virtual lane markings at the positions of the lane lines in a virtual manner (S102). The method and mobile terminal of the present invention can reduce the probability of a traveling vehicle occupying two lanes.

Description

Invention name: a lane recognition method and mobile terminal

[0001] The present invention claims priority to the priority of the application No. 201610899690.8, entitled "A Lane Recognition Method and Mobile Terminal", filed on October 14, 2016, the content of the above-mentioned prior application being incorporated by reference. In this article.

Technical Field

The present invention relates to the field of mobile communications technologies, and in particular, to a lane recognition method and a mobile terminal.

BACKGROUND OF THE INVENTION

[0005] On a traffic road, there are usually many dividing lines, and the dividing line divides the traffic road into multiple lanes.

The passing vehicles travel according to the lanes divided by the dividing lines, so as to avoid rubbing between the vehicles. Therefore, the dividing line plays an important role in maintaining traffic safety.

[0006] However, some roads that have been in disrepair for a long time may have unclear road dividing lines or no dividing lines on some remote mountain roads. In this case, the driver usually can only automatically judge the driving route by personal habits, leading to driving. The probability of a vehicle occupying two lanes is high.

SUMMARY OF THE INVENTION

[0008] Embodiments of the present invention disclose a lane recognition method and a mobile terminal, which can reduce the probability of occurrence of driving a vehicle occupying two lanes.

[0009] A first aspect of the embodiments of the present invention discloses a lane recognition method, including:

[0010] obtaining, by a camera of the vehicle, a road width of a road on which the vehicle is currently traveling;

[0011] calculating a position of the lane line according to the road width and a preset lane width, and virtually displaying the virtual lane line at the position of the lane line on the in-vehicle display screen.

[0012] A second aspect of the embodiment of the present invention discloses a mobile terminal, including:

[0013] a receiving unit, configured to acquire, by the camera of the vehicle, a road width of the current traveling road of the vehicle; [0014] a processing unit, configured to calculate a lane according to the road width and the preset lane width received by the receiving unit The position of the line, and the virtual lane line at the position of the lane line is virtually displayed on the vehicle display screen

[0015] In the embodiment of the present invention, the mobile terminal acquires the road width of the current traveling road through the camera of the vehicle. The position of the lane line is then calculated based on the road width and the preset lane width, and the virtual lane line at the position of the lane line is virtually displayed on the in-vehicle display. It can be seen that, in the embodiment of the present invention, when the driving path of the vehicle driven by the driver is unclear due to disrepair or other reasons, the mobile terminal can virtualize the virtual lane line, and the driver can follow the virtual lane line. Driving, thereby reducing the occurrence probability of the vehicle's peers occupying two lanes due to unclear lane lines, reducing the probability of traffic safety accidents and ensuring the driver's traffic safety.

BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below. Obviously, the drawings in the following description are some embodiments of the present invention. For those skilled in the art, other drawings may be obtained based on these drawings without any creative work.

1 is a schematic flow chart of a lane recognition method according to an embodiment of the present invention;

1 (a) is a schematic view showing the position of a lane line of a traveling road according to an embodiment of the present invention;

1(b) is a schematic view showing a lane line of an embodiment of the present invention;

1(c) is a schematic view showing a distance between a vehicle position and a lane line according to an embodiment of the present invention; [0022] FIG. 1(d) is a vehicle traveling direction disclosed in an embodiment of the present invention; Schematic diagram of the angle with the direction of the lane line

2 is a schematic structural diagram of a mobile terminal according to an embodiment of the present invention;

3 is a computer system based on the Von Neumann system for operating the above-described application interface switching method according to an embodiment of the present invention.

DETAILED DESCRIPTION

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, but not all embodiments. . All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without departing from the inventive work are all within the scope of the present invention.

