WO2020239036A1 - 一种车辆导航方法、系统以及计算机可读存储介质 - Google Patents

一种车辆导航方法、系统以及计算机可读存储介质 Download PDF

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Publication number
WO2020239036A1
WO2020239036A1 PCT/CN2020/092961 CN2020092961W WO2020239036A1 WO 2020239036 A1 WO2020239036 A1 WO 2020239036A1 CN 2020092961 W CN2020092961 W CN 2020092961W WO 2020239036 A1 WO2020239036 A1 WO 2020239036A1
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Prior art keywords
vehicle
leading
virtual
image
geographic location
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PCT/CN2020/092961
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English (en)
French (fr)
Inventor
李书福
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浙江吉利控股集团有限公司
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Publication of WO2020239036A1 publication Critical patent/WO2020239036A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/365—Guidance using head up displays or projectors, e.g. virtual vehicles or arrows projected on the windscreen or on the road itself

Definitions

  • the present invention relates to the technical field of vehicle navigation, in particular to a vehicle navigation method, system and computer-readable storage medium.
  • the navigation system has become an indispensable auxiliary driving tool for drivers. It greatly provides convenience for the driver's driving process.
  • the present invention is proposed to provide a vehicle navigation method, system, and computer-readable storage medium that overcome the above problems or at least partially solve the above problems.
  • a vehicle navigation method including:
  • the image of the virtual leading car is displayed on the front windshield of the vehicle, and the display of the image of the virtual leading car on the front windshield is controlled based on the leading navigation data.
  • the determining the leading geographic location data of the virtual leading vehicle based on the electronic map data, the own vehicle geographic location data, and the target geographic location data includes:
  • Determining the driving route of the vehicle based on the electronic map data, the geographic location data of the own vehicle, and the target geographic location data;
  • the leading geographic location data of the virtual leading vehicle on the driving route of the vehicle is determined.
  • the image of the virtual leading vehicle includes a body image of a virtual leading vehicle, a left turn signal image, and a right turn signal image; and, the image of the virtual leading vehicle for controlling the virtual leading vehicle based on the guidance navigation data is displayed in the
  • the display on the front windshield includes:
  • the image of the virtual lead vehicle further includes a brake light image; and the controlling the display of the image of the virtual lead vehicle on the front windshield based on the guidance navigation data includes:
  • the body image of the virtual leading vehicle is gradually enlarged, and the brake light image is continuously displayed.
  • the vehicle navigation method further includes:
  • controlling the display of the image of the virtual leading vehicle on the front windshield according to the road condition information includes:
  • the body image of the virtual lead vehicle is gradually enlarged, and the brake light image is continuously displayed.
  • the specific distance at which the virtual lead vehicle is located in front of the vehicle is determined by the current speed and time of the vehicle.
  • a vehicle navigation system including:
  • the vehicle positioning module is used for positioning the vehicle and generating the geographic location data of the vehicle;
  • the user data collection module is used to collect the navigation destination input by the user and generate target geographic location data of the destination;
  • Leading data generation module used to determine lead geographic location data of a virtual lead vehicle based on electronic map data, the own vehicle geographic location data, and target geographic location data, wherein the virtual lead vehicle is located at a specific distance in front of the vehicle ;
  • the leading navigation module is used to generate the leading navigation data of the virtual leading vehicle based on the electronic map data, the leading geographic location data and the target geographic location data;
  • the display control module is used for displaying the image of the virtual leading car on the front windshield of the vehicle, and controlling the display of the image of the virtual leading car on the front windshield based on the leading navigation data.
  • leading data generation module is also used for
  • the leading geographic location data of the virtual leading vehicle on the driving route of the vehicle is determined.
  • the image of the virtual leading vehicle includes a body image of the virtual leading vehicle, a left turn signal image and a right turn signal image; and, the display control module is also used for
  • the image of the virtual leading vehicle further includes a brake light image; and, the display control module is also used for
  • the body image of the virtual leading vehicle is gradually enlarged, and the brake light image is continuously displayed.
  • the vehicle navigation system further includes:
  • Road condition collection module for collecting road condition information
  • the display control module is further configured to control the display of the image of the virtual lead vehicle on the front windshield based on the road condition information.
  • the display control module is also used for the display control module.
  • the body image of the virtual lead vehicle is gradually enlarged, and the brake light image is continuously displayed.
  • the road condition collection module includes a camera.
  • a vehicle navigation system including a memory and a processor communicating with the memory;
  • the memory is used to store a set of instructions
  • the processor When the set of instructions is executed, the processor is used to execute any one of the aforementioned vehicle navigation methods.
  • a computer-readable storage medium including executable instructions, and when the executable instructions are executed by a processor, the processor implements any one of the foregoing vehicle navigation methods.
  • the leading geographic location data of the virtual leading vehicle is determined based on the electronic map data, the own vehicle geographic location data, and the target geographic location data, it may also be based on the electronic map data, the leading geographic location data, and the target geographic location.
  • the data generates the leading navigation data of the virtual leading car.
  • the driver can intuitively understand the current state of the virtual leading car, and timely according to the current state of the virtual leading car Adjusting the driving state of the vehicle improves the driving experience of the driver.
  • Fig. 1 shows a schematic flowchart of a vehicle navigation method according to an embodiment of the present invention
  • Fig. 2 shows a schematic flowchart of a vehicle navigation method according to another embodiment of the present invention
  • Fig. 3 shows a schematic diagram of the framework of a vehicle navigation system according to an embodiment of the present invention
  • FIG. 4 shows a schematic diagram of a frame of a vehicle navigation system according to another embodiment of the present invention.
  • Fig. 5 shows a schematic diagram of an image of a virtual lead car displayed on the front windshield of a vehicle according to an embodiment of the present invention
  • Fig. 6 shows a schematic diagram of an image of a virtual lead car displayed on a front windshield of a vehicle according to another embodiment of the present invention.
  • Fig. 1 shows a schematic flowchart of a vehicle navigation method according to an embodiment of the present invention. Referring to Fig. 1, the method includes at least step S102 to step S108.
  • Step S102 Obtain the vehicle's own geographic location data and target geographic location data of the vehicle.
  • Step S104 based on the map data (for example, electronic map data), the own vehicle geographic location data, and the target geographic location data, determine the leading geographic location data of the virtual leading vehicle, where the virtual leading vehicle is located at a specific distance in front of the vehicle.
  • map data for example, electronic map data
  • the own vehicle geographic location data for example, the own vehicle geographic location data
  • target geographic location data determine the leading geographic location data of the virtual leading vehicle, where the virtual leading vehicle is located at a specific distance in front of the vehicle.
  • Step S106 based on the electronic map data, the leading geographic location data and the target geographic location data, the leading navigation data of the virtual leading vehicle is generated.
  • Step S108 displaying the image of the virtual leading car on the front windshield of the vehicle, and controlling the display of the image of the virtual leading car on the front windshield based on the leading navigation data.
  • the leading geographic location data of the virtual leading vehicle is determined based on the electronic map data, the own vehicle geographic location data, and the target geographic location data, it may also be based on the electronic map data, the leading geographic location data, and the target geographic location.
  • the data generates the leading navigation data of the virtual leading car.
  • the driver can intuitively understand the current state of the virtual leading car, and timely according to the current state of the virtual leading car Adjusting the driving state of the vehicle improves the driving experience of the driver. Furthermore, by displaying the image of the virtual leading car on the front windshield of the vehicle, it can also effectively ensure that the driver's gaze is gaze at the front of the vehicle to a greater extent, thereby ensuring the driver's driving safety.
  • vehicle navigation method provided by the embodiment of the present invention may be a guided vehicle navigation method.
  • the vehicle's positioning system for example, Global Satellite Positioning System (GPS), Beidou Satellite Navigation System (BDS), etc.
  • GPS Global Satellite Positioning System
  • BDS Beidou Satellite Navigation System
  • the user usually enters (for example, voice input, text input) the destination he wants to reach. Therefore, based on the destination input by the user, the target geographic location data corresponding to the destination is generated to obtain the vehicle Target location data for.
  • the geographic location data of the vehicle and the target geographic location data can be represented in various forms, for example, coordinate values, building names, etc. can be used.
