WO2022183674A1 - 导航提示方法和导航提示装置、存储介质以及电子设备 - Google Patents

导航提示方法和导航提示装置、存储介质以及电子设备 Download PDF

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Publication number
WO2022183674A1
WO2022183674A1 PCT/CN2021/109280 CN2021109280W WO2022183674A1 WO 2022183674 A1 WO2022183674 A1 WO 2022183674A1 CN 2021109280 W CN2021109280 W CN 2021109280W WO 2022183674 A1 WO2022183674 A1 WO 2022183674A1
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Prior art keywords
image
intersection
surrounding environment
camera
navigation
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PCT/CN2021/109280
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English (en)
French (fr)
Inventor
李昀
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博泰车联网科技(上海)股份有限公司
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Publication of WO2022183674A1 publication Critical patent/WO2022183674A1/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
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • 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
    • 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
    • G01C21/3605—Destination input or retrieval
    • G01C21/3623—Destination input or retrieval using a camera or code reader, e.g. for optical or magnetic codes
    • 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
    • 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
    • G01C21/3629—Guidance using speech or audio output, e.g. text-to-speech
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Definitions

  • the present invention relates to the field of navigation, in particular to a navigation prompt method, a navigation prompt device, a storage medium and an electronic device.
  • the navigation prompt information of the existing navigation system is not clear enough, resulting in poor driving experience of the driver.
  • An object of the present invention is to provide a navigation prompt method and a navigation prompt device, the advantages of which are that by identifying landmark objects in the surrounding environment image, and outputting navigation prompt information using the landmark objects as reference points, thereby improving user experience.
  • Another object of the present invention is to provide a navigation prompting method and a navigation prompting device, the advantages of which are that the landmark objects in the turning direction can be preferentially identified according to the turning direction of the vehicle at the intersection, so as to output the signs faster. Navigation hints with sexual objects as reference points.
  • Another object of the present invention is to provide a navigation prompting method and a navigation prompting device, the advantages of which are that the landmark object is recognized based on the image data in the street view map, so that it can still be used at night or in other situations of poor visibility.
  • the user outputs navigation prompt information with the landmark object as a reference point.
  • Another object of the present invention is to provide a navigation prompting method and a navigation prompting device, wherein the navigation prompting device includes a head-up display, which can display the navigation prompting information on the front windshield of the vehicle, so that the navigational prompting information can be displayed on the front windshield of the vehicle. can be obtained more intuitively and conveniently.
  • Another object of the present invention is to provide a navigation prompting method and a navigation prompting device, the advantages of which are that the navigation prompting information can be output according to the more identifying or more conspicuous points of interest or static reference objects in the actual street view, so as to improve the navigation prompting information real-time, accurate and user experience.
  • the present invention provides a navigation prompt method.
  • the method includes the steps of: acquiring the current position of the vehicle and the navigation route to determine the position of the next turning intersection in the navigation route; determining the travel distance between the current position and the next turning intersection; When the distance is less than the predetermined distance, acquire the surrounding environment image at the next turning intersection; identify the landmark object in the surrounding environment image; and output the navigation prompt information with the landmark object as a reference point.
  • the navigation prompt method can provide the driver with more accurate and reliable navigation prompt information in combination with the landmark objects at the next turning intersection, and solve the problem of poor driving experience of the driver.
  • the acquiring an image of the surrounding environment at the next turning intersection includes the step of: acquiring an image of the surrounding environment at the next turning intersection via a camera device.
  • the camera is a panoramic camera
  • the surrounding environment image is obtained based on the following steps: when the travel distance is less than a predetermined distance, obtain a panoramic image through the panoramic camera; obtain a turning direction of the next turning intersection; and based on the turning direction and the travel distance, intercepting an image in the turning direction at the next turning intersection from the panoramic image as the surrounding environment image.
  • the camera device includes a left camera and a right camera, and the surrounding environment image is acquired based on the following steps: acquiring the turning direction of the next turning intersection; and when the travel distance is less than In the case of a predetermined distance, according to the turning direction, the image on the left side of the next turning intersection is obtained via the left camera as the surrounding environment image and/or the image on the right side of the next turning intersection is obtained via the right camera. image as the surrounding environment image.
  • the camera is a driving recorder
  • the surrounding environment image is acquired based on the following steps: acquiring the turning direction of the next turning intersection; and when the travel distance is less than a predetermined distance
  • the image acquired by the driving recorder is divided into a left image and a right image, and according to the turning direction, the left image and/or the right image are acquired as the surrounding environment image.
  • the navigation prompt method of the embodiment of the present invention can preferentially identify landmark objects in the turning direction according to the turning direction of the vehicle at the intersection, so as to output navigation prompt information with the landmark object as a reference point more quickly.
  • the recognizing the landmark object in the surrounding environment image includes the step of: in the case that the landmark object in the surrounding environment image cannot be successfully recognized through the surrounding environment image, based on a street view
  • the image data in the map identifies the landmark object, so that navigation prompt information with the landmark object as a reference point can still be output to the user at night or in other situations of poor visibility.
  • the outputting the navigation prompt information with the landmark object as a reference point includes the step of: displaying the navigation prompt information at the front windshield of the vehicle, so that the navigation prompt information can be It is more intuitive and convenient to obtain.
  • the iconic object comprises a static reference.
  • the navigation prompt method of the embodiment of the present invention can output navigation prompt information according to more iconic or more conspicuous points of interest or static reference objects in the actual street view, so as to improve the real-time, accuracy and user experience of the navigation prompt information.
  • a navigation prompting device includes: a navigator, a camera, an output device, and a processor communicatively connected to the navigator, the camera, and the output device; wherein the navigator is configured to: acquire a vehicle the current position and the navigation route, to determine the position of the next turning intersection in the navigation route, and to determine the travel distance between the current position and the next turning intersection; the processor is configured to: in the travel In the case where the distance is less than a predetermined distance, causing the camera device to acquire an image of the surrounding environment at the next turning intersection, and to identify landmark objects in the surrounding environment image; and the output device is configured to: receive information from the The processor identifies the information of the landmark object, and outputs navigation prompt information with the landmark object as a reference point.
  • the navigation prompt device according to the embodiment of the present invention can provide the driver with more accurate and reliable navigation prompt information in combination with the landmark objects at the next turning intersection, and solve the problem of poor driving experience of the driver.
  • the camera is a panoramic camera, and the panoramic camera is configured to acquire a panoramic image and send it to the processor; the processor is further configured to acquire the next image The turning direction of the turning intersection; and based on the turning direction of the next turning intersection and the travel distance, intercepting an image in the turning direction at the next turning intersection from the panoramic image as the surrounding environment image.
  • the camera device includes a left camera and a right camera
  • the processor is further configured to: obtain the turning direction of the next turning intersection; and according to the turning direction of the next turning intersection , obtaining an image on the left side of the next turning intersection via the left camera as the surrounding environment image and/or obtaining an image on the right side of the next turning intersection via the right camera as the surrounding environment image.
  • the camera is a driving recorder
  • the processor is further configured to: acquire the turning direction of the next turning intersection; and segment the image acquired by the driving recorder into left and right A side image and a right image are obtained, and the left image and/or the right image are acquired as the surrounding environment image according to the turning direction of the next turning intersection.