[0027] It is to be understood that the terminology used in the embodiments of the present invention is merely for the purpose of describing the specific embodiments, and is not intended to limit the invention. The singular forms "a", "the", and "the" Meaning. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0028] Embodiments of the present invention disclose a lane recognition method and a mobile terminal, which can reduce the probability that a driving vehicle occupies two lanes. The details are described below separately.

Referring to FIG. 1, FIG. 1 is a schematic flow chart of a lane recognition method according to an embodiment of the present invention. As shown

As shown in FIG. 1, the lane recognition method may include the following steps.

[0030] S101. The mobile terminal acquires a road width of the current traveling road of the vehicle by using a camera of the vehicle.

[0031] The mobile terminal may refer to an in-vehicle device having a certain function of storage, calculation, etc., such as an in-vehicle display device.

, car navigation equipment, etc.

[0032] The camera of the vehicle may include a camera that can emit a transmitting device such as infrared rays or a laser. The transmitting device such as infrared rays can emit incident infrared rays to the roadbed or obstacles on both sides of the current traveling road, and the roadbed or obstacles on both sides can be incident. The infrared light reflects, and the reflected infrared light is received by the camera. The camera can calculate the road width according to the angle and distance relationship involved in the path through which the incident infrared light and the reflected infrared light pass.

[0033] S102. The mobile terminal calculates a position of the lane line according to the road width and the preset lane width, and virtually displays the virtual lane line at the position of the lane line on the vehicle display screen.

[0034] The preset lane width may be a lane width preset by the user and conforming to the national traffic road standard. For example, the preset lane width can be 3 meters or 4 meters. When the road width and the preset lane width are known, the embodiment of the present invention may sequentially calculate the position of the lane line according to the preset lane width by using one of the two sides of the current traveling road as a reference line of coordinates. . For example, as shown in Fig. 1 (a), if the road width is 12 meters and the preset lane width is 4 meters, the mobile terminal can use the one side of the two sides of the road as a coordinate reference line (y coordinate axis). ), sequentially calculating the position of the lane line in the driving road can be coordinates (4, 0) and (8, 0), respectively.

[0035] It should be noted that the preset lane width can also be changed in actual demand. For example, on a narrow country road, the preset lane width can be appropriately shortened according to actual conditions; for example, in a special road section, the preset lane width of the outer lane can be appropriately increased and the preset of the inner lane can be appropriately reduced. Lane width, etc. This embodiment is not limited.

[0036] In this embodiment, the mobile terminal may have a clear lane line on the driving lane of the vehicle, or the traveling vehicle In the case where there is no lane line directly on the road, the lane line can be virtualized and the virtual virtual lane line displayed on the vehicle display screen. As shown in the left figure of Fig. 1 (b), the lane line is broken in the lane of the two lanes, and the broken line portion indicates the broken portion. By the implementation of this embodiment, the lane line of the defect can be completed. It is a complete lane line as shown in the right figure of Figure 1 (b).

[0037] Optionally, the mobile terminal may further acquire a virtual driving road of the current driving road; simulate and integrate the virtual driving lane and the virtual lane lane, generate a simulation integration result, and display the simulation on the vehicle display Integrate the results.

[0038] The mobile terminal may collect an image of the current traveling road through the camera, thereby forming the virtual driving road, and adding the virtual lane line to a corresponding position of the virtual driving road, thereby implementing the virtual driving lane and the virtual Analog integration of lane lines. For example, the virtual lane line may be filled in a defective portion of the lane line corresponding to the virtual lane line in the virtual road.

[0039] Optionally, the mobile terminal may further display the virtual lane line at the location of the lane line on the vehicle display screen, and the mobile terminal may further guide the vehicle to travel according to the direction of the virtual lane line.

[0040] This embodiment can be directed to an unmanned vehicle that can guide its own traveling direction through the direction of the virtual lane line during running. For example, the vehicle can obtain the direction of the virtual lane line and travel in the direction of the virtual lane line.