  • the driving route of the vehicle can be determined based on the electronic map data, the geographical position data of the vehicle and the target geographical position data. Furthermore, based on the geographic location data of the vehicle and the determined driving route, the leading geographic position data of the virtual leading vehicle is determined on the driving route of the vehicle.
  • the determined leading geographic location data and the acquired own vehicle geographic location data should satisfy that: on the driving route of the vehicle, the virtual leading vehicle is located at a specific distance in front of the vehicle.
  • the electronic map data can be obtained locally, for example, the electronic map data can be read from a local memory preset with electronic map data.
  • the electronic map data can also be obtained from the cloud, for example, the electronic map data can be downloaded from a cloud server.
  • the electronic map data can also be acquired in other ways, which is not specifically limited in the present invention.
  • the virtual leading vehicle is located at a certain distance in front of the vehicle.
  • the specific distance at which the virtual lead vehicle is located in front of the vehicle is set to L, and the specific distance L is a variable value.
  • the time t is a fixed value (for example, 1 second, 2 seconds)
  • the specific distance L between the virtual lead vehicle and the host vehicle increases as the current speed V of the host vehicle increases, and as the current speed V of the host vehicle decreases And reduce.
  • t may also take other time values, which are not specifically limited in the embodiment of the present invention.
  • the specific distance L is usually set to be no less than 5 meters. Even if the current speed of the vehicle is slow, the distance in front of the virtual lead car can be guaranteed. Not less than 5 meters to provide the driver with enough time for driving judgment.
  • the specific distance L where the virtual lead vehicle is located in front of the vehicle may also be a fixed value, that is, the specific distance may not change with the current speed of the vehicle.
  • the embodiment of the present invention does not specifically limit the specific distance.
  • the lead geographic location of the virtual lead vehicle is different from the actual driving geographic location of the host vehicle by the specified distance (for example, the specific distance L) .
  • Subsequent use of the virtual leading vehicle to provide navigation services for the driver of the vehicle is also based on the leading geographic location data of the virtual leading vehicle itself for leading navigation.
  • the leading navigation data for the virtual leading vehicle is generated based on the electronic map data, the leading geographic location data of the virtual leading vehicle, and the target geographic location data. Furthermore, in the follow-up, the guided navigation data will be used to control the virtual guided vehicle to perform corresponding "driving", that is, the virtual guided vehicle “driving” according to the guided navigation data generated for itself, so as to realize the guided navigation of the vehicle.
  • the driver of the vehicle can easily drive the vehicle by "following" the driving path of the virtual lead vehicle.
  • the image of the virtual leading car is displayed on the front windshield of the vehicle through projection.
  • a heads up display can be used to display the virtual leading
  • the image of the car is projected onto the front windshield of the car.
  • the head-up digital display can project the image of the virtual leading car onto the front windshield.
  • the image of the virtual leading car is projected on the lower center of the front windshield.
  • the image of the virtual leading car is projected at a position where the front windshield is directly opposite to the driver. In this way, the driver can see the image of the virtual leading car without having to lower his head, thereby avoiding distracting the driver.
  • the image of the virtual leading car on the front windshield does not affect the driver's driving sight, ensuring the driver's driving safety.
  • the image of the virtual leading vehicle can also be projected on other positions of the front windshield of the vehicle, which is not specifically limited in the embodiment of the present invention.
  • the brightness of the image of the virtual leading car displayed on the front windshield is adjustable.
  • an externally input brightness adjustment instruction may be received and the brightness of the image of the virtual lead vehicle may be adjusted according to the brightness adjustment instruction.
  • the brightness adjustment instruction can be input through physical keys (such as buttons, knobs, etc.), voice input, remote control APP input, etc., which is not specifically limited in the present invention.
  • the user can input a first brightness adjustment instruction to increase the brightness.
  • the head-up digital display After the head-up digital display receives the first brightness adjustment instruction, it will increase the virtual lead vehicle's power according to the first brightness adjustment instruction.
  • the brightness of the image When the brightness of the night environment is low, the user can input a second brightness adjustment instruction to reduce the brightness. After the head-up digital display receives the second brightness adjustment instruction, the brightness of the virtual lead car image is reduced according to the second brightness adjustment instruction .
  • the brightness of the image of the virtual lead vehicle can be automatically adjusted according to the brightness of the environment.
  • a light-sensing sensor may be provided on the head-up digital display, and the environmental brightness is sensed by the light-sensing sensor, and the head-up digital display adjusts the brightness of the image of the virtual lead vehicle according to the sensed environmental brightness.
  • the display effect of the virtual leading vehicle image on the front windshield can be enhanced to ensure that the driver can clearly see the displayed virtual leading vehicle image under different environmental brightness conditions.
  • the previous article has introduced the control of the virtual leading car to perform corresponding "driving" according to the leading navigation data, and the specific control of the virtual leading car's “driving” process can control the image of the virtual leading car through the leading navigation data.
  • the display on the front windshield is reflected.
  • the image of the virtual leading vehicle may include a body image of the virtual leading vehicle, a left turn signal image, a right turn signal image, and so on.
  • a preferred embodiment is used to introduce the process of guiding the navigation data to control the image of the virtual guiding car.
  • Fig. 5 shows a schematic diagram of an image of a virtual leading car displayed on the front windshield of the vehicle when the leading navigation data instructs the virtual leading car to turn left according to an embodiment of the present invention.
  • the longitudinal centerline of the virtual leading car’s body image on the front windshield is inclined to the left by a certain angle relative to the current driving direction of the vehicle, and the virtual leading car’s The image of the left turn signal flashes periodically.
  • Fig. 6 shows a schematic diagram of an image of a virtual leading car displayed on the front windshield of the vehicle when the leading navigation data instructs the virtual leading car to turn right according to another embodiment of the present invention.
  • the guidance navigation data to control the virtual leading vehicle to turn left or right for example, when the guidance navigation data instructs the virtual leading vehicle to turn left or right, only the left turn signal image or the right turn signal image periodically flashes. For another example, when the guidance navigation data instructs the virtual lead vehicle to turn left or right, only the left turn signal image or the right turn signal image changes color. For another example, when the guidance navigation data instructs the virtual lead vehicle to turn left or right, only the longitudinal center line of the vehicle body image of the virtual lead vehicle is adjusted to tilt to the left or right.
  • the embodiment of the present invention does not specifically limit the display mode of the image of the virtual leading car.
  • the image of the virtual leading vehicle may also include a brake light image.
  • the vehicle In the process of performing the above step S108, if the virtual leading vehicle is instructed to decelerate according to the leading navigation data, the vehicle may be in the front gear The vehicle body image of the virtual leading car is gradually enlarged on the windshield, and the brake light image is continuously displayed, thereby prompting the vehicle driver to control the deceleration of the vehicle in a more direct manner.
  • This embodiment can also control the color change of the brake light image during the process of continuously displaying the brake light image, which can more easily attract the driver's attention.
  • the body image of the virtual lead vehicle can also be controlled to be on the front windshield of the vehicle. Gradually shrink.
  • the speed of the host vehicle decreases, it can be inferred that the specific distance between the virtual lead vehicle and the front of the vehicle is reduced.
  • the body image of the virtual lead vehicle can be controlled to gradually enlarge on the front windshield of the vehicle.
  • FIG. 2 shows a schematic structural diagram of the vehicle navigation method according to another embodiment of the present invention. Referring to Fig. 2, the method at least includes step S202 to step S210.
  • Step S202 Obtain the vehicle's own geographic location data and target geographic location data of the vehicle.
  • Step S204 Determine the leading geographic location data of the virtual leading vehicle based on the electronic map data, the own vehicle geographic location data and the target geographic location data, where the virtual leading vehicle is located at a specific distance in front of the vehicle.
  • Step S206 based on the electronic map data, the leading geographic location data, and the target geographic location data, the leading navigation data of the virtual leading vehicle is generated.
  • Step S208 Collect road condition information.
  • the collected road condition information may include information such as obstacles in front of the vehicle, congestion in front of the vehicle, accidents in front of the vehicle, and red lights at the intersection in front of the vehicle.