  • the navigation prompting device of the embodiment of the present invention can preferentially identify landmark objects in the turning direction according to the turning direction of the vehicle at the intersection, so as to output navigation prompt information with the landmark object as a reference point more quickly.
  • the processor is further configured to: in the event that the landmark object in the surrounding environment image cannot be successfully identified through the surrounding environment image, identify the object based on the image data in the street view map.
  • the landmark object is selected, so that the navigation prompt information with the landmark object as a reference point can still be output to the user at night or in other situations of poor visibility.
  • the output device includes a head-up display for displaying the navigation prompt information at the front windshield of the vehicle, so that the navigation prompt information can be acquired more intuitively and conveniently.
  • the iconic object comprises a static reference.
  • the navigation prompting device of the embodiment of the present invention can output navigation prompting information according to more identifying or conspicuous interest points or static reference objects in the actual street view, so as to improve the real-time, accuracy and user experience of the navigational prompting information.
  • the present invention provides a computer-readable storage medium on which computer instructions are stored, and when the computer instructions are executed, the steps of the navigation prompt method according to one aspect of the present invention are executed.
  • the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores computer instructions that can be executed on the processor, and when the processor executes the computer instructions The steps of the navigation prompt method according to an aspect of the present invention are performed.
  • FIG. 1 shows a schematic flowchart of a navigation prompt method according to an embodiment of the present invention
  • FIG. 2 shows a schematic diagram of the relationship between the travel distance and the angle at which the image is captured according to one embodiment of the present invention.
  • FIG. 3 shows a schematic diagram of an application scenario of a navigation prompt method according to an embodiment of the present invention.
  • embodiments of the present invention provide a navigation prompting method and a navigation prompting device, which identify landmark objects in the surrounding environment image by acquiring the surrounding environment image at the next turning intersection, and output the iconic object in the image of the surrounding environment. Navigation hints with objects as reference points to improve user experience.
  • FIG. 1 a schematic flowchart of a navigation prompt method according to an embodiment of the present invention is shown. Specifically, the method includes the steps:
  • the acquiring an image of the surrounding environment at the next turning intersection includes the step of: acquiring an image of the surrounding environment at the next turning intersection via a camera device.
  • a camera device For example, when the travel distance between the current position of the vehicle and the next turning intersection is less than a predetermined distance, the camera device is automatically turned on to obtain an image of the surrounding environment at the next turning intersection.
  • the predetermined distance can be determined in combination with the accuracy of the camera device. When a high-precision camera device is used, the predetermined distance can be set to be larger, and when a low-precision camera device is used, the predetermined distance can be set. smaller. In practice, those skilled in the art can make reasonable settings according to specific application scenarios. In some embodiments, the predetermined distance may be 30m-100m, such as 50m.
  • the predetermined distance may be a plurality of predetermined distances.
  • the predetermined distance includes a first predetermined distance and a second predetermined distance, the first predetermined distance is greater than the second predetermined distance, when the travel distance between the current position of the vehicle and the next turning intersection is less than the predetermined distance.
  • the predetermined distance includes a first predetermined distance and a second predetermined distance, the first predetermined distance is greater than the second predetermined distance, when the travel distance between the current position of the vehicle and the next turning intersection is less than the At the first predetermined distance, the image of the surrounding environment at the next turning intersection is acquired, and the third iconic object in the image of the surrounding environment is identified; the navigation prompt information using the third iconic object as a reference point is output; In the case where the third iconic object can be successfully identified and the travel distance between the current position of the vehicle and the next turning intersection is less than the second predetermined distance, image data in the street view map is acquired to identify the third landmark object, and then output the navigation prompt information with the third landmark object as a reference point.
  • existing image recognition techniques may be employed to identify landmark objects in the surrounding image. For example, using a computer to process, analyze and understand the image to identify the iconic object includes the steps: image acquisition ⁇ image preprocessing ⁇ feature extraction ⁇ image recognition.
  • the surrounding environment image on the left side of the next turning intersection may be obtained, or the surrounding environment image on the left side of the next turning intersection may be obtained first, and then the surrounding environment image on the left side of the next turning intersection may be obtained.
  • the left and right sides of the next turn are the left and right sides relative to the current direction of travel of the vehicle.
  • the camera is a panoramic camera
  • the surrounding environment image is acquired based on the following steps: when the travel distance is less than a predetermined distance, acquiring a panoramic image via the panoramic camera; acquiring the The turning direction of the next turning intersection; and based on the turning direction and the travel distance, intercepting an image in the turning direction at the next turning intersection from the panoramic image as the surrounding environment image.
  • the panoramic camera is a 720° panoramic lens, which is assembled by two front and rear large wide-angle fisheye lenses, and can be installed on the top of the vehicle.
  • the number of images acquired by the panoramic camera is one, and the surrounding environment images on the left and right sides of the next turning intersection are intercepted according to the turning direction and the travel distance.
  • FIG. 2 a schematic diagram of the relationship between the travel distance and the angle at which the image is captured according to an embodiment of the present invention is shown.
  • O represents the center of the turning intersection
  • x represents the distance from the center of the turning intersection to the side of the road, that is, half of the road width the vehicle is currently traveling on
  • y represents the travel distance between the current position of the vehicle and the next turning intersection
  • x The magnitudes of and y can be obtained, for example, from map data stored in the vehicle's navigator.
  • the image obtained by the panoramic camera is an image of a turning intersection perpendicular to the current driving direction of the vehicle, it can be determined according to the width of the road where the current position of the vehicle is located and the travel distance between the current position of the vehicle and the next turning intersection
  • the angular range of the surrounding environment image on the right side of the next turning intersection is intercepted from the image, and the angle ⁇ between the intercepted surrounding environment image and the center O is calculated according to the following formula:
  • the surrounding environment image on the left side is preferentially intercepted for identification; if no landmark object is identified on the left side of the next turning intersection, the surrounding environment image on the right side is intercepted for identification.
  • the surrounding environment image on the left and the surrounding environment image on the right can also be captured at the same time, and the iconic object on the left and the iconic object on the right can be identified, and then a more iconic or eye-catching object can be selected.
  • One of them is used as a reference point for navigation prompt information, such as selecting a landmark object with a higher height or a larger volume.
  • the camera device includes a left camera and a right camera
  • the surrounding environment image is acquired based on the steps of: acquiring the turning direction of the next turning intersection; and when the travel distance is less than a predetermined distance
  • the image on the left side of the next turning intersection is obtained via the left camera as the surrounding environment image and/or the image on the right side of the next turning intersection is obtained via the right camera as the image of the surrounding environment. the surrounding environment image.
  • the turning direction of the next turning intersection is to the left
  • the surrounding environment image on the left and the surrounding environment image on the right can also be acquired at the same time, and the iconic object on the left and the iconic object on the right can be identified, and then a more iconic or eye-catching object can be selected.
  • One of them is used as a reference point for navigation prompt information, such as selecting a landmark object with a higher height or a larger volume.
  • the camera is a driving recorder
  • the surrounding environment image is acquired based on the following steps: acquiring the turning direction of the next turning intersection; and in the case that the travel distance is less than a predetermined distance,
  • the image obtained by the driving recorder is divided into a left image and a right image, and according to the turning direction, the left image and/or the right image is obtained as the surrounding environment image.