[0041] Optionally, the mobile terminal may further calculate a distance between the current driving position of the vehicle and the virtual lane line after the virtual lane line at the position of the lane line is virtually displayed on the vehicle display screen; Determining whether the distance between the current driving position and the virtual lane line is less than a preset distance threshold; if it is determined that the distance between the current driving position and the virtual lane line is less than the preset distance threshold, sending an alarm f π.

[0042] It should be noted that the driving path of the vehicle may include at least one virtual lane line, and the mobile terminal may calculate a distance between the current driving position and each virtual lane line of the at least one virtual lane line, and The calculated shortest distance is taken as the distance between the current travel position A and the virtual lane line. The alarm information may include a voice reminder, a vibration driver's seat, or an alarm call to the traffic management platform.

[0043] For example, let the preset distance threshold be L, as shown in the left figure of FIG. 1 (c) is the distance L1 between the current driving position A and the virtual lane line of the vehicle, and L1>L, It can be determined that the vehicle is not pressing the virtual Lane line. As shown in the right figure of FIG. 1(c), the distance L2 between the current travel position A and the virtual lane line of the vehicle, and L2 < L, it can be determined that the vehicle presses the virtual lane line.

[0044] Optionally, the mobile terminal may further detect the current driving direction of the vehicle at the current driving position after the virtual lane line at the position of the lane line is virtually displayed on the vehicle display screen; determining the current driving direction Whether an angle between the direction of the virtual lane line is less than a preset angle threshold; if it is determined that an angle between the current direction of travel and the direction of the virtual lane line is less than the preset angle threshold, sending an alarm message . The alarm information may include a voice reminder, a vibration driver's seat, or an alarm call to the traffic management platform.

[0045] For example, the preset angle threshold is θ, as shown in the left figure of FIG. 1 (d) is the traveling direction of the current driving position A of the vehicle (shown by a dotted line with an arrow) and virtual The angle between the directions of the lane lines is 180 degrees, and 180 degrees > θ, it can be determined that the vehicle has not changed the virtual lane line. The angle between the direction of travel of the current travel position A (shown by the dotted line with an arrow) and the direction of the virtual lane line of the vehicle shown in the right figure of FIG. 1(d) is α, and α<θ, It can be determined that the vehicle has not changed the virtual lane line. In the method described in FIG. 1, the mobile terminal acquires the road width of the current traveling road through the camera of the vehicle, calculates the position of the lane line according to the road width and the preset lane width, and virtually displays the lane on the vehicle display screen. The virtual lane line at the location of the line. It can be seen that, by implementing the method described in FIG. 1, when the driving path of the vehicle driven by the driver is unclear due to disrepair or other reasons, the mobile terminal can virtualize the virtual lane line, and the driver can follow the virtual lane. The line drives, which reduces the occurrence probability of the two lanes occupied by the same line of the vehicle due to the unclear lane line, reduces the probability of traffic safety accidents, and ensures the traffic safety of the driver.

Referring to FIG. 2, FIG. 2 is a schematic structural diagram of a mobile terminal according to an embodiment of the present invention. The mobile terminal shown in FIG. 2 may include:

[0047] The receiving unit 201 is configured to acquire, by the camera of the vehicle, a road width of the current traveling road of the vehicle.

[0048] The mobile terminal may refer to an in-vehicle device having a certain function of storage, calculation, and the like, such as an in-vehicle display device, a car navigation device, and the like.

[0049] The camera of the vehicle may include a camera that can emit a transmitting device such as infrared rays or a laser. The transmitting device such as infrared rays can take in infrared rays to the roadbed or obstacles on both sides of the current traveling road, and the roadbed or obstacles on both sides can be The incident infrared light reflects, and the reflected infrared light is received by the camera. The camera can calculate the road width based on the angle and distance relationship involved in the path through which the incident infrared ray and the reflected infrared ray pass.

[0050] The processing unit 202 is configured to calculate a position of the lane line according to the road width and the preset lane width received by the receiving unit 201, and virtually display the virtual lane line at the position of the lane line on the vehicle display screen.

