WO2018068387A1 - Procédé d'identification de voie et terminal mobile - Google Patents

Procédé d'identification de voie et terminal mobile Download PDF

Info

Publication number
WO2018068387A1
WO2018068387A1 PCT/CN2016/110363 CN2016110363W WO2018068387A1 WO 2018068387 A1 WO2018068387 A1 WO 2018068387A1 CN 2016110363 W CN2016110363 W CN 2016110363W WO 2018068387 A1 WO2018068387 A1 WO 2018068387A1
Authority
WO
WIPO (PCT)
Prior art keywords
lane line
virtual
vehicle
virtual lane
mobile terminal
Prior art date
Application number
PCT/CN2016/110363
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市元征科技股份有限公司 filed Critical 深圳市元征科技股份有限公司
Publication of WO2018068387A1 publication Critical patent/WO2018068387A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
    • B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring

Definitions

  • Invention name a lane recognition method and mobile terminal
  • the present invention relates to the field of mobile communications technologies, and in particular, to a lane recognition method and a mobile terminal.
  • 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.
  • 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.
  • a first aspect of the embodiments of the present invention discloses a lane recognition method, including:
  • a second aspect of the embodiment of the present invention discloses a mobile terminal, including:
  • a receiving unit configured to acquire, by the camera of the vehicle, a road width of the current traveling road of the vehicle;
  • 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
  • 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.
  • 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.
  • FIG. 1 is a schematic flow chart of a lane recognition method according to an embodiment of the present invention.
  • FIG. 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.
  • FIG. 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
  • FIG. 1(d) is a vehicle traveling direction disclosed in an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a mobile terminal according to an embodiment of the present invention.
  • FIG. 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.
  • 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.
  • FIG. 1 is a schematic flow chart of a lane recognition method according to an embodiment of the present invention. As shown
  • the lane recognition method may include the following steps.
  • the mobile terminal acquires a road width of the current traveling road of the vehicle by using a camera of the vehicle.
  • 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.
  • 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.
  • 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.
  • the preset lane width may be a lane width preset by the user and conforming to the national traffic road standard.
  • the preset lane width can be 3 meters or 4 meters.
  • 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. .
  • 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.
  • the preset lane width can also be changed in actual demand.
  • 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.
  • the mobile terminal may have a clear lane line on the driving lane of the vehicle, or the traveling vehicle
  • the lane line can be virtualized and the virtual virtual lane line displayed on the vehicle display screen.
  • the lane line is broken in the lane of the two lanes, and the broken line portion indicates the broken portion.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the vehicle can obtain the direction of the virtual lane line and travel in the direction of the virtual lane line.
  • 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 ⁇ .
  • the driving path of the vehicle may include at least one virtual lane line
  • 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.
  • the preset distance threshold be L
  • the distance L1 between the current driving position A and the virtual lane line of the vehicle and L1>L
  • 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.
  • 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.
  • the preset angle threshold is ⁇ , 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 > ⁇ , 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 ⁇ , and ⁇ , It can be determined that the vehicle has not changed the virtual lane line.
  • ⁇ the traveling direction of the current driving position A of the vehicle
  • 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.
  • 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:
  • 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.
  • 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.
  • 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.
  • 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.
  • the preset lane width may be a lane width preset by the user and conforming to the national traffic road standard.
  • the preset lane width can be 3 meters or 4 meters.
  • 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. .
  • 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.
  • 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.
  • 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.
  • the lane line is broken in the lane of the two lanes, and the broken line portion indicates the broken portion.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the vehicle can obtain the direction of the virtual lane line and travel in the direction of the virtual lane line.
  • 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 .
  • 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.
  • 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.
  • 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.
  • the alarm information may include a voice reminder, a driver's seat, or an alarm call to the traffic management platform.
  • 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 > ⁇ , 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 ⁇ , and ⁇ , 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.
  • 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.
  • 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.
  • 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.
  • 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)
  • Read-Only Memory ROM
  • RAM Random Access Memory
  • PROM Programmable Read-Only Memory
  • EPROM Erasable Programmable Read Only Memory
  • OTPROM One-time Programmable Read-Only Memory
  • OTPROM Electronically Erasable Readable Read-Only Memory
  • EEPROM Electrically erasable programmable read-only memory
  • CD-ROM Compact Disc Read-Only Memory
  • disk storage disk storage
  • tape storage or any other medium readable by a computer that can be used to carry or store data.