  • the recognizing the landmark object in the surrounding environment image includes the step of: in the case where the landmark object in the surrounding environment image cannot be successfully identified through the surrounding environment image, based on the street view map
  • the image data of the device identifies the iconic object, which solves the problem that the image cannot be identified at night or in other situations of poor visibility.
  • the point of interest at the next turning intersection may be obtained from the network and/or the server as the landmark object.
  • the identification of landmark objects through images may be combined with the identification of landmark objects based on image data in a street view map.
  • the first recognition result is obtained by recognizing the iconic object through the image
  • the second recognition result is obtained by recognizing the iconic object based on the image data in the street view map
  • the first recognition result and the second recognition result are selected from the first recognition result and the second recognition result. The better or faster result is used as a reference point to output the navigation prompt information.
  • the first recognition result is selected as a reference point to output the navigation prompt
  • the navigation prompt information is output using the second identification result as a reference point.
  • the outputting the navigation prompt information with the landmark object as a reference point includes the step of displaying the navigation prompt information at the front windshield of the vehicle.
  • the navigation prompt information may also be provided to the driver by means of voice, text, image, or the like.
  • the landmark object includes a static reference.
  • the static reference objects may include points of interest.
  • the so-called points of interest usually refer to addresses that are frequently used or are relatively important in a certain area, such as shopping malls, restaurants, banks, hospitals, schools, etc., which can be identified on the map image. , and can be queried by the driver through the navigation device.
  • points of interest usually refer to addresses that are frequently used or are relatively important in a certain area, such as shopping malls, restaurants, banks, hospitals, schools, etc., which can be identified on the map image. , and can be queried by the driver through the navigation device.
  • static reference objects such as trees, sculptures, billboards, etc., can be identified by image recognition methods.
  • These static reference objects are used in the navigation system. is not shown on the map.
  • the distance between the static reference object and the next turning intersection is within a predetermined range.
  • the predetermined range is 0 to 10 m.
  • the current location of the vehicle is "Xingye Taikoo Hui A”
  • the destination location is "Shanghai International Trade iapm Mall B”.
  • the driving route from Xingye Taikoo Hui A to Shanghai International Trade iapm Mall B includes multiple Driving sections and turning intersections.
  • the driving section from Xingye Taikoo Hui to Shanghai Huanmao iapm shopping mall includes Shimen 1st Road, Nanjing West Road and Shaanxi South Road.
  • the current position of the vehicle is Xingye Taikoo Hui A
  • the next turning intersection is the intersection of West Nanjing Road and Shimen 1st Road
  • the travel distance from the current position of the vehicle to the next turning intersection is 210m.
  • the surrounding environment image at the next turning intersection is acquired by, for example, a camera device installed on the vehicle, and landmark objects in the surrounding environment image are identified, Output navigation prompt information with the landmark object as a reference point.
  • the turning direction of the next turning intersection is to the left, and you can only obtain the image on the left side of the current driving direction of the vehicle at the next turning intersection. Turn left".
  • the images on the left and right sides of the vehicle in the current driving direction of the vehicle at the next turning intersection can be acquired simultaneously.
  • the iconic object on the left and the iconic object on the right can be identified respectively, and then the The objects with higher height or larger volume are used as reference points to output navigation prompt information.
  • the vehicle continues to drive, and the next turning intersection is the intersection of South Shaanxi Road and West Nanjing Road.
  • the surrounding environment image of the intersection of South Shaanxi Road and West Nanjing Road can be obtained.
  • the images on the left and right sides of the vehicle in the current driving direction of the vehicle at the next turning intersection can be acquired simultaneously.
  • the iconic object on the left and the iconic object on the right can be identified respectively, and then the The objects with higher height or larger volume are used as reference points to output navigation prompt information.
  • An embodiment of the present invention further provides a navigation prompting device, comprising: a navigator, a camera device, an output device, and a processor communicatively connected to the navigator, the camera device, and the output device.
  • the navigator is configured to: obtain the current position of the vehicle and the navigation route, to determine the position of the next turning intersection in the navigation route, and to determine the travel distance between the current position and the next turning intersection.
  • the processor is configured to: when the travel distance is less than a predetermined distance, cause the camera device to acquire an image of the surrounding environment at the next turning intersection, and identify landmark objects in the image of the surrounding environment.
  • the output device is configured to: receive information from the landmark object identified by the processor, and output navigation prompt information using the landmark object as a reference point.
  • the camera is a panoramic camera, and the panoramic camera is configured to acquire a panoramic image and send it to the processor; the processor is further configured to: acquire the next turning intersection and based on the turning direction of the next turning intersection and the travel distance, intercepting an image in the turning direction at the next turning intersection from the panoramic image as the surrounding environment image.
  • the camera device includes a left camera and a right camera
  • the processor is further configured to: obtain a turning direction of the next turning intersection; and, according to the turning direction of the next turning intersection, via The left camera obtains an image on the left side of the next turning intersection as the surrounding environment image and/or obtains an image on the right side of the next turning intersection via the right camera as the surrounding environment image.
  • the camera is a driving recorder
  • the processor is further configured to: acquire the turning direction of the next turning intersection; and segment the image acquired by the driving recorder into left images and the right image, and according to the turning direction of the next turning intersection, obtain the left image and/or the right image as the surrounding environment image.
  • the processor is further configured to identify the landmark based on image data in the street view map in the event that the landmark object in the ambient image cannot be successfully identified from the ambient image sexual object. For example, the point of interest at the next turning intersection may be obtained from the network and/or the server as the landmark object.
  • the output device includes a head-up display for displaying the navigation prompt information on a front windshield of the vehicle.
  • the output device may further include a player, which provides the driver with the navigation prompt information in the form of voice broadcast.
  • the landmark object may be a static reference.
  • the static reference objects may include points of interest.
  • the so-called points of interest usually refer to addresses that are frequently used or are relatively important in a certain area, such as shopping malls, restaurants, banks, hospitals, schools, etc., which can be identified on the map image. , and can be queried by the driver through the navigation device.
  • points of interest usually refer to addresses that are frequently used or are relatively important in a certain area, such as shopping malls, restaurants, banks, hospitals, schools, etc., which can be identified on the map image. , and can be queried by the driver through the navigation device.
  • static reference objects such as trees, sculptures, billboards, etc., can be identified by image recognition methods.
  • These static reference objects are used in the navigation system. is not shown on the map.
  • the distance between the static reference object and the next turning intersection is within a predetermined range.
  • the computational workload of the processor can be reduced, and the recognition efficiency of the iconic object can be improved.
  • the navigation prompting device is used to execute the navigation prompting method according to the embodiment of the present invention, which can be implemented in software or hardware, and the navigation prompting device can be integrated into a mobile terminal, such as a mobile phone, Mobile terminals such as smart watches, tablet PCs or vehicle-mounted terminals.
  • the mobile terminal includes a processor and a memory, and the processor controls the navigation prompting device to execute the navigation prompting method.
  • the navigation prompting method and device of the embodiments of the present invention can provide the driver with more accurate and reliable navigation prompting information, and solve the problem of poor driving experience of the driver.
  • Embodiments of the present invention further provide a computer-readable storage medium, on which computer instructions are stored, the computer instructions execute the steps of the navigation prompting method according to any of the foregoing embodiments of the present invention when the computer instructions are executed.
  • An embodiment of the present invention also provides an electronic device, including a memory and a processor, where the memory stores computer instructions that can be executed on the processor, and when the processor executes the computer instructions, executes the computer instructions according to the present invention The steps of the navigation prompt method described in any of the preceding embodiments.