[0051] The preset lane width may be a lane width preset by the user and conforming to the national traffic road standard. For example, the preset lane width can be 3 meters or 4 meters. When the road width and the preset lane width are known, the embodiment of the present invention may sequentially calculate the position of the lane line according to the preset lane width by using one of the two sides of the current traveling road as a reference line of coordinates. . For example, as shown in Fig. 1 (a), if the road width is 12 meters and the preset lane width is 4 meters, the mobile terminal can use the one side of the two sides of the road as a coordinate reference line (y coordinate axis). ), sequentially calculating the position of the lane line in the driving road can be coordinates (4, 0) and (8, 0), respectively.

[0052] It should be noted that the preset lane width can also be changed according to actual needs. For example, on a narrow country road, the preset lane width can be appropriately shortened according to actual conditions; for example, in a special road section, the preset lane width of the outer lane can be appropriately increased and the preset of the inner lane can be appropriately reduced. Lane width, etc. This embodiment is not limited.

[0053] In this embodiment, the mobile terminal may virtualize the lane line and virtualize the virtual lane if the lane line on the driving lane of the vehicle is not clear, or there is no lane line directly on the driving lane. The line is displayed on the car display. As shown in the left figure of Fig. 1 (b), the lane line is broken in the lane of the two lanes, and the broken line portion indicates the broken portion. By the implementation of this embodiment, the lane line of the defect can be completed. It is a complete lane line as shown in the right figure of Figure 1 (b). Optionally, the processing unit 202 performs the virtual lane line step at a position where the lane line is virtually displayed on the in-vehicle display screen, specifically for acquiring a virtual driving road of the current driving road, and the virtual driving road The lane and the virtual lane line are simulated and integrated, a simulation integration result is generated, and the simulation integration result is displayed on the vehicle display.

[0054] the mobile terminal may collect an image of the current traveling road through the camera, thereby forming the virtual driving road, and adding the virtual lane line to a corresponding position of the virtual driving road, thereby implementing the virtual driving lane and the virtual Analog integration of lane lines. For example, the virtual lane line can be filled in A defective portion of the lane line corresponding to the virtual lane line in the virtual traveling road, and the like.

[0055] Optionally, the processing unit 202 is further configured to guide the vehicle to travel according to the direction of the virtual lane line after the virtual lane line at the position where the lane line is virtually displayed on the vehicle display screen.

[0056] This embodiment can be directed to an unmanned vehicle that can guide its own traveling direction through the direction of the virtual lane line during running. For example, the vehicle can obtain the direction of the virtual lane line and travel in the direction of the virtual lane line.

[0057] Optionally, the processing unit 202 is further configured to calculate, between the virtual driving line at the position where the lane line is virtually displayed on the vehicle display screen, between the current driving position of the vehicle and the virtual lane line. a distance, determining whether the distance between the current driving position and the virtual lane line is less than a preset distance threshold, and if it is determined that the distance between the current driving position and the virtual lane line is less than the preset distance threshold, sending an alarm message .

[0058] It should be noted that the vehicle may include at least one virtual lane line on the road, and the mobile terminal may calculate a distance between the current driving position and each virtual lane line in the at least one virtual lane line, and The calculated shortest distance is taken as the distance between the current travel position A and the virtual lane line. The alarm information may include a voice reminder, a vibration driver's seat, or an alarm call to the traffic management platform.

[0059] For example, the preset distance threshold is L, as shown in the left figure of FIG. 1 (c) is the distance L1 between the current travel position A and the virtual lane line of the vehicle, and L1>L, It can be determined that the vehicle is not pressing the virtual lane line. As shown in the right figure of Fig. 1(c), the distance L2 between the current travel position A of the vehicle and the virtual lane line, and L2 < L, it can be determined that the vehicle presses the virtual lane line.