  • the collected road condition information can be used to subsequently indicate the driving state of the virtual lead vehicle. For example, based on road condition information such as obstacles in front of the vehicle, congestion in front of the vehicle, accidents in front of the vehicle, and red lights at the intersection in front of the vehicle, the virtual lead vehicle can be instructed to brake.
  • the process of collecting road condition information can be realized by pre-installed cameras (such as front-view cameras, surround-view cameras, etc.) and sensors (such as CMOS image sensors, CCD image sensors, etc.) on the front of the vehicle, so that the road conditions can be collected.
  • the information process is more convenient.
  • Step S210 displaying the image of the virtual leading car on the front windshield of the vehicle, and controlling the display of the image of the virtual leading car on the front windshield based on the leading navigation data and road condition information.
  • the image of the virtual leading car includes the body image and the brake light image of the virtual leading car.
  • the virtual lead vehicle can be instructed to brake and brake according to the road condition information, so that the virtual lead vehicle stops in front The corresponding position of the road.
  • the body image of the virtual leading car is gradually enlarged on the front windshield, and the brake light image is continuously displayed. The process of continuously displaying the brake light image can also control the color change of the brake light image to more easily attract the driver's attention.
  • the collected road condition information is that there is a green light at the intersection in front of the vehicle, and the virtual lead vehicle can be instructed to pass the front intersection directly according to the collected road condition information, and the size of the virtual lead vehicle body image on the front windshield remains unchanged.
  • the collected road condition information indicates that the front of the vehicle is unobstructed, and the virtual leading vehicle can be instructed to accelerate through the front intersection according to the collected road condition information. Accordingly, the body image of the virtual leading vehicle is gradually reduced on the front windshield of the vehicle.
  • the actual road condition information of the own vehicle is collected by the camera or other image acquisition equipment installed on the own vehicle, so that the "driving" of the virtual lead vehicle can be controlled in combination with the actual road condition information.
  • the driver can clearly understand through the image of the virtual leading car on the front windshield of the vehicle, and then make corresponding driving judgments .
  • step S202 For the specific introduction of step S202 to step S206, please refer to the above embodiment, which will not be repeated here.
  • FIG. 3 shows a schematic diagram of the frame of the vehicle navigation system according to an embodiment of the present invention.
  • the vehicle navigation system 300 includes a vehicle positioning module 310, a user data collection module 320, a leading data generating module 330, a leading navigation module 340, and a display control module 350.
  • FIG. 3 only schematically shows in one embodiment, the vehicle positioning module 310, the user data collection module 320, the leading data generating module 330, the leading navigation module 340, and the display control module 350.
  • a connection relationship In practical applications, any two modules mentioned above can be coupled with each other.
  • the vehicle positioning module 310 is used for positioning the vehicle and generating the vehicle's own geographic location data
  • the user data collection module 320 is used to collect the navigation destination input by the user and generate target geographic location data of the destination;
  • the leading data generating module 330 is used to determine the leading geographic location data of the virtual leading vehicle based on the electronic map data, the own vehicle geographic location data and the target geographic location data, wherein the virtual leading vehicle is located at a specific distance in front of the vehicle;
  • the leading navigation module 340 is used to generate the leading navigation data of the virtual leading vehicle based on the electronic map data, the leading geographic location data and the target geographic location data;
  • the display control module 350 is used for displaying the image of the virtual leading car on the front windshield of the vehicle, and controlling the display of the image of the virtual leading car on the front windshield based on the navigation data.
  • the display control module 350 can display the image of the virtual leading vehicle on the front windshield of the vehicle through projection.
  • the leading data generation module 330 is also used to first determine the driving route of the vehicle based on the electronic map data, the own vehicle geographic location data and the target geographic location data, and then based on the own vehicle geographic location data and the driving route , To determine the leading geographic location data of the virtual leading vehicle on the vehicle's driving route.
  • the image of the virtual leading vehicle may include a body image of the virtual leading vehicle, a left turn signal image, and a right turn signal image.
  • the display control module 350 is also used to adjust the longitudinal centerline of the vehicle body image to tilt a certain angle to the left or right to display the left or right turn posture of the vehicle body image when instructing the virtual leading vehicle to turn left or right according to the guidance navigation data; and/ Or the left turn signal image or the right turn signal image flashes periodically.
  • the image of the virtual lead vehicle further includes a brake light image
  • the display control module 350 is further configured to gradually enlarge the body image of the virtual lead vehicle when the virtual lead vehicle is instructed to decelerate according to the guidance navigation data , And continuously display the brake light image.
  • FIG. 4 shows a schematic diagram of the frame of the vehicle navigation system according to another embodiment of the present invention.
  • the vehicle navigation system 300 in addition to a vehicle positioning module 310, a user data collection module 320, a leading data generation module 330, a leading navigation module 340 and a display control module 350, the vehicle navigation system 300 also includes a road condition collection module 360.
  • the road condition collection module 360 is coupled with the display control module 350, and the road condition collection module 360 can be used to collect road condition information.
  • the display control module 350 is further configured to control the display of the image of the virtual lead vehicle on the front windshield based on the road condition information collected by the road condition collection module 360.
  • the road condition information may include information such as obstacles in front of the vehicle, congestion in front of the vehicle, accidents in front of the vehicle, and red lights at the intersection in front of the vehicle.
  • the display control module 350 is further configured to gradually enlarge the body image of the virtual leading vehicle and continuously display the brake light image when the virtual leading vehicle is instructed to brake according to the road condition information.
  • the road condition collection module 360 in the embodiment of the present invention may be a camera, such as a front-view camera, a surround-view camera, and the like.
  • the road condition collection module 360 may also be other types of image collection devices, for example, sensors (such as CMOS image sensors, CCD image sensors, etc.), which are not specifically limited in the embodiment of the present invention.
  • vehicle navigation system 300 provided in the embodiment of the present invention may be a guided vehicle navigation system 300.
  • the embodiment of the present invention also provides a vehicle navigation system.
  • the vehicle navigation system includes a memory and a processor communicating with the memory.
  • the memory is used to store a set of instructions.
  • the processor can be used to perform the following steps: obtain the vehicle's own vehicle geographic location data and target geographic location data; based on the electronic map data, the vehicle geographic location data and the target geographic location data, determine the virtual lead Leading geographic location data of the vehicle, where the virtual leading vehicle is located at a specific distance in front of the vehicle; based on the electronic map data, leading geographic location data and target geographic location data, the leading navigation data of the virtual leading vehicle is generated; on the front windshield of the vehicle
  • the image of the virtual leading car is displayed on the screen, and the image of the virtual leading car is controlled on the front windshield based on the navigation data.
  • the processor when the set of instructions is executed, may also be used to perform the following steps: obtain the vehicle's own vehicle geographic location data and target geographic location data; based on the electronic map data, the vehicle geographic location data Data and target geographic location data are used to determine the leading geographic location data of the virtual leading vehicle, where the virtual leading vehicle is located at a specific distance in front of the vehicle; based on the electronic map data, leading geographic location data, and target geographic location data, the virtual leading vehicle’s lead is generated Navigation data; collecting road condition information; displaying the image of the virtual leading car on the front windshield of the vehicle, and controlling the display of the image of the virtual leading car on the front windshield based on the leading navigation data and road condition information.
  • the embodiments of the present invention also provide a computer-readable storage medium, including executable instructions.
  • the processor can implement a method including: acquiring the vehicle’s own vehicle Geographic location data and target geographic location data; based on electronic map data, own vehicle geographic location data and target geographic location data, determine the leading geographic location data of the virtual lead vehicle, where the virtual lead vehicle is located at a specific distance in front of the vehicle; based on the electronic map Data, leading geographic location data and target geographic location data to generate the leading navigation data of the virtual leading car; display the image of the virtual leading car on the front windshield of the vehicle, and control the image of the virtual leading car in the front block based on the leading navigation data Display on the windshield.
  • the processor when the executable instruction is executed by the processor, the processor may also implement a method including: acquiring the vehicle's own geographic location data and target geographic location data of the vehicle; Vehicle geographic location data and target geographic location data to determine the leading geographic location data of the virtual leading vehicle, where the virtual leading vehicle is located at a specific distance in front of the vehicle; based on the electronic map data, leading geographic location data, and target geographic location data, virtual guidance is generated Navigation data of the vehicle; collecting road condition information; displaying the image of the virtual leading car on the front windshield of the vehicle, and controlling the display of the image of the virtual leading car on the front windshield based on the leading navigation data and road condition information.