  • the present disclosure may be a method, an apparatus, a system and/or a computer program product.
  • the computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for carrying out various aspects of the present disclosure.
  • a computer-readable storage medium may be a tangible device that can hold and store instructions for use by the instruction execution device.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.
  • Non-exhaustive list of computer readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) or flash memory), static random access memory (SRAM), portable compact disk read only memory (CD-ROM), digital versatile disk (DVD), memory sticks, floppy disks, mechanically coded devices, such as printers with instructions stored thereon Hole cards or raised structures in grooves, and any suitable combination of the above.
  • RAM random access memory
  • ROM read only memory
  • EPROM erasable programmable read only memory
  • flash memory static random access memory
  • SRAM static random access memory
  • CD-ROM compact disk read only memory
  • DVD digital versatile disk
  • memory sticks floppy disks
  • mechanically coded devices such as printers with instructions stored thereon Hole cards or raised structures in grooves, and any suitable combination of the above.
  • Computer-readable storage media are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (eg, light pulses through fiber optic cables), or through electrical wires transmitted electrical signals.
  • the computer readable program instructions described herein may be downloaded to various computing/processing devices from a computer readable storage medium, or to an external computer or external storage device over a network such as the Internet, a local area network, a wide area network, and/or a wireless network.
  • the network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers.
  • a network adapter card or network interface in each computing/processing device receives computer-readable program instructions from a network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .
  • Computer program instructions for carrying out operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or instructions in one or more programming languages.
  • Source or object code written in any combination, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as the "C" language or similar programming languages.
  • the computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement.
  • the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through the Internet connect).
  • LAN local area network
  • WAN wide area network
  • custom electronic circuits such as programmable logic circuits, field programmable gate arrays (FPGAs), or programmable logic arrays (PLAs) can be personalized by utilizing state information of computer readable program instructions.
  • Computer readable program instructions are executed to implement various aspects of the present disclosure.
  • These computer readable program instructions may be provided to a processing unit of a general purpose computer, special purpose computer or other programmable data processing apparatus to produce a machine that causes the instructions when executed by the processing unit of the computer or other programmable data processing apparatus , resulting in means for implementing the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.
  • These computer readable program instructions can also be stored in a computer readable storage medium, these instructions cause a computer, programmable data processing apparatus and/or other equipment to operate in a specific manner, so that the computer readable medium on which the instructions are stored includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.
  • Computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other equipment to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , thereby causing instructions executing on a computer, other programmable data processing apparatus, or other device to implement the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more functions for implementing the specified logical function(s) executable instructions.
  • the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.

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Abstract

一种导航提示方法和导航提示装置、存储介质以及电子设备。该导航提示方法包括以下步骤：获取车辆的当前位置和导航路线，以确定导航路线中下一个转弯路口的位置（S10）；确定当前位置与下一个转弯路口之间的行程距离（S12）；在行程距离小于预定距离的情况下，获取下一个转弯路口处的周围环境图像（S14）；识别周围环境图像中的标志性物体（S16）；以及输出以标志性物体为参考点的导航提示信息（S18）。导航提示装置包括：导航仪、摄像装置、处理器以及输出装置，以用于输出以标志性物体为参考点的导航提示信息。该导航提示方法和导航提示装置能够向驾驶者提供更加准确、可靠的导航提示信息，解决了驾驶者行车体验较差的问题。

Description

导航提示方法和导航提示装置、存储介质以及电子设备 技术领域
本发明涉及导航领域，特别涉及一种导航提示方法和导航提示装置、存储介质以及电子设备。
背景技术
现有的导航系统，大多数以固定的导引名称来提示使用者，例如“前方400米请右转”或“前方路口请右转”，对驾驶者而言，所谓“前方400米”或“前方路口”是一些不容易判断的信息，尤其是前方有车辆的情况下，驾驶者不容易确定“前方路口”所指的是哪一个路口，此现象容易让驾驶者错过应转弯的路口而必须重新规划导航路线，使得导航系统的效能大打折扣。
因此，现有的导航系统的导航提示信息不够明确，从而导致驾驶者的行车体验较差。
发明内容
本发明的一个目的在于提供一种导航提示方法和导航提示装置，其优势在于通过识别所述周围环境图像中的标志性物体，输出以所述标志性物体为参考点的导航提示信息，从而改善用户体验。
本发明的另一个目的在于提供一种导航提示方法和导航提示装置，其优势在于能够根据车辆在路口的转弯方向优先识别所述转弯方向上的标志性物体，从而更快地输出以所述标志性物体为参考点的导航提示信息。
本发明的另一个目的在于提供一种导航提示方法和导航提示装置，其优势在于基于街景地图中的图像数据识别所述标志性物体，从而在夜晚或者其它可视度差的情况下依然能够为用户输出以所述标志性物体为参考点的导航提示信息。
本发明的另一个目的在于提供一种导航提示方法和导航提示装置，其 中所述导航提示装置包括抬头显示器，能够将导航提示信息在车辆的前挡风玻璃处显示，以使所述导航提示信息能够被更为直观、便捷地获取。
本发明的另一个目的在于提供一种导航提示方法和导航提示装置，其优势在于能够根据实际街景中更具标识性或更醒目的兴趣点或静态参照物输出导航提示信息，以提高导航提示信息的实时性、准确性以及用户体验性。
根据本发明的一个方面，本发明提供一种导航提示方法。所述方法包括步骤：获取车辆的当前位置和导航路线，以确定所述导航路线中下一个转弯路口的位置；确定所述当前位置与下一个转弯路口之间的行程距离；在所述行程距离小于预定距离的情况下，获取下一个转弯路口处的周围环境图像；识别所述周围环境图像中的标志性物体；以及输出以所述标志性物体为参考点的导航提示信息。根据本发明的实施例的导航提示方法能够结合下一个转弯路口处的标志性物体，向驾驶者提供更加准确、可靠的导航提示信息，解决了驾驶者行车体验较差的问题。
根据本发明的一个实施例，所述获取下一个转弯路口处的周围环境图像包括步骤：经由摄像装置获取下一个转弯路口处的周围环境图像。
根据本发明的一个实施例，所述摄像装置为全景摄像头，所述周围环境图像基于以下步骤而获取：在所述行程距离小于预定距离的情况下，经由所述全景摄像头获取一全景图像；获取所述下一个转弯路口的转弯方向；以及基于所述转弯方向和所述行程距离，在所述全景图像中截取下一个转弯路口处所述转弯方向上的图像作为所述周围环境图像。
根据本发明的一个实施例，所述摄像装置包括左侧摄像头和右侧摄像头，所述周围环境图像基于以下步骤而获取：获取所述下一个转弯路口的转弯方向；以及在所述行程距离小于预定距离的情况下，根据所述转弯方向，经由所述左侧摄像头获取下一个转弯路口左侧的图像作为所述周围环境图像和/或经由所述右侧摄像头获取下一个转弯路口右侧的图像作为所述周围环境图像。
根据本发明的一个实施例，所述摄像装置为行车记录仪，所述周围环 境图像基于以下步骤而获取：获取所述下一个转弯路口的转弯方向；以及在所述行程距离小于预定距离的情况下，将所述行车记录仪获取的图像分割成左侧图像和右侧图像，并根据所述转弯方向，获取所述左侧图像和/或所述右侧图像作为所述周围环境图像。
本发明的实施例的导航提示方法能够根据车辆在路口的转弯方向优先识别所述转弯方向上的标志性物体，从而更快地输出以所述标志性物体为参考点的导航提示信息。
根据本发明的一个实施例，所述识别所述周围环境图像中的标志性物体包括步骤：在通过所述周围环境图像不能成功识别所述周围环境图像中的标志性物体的情况下，基于街景地图中的图像数据识别所述标志性物体，从而在夜晚或者其它可视度差的情况下依然能够为用户输出以所述标志性物体为参考点的导航提示信息。
根据本发明的一个实施例，所述输出以所述标志性物体为参考点的导航提示信息包括步骤：在车辆的前挡风玻璃处显示所述导航提示信息，以使所述导航提示信息能够被更为直观、便捷地获取。
根据本发明的一个实施例，所述标志性物体包括静态参照物。本发明的实施例的导航提示方法能够根据实际街景中更具标志性或更醒目的兴趣点或静态参照物输出导航提示信息，以提高导航提示信息的实时性、准确性以及用户体验性。
根据本发明的另一个方面，提供一种导航提示装置。所述导航提示装置包括：导航仪、摄像装置、输出装置以及通信地连接于所述导航仪、所述摄像装置和所述输出装置的处理器；其中，所述导航仪被配置为：获取车辆的当前位置和导航路线，以确定所述导航路线中下一个转弯路口的位置，并确定所述当前位置与下一个转弯路口之间的行程距离；所述处理器被配置为：在所述行程距离小于预定距离的情况下，使所述摄像装置获取下一个转弯路口处的周围环境图像，并识别所述周围环境图像中的标志性物体；以及所述输出装置被配置为：接收来自所述处理器识别的所述标志性物体的信息，并输出以所述标志性物体为参考点的导航提示信息。根据本发明 的实施例的导航提示装置能够结合下一个转弯路口处的标志性物体，向驾驶者提供更加准确、可靠的导航提示信息，解决了驾驶者行车体验较差的问题。
根据本发明的一个实施例，所述摄像装置为全景摄像头，所述全景摄像头被配置为获取一全景图像，并发送至所述处理器；所述处理器进一步被配置为：获取所述下一个转弯路口的转弯方向；以及基于下一个转弯路口的转弯方向和所述行程距离，在所述全景图像中截取下一个转弯路口处所述转弯方向上的图像作为所述周围环境图像。
根据本发明的一个实施例，所述摄像装置包括左侧摄像头和右侧摄像头，所述处理器被进一步配置为：获取所述下一个转弯路口的转弯方向；以及根据下一个转弯路口的转弯方向，经由所述左侧摄像头获取下一个转弯路口左侧的图像作为所述周围环境图像和/或经由所述右侧摄像头获取下一个转弯路口右侧的图像作为所述周围环境图像。
根据本发明的一个实施例，所述摄像装置为行车记录仪，所述处理器被进一步配置为：获取所述下一个转弯路口的转弯方向；以及将所述行车记录仪获取的图像分割成左侧图像和右侧图像，并根据下一个转弯路口的转弯方向，获取所述左侧图像和/或所述右侧图像作为所述周围环境图像。