[0060] Optionally, the processing unit 202 is further configured to: after the virtual lane line at the position where the lane line is virtually displayed on the vehicle display screen, detect the current driving direction of the vehicle at the current driving position, and determine Whether an angle between the current driving direction and the direction of the virtual lane line is less than a preset angle threshold, and if it is determined that an angle between the current driving direction and the direction of the virtual lane line is less than the preset angle threshold, Then send an alarm message.

[0061] wherein the alarm information may include a voice reminder, a driver's seat, or an alarm call to the traffic management platform.

[0062] For example, let the preset angle threshold be θ, as shown in the left figure of FIG. 1(d), the vehicle should be The angle between the direction of travel of the front travel position A (as indicated by the dashed line with an arrow) and the direction of the virtual lane line is 180 degrees, and 180 degrees > θ, it can be determined that the vehicle has not changed the virtual lane line. The angle between the direction of travel of the current travel position A (shown by the dotted line with an arrow) and the direction of the virtual lane line of the vehicle shown in the right figure of FIG. 1(d) is α, and α<θ, It can be determined that the vehicle has not changed the virtual lane line. It can be seen that implementing the mobile terminal described in FIG. 2 reduces the occurrence probability event that the vehicle peers occupy two lanes due to the unclear lane line, reduces the probability of occurrence of traffic safety accidents, and ensures the traffic safety of the driver.

[0063] FIG. 3 illustrates a von Neumann system-based computer system 3 that operates the above described application interface switching method. The computer system 3 can be a user terminal device such as a smartphone, a tablet, a palmtop, a laptop, or a personal computer. Specifically, an external input interface 1001, a processor 1002, a memory 1003, and an output interface 1004 connected through a system bus may be included. The external input interface 1001 can include a touch screen 10016, and optionally can include a network interface 10018. The memory 1003 may include an external memory 100 32 (e.g., a hard disk, an optical disk, or a floppy disk, etc.) and an internal memory 10034. The output interface 1004 can include a display 10042 and an audio/horn 10044 device.

[0064] In the present embodiment, the operation of the method is based on a computer program whose program file is stored in the external memory 10032 of the aforementioned von Neumann system-based computer system 10, which is loaded into the internal memory after the operation. 10034, which is then compiled into a machine code and then passed to the processor 1002 for execution, so that the logical operation monitoring module 310, the fingerprint detecting module 320, the interface switching module 330, and the like are formed in the von Neumann system-based computer system 10. The pressure value judging module 340, the first step length determining module 35 0 and the second step determining module 360, and during the execution of the application interface switching method, the input parameters are all received through the external input interface 1001 and transmitted to the memory 1003. The cache is then input into the processor 1002 for processing, and the processed result data is either cached in the memory 1003 for subsequent processing, or passed to the output interface 1004 for output.

[0065] The steps in the method of the embodiment of the present invention may be sequentially adjusted, merged, and deleted according to actual needs.

[0066] The units in the mobile terminal in the embodiment of the present invention may be combined, divided, and deleted according to actual needs.

[0067] A person of ordinary skill in the art may understand that all or part of the steps of the foregoing embodiments may be completed by a program instructing related hardware, and the program may be stored in a computer readable storage medium, the storage medium Includes read-only memory (Read-Only Memory, ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read Only Memory (EPROM), one time One-time Programmable Read-Only Memory (OTPROM), Electronically Erasable Readable Read-Only Memory (Electrically-Erasable Programmable Read-Only)

Memory, EEPROM), Compact Disc Read-Only Memory (CD-ROM or other disc storage, disk storage, tape storage, or any other medium readable by a computer that can be used to carry or store data.