  • the embodiments of the present invention can achieve the following beneficial effects:
  • the leading geographic location data of the virtual leading vehicle is determined based on the electronic map data, the own vehicle geographic location data, and the target geographic location data, it may also be based on the electronic map data, the leading geographic location data, and the target geographic location.
  • the data generates the leading navigation data of the virtual leading car.
  • the driver can intuitively understand the current state of the virtual leading car, and timely according to the current state of the virtual leading car Adjusting the driving state of the vehicle improves the driving experience of the driver. Furthermore, by displaying the image of the virtual leading car on the front windshield of the vehicle, it can also effectively ensure that the driver's gaze is gaze at the front of the vehicle to a greater extent, thereby ensuring the driver's driving safety.
  • the functional units in each embodiment of the present invention may be physically independent of each other, or two or more functional units may be integrated together, or all the functional units may be integrated in one processing unit.
  • the above-mentioned integrated functional unit can be implemented in the form of hardware, software or firmware.
  • the integrated functional unit is implemented in the form of software and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of the present invention essentially or all or part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium and includes a number of instructions to make a A computing device (for example, a personal computer, a server, or a network device, etc.) executes all or part of the steps of the methods in the embodiments of the present invention when running instructions.
  • the aforementioned storage media include: U disk, mobile hard disk, read only memory (ROM), random access memory (RAM), magnetic disks or optical disks and other media that can store program codes.
  • all or part of the steps of the foregoing method embodiments may be implemented by program instructions related to hardware (computing devices such as personal computers, servers, or network devices), and the program instructions may be stored in a computer readable storage medium
  • the program instructions When the program instructions are executed by the processor of the computing device, the computing device executes all or part of the steps of the methods in the embodiments of the present invention.

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Abstract

一种车辆导航方法、系统以及计算机可读存储介质，该方法包括获取车辆的本车地理位置数据和目标地理位置数据（S102）；基于电子地图数据、本车地理位置数据和目标地理位置数据，确定虚拟引领车的引领地理位置数据，其中虚拟引领车位于车辆前的特定距离处（S104）；基于电子地图数据、引领地理位置数据和目标地理位置数据，生成虚拟引领车的引领导航数据（S106）；在车辆的前挡风玻璃上显示虚拟引领车的图像，并基于引领导航数据控制虚拟引领车的图像在前挡风玻璃上的显示（S108）。该方法可以使驾驶员直接跟着显示在车辆前挡风玻璃上的虚拟引领车的图像进行行驶，不仅保证了有效地车辆行驶指引，还增强了车辆导航的真实感。

Description

一种车辆导航方法、系统以及计算机可读存储介质 技术领域
本发明涉及车辆导航技术领域，特别是涉及一种车辆导航方法、系统以及计算机可读存储介质。
背景技术
目前，越来越多的驾驶者在驾驶车辆时选择使用GPS导航系统进行道路导航，特别是在陌生的路况或者希望选择最优路径时，导航系统已成为驾驶者不可或缺的辅助行驶工具，为驾驶者的驾驶过程大大提供了便捷。
现有的GPS导航系统一般采用箭头指示或语音指示单独或组合的方式为驾驶者进行导航，但是，箭头指示与道路信息的结合度不高，也不够直观，使驾驶者常常由于理解有误而造成困扰。而且，语音指示则会中断手机或车载系统的音乐或语音播放等音频信息，从而降低用户体验。因此，如何克服现有GPS导航系统的缺点来提高驾驶者的驾驶体验，是目前汽车导航领域面临的问题。
发明内容
鉴于上述问题，提出了本发明以便提供一种克服上述问题或者至少部分地解决上述问题的车辆导航方法、系统以及计算机可读存储介质。
依据本发明一方面，提供了一种车辆导航方法，包括：
获取车辆的本车地理位置数据和目标地理位置数据；
基于电子地图数据、所述本车地理位置数据和目标地理位置数据，确定虚拟引领车的引领地理位置数据，其中所述虚拟引领车位于所述车辆前的特定距离处；
基于电子地图数据、所述引领地理位置数据和目标地理位置数据，生成所述虚拟引领车的引领导航数据；