本发明的实施例的导航提示装置能够根据车辆在路口的转弯方向优先识别所述转弯方向上的标志性物体，从而更快地输出以所述标志性物体为参考点的导航提示信息。
根据本发明的一个实施例，所述处理器进一步被配置为：在通过所述周围环境图像不能成功识别所述周围环境图像中的标志性物体的情况下，基于街景地图中的图像数据识别所述标志性物体，从而在夜晚或者其它可视度差的情况下依然能够为用户输出以所述标志性物体为参考点的导航提示信息。
根据本发明的一个实施例，所述输出装置包括抬头显示器，用于在车辆的前挡风玻璃处显示所述导航提示信息，以使所述导航提示信息能够被更为直观、便捷地获取。
根据本发明的一个实施例，所述标志性物体包括静态参照物。本发明的实施例的导航提示装置能够根据实际街景中更具标识性或更醒目的兴趣点或静态参照物输出导航提示信息，以提高导航提示信息的实时性、准确性以及用户体验性。
根据本发明的另一个方面，本发明提供一种计算机可读存储介质，其上存储有计算机指令，所述计算机指令运行时执行根据本发明的一个方面所述的导航提示方法的步骤。
根据本发明的又一个方面，本发明提供一种电子设备，包括存储器和处理器，所述存储器上存储有能够在所述处理器上运行的计算机指令，所述处理器运行所述计算机指令时执行根据本发明的一个方面所述的导航提示方法的步骤。
附图说明
本发明的其它特征以及优点将通过以下结合附图详细描述的可选实施方式更好地理解，附图中相同的标记表示相同或相似的部件，其中：
图1示出了根据本发明的一个实施例的导航提示方法的流程示意图；
图2示出了根据本发明的一个实施例的行程距离和截取图像的角度的关系的示意图；以及
图3示出了根据本发明的一个实施例的导航提示方法的应用场景示意图。
具体实施方式
以下结合附图对本公开的示范性实施例做出说明，其中包括本公开实施例的各种细节以助于理解，应当将它们认为仅仅是示范性的。因此，本领域普通技术人员应当认识到，可以对这里描述的实施例做出各种改变和修改，而不会背离本公开的范围和精神。同样，为了清楚和简明，以下的描述中省略了对公知功能和结构的描述。
现有技术中，当前终端生成的导航提示信息的内容过于单调，并且导航提示信息的内容辨识度也很低。当用户在遇到关键位置点，尤其是十字 路口、三岔路口和环岛这类复杂路况时，用户会由于对导航提示信息的内容分析时间过长，容易造成驶过导航路线指示的地点，从而导致出现走错路、绕远路的现象。为此，本发明的实施例提供一种导航提示方法和导航提示装置，其通过获取下一个转弯路口处的周围环境图像，识别所述周围环境图像中的标志性物体，输出以所述标志性物体为参考点的导航提示信息，从而改善用户体验。
如图1中所示，示出了根据本发明的一个实施例的导航提示方法的流程示意图。具体地，所述方法包括步骤：
S10、获取车辆的当前位置和导航路线，以确定所述导航路线中下一个转弯路口的位置，所述导航路线包括车辆的当前位置至目的地位置的行车路线。
S12、确定所述当前位置车辆与下一个转弯路口之间的行程距离；
S14、在所述行程距离小于预定距离的情况下，获取下一个转弯路口处的周围环境图像；
S16、识别所述周围环境图像中的标志性物体；以及
S18、输出以所述标志性物体为参考点的导航提示信息。
其中，所述获取下一个转弯路口处的周围环境图像包括步骤：经由摄像装置获取下一个转弯路口处的周围环境图像。例如，当车辆的当前位置与下一个转弯路口之间的行程距离小于预定距离时，自动开启所述摄像装置，获取下一个转弯路口处的周围环境图像。所述预定距离可以结合所述摄像装置的精度来确定，当采用高精度的摄像装置时，所述预定距离可以设置得大些，当采用低精度的摄像装置时，所述预定距离可以设置得小些。在实际中，本领域技术人员可以根据具体的应用场景来进行合理的设置。在一些实施例中，所述预定距离可以是30m～100m，例如50m。
在一些实施例中，所述预定距离可以为多个预定距离。示例性地，所述预定距离包括第一预定距离和第二预定距离，所述第一预定距离大于所述第二预定距离，当车辆的当前位置与下一个转弯路口之间的行程距离小于所述第一预定距离时，获取下一个转弯路口处的周围环境图像，识别所 述周围环境图像中的第一标志性物体；输出以所述第一标志性物体为参考点的导航提示信息；当车辆的当前位置与下一个转弯路口之间的行程距离小于所述第二预定距离时，再次获取下一个转弯路口处的周围环境图像，识别所述周围环境图像中的第二标志性物体，再输出以所述第二标志性物体为参考点的导航提示信息。进行两次图像识别的目的主要是考虑到第一次图像识别未成功或者第一次图像识别的结果有可能不准确。如果两次图像识别的结果不一致，以第二次图像识别的结果为准。
进一步地，所述预定距离包括第一预定距离和第二预定距离，所述第一预定距离大于所述第二预定距离，当车辆的当前位置与下一个转弯路口之间的行程距离小于所述第一预定距离时，获取下一个转弯路口处的周围环境图像，识别所述周围环境图像中的第三标志性物体；输出以所述第三标志性物体为参考点的导航提示信息；在未能成功识别所述第三标志性物体且车辆的当前位置与下一个转弯路口之间的行程距离小于所述第二预定距离的情况下，获取街景地图中的图像数据，以识别所述第三标志性物体，再输出以所述第三标志性物体为参考点的导航提示信息。
在一些实施例中，可以采用现有的图像识别技术来识别所述周围环境图像中的标志性物体。例如，利用计算机对图像进行处理、分析和理解，以识别所述标志性物体，包括步骤：图像采集→图像预处理→特征提取→图像识别。
在一些实施例中，根据下一个转弯路口的转弯方向，例如向左转弯，可以仅获取下一个转弯路口左侧的周围环境图像，或者先获取下一个转弯路口左侧的周围环境图像，再获取下一个转弯路口右侧的周围环境图像，或者同时获取下一个转弯路口左侧和右侧的周围环境图像。下一个转弯路口左侧和右侧是相对于车辆的当前行进方向而言的左侧和右侧。
在一些实施例中，所述摄像装置为全景摄像头，所述周围环境图像基于以下步骤而获取：在所述行程距离小于预定距离的情况下，经由所述全景摄像头获取一全景图像；获取所述下一个转弯路口的转弯方向；以及基于所述转弯方向和所述行程距离，在所述全景图像中截取下一个转弯路口 处所述转弯方向上的图像作为所述周围环境图像。
例如，所述全景摄像头为720°全景镜头，由前后两个大广角鱼眼镜头一体组装而成，可以安装在车辆的顶部。由所述全景摄像头获取的图像为1张，根据所述转弯方向和所述行程距离来截取下一个转弯路口左侧和右侧的周围环境图像。
如图2中所示，示出了根据本发明的一个实施例的行程距离和截取图像的角度的关系的示意图。
图2中O表示转弯路口的中心，x表示转弯路口的中心到路边的距离，即车辆当前行驶的道路宽度的一半，y表示车辆的当前位置与下一个转弯路口之间的行程距离，x和y的大小是可以获得的，例如通过车辆的导航仪中存储的地图数据来获得。当所述全景摄像头获取的图像为一张转弯路口垂直于车辆的当前行驶方向的图像时，可以根据车辆当前位置所在的道路的宽度以及车辆的当前位置与下一个转弯路口之间的行程距离确定在所述图像中截取下一个转弯路口右侧的周围环境图像的角度范围，截取的周围环境图像与中心O之间的角度α根据下列公式计算得到：
tanα＝x/y；
α＝arctan(x/y)。
在下一个转弯路口的转弯方向为向左的情况下，优先截取左侧的周围环境图像进行识别；如果下一个转弯路口左侧没有识别到标志性物体，再截取右侧的周围环境图像进行识别。在其他的实施例中，也可以同时截取左侧的周围环境图像和右侧的周围环境图像，并识别左侧的标志性物体和右侧的标志性物体，然后选择更具标志性或更醒目的一个，来作为导航提示信息的参考点，例如选择高度较高或者体积较大的标志性物体。
在一些实施例中，所述摄像装置包括左侧摄像头和右侧摄像头，所述周围环境图像基于以下步骤而获取：获取所述下一个转弯路口的转弯方向；以及在所述行程距离小于预定距离的情况下，根据所述转弯方向，经由所述左侧摄像头获取下一个转弯路口左侧的图像作为所述周围环境图像和/或经由所述右侧摄像头获取下一个转弯路口右侧的图像作为所述周围环境 图像。
在下一个转弯路口的转弯方向为向左的情况下，先经由所述左侧摄像头获取下一个转弯路口左侧的周围环境图像进行识别；如果下一个转弯路口左侧没有识别到标志性物体，再经由所述右侧摄像头获取下一个转弯路口右侧的周围环境图像进行识别。在其他的实施例中，也可以同时获取左侧的周围环境图像和右侧的周围环境图像，并识别左侧的标志性物体和右侧的标志性物体，然后选择更具标志性或更醒目的一个，来作为导航提示信息的参考点，例如选择高度较高或者体积较大的标志性物体。