A lane recognition method and a mobile terminal disclosed in the embodiments of the present invention are described in detail. The principles and implementation manners of the present invention are described in the following. The description of the above embodiments is only used to help understand the present invention. The method of the invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and the scope of application. It is understood to be a limitation of the invention.

technical problem

Problem solution

Advantageous effects of the invention

Claims

Claim

[Claim 1] A lane recognition method, the method comprising:

Obtaining a road width of the current traveling road of the vehicle by a camera of the vehicle; calculating a position of the lane line according to the road width and a preset lane width, and virtually displaying the virtual lane at the position of the lane line on the vehicle display screen line.

[Claim 2] The method according to claim 1, wherein the virtual driving of the virtual lane line at the position of the lane line on the vehicle display screen comprises: acquiring the current driving road Virtual driving road

The virtual driving lane and the virtual lane line are simulated and integrated, a simulation integration result is generated, and the simulation integration result is displayed on the vehicle display.

[Claim 3] The method according to claim 1, wherein after the virtual lane line at the position of the lane line is virtually displayed on the vehicle display screen, the method further includes: The direction of the virtual lane line guides the vehicle to travel.

[Claim 4] The method according to claim 1, wherein after the virtual lane line at the position of the lane line is virtually displayed on the vehicle display screen, the method further includes: Determining a distance between a current driving position of the vehicle and the virtual lane line; determining whether a distance between the current driving position and the virtual lane line is less than a preset distance threshold;

If it is determined that the distance between the current driving position and the virtual lane line is less than the preset distance threshold, an alarm message is sent.

[Claim 5] The method according to claim 1, wherein after the virtual lane line at the position of the lane line is virtually displayed on the vehicle display screen, the method further includes: detecting the location Determining a current traveling direction of the vehicle at the current driving position; determining whether an angle between the current driving direction and the direction of the virtual lane line is less than Preset angle threshold;

If it is determined that the angle between the current traveling direction and the direction of the virtual lane line is less than the preset angle threshold, an alarm message is sent.

[Claim 6] A mobile terminal, wherein the mobile terminal includes:

a receiving unit, configured to acquire, by a camera of the vehicle, a road width of a road on which the vehicle is currently traveling;

And a processing unit, configured to calculate a position of the lane line according to the road width and the preset lane width received by the receiving unit, and virtually display a virtual lane line at a position of the lane line on the vehicle display screen.

[Claim 7] The mobile terminal according to claim 6, wherein the processing unit performs the virtual lane line step at a position where the lane line is virtually displayed on the in-vehicle display screen Specifically, the virtual driving road of the current driving road is acquired, the virtual driving lane and the virtual lane line are simulated and integrated, a simulation integration result is generated, and the simulation integration result is displayed on the vehicle display.

[Claim 8] The mobile terminal according to claim 6, wherein the processing unit is further configured to: after the virtual lane line at a position where the lane line is virtually displayed on the vehicle display screen And guiding the vehicle to travel according to the direction of the virtual lane line.

[Claim 9] The mobile terminal according to claim 6, wherein the processing unit is further configured to: after the virtual lane line at a position where the lane line is virtually displayed on the vehicle display screen Calculating a distance between the current driving position of the vehicle and the virtual lane line, determining whether a distance between the current driving position and the virtual lane line is less than a preset distance threshold, and determining the current driving position The alarm information is transmitted when the distance between the virtual lane line is less than the preset distance threshold.

[Claim 10] The mobile terminal according to claim 6, wherein the processing unit is further configured to: after the virtual lane line at a position where the lane line is virtually displayed on the vehicle display screen Detecting a current driving direction of the vehicle at a current driving position, determining whether an angle between the current driving direction and a direction of the virtual lane line is less than a preset angle threshold, and determining the current driving direction The angle between the directions of the virtual lane lines is less than the preset angle threshold, and the alarm information is sent.

[Claim 11] A mobile terminal, comprising:

a processor, an input interface, a memory, an output interface, and a bus, wherein the bus is configured to implement connection communication between the processor, the input interface, the memory, and the output interface;

Program code is stored in the memory;

The processor can invoke the code stored in the memory via the bus to perform the method as described in any one of claims 1-5.