Landscapes

  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un procédé d'identification de voie ainsi qu'un terminal mobile. Le procédé comprend les étapes suivantes : un terminal mobile acquiert, au moyen d'une caméra d'un véhicule, une largeur de route d'une route actuelle parcourue par le véhicule (S101) ; et le terminal mobile calcule, en fonction de la largeur de route et d'une largeur de voie prédéterminée, des positions de lignes de voie, et affiche, sur un écran d'affichage embarqué, des marquages de voie virtuelle au niveau des positions des lignes de voie d'une manière virtuelle (S102). Le procédé et le terminal mobile de la présente invention peuvent réduire la probabilité d'un véhicule en déplacement occupant deux voies.
PCT/CN2016/110363 2016-10-14 2016-12-16 Procédé d'identification de voie et terminal mobile WO2018068387A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610899690.8A CN106364403A (zh) 2016-10-14 2016-10-14 一种车道识别方法及移动终端
CN201610899690.8 2016-10-14

Publications (1)

Publication Number Publication Date
WO2018068387A1 true WO2018068387A1 (fr) 2018-04-19

Family

ID=57896371

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/110363 WO2018068387A1 (fr) 2016-10-14 2016-12-16 Procédé d'identification de voie et terminal mobile

Country Status (2)

Country Link
CN (1) CN106364403A (fr)
WO (1) WO2018068387A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113619606A (zh) * 2021-09-17 2021-11-09 中国第一汽车股份有限公司 障碍物确定方法、装置、设备以及存储介质

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106971593A (zh) * 2017-04-01 2017-07-21 深圳市元征科技股份有限公司 车道识别方法及装置
CN107563326A (zh) * 2017-08-31 2018-01-09 京东方科技集团股份有限公司 一种行车辅助方法、行车辅助装置和车辆
CN109624851B (zh) * 2018-11-23 2022-04-19 深圳市航盛电子股份有限公司 基于增强现实的辅助驾驶方法、系统及可读存储介质
CN111696048B (zh) * 2019-03-15 2023-11-14 北京四维图新科技股份有限公司 墙体采样线的平滑处理方法和装置
CN110136222B (zh) * 2019-04-17 2023-05-26 阿波罗智能技术(北京)有限公司 虚拟车道线生成方法、装置及系统
CN113504734B (zh) * 2021-05-12 2022-06-24 上海和夏新能源科技有限公司 基于图像显示的车道线模拟仿真测试方法和系统
CN114187676A (zh) * 2021-12-02 2022-03-15 智慧起源机器人(苏州)有限公司 一种巡检方法、装置、设备、系统和存储介质

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103136341A (zh) * 2013-02-04 2013-06-05 北京航空航天大学 一种基于Bézier曲线的车道线重构装置
US20140035738A1 (en) * 2012-08-06 2014-02-06 Mando Corporation Blind spot warning system and method
US20140098196A1 (en) * 2012-10-10 2014-04-10 Haike Guan Line recognition apparatus, line recognition method and line recognition program storage medium
CN105922991A (zh) * 2016-05-27 2016-09-07 广州大学 基于生成虚拟车道线的车道偏离预警方法及系统