在车辆的前挡风玻璃上显示所述虚拟引领车的图像，并基于所述引领导航数据控制所述虚拟引领车的图像在所述前挡风玻璃上的显示。
可选地，所述基于电子地图数据、所述本车地理位置数据和目标地理位置数据，确定虚拟引领车的引领地理位置数据，包括：
基于电子地图数据、所述本车地理位置数据和目标地理位置数据，确 定所述车辆的行车路线；
基于所述本车地理位置数据和所述行车路线，确定所述虚拟引领车在所述车辆的行车路线上的引领地理位置数据。
可选地，所述虚拟引领车的图像包括虚拟引领车的车身图像，左转向灯图像和右转向灯图像；以及，所述基于所述引领导航数据控制所述虚拟引领车的图像在所述前挡风玻璃上的显示包括：
当根据所述引领导航数据指示所述虚拟引领车左转或右转时，调整车身图像纵向中线向左或右倾斜一定角度以显示所述车身图像左转或右转的姿态；和/或所述左转向灯图像或右转向灯图像周期性闪烁显示。
可选地，所述虚拟引领车的图像还包括制动灯图像；以及，所述基于所述引领导航数据控制所述虚拟引领车的图像在所述前挡风玻璃上的显示包括：
当根据所述引领导航数据指示所述虚拟引领车减速时，逐渐放大所述虚拟引领车的车身图像，且持续显示所述制动灯图像。
可选地，车辆导航方法还包括：
采集路况信息；且
基于所述路况信息控制所述虚拟引领车的图像在所述前挡风玻璃上的显示。
可选地，所述根据所述路况信息控制所述虚拟引领车的图像在所述前挡风玻璃上的显示，包括：
当根据所述路况信息指示所述虚拟引领车刹车制动时，逐渐放大所述虚拟引领车的车身图像，且持续显示所述制动灯图像。
可选地，所述虚拟引领车位于所述车辆前的特定距离由所述车辆的当前车速和时间确定。
依据本发明另一方面，还提供了一种车辆导航系统，包括：
车辆定位模块，用于对车辆进行定位并生成所述车辆的本车地理位置数据；
用户数据采集模块，用于采集用户输入的导航目的地并生成所述目的地的目标地理位置数据；
引领数据生成模块，用于基于电子地图数据、所述本车地理位置数据和目标地理位置数据，确定虚拟引领车的引领地理位置数据，其中所述虚拟引领车位于所述车辆前的特定距离处；
引领导航模块，用于基于电子地图数据、所述引领地理位置数据和目标地理位置数据，生成所述虚拟引领车的引领导航数据；
显示控制模块，用于在车辆的前挡风玻璃上显示所述虚拟引领车的图像，并基于所述引领导航数据控制所述虚拟引领车的图像在所述前挡风玻璃上的显示。
可选地，所述引领数据生成模块还用于
基于电子地图数据、所述本车地理位置数据和目标地理位置数据，确定所述车辆的行车路线；
基于所述本车地理位置数据和所述行车路线，确定所述虚拟引领车在所述车辆的行车路线上的引领地理位置数据。
可选地，所述虚拟引领车的图像包括虚拟引领车的车身图像，左转向灯图像和右转向灯图像；以及，所述显示控制模块还用于
当根据所述引领导航数据指示所述虚拟引领车左转或右转时，调整车身图像纵向中线向左或右倾斜一定角度以显示所述车身图像左转或右转的姿态；和/或所述左转向灯图像或右转向灯图像周期性闪烁显示。
可选地，所述虚拟引领车的图像还包括制动灯图像；以及，所述显示控制模块还用于
当根据所述引领导航数据指示所述虚拟引领车减速时，逐渐放大所述虚拟引领车的车身图像，且持续显示所述制动灯图像。
可选地，车辆导航系统还包括：
路况采集模块，用于采集路况信息；且
所述显示控制模块还用于，基于所述路况信息控制所述虚拟引领车的图像在所述前挡风玻璃上的显示。
可选地，所述显示控制模块还用于
当根据所述路况信息指示所述虚拟引领车刹车制动时，逐渐放大所述虚拟引领车的车身图像，且持续显示所述制动灯图像。
可选地，所述路况采集模块包括摄像头。
依据本发明再一方面，还提供了一种车辆导航系统，包括存储器以及与所述存储器通讯的处理器；
所述存储器用于存储一组指令；且
当该组指令被执行时，所述处理器用于执行前述任一项的车辆导航方法。
依据本发明又一方面，还提供了一种计算机可读存储介质，包括可执行指令，当由处理器执行所述可执行指令时，所述处理器实现前述任一项的车辆导航方法。
在本发明实施例中，在基于电子地图数据、本车地理位置数据和目标地理位置数据确定出虚拟引领车的引领地理位置数据之后，还可以基于电子地图数据、引领地理位置数据和目标地理位置数据生成虚拟引领车的引领导航数据，通过在车辆的前挡风玻璃上显示虚拟引领车的图像，可以使车辆驾驶员无需再根据导航箭头或者听语音导航信息进行道路选择，而是直接跟着显示在车辆前挡风玻璃上的虚拟引领车的图像进行驾车行驶，不仅保证了有效地车辆行驶指引，而且还增强了引领车辆导航的真实感。另外，依据虚拟引领车的引领导航数据来控制虚拟引领车的图像在前挡风玻璃上的显示，驾驶员可以直观地了解到虚拟引领车的当前状态，并根据虚拟引领车的当前状态来及时调整本车行驶状态，提高了驾驶员的行车体验。
进一步地，通过在车辆的前挡风玻璃上显示虚拟引领车的图像，还可以有效保证驾驶员的目光更大限度的注视车辆前方，从而保证驾驶员的行车安全。
根据下文结合附图对本发明具体实施例的详细描述，本领域技术人员将会更加明了本发明的上述以及其他目的、优点和特征。
附图说明
后文将参照附图以示例性而非限制性的方式详细描述本发明的一些具体实施例。附图中相同的附图标记标示了相同或类似的部件或部分。本领域技术人员应该理解，这些附图未必是按比例绘制的。附图中：
图1示出了根据本发明一个实施例的车辆导航方法的流程示意图；
图2示出了根据本发明另一个实施例的车辆导航方法的流程示意图；
图3示出了根据本发明一个实施例的车辆导航系统的框架示意图；
图4示出了根据本发明另一个实施例的车辆导航系统的框架示意图；
图5示出了根据本发明一个实施例的在车辆前挡风玻璃上显示的虚拟引领车的图像的示意图；
图6示出了根据本发明另一个实施例的在车辆前挡风玻璃上显示的虚拟引领车的图像的示意图。
具体实施方式
下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示了本公开的示例性实施例，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。
为解决上述技术问题，本发明实施例提供了一种车辆导航方法。图1示出了根据本发明一个实施例的车辆导航方法的流程示意图。参见图1，该方法至少包括步骤S102至步骤S108。
步骤S102，获取车辆的本车地理位置数据和目标地理位置数据。
步骤S104，基于地图数据(例如，电子地图数据)、本车地理位置数据和目标地理位置数据，确定虚拟引领车的引领地理位置数据，其中虚拟引领车位于车辆前的特定距离处。
步骤S106，基于电子地图数据、引领地理位置数据和目标地理位置数据，生成虚拟引领车的引领导航数据。
步骤S108，在车辆的前挡风玻璃上显示虚拟引领车的图像，并基于引领导航数据控制虚拟引领车的图像在前挡风玻璃上的显示。
在本发明实施例中，在基于电子地图数据、本车地理位置数据和目标地理位置数据确定出虚拟引领车的引领地理位置数据之后，还可以基于电子地图数据、引领地理位置数据和目标地理位置数据生成虚拟引领车的引领导航数据，通过在车辆的前挡风玻璃上显示虚拟引领车的图像，可以使车辆驾驶员无需再根据导航箭头或者听语音导航信息进行道路选择，而是直接跟着显示在车辆前挡风玻璃上的虚拟引领车的图像进行驾车行驶，不仅保证了有效地车辆行驶指引，而且还增强了引领车辆导航的真实感。另外，依据虚拟引领车的引领导航数据来控制虚拟引领车的图像在前挡风玻璃上的显示，驾驶员可以直观地了解到虚拟引领车的当前状态，并根据虚拟引领车的当前状态来及时调整本车行驶状态，提高了驾驶员的行车体验。进一步地，通过在车辆的前挡风玻璃上显示虚拟引领车的图像，还可以有效保证驾驶员的目光更大限度的注视车辆前方，从而保证驾驶员的行车安全。
本领域技术人员可以理解，本发明实施例提供的车辆导航方法可以是一种引领式车辆导航方法。
参见上文步骤S102，在本发明一实施例中，为获取车辆的本车地理位置数据，可以采用车辆的定位系统(例如，全球卫星定位体系(GPS)、北斗卫星导航系统(BDS)等)对车辆进行定位，并生成车辆的本车地理位置数据，进而获取到本车地理位置数据。另外，在车辆导航开始之前，用户通常会输入(例如，语音输入、文字输入)想要到达的目的地，因此，基于用户输入的目的地生成目的地对应的目标地理位置数据，便可获得车辆的目标地理位置数据。当然，本领域技术人员可以认识到，除了上文描述的方式外，还可以采用其他的方式获取本车地理位置数据和目标地理位置数据。本车地理位置数据和目标地理位置数据可以采用多种形式表示，例如，可以用坐标值、建筑物名称等形式表示。