在一些实施例中，所述摄像装置为行车记录仪，所述周围环境图像基于以下步骤而获取：获取所述下一个转弯路口的转弯方向；以及在所述行程距离小于预定距离的情况下，将所述行车记录仪获取的图像分割成左侧图像和右侧图像，并根据所述转弯方向，获取所述左侧图像和/或所述右侧图像作为所述周围环境图像。
在一些实施例中，所述识别所述周围环境图像中的标志性物体包括步骤：在通过所述周围环境图像不能成功识别所述周围环境图像中的标志性物体的情况下，基于街景地图中的图像数据识别所述标志性物体，解决了在夜晚或者其它可视度差的情况下不能识别图像的问题。例如，可以从网络和/或服务器中获取下一个转弯路口处的兴趣点来作为所述标志性物体。
在其他的实施例中，可以将通过图像识别标志性物体和基于街景地图中的图像数据识别标志性物体相结合。具体地，通过图像识别标志性物体得到第一识别结果，同时基于街景地图中的图像数据识别标志性物体得到第二识别结果，然后从所述第一识别结果和所述第二识别结果中选择更优或更快结果作为参考点来输出所述导航提示信息。例如，所述第一识别结果中的标志性物体比所述第二识别结果中的标志性物体体积更大或高度更高，则选择所述第一识别结果作为参考点来输出所述导航提示信息；又例如，最先得到所述第二识别结果，则将所述第二识别结果作为参考点来输出所述导航提示信息。
在一些实施例中，所述输出以所述标志性物体为参考点的导航提示信 息包括步骤：在车辆的前挡风玻璃处显示所述导航提示信息。在其他的实施例中，所述导航提示信息还可以通过语音、文字、图像等方式向驾驶者提供。
在一些实施例中，所述标志性物体包括静态参照物。所述静态参照物可以包括兴趣点，所谓兴趣点通常是指使用频率较高或者一定地域内比较重要的地址，如商场、餐馆、银行、医院、学校等，它们能够在地图图像上被标识出来，且可由驾驶者通过导航设备查询。但是，在有些路口可能没有兴趣点，这会导致无法提示信息，而用图像识别的方法可以识别出其他的静态参照物，比如大树、雕塑、广告牌等等，这些静态参照物在导航系统的地图上是没有显示的。
进一步地，所述静态参照物与所述下一个转弯路口的距离在预定范围以内。例如，所述预定范围为0～10m。通过将所述标志性物体限定在预定范围以内，一方面能够更有利于用户识别到所标志性物体，从而能够在相应的转弯路口及时地进行转弯；另一方面，可以减少处理器的运算工作量，提高所述标志性物体的识别效率。
在一个具体应用场景中，车辆的当前位置为“兴业太古汇A”，目的地位置为“上海环贸iapm商场B”，从兴业太古汇A到上海环贸iapm商场B的行车路线包括多个行车路段和转弯路口。具体地，从兴业太古汇到上海环贸iapm商场的行车路段包括石门一路、南京西路以及陕西南路。
如图3中所示，车辆的当前位置为兴业太古汇A，下一个转弯路口为南京西路石门一路路口，车辆当前位置距离下一个转弯路口的行程距离为210m。随着车辆向前行驶，当所述行程距离小于预定距离例如50m时，通过例如车上安装的摄像装置获取下一个转弯路口处的周围环境图像，识别所述周围环境图像中的标志性物体，输出以所述标志性物体为参考点的导航提示信息。
下一个转弯路口的转弯方向为向左，可以仅获取下一个转弯路口处车辆当前的行车方向上左侧的图像，例如转弯路口处左侧有一个全家便利店C1，则提示“前方全家便利店左转”。
在其他的实施例中，可以同时获取下一个转弯路口处车辆当前的行车方向上左侧和右侧的图像，这时可以分别识别左侧的标志性物体和右侧的标志性物体，然后选择其中高度较高或体积较大的物体作为参考点，来输出导航提示信息。例如，转弯路口处左侧有一个全家便利店C1，右侧有星巴克臻选烘培工坊C2，一栋半圆形独立建筑，相比全家便利店更为明显，此时提示“前方星巴克臻选烘培工坊左转”。
车辆继续行驶，下一个转弯路口是陕西南路南京西路路口，当车辆与陕西南路南京西路路口之间的行程距离小于预定距离时，获取陕西南路南京西路路口的周围环境图像，可以仅获取并识别转弯路口处车辆当前的行车方向上左侧的图像，例如转弯路口处左侧有一个ZARA商店D1，则提示“前方ZARA商店左转”。
在其他的实施例中，可以同时获取下一个转弯路口处车辆当前的行车方向上左侧和右侧的图像，这时可以分别识别左侧的标志性物体和右侧的标志性物体，然后选择其中高度较高或体积较大的物体作为参考点，来输出导航提示信息。例如，转弯路口处左侧有一个ZARA商店D1，右侧有恒隆广场D2，此时提示“前方恒隆广场左转”。
本发明的实施例还提供一种导航提示装置，包括：导航仪、摄像装置、输出装置以及通信地连接于所述导航仪、所述摄像装置和所述输出装置的处理器。其中，所述导航仪被配置为：获取车辆的当前位置和导航路线，以确定所述导航路线中下一个转弯路口的位置，并确定所述当前位置与下一个转弯路口之间的行程距离。所述处理器被配置为：在所述行程距离小于预定距离的情况下，使所述摄像装置获取下一个转弯路口处的周围环境图像，并识别所述周围环境图像中的标志性物体。所述输出装置被配置为：接收来自所述处理器识别的所述标志性物体的信息，并输出以所述标志性物体为参考点的导航提示信息。
在一些实施例中，所述摄像装置为全景摄像头，所述全景摄像头被配置为获取一全景图像，并发送至所述处理器；所述处理器进一步被配置为：获取所述下一个转弯路口的转弯方向；以及基于下一个转弯路口的转弯方 向和所述行程距离，在所述全景图像中截取下一个转弯路口处所述转弯方向上的图像作为所述周围环境图像。
在一些实施例中，所述摄像装置包括左侧摄像头和右侧摄像头，所述处理器被进一步配置为：获取所述下一个转弯路口的转弯方向；以及根据下一个转弯路口的转弯方向，经由所述左侧摄像头获取下一个转弯路口左侧的图像作为所述周围环境图像和/或经由所述右侧摄像头获取下一个转弯路口右侧的图像作为所述周围环境图像。
在一些实施例中，所述摄像装置为行车记录仪，所述处理器被进一步配置为：获取所述下一个转弯路口的转弯方向；以及将所述行车记录仪获取的图像分割成左侧图像和右侧图像，并根据下一个转弯路口的转弯方向，获取所述左侧图像和/或所述右侧图像作为所述周围环境图像。
在一些实施例中，所述处理器进一步被配置为：在通过所述周围环境图像不能成功识别所述周围环境图像中的标志性物体的情况下，基于街景地图中的图像数据识别所述标志性物体。例如，可以从网络和/或服务器中获取下一个转弯路口处的兴趣点来作为所述标志性物体。
在一些实施例中，所述输出装置包括抬头显示器，用于将所述导航提示信息显示到车辆的前挡风玻璃上。在其他的实施例中，所述输出装置还可以包括播放器，以语音播报方式向驾驶者提供所述导航提示信息。
在一些实施例中，所述标志性物体可以是静态参照物。所述静态参照物可以包括兴趣点，所谓兴趣点通常是指使用频率较高或者一定地域内比较重要的地址，如商场、餐馆、银行、医院、学校等，它们能够在地图图像上被标识出来，且可由驾驶者通过导航设备查询。但是，在有些路口可能没有兴趣点，这会导致无法提示信息，而用图像识别的方法可以识别出其他的静态参照物，比如大树、雕塑、广告牌等等，这些静态参照物在导航系统的地图上是没有显示的。
在一些实施例中，所述静态参照物与所述下一个转弯路口的距离在预定范围以内，一方面能够更有利于用户识别到所标志性物体，从而能够在相应的转弯路口及时地进行转弯；另一方面，可以减少处理器的运算工作 量，提高所述标志性物体的识别效率。
根据本发明的实施例，所述导航提示装置用于执行根据本发明的实施例的导航提示方法，可以采用软件或硬件的方式实现，所述导航提示装置可集成于移动终端，例如，手机、智能手表等移动终端、平板电脑或车载终端。所述移动终端包括处理器和存储器，所述处理器控制所述导航提示装置来执行所述导航提示方法。
根据本发明的实施例，在所述行程距离小于预定距离的情况下，获取下一个转弯路口处的周围环境图像，识别所述周围环境图像中的标志性物体，输出以所述标志性物体为参考点的导航提示信息。因此，本发明的实施例的导航提示方法和装置能够向驾驶者提供更加准确、可靠的导航提示信息，解决了驾驶者行车体验较差的问题。
本发明的实施例还提供一种计算机可读存储介质，其上存储有计算机指令，所述计算机指令运行时执行根据本发明的前述任一实施例所述的导航提示方法的步骤。
本发明的实施例还提供一种电子设备，包括存储器和处理器，所述存储器上存储有能够在所述处理器上运行的计算机指令，所述处理器运行所述计算机指令时执行根据本发明的前述任一实施例所述的导航提示方法的步骤。
需要进一步说明的是，本公开可以是方法、装置、系统和/或计算机程序产品。计算机程序产品可以包括计算机可读存储介质，其上载有用于执行本公开的各个方面的计算机可读程序指令。