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4888761B2 (ja) * 2005-10-31 2012-02-29 株式会社エクォス・リサーチ 仮想車線表示装置
KR100921427B1 (ko) * 2007-12-17 2009-10-14 한국전자통신연구원 영상 기반 내비게이션을 위한 가상차선을 생성하는 방법 및그 장치
DE602007012568D1 (de) * 2007-12-28 2011-03-31 Magneti Marelli Spa Fahrassistenzsystem für ein Fahrzeug das auf einem Weg ohne Fahrspurabgrenzungslinien fährt
KR20120127830A (ko) * 2011-05-16 2012-11-26 삼성전자주식회사 차량용 단말을 위한 사용자 인터페이스 방법 및 장치
KR20130011825A (ko) * 2011-07-22 2013-01-30 현대자동차주식회사 차선인식 방법
KR101677640B1 (ko) * 2011-08-05 2016-11-18 엘지전자 주식회사 차선 인식 장치 및 그 방법
CN103192829A (zh) * 2013-03-22 2013-07-10 上海交通大学 一种基于环视的道路偏离预警方法和装置
CN203739886U (zh) * 2013-12-12 2014-07-30 长安大学 一种基于eps的主动式车道保持的装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140035738A1 (en) * 2012-08-06 2014-02-06 Mando Corporation Blind spot warning system and method
US20140098196A1 (en) * 2012-10-10 2014-04-10 Haike Guan Line recognition apparatus, line recognition method and line recognition program storage medium
CN103136341A (zh) * 2013-02-04 2013-06-05 北京航空航天大学 一种基于Bézier曲线的车道线重构装置
CN105922991A (zh) * 2016-05-27 2016-09-07 广州大学 基于生成虚拟车道线的车道偏离预警方法及系统

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113619606A (zh) * 2021-09-17 2021-11-09 中国第一汽车股份有限公司 障碍物确定方法、装置、设备以及存储介质

Also Published As

Publication number Publication date
CN106364403A (zh) 2017-02-01

Similar Documents

Publication Publication Date Title
WO2018068387A1 (fr) Procédé d'identification de voie et terminal mobile
US10663963B2 (en) Method and apparatus for visualizing future events for passengers of autonomous vehicles
US11036222B2 (en) Autonomous analysis of the driver's behavior
EP3070700B1 (fr) Systèmes et procédés pour alertes de pilotes prioritaires
WO2022134364A1 (fr) Procédé de commande de véhicule, appareil et système, dispositif et support de stockage
CN106489173A (zh) 用于确定停车位的方法和空闲停车位辅助系统
JP6613623B2 (ja) 車載装置、運転モード制御システム、及び運転モード制御方法
CN109151204B (zh) 一种基于移动终端的导航方法、装置及移动终端
JP5585194B2 (ja) 事故状況記録システム
CN113205088B (zh) 障碍物图像展示方法、电子设备和计算机可读介质
US11180082B2 (en) Warning output device, warning output method, and warning output system
US10360793B1 (en) Preventing vehicle accident caused by intentional misbehavior
WO2021253955A1 (fr) Procédé et appareil de traitement d'informations, véhicule et dispositif d'affichage
US20190072400A1 (en) Augmented rider identification and dynamic rerouting
CN113237490A (zh) Ar导航方法、系统、电子设备和存储介质
CN115848377A (zh) 一种不同交通环境下的变道控制方法、系统、设备和介质
JP7232604B2 (ja) ナビゲーションシステム、ナビゲーション表示方法、およびナビゲーション表示プログラム
JP2018194976A (ja) メッセージ表示用プログラム、メッセージ表示装置、及びメッセージ表示方法
CN115681483A (zh) 车辆控制器、车辆及车辆控制方法
JP7426471B2 (ja) 自動運転車インタラクションシステム
CN115265537A (zh) 具有交通状态检测机制的导航系统及其操作方法
JP7225819B2 (ja) 車両
JP2013003594A (ja) 携帯端末装置およびこれを備えた運転評価システム
CN113401071B (zh) 显示控制装置、显示控制方法以及计算机可读取存储介质
JP2020154468A (ja) 運転支援装置、方法、及びコンピュータ・プログラム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16918527

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16918527

Country of ref document: EP

Kind code of ref document: A1