参见上文步骤S104，在本发明一实施例中，基于电子地图数据、本车地理位置数据和目标地理位置数据，确定虚拟引领车的引领地理位置数据的过程中，为了保证虚拟引领车与本车在同一行车路线上，以使虚拟引领车提供的引领导航更为准确，可以先基于电子地图数据、本车地理位置数据和目标地理位置数据确定出车辆即将行驶的行车路线。进而，基于本车地理位置数据和确定出的行车路线，在车辆的行车路线上确定出虚拟引领车的引领地理位置数据。所确定的引领地理位置数据和获取的本车地理位置数据应满足使得：在车辆的行车路线上，虚拟引领车位于车辆前的特定距离处。电子地图数据可以从本地获取，例如，从预置有电子地图数据的本地存储器中读取电子地图数据。电子地图数据也可以从云端获取，例如，从云端服务器下载电子地图数据。当然，还可以通过其他方式获取电子地图数据，本发明对此不作具体的限定。
虚拟引领车作为本车的引领导航车辆，其位于本车前的特定距离处。在一可选实施例中，设定虚拟引领车位于车辆前的特定距离为L，该特定距离L是可变的值，例如，特定距离L可以由车辆的当前速度V和时间t确定，即，L＝V×t。其中，时间t是固定值(例如，1秒，2秒)，虚拟引领车距本车辆的特定距离L随着本车辆当前车速V的增大而增加，随着本车辆当前车速V的减小而减少。由此，当本车辆的车速较高时，能够为驾驶员预留出更多的时间来做行车判断，从而不仅可以有效地避免驾驶员走错路，也在一定程度上保证了驾驶员的行车安全。在该实施例中，t还可以取其它的时间值，本发明实施例对此不做具体的限定。
另外，为了保证虚拟引领车能够为车辆驾驶员提供更为有效的引领导 航，通常设置特定距离L不小于5米，即使车辆的当前车速较慢，也一样可以保证虚拟引领车位于车辆前的距离不小于5米，为驾驶员提供足够的行车判断时间。
在另一实施例中，虚拟引领车位于车辆前的特定距离L也可以是固定值，即特定距离可以不随车辆的当前车速的变化而变化，本发明实施例对特定距离不做具体的限定。
在本发明实施例中，由于虚拟引领车位于本车辆前的特定距离，因此，虚拟引领车的引领地理位置与本车辆的实际行驶地理位置之间相差了该特定距离(例如，特定距离L)。后续在利用虚拟引领车为本车辆驾驶员提供导航服务时，也是基于虚拟引领车自身所处的引领地理位置数据进行引领导航。
参见上文步骤S106，在本发明一实施例中，基于电子地图数据、虚拟引领车的引领地理位置数据和目标地理位置数据会生成针对虚拟引领车的引领导航数据。进而，在后续会利用引领导航数据来控制虚拟引领车进行相应的“行驶”，即虚拟引领车根据针对自身生成的引领导航数据进行“行车”，以实现对本车辆的引领式导航。而本车辆的驾驶员通过“跟随”虚拟引领车的行驶路径便可方便地进行车辆驾驶。
参见上文步骤S108，在本发明一实施例中，通过投影将虚拟引领车的图像显示在车辆的前挡风玻璃上，例如，可以采用抬头数字显示仪(Heads Up Display，HUD)将虚拟引领车的图像投影到车辆的前挡风玻璃。对于抬头数字显示仪将虚拟引领车的图像投影到前挡风玻璃的位置可以有多种。例如，将虚拟引领车的图像投影在前挡风玻璃的中间偏下的位置处。又例如，将虚拟引领车的图像投影在前挡风玻璃与驾驶员正对方向偏下的位置处。这样驾驶员不必低头就可以看到虚拟引领车的图像，从而避免分散驾驶员的注意力。另外，前挡风玻璃上的虚拟引领车的图像也并不会影响驾驶员的驾驶视线，保证了驾驶员的行车安全。
当然，虚拟引领车的图像也可以投影在车辆的前挡风玻璃的其他位置，本发明实施例对此不做具体的限定。
进一步地，前挡风玻璃上显示的虚拟引领车的图像的亮度是可调的。在一种实施方案中，可以接收外部输入的亮度调节指令并根据该亮度调节指令调节虚拟引领车的图像的亮度。亮度调节指令可以通过物理按键(如按钮、旋钮等)输入、语音输入、远程控制APP输入等，本发明对此不 作具体限定。例如，在白天环境亮度高的情况下，用户可以输入指示调高亮度的第一亮度调节指令，抬头数字显示仪接收到第一亮度调节指令后，根据第一亮度调节指令增大虚拟引领车的图像的亮度。在夜晚环境亮度低的情况下，用户可以输入指示调低亮度的第二亮度调节指令，抬头数字显示仪接收到第二亮度调节指令后，根据第二亮度调节指令降低虚拟引领车的图像的亮度。
在另一种实施方案中，可以根据环境亮度自动调节虚拟引领车的图像的亮度。具体地，例如，可以在抬头数字显示仪上设置感光传感器，通过感光传感器感测环境亮度，抬头数字显示仪根据所感测到的环境亮度调节虚拟引领车的图像的亮度。
通过这种方式，能够增强前挡风玻璃上虚拟引领车的图像的显示效果，以保证在不同环境亮度条件下驾驶员均可以清晰地看到所显示的虚拟引领车的图像。
在本发明实施例中，为方便驾驶员清楚地了解到虚拟引领车当前所处的地理位置和附近的其他道路信息，以确定出本车所处的地理位置和道路信息，还可以将电子地图一并投影到车辆的前挡风玻璃上，并根据虚拟引领车的引领地理位置数据使虚拟引领车的图像位于电子地图的相应位置，从而可以使驾驶员通过直观看到虚拟引领车的所处位置来了解到本车即将驶入的地理位置和道路信息。
继续参见上文步骤S108，前文已经介绍了根据引领导航数据来控制虚拟引领车进行相应的“行驶”，而具体控制虚拟引领车的“行驶”过程可通过引领导航数据控制虚拟引领车的图像在前挡风玻璃上的显示体现出来。在本发明一实施例中，虚拟引领车的图像可以包括虚拟引领车的车身图像、左转向灯图像、右转向灯图像等等。在该实施例中，基于引领导航数据控制虚拟引领车的图像在前挡风玻璃上的显示的方式可以有多种。下面以一个优选实施例对引领导航数据控制虚拟引领车的图像的过程进行介绍。
当引领导航数据指示虚拟引领车左转时，调整前挡风玻璃上的虚拟引领车的车身图像纵向中线向左倾斜一定角度，以显示出车身图像左转的姿态，与此同时，控制前挡风玻璃上的虚拟引领车的左转向灯图像周期性闪烁显示，以此来高度引起驾驶员的注意，提醒驾驶员对本车辆做出相应的行车调整。图5示出了根据本发明一个实施例的当引领导航数据指示虚拟 引领车左转时在车辆前挡风玻璃上显示的虚拟引领车的图像的示意图。如图5所示，当引领导航数据指示虚拟引领车左转时，前挡风玻璃上的虚拟引领车的车身图像纵向中线相对当前的本车行驶方向向左倾斜一定角度，且虚拟引领车的左转向灯图像周期性闪烁显示。
类似地，当引领导航数据指示虚拟引领车右转时，调整前挡风玻璃上的虚拟引领车的车身图像纵向中线向右倾斜一定角度，以显示出车身图像右转的姿态，与此同时，控制前挡风玻璃上的虚拟引领车的右转向灯图像周期性闪烁显示，以此来高度引起驾驶员的注意，提醒驾驶员对本车辆做出相应的行车调整。图6示出了根据本发明另一个实施例的当引领导航数据指示虚拟引领车右转时在车辆前挡风玻璃上显示的虚拟引领车的图像的示意图。如图6所示，当引领导航数据指示虚拟引领车右转时，前挡风玻璃上的虚拟引领车的车身图像纵向中线相对当前的本车行驶方向向右倾斜一定角度，且虚拟引领车的右转向灯图像周期性闪烁显示。
对于引领导航数据控制虚拟引领车左转或右转的方式还可以是，例如，引领导航数据指示虚拟引领车左转或右转时，仅是左转向灯图像或右转向灯图像周期性闪烁。又例如，引领导航数据指示虚拟引领车左转或右转时，仅是左转向灯图像或右转向灯图像的变换颜色。再例如，引领导航数据指示虚拟引领车左转或右转时，仅调整虚拟引领车的车身图像的纵向中线向左或右倾斜。本发明实施例对虚拟引领车的图像的显示方式不做具体的限定。
在本发明另一实施例中，虚拟引领车的图像还可以包括制动灯图像，在执行上文步骤S108的过程中，若根据引领导航数据指示虚拟引领车减速，则可以在车辆的前挡风玻璃上逐渐放大虚拟引领车的车身图像，并且持续显示制动灯图像，从而以更加直接地方式提示车辆驾驶员控制其驾驶的车辆进行减速。该实施例在持续显示制动灯图像的过程还可以控制制动灯图像的颜色变化，这样可以更容易地引起驾驶员注意。