计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是但不限于电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、静态随机存取存储器(SRAM)、便携式压缩盘只读存储器(CD-ROM)、数字多功能盘(DVD)、记忆棒、 软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。这里所使用的计算机可读存储介质不被解释为瞬时信号本身，诸如无线电波或者其他自由传播的电磁波、通过波导或其他传输媒介传播的电磁波(例如，通过光纤电缆的光脉冲)、或者通过电线传输的电信号。
这里所描述的计算机可读程序指令可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。
用于执行本公开操作的计算机程序指令可以是汇编指令、指令集架构(ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言—诸如Smalltalk、C++等，以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络—包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列(FPGA)或可编程逻辑阵列(PLA)，该电子电路可以执行计算机可读程序指令，从而实现本公开的各个方面。
这里参照根据本公开实施例的方法、装置(系统)和计算机程序产品的流程图和/或框图描述了本公开的各个方面。应当理解，流程图和/或框 图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。
这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理单元，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理单元执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。
也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。
附图中的流程图和框图显示了根据本公开的多个实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
以上已经描述了本公开的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更 都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。
以上已揭示本发明的技术内容及技术特点，然而可以理解，在本发明的创作思想下，本领域的技术人员可以对上述公开的构思作各种变化和改进，但都属于本发明的保护范围。上述实施方式的描述是例示性的而不是限制性的，本发明的保护范围由权利要求所确定。

Claims (19)

  1. 一种导航提示方法，其特征在于，包括以下步骤：
    获取车辆的当前位置和导航路线，以确定所述导航路线中下一个转弯路口的位置；
    确定所述当前位置与下一个转弯路口之间的行程距离；
    在所述行程距离小于预定距离的情况下，获取下一个转弯路口处的周围环境图像；
    识别所述周围环境图像中的标志性物体；以及
    输出以所述标志性物体为参考点的导航提示信息。
  2. 根据权利要求1所述的方法，其中，所述获取下一个转弯路口处的周围环境图像包括步骤：
    经由摄像装置获取下一个转弯路口处的周围环境图像。
  3. 根据权利要求2所述的方法，其中，所述摄像装置为全景摄像头，所述周围环境图像基于以下步骤而获取：
    在所述行程距离小于预定距离的情况下，经由所述全景摄像头获取一全景图像；
    获取所述下一个转弯路口的转弯方向；以及
    基于所述转弯方向和所述行程距离，在所述全景图像中截取下一个转弯路口处所述转弯方向上的图像作为所述周围环境图像。
  4. 根据权利要求2所述的方法，其中，所述摄像装置包括左侧摄像头和右侧摄像头，所述周围环境图像基于以下步骤而获取：
    获取所述下一个转弯路口的转弯方向；以及
    在所述行程距离小于预定距离的情况下，根据所述转弯方向，经由所述左侧摄像头获取下一个转弯路口左侧的图像作为所述周围环境图像和/或经由所述右侧摄像头获取下一个转弯路口右侧的图像作为所述周围环境图像。
  5. 根据权利要求2所述的方法，其中，所述摄像装置为行车记录仪，所述周围环境图像基于以下步骤而获取：
    获取所述下一个转弯路口的转弯方向；以及
    在所述行程距离小于预定距离的情况下，将所述行车记录仪获取的图像分割成左侧图像和右侧图像，并根据所述转弯方向，获取所述左侧图像和/或所述右侧图像作为所述周围环境图像。
  6. 根据权利要求1至5中任一项所述的方法，其中，所述识别所述周围环境图像中的标志性物体包括步骤：
    在通过所述周围环境图像不能成功识别所述周围环境图像中的标志性物体的情况下，基于街景地图中的图像数据识别所述标志性物体。
  7. 根据权利要求1至5中任一项所述的方法，其中，所述输出以所述标志性物体为参考点的导航提示信息包括步骤：
    在车辆的前挡风玻璃处显示所述导航提示信息。
  8. 根据权利要求1至5中任一项所述的方法，其中，所述标志性物体包括静态参照物。
  9. 根据权利要求8所述的方法，其中，所述静态参照物与所述下一个转弯路口的距离在预定范围以内。
  10. 一种导航提示装置，其特征在于，包括：导航仪、摄像装置、输出装置以及通信地连接于所述导航仪、所述摄像装置和所述输出装置的处理器；
    其中，所述导航仪被配置为：获取车辆的当前位置和导航路线，以确定所述导航路线中下一个转弯路口的位置，并确定所述当前位置与下一个转弯路口之间的行程距离；
    所述处理器被配置为：在所述行程距离小于预定距离的情况下，使所述摄像装置获取下一个转弯路口处的周围环境图像，并识别所述周围环境图像中的标志性物体；以及
    所述输出装置被配置为：接收来自所述处理器识别的所述标志性物体的信息，并输出以所述标志性物体为参考点的导航提示信息。
  11. 根据权利要求10所述的导航提示装置，其中，所述摄像装置为全景摄像头，
    所述全景摄像头被配置为获取一全景图像，并发送至所述处理器；
    所述处理器进一步被配置为：
    获取所述下一个转弯路口的转弯方向；以及
    基于下一个转弯路口的转弯方向和所述行程距离，在所述全景图像中截取下一个转弯路口处所述转弯方向上的图像作为所述周围环境图像。
  12. 根据权利要求10所述的导航提示装置，其中，所述摄像装置包括左侧摄像头和右侧摄像头，
    所述处理器被进一步配置为：
    获取所述下一个转弯路口的转弯方向；以及
    根据下一个转弯路口的转弯方向，经由所述左侧摄像头获取下一个转弯路口左侧的图像作为所述周围环境图像和/或经由所述右侧摄像头获取下一个转弯路口右侧的图像作为所述周围环境图像。
  13. 根据权利要求10所述的导航提示装置，其中，所述摄像装置为行车记录仪，
    所述处理器被进一步配置为：
    获取所述下一个转弯路口的转弯方向；以及
    将所述行车记录仪获取的图像分割成左侧图像和右侧图像，并根据下一个转弯路口的转弯方向，获取所述左侧图像和/或所述右侧图像作为所述周围环境图像。
  14. 根据权利要求10至13中任一项所述的导航提示装置，其中，所述处理器进一步被配置为：在通过所述周围环境图像不能成功识别所述周围环境图像中的标志性物体的情况下，基于街景地图中的图像数据识别所述标志性物体。
  15. 根据权利要求10至13中任一项所述的导航提示装置，其中，所述输出装置包括抬头显示器，用于在车辆的前挡风玻璃处显示所述导航提示信息。
  16. 根据权利要求10至13中任一项所述的导航提示装置，其中，所述标志性物体包括静态参照物。
  17. 根据权利要求16所述的导航提示装置，其中，所述静态参照物与 所述下一个转弯路口的距离在预定范围以内。
  18. 一种计算机可读存储介质，其上存储有计算机指令，其特征在于，所述计算机指令运行时执行根据权利要求1至9中任一项所述的方法的步骤。
  19. 一种电子设备，包括存储器和处理器，所述存储器上存储有能够在所述处理器上运行的计算机指令，其特征在于，所述处理器运行所述计算机指令时执行根据权利要求1至9中任一项所述的方法的步骤。
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