结合上文实施例，在本车辆的车速增大时，可以推断出虚拟引领车距本车辆的特定距离增大，此时，也可以控制虚拟引领车的车身图像在车辆的前挡风玻璃上逐渐缩小。相应的，在本车辆的车速减小时，可以推断出虚拟引领车距车辆前的特定距离减小，此时，可以控制虚拟引领车的车身图像在辆的前挡风玻璃上逐渐放大。由此，通过控制前挡风玻璃上虚拟引领车的车身图像的放大和缩小，能够在一定程度上向驾驶员反馈出本车辆 与虚拟引领车的距离远近。
本发明实施例还提供了一种车辆导航方法，图2示出了根据本发明另一个实施例的车辆导航方法的结构示意图。参见图2，该方法至少包括步骤S202至步骤S210。
步骤S202，获取车辆的本车地理位置数据和目标地理位置数据。
步骤S204，基于电子地图数据、本车地理位置数据和目标地理位置数据，确定虚拟引领车的引领地理位置数据，其中虚拟引领车位于车辆前的特定距离处。
步骤S206，基于电子地图数据、引领地理位置数据和目标地理位置数据，生成虚拟引领车的引领导航数据。
步骤S208，采集路况信息。
在该步骤中，采集的路况信息可以包括车辆前方有障碍物、车辆前方拥堵、车辆前方有事故、车辆前方路口有红灯等信息。采集的路况信息可以用于在后续指示虚拟引领车的行驶状态。例如，根据车辆前方有障碍物、车辆前方拥堵、车辆前方有事故、车辆前方路口有红灯等路况信息可以指示虚拟引领车刹车制动。
另外，采集路况信息的过程可以通过车辆上预先安装于车辆前端的摄像头(如前视摄像头、环视摄像头等)、传感器(如CMOS图像传感器、CCD图像传感器等)等来实现，这样可以使采集路况信息的过程更为便捷。
步骤S210，在车辆的前挡风玻璃上显示虚拟引领车的图像，并基于引领导航数据和路况信息控制虚拟引领车的图像在前挡风玻璃上的显示。
在该步骤中，虚拟引领车的图像中包括虚拟引领车的车身图像和制动灯图像。例如，采集到车辆前方有障碍物、车辆前方拥堵、车辆前方有事故、车辆前方路口有红灯等路况信息时，可以根据路况信息指示虚拟引领车刹车制动，进而使虚拟引领车停在前方道路的相应位置。相应的，在前挡风玻璃上逐渐放大虚拟引领车的车身图像，并且持续显示制动灯图像。持续显示制动灯图像的过程还可以控制制动灯图像的颜色变化，以更容易引起驾驶员注意。
又例如，采集到的路况信息为车辆前方路口有绿灯，可以根据采集到的路况信息指示虚拟引领车直接通过前方路口，虚拟引领车的车身图像在前挡风玻璃上的大小不变。再例如，采集到的路况信息为车辆前方畅通无 阻，可以根据采集到的路况信息指示虚拟引领车加速通过前方路口，相应的，在车辆的前挡风玻璃上逐渐缩小虚拟引领车的车身图像。
由此，本发明实施例通过在本车辆上安装的摄像头或其他图像采集设备来采集本车辆行驶的实际路况信息，从而可以结合实际路况信息来控制虚拟引领车的“行驶”。对于本车辆驾驶员无法看到而摄像头或其他图像采集设备可以采集到的路况信息，驾驶员可以通过车辆前挡风玻璃上的虚拟引领车的图像清楚地了解到，进而做出相应的行车判断。
关于步骤S202至步骤S206的具体介绍可以参见上文实施例，此处不再赘述。
基于同一发明构思，本发明实施例还提供了一种车辆导航系统，图3示出了根据本发明一个实施例的车辆导航系统的框架示意图。参见图3，车辆导航系统300包括车辆定位模块310、用户数据采集模块320、引领数据生成模块330、引领导航模块340和显示控制模块350。需要说明的是，图3中仅示意性地示出了在一个实施例中，车辆定位模块310、用户数据采集模块320、引领数据生成模块330、引领导航模块340和显示控制模块350之间的一种连接关系。在实际应用中，上述任意两个模块之间均可以相互耦合。
现结合图3介绍本发明一个实施例的车辆导航系统300的各组成或器件的功能：
车辆定位模块310，用于对车辆进行定位并生成车辆的本车地理位置数据；
用户数据采集模块320，用于采集用户输入的导航目的地并生成目的地的目标地理位置数据；
引领数据生成模块330，用于基于电子地图数据、本车地理位置数据和目标地理位置数据，确定虚拟引领车的引领地理位置数据，其中虚拟引领车位于车辆前的特定距离处；
引领导航模块340，用于基于电子地图数据、引领地理位置数据和目标地理位置数据，生成虚拟引领车的引领导航数据；
显示控制模块350，用于在车辆的前挡风玻璃上显示虚拟引领车的图像，并基于引领导航数据控制虚拟引领车的图像在前挡风玻璃上的显示。
在本发明一实施例中，显示控制模块350可以通过投影将虚拟引领车的图像显示在车辆的前挡风玻璃上。
在本发明一实施例中，引领数据生成模块330还用于，首先基于电子地图数据、本车地理位置数据和目标地理位置数据，确定车辆的行车路线，然后基于本车地理位置数据和行车路线，确定虚拟引领车在车辆的行车路线上的引领地理位置数据。
在本发明一实施例中，虚拟引领车的图像可以包括虚拟引领车的车身图像、左转向灯图像和右转向灯图像。显示控制模块350还用于，当根据引领导航数据指示虚拟引领车左转或右转时，调整车身图像纵向中线向左或右倾斜一定角度以显示车身图像左转或右转的姿态；和/或左转向灯图像或右转向灯图像周期性闪烁显示。
在本发明另一可选实施例中，虚拟引领车的图像还包括制动灯图像，显示控制模块350还用于当根据引领导航数据指示虚拟引领车减速时，逐渐放大虚拟引领车的车身图像，且持续显示制动灯图像。
本发明实施例还提供了另一种车辆导航系统，图4示出了根据本发明另一个实施例的车辆导航系统的框架示意图。参见图4，车辆导航系统300除了包括车辆定位模块310、用户数据采集模块320、引领数据生成模块330、引领导航模块340和显示控制模块350之外，还包括路况采集模块360。
路况采集模块360，与显示控制模块350耦合，路况采集模块360可以用于采集路况信息。相应的，显示控制模块350还用于基于路况采集模块360采集的路况信息控制虚拟引领车的图像在前挡风玻璃上的显示。
在该实施例中，路况信息可以包括车辆前方有障碍物，车辆前方拥堵，车辆前方有事故，车辆前方路口有红灯等信息。
在本发明一实施例中，显示控制模块350还用于，当根据路况信息指示虚拟引领车刹车制动时，逐渐放大虚拟引领车的车身图像，且持续显示制动灯图像。
本发明实施例中的路况采集模块360可以是摄像头，如前视摄像头、环视摄像头等。当然，路况采集模块360还可以是其他类型的图像采集设备，例如，传感器(如CMOS图像传感器、CCD图像传感器等)，本发明实施例对此不做具体的限定。
本领域技术人员可以理解，本发明的实施例中提供的车辆导航系统300可以是一种引领式车辆导航系统300。
基于同一发明构思，本发明实施例还提供了一种车辆导航系统。该车 辆导航系统包括存储器、与存储器通讯的处理器。存储器用于存储一组指令。当该组指令被执行时，处理器可以用于执行以下步骤：获取车辆的本车地理位置数据和目标地理位置数据；基于电子地图数据、本车地理位置数据和目标地理位置数据，确定虚拟引领车的引领地理位置数据，其中虚拟引领车位于车辆前的特定距离处；基于电子地图数据、引领地理位置数据和目标地理位置数据，生成虚拟引领车的引领导航数据；在车辆的前挡风玻璃上显示虚拟引领车的图像，并基于引领导航数据控制虚拟引领车的图像在前挡风玻璃上的显示。
在本发明的一实施例中，当该组指令被执行时，处理器还可以用于执行以下步骤：获取车辆的本车地理位置数据和目标地理位置数据；基于电子地图数据、本车地理位置数据和目标地理位置数据，确定虚拟引领车的引领地理位置数据，其中虚拟引领车位于车辆前的特定距离处；基于电子地图数据、引领地理位置数据和目标地理位置数据，生成虚拟引领车的引领导航数据；采集路况信息；在车辆的前挡风玻璃上显示虚拟引领车的图像，并基于引领导航数据和路况信息控制虚拟引领车的图像在前挡风玻璃上的显示。
上述步骤的各种实施方式如前文所述，此处不再重复。
基于同一发明构思，本发明实施例还提供了一种计算机可读存储介质，包括可执行指令，当由处理器执行该可执行指令时，处理器可以实现一种方法包括：获取车辆的本车地理位置数据和目标地理位置数据；基于电子地图数据、本车地理位置数据和目标地理位置数据，确定虚拟引领车的引领地理位置数据，其中虚拟引领车位于车辆前的特定距离处；基于电子地图数据、引领地理位置数据和目标地理位置数据，生成虚拟引领车的引领导航数据；在车辆的前挡风玻璃上显示虚拟引领车的图像，并基于引领导航数据控制虚拟引领车的图像在前挡风玻璃上的显示。在本发明的一实施例中，当由处理器执行该可执行指令时，处理器还可以实现一种方法包括：获取车辆的本车地理位置数据和目标地理位置数据；基于电子地图数据、本车地理位置数据和目标地理位置数据，确定虚拟引领车的引领地理位置数据，其中虚拟引领车位于车辆前的特定距离处；基于电子地图数据、引领地理位置数据和目标地理位置数据，生成虚拟引领车的引领导航数据；采集路况信息；在车辆的前挡风玻璃上显示虚拟引领车的图像，并基于引领导航数据和路况信息控制虚拟引领车的图像在前挡风玻璃上的显示。
根据上述任意一个优选实施例或多个优选实施例的组合，本发明实施例能够达到如下有益效果：
在本发明实施例中，在基于电子地图数据、本车地理位置数据和目标地理位置数据确定出虚拟引领车的引领地理位置数据之后，还可以基于电子地图数据、引领地理位置数据和目标地理位置数据生成虚拟引领车的引领导航数据，通过在车辆的前挡风玻璃上显示虚拟引领车的图像，可以使车辆驾驶员无需再根据导航箭头或者听语音导航信息进行道路选择，而是直接跟着显示在车辆前挡风玻璃上的虚拟引领车的图像进行驾车行驶，不仅保证了有效地车辆行驶指引，而且还增强了引领车辆导航的真实感。另外，依据虚拟引领车的引领导航数据来控制虚拟引领车的图像在前挡风玻璃上的显示，驾驶员可以直观地了解到虚拟引领车的当前状态，并根据虚拟引领车的当前状态来及时调整本车行驶状态，提高了驾驶员的行车体验。进一步地，通过在车辆的前挡风玻璃上显示虚拟引领车的图像，还可以有效保证驾驶员的目光更大限度的注视车辆前方，从而保证驾驶员的行车安全。
所属领域的技术人员可以清楚地了解到，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，为简洁起见，在此不另赘述。
另外，在本发明各个实施例中的各功能单元可以物理上相互独立，也可以两个或两个以上功能单元集成在一起，还可以全部功能单元都集成在一个处理单元中。上述集成的功能单元既可以采用硬件的形式实现，也可以采用软件或者固件的形式实现。
本领域普通技术人员可以理解：集成的功能单元如果以软件的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，其包括若干指令，用以使得一台计算设备(例如个人计算机，服务器，或者网络设备等)在运行指令时执行本发明各实施例方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM)、随机存取存储器(RAM)，磁碟或者光盘等各种可以存储程序代码的介质。
或者，实现前述方法实施例的全部或部分步骤可以通过程序指令相关 的硬件(诸如个人计算机，服务器，或者网络设备等的计算设备)来完成，程序指令可以存储于一计算机可读取存储介质中，当程序指令被计算设备的处理器执行时，计算设备执行本发明各实施例方法的全部或部分步骤。
至此，本领域技术人员应认识到，虽然本文已详尽示出和描述了本发明的多个示例性实施例，但是，在不脱离本发明精神和范围的情况下，仍可根据本发明公开的内容直接确定或推导出符合本发明原理的许多其他变型或修改。因此，本发明的范围应被理解和认定为覆盖了所有这些其他变型或修改。

Claims (16)

  1. 一种车辆导航方法，包括：
    获取车辆的本车地理位置数据和目标地理位置数据；
    基于电子地图数据、所述本车地理位置数据和目标地理位置数据，确定虚拟引领车的引领地理位置数据，其中所述虚拟引领车位于所述车辆前的特定距离处；
    基于电子地图数据、所述引领地理位置数据和目标地理位置数据，生成所述虚拟引领车的引领导航数据；
    在车辆的前挡风玻璃上显示所述虚拟引领车的图像，并基于所述引领导航数据控制所述虚拟引领车的图像在所述前挡风玻璃上的显示。
  2. 根据权利要求1所述的导航方法，其中，所述基于电子地图数据、所述本车地理位置数据和目标地理位置数据，确定虚拟引领车的引领地理位置数据，包括：
    基于电子地图数据、所述本车地理位置数据和目标地理位置数据，确定所述车辆的行车路线；
    基于所述本车地理位置数据和所述行车路线，确定所述虚拟引领车在所述车辆的所述行车路线上的引领地理位置数据。
  3. 根据权利要求1或2所述的导航方法，其中，所述虚拟引领车的图像包括虚拟引领车的车身图像，左转向灯图像和右转向灯图像；以及，所述基于所述引领导航数据控制所述虚拟引领车的图像在所述前挡风玻璃上的显示包括：
    当根据所述引领导航数据指示所述虚拟引领车左转或右转时，调整车身图像纵向中线向左或右倾斜一定角度以显示所述车身图像左转或右转的姿态；和/或所述左转向灯图像或右转向灯图像周期性闪烁显示。
  4. 根据权利要求3所述的导航方法，其中，所述虚拟引领车的图像还包括制动灯图像；以及，所述基于所述引领导航数据控制所述虚拟引领车的图像在所述前挡风玻璃上的显示包括：
    当根据所述引领导航数据指示所述虚拟引领车减速时，逐渐放大所述 虚拟引领车的车身图像，且持续显示所述制动灯图像。
  5. 根据权利要求4所述的导航方法，还包括：
    采集路况信息；且
    基于所述路况信息控制所述虚拟引领车的图像在所述前挡风玻璃上的显示。
  6. 根据权利要求5所述的导航方法，其中，所述根据所述路况信息控制所述虚拟引领车的图像在所述前挡风玻璃上的显示，包括：
    当根据所述路况信息指示所述虚拟引领车刹车制动时，逐渐放大所述虚拟引领车的车身图像，且持续显示所述制动灯图像。
  7. 根据权利要求1或2所述的导航方法，其中，所述虚拟引领车位于所述车辆前的特定距离由所述车辆的当前车速和时间确定。
  8. 一种车辆导航系统，包括：
    车辆定位模块，用于对车辆进行定位并生成所述车辆的本车地理位置数据；
    用户数据采集模块，用于采集用户输入的导航目的地并生成所述目的地的目标地理位置数据；
    引领数据生成模块，用于基于电子地图数据、所述本车地理位置数据和目标地理位置数据，确定虚拟引领车的引领地理位置数据，其中所述虚拟引领车位于所述车辆前的特定距离处；
    引领导航模块，用于基于电子地图数据、所述引领地理位置数据和目标地理位置数据，生成所述虚拟引领车的引领导航数据；
    显示控制模块，用于在车辆的前挡风玻璃上显示所述虚拟引领车的图像，并基于所述引领导航数据控制所述虚拟引领车的图像在所述前挡风玻璃上的显示。
  9. 根据权利要求8所述的导航系统，其中，所述引领数据生成模块还用于
    基于电子地图数据、所述本车地理位置数据和目标地理位置数据，确 定所述车辆的行车路线；
    基于所述本车地理位置数据和所述行车路线，确定所述虚拟引领车在所述车辆的行车路线上的引领地理位置数据。
  10. 根据权利要求8或9所述的导航系统，其中，所述虚拟引领车的图像包括虚拟引领车的车身图像，左转向灯图像和右转向灯图像；以及，所述显示控制模块还用于
    当根据所述引领导航数据指示所述虚拟引领车左转或右转时，调整车身图像纵向中线向左或右倾斜一定角度以显示所述车身图像左转或右转的姿态；和/或所述左转向灯图像或右转向灯图像周期性闪烁显示。
  11. 根据权利要求10所述的导航系统，其中，所述虚拟引领车的图像还包括制动灯图像；以及，所述显示控制模块还用于
    当根据所述引领导航数据指示所述虚拟引领车减速时，逐渐放大所述虚拟引领车的车身图像，且持续显示所述制动灯图像。
  12. 根据权利要求11所述的导航系统，还包括：
    路况采集模块，用于采集路况信息；且
    所述显示控制模块还用于，基于所述路况信息控制所述虚拟引领车的图像在所述前挡风玻璃上的显示。
  13. 根据权利要求12所述的导航系统，其中，所述显示控制模块还用于
    当根据所述路况信息指示所述虚拟引领车刹车制动时，逐渐放大所述虚拟引领车的车身图像，且持续显示所述制动灯图像。
  14. 根据权利要求11所述的导航系统，其中
    所述路况采集模块包括摄像头。
  15. 一种车辆导航系统，包括存储器以及与所述存储器通讯的处理器；
    所述存储器用于存储一组指令；且
    当该组指令被执行时，所述处理器用于执行根据权利要求1-7中任一 项所述的车辆导航方法。
  16. 一种计算机可读存储介质，包括可执行指令，当由处理器执行所述可执行指令时，所述处理器实现根据权利要求1-7中任一项所述的车辆导航方法。
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