CN109883439A - A kind of automobile navigation method, device, electronic equipment and storage medium - Google Patents
A kind of automobile navigation method, device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of automobile navigation method, device, electronic equipment and storage mediums.The described method includes: when driver drive current vehicle on current lane when driving, detect the moving direction of the moving obstacle immediately ahead of the current vehicle；If the moving direction of the moving obstacle meets pre-set direction change condition, environmental data of the current vehicle on current location is obtained；According to the environmental data of the moving direction of the moving obstacle and the current vehicle on the current location, show that AR-HUD navigation system is that the driver driving current vehicle navigates by augmented reality-new line.When driver wishes to avoid moving obstacle during driving vehicle, the guarantee of safety, timeliness and feasibility can be provided for driver.
Description
Technical field
The present embodiments relate to arrive field of navigation technology more particularly to a kind of automobile navigation method, device, electronic equipment
And storage medium.
Background technique
Augmented reality-new line shows that AR-HUD navigation system is a kind of augmented reality, new line display technology and ground
The onboard navigation system that figure airmanship integrates.The AR of generation navigation animation is added to the video flowing that navigates by the system
In, then Projection Display is in the visible area of driver.By the system can be provided for driver it is intuitive and accurately before
Toward the route guiding of destination.
In existing automobile navigation method, by merge various collected vehicle operation datas of vehicle sensors come for
Driver drives current vehicle and navigates；It specifically, can be with when driver drives current vehicle on current lane when driving
The vehicle speed sensor in current vehicle, global position system GPS sensor, Inertial Measurement Unit IMU sensor is first obtained to acquire
The vehicle operation data arrived；Then vehicle speed sensor, GPS sensor, the collected vehicle operation data of IMU sensor are merged
It together, is that driver's driving current vehicle navigates by AR-HUD navigation system.
In the implementation of the present invention, at least there are the following problems in the prior art for inventor's discovery:
When driver drive current vehicle on current lane when driving, driver often according to actual road conditions change vehicle
Road.It is altered on left-lane and travels from current lane for example, driver may drive current vehicle, or may also can drive
Current vehicle is altered on right lane from current lane and travels.It, generally can only be according to working as and in existing automobile navigation method
The vehicle congestion state of the adjacent lane of the vehicle congestion state and current lane in preceding lane is that driver's driving vehicle is led
Boat.When driver wishes to avoid moving obstacle during driving vehicle, lack safety, timeliness and feasibility
Guarantee.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of automobile navigation method, device, electronic equipment and storage medium, when
When driver wishes to avoid moving obstacle during driving vehicle, can be provided for driver safety, timeliness with
And the guarantee of feasibility.
In a first aspect, the embodiment of the invention provides a kind of automobile navigation methods, which comprises
When driver drive current vehicle on current lane when driving, detect the mobile barrier immediately ahead of the current vehicle
Hinder the moving direction of object；
If the moving direction of the moving obstacle meets pre-set direction change condition, the current vehicle is obtained
Environmental data on current location；
According to the environment number of the moving direction of the moving obstacle and the current vehicle on the current location
According to showing that AR-HUD navigation system is that the driver drives the current vehicle and navigates by augmented reality-new line.
In the above-described embodiments, the moving direction of the moving obstacle immediately ahead of the detection current vehicle, comprising:
In next detection frame of current detection frame and the current detection frame, the moving obstacle is obtained respectively and is existed
Image to be detected under world coordinate system；
In the moving obstacle in image to be detected under the world coordinate system, determine on the moving obstacle
At least one position coordinates of mobile tracking point under the world coordinate system；
According to position coordinates of each mobile tracking point under the world coordinate system, the moving obstacle is detected
Moving direction.
In the above-described embodiments, if the moving direction of the moving obstacle meets pre-set direction change item
Part obtains environmental data of the current vehicle on current location, comprising:
If the moving direction of the moving obstacle meet it is pre-set from left to right direction change condition or from
Condition is changed in the direction on a dextrad left side, obtains the circuit types of the left-lane line of the current lane or the right side of the current lane
The circuit types of lane line；
If the circuit types of the left-lane line of the current lane meets the lane of current vehicle change lane to the left
Change condition obtains the vehicle condition data in the left front pre-determined distance of the current location；Alternatively, if the right lane of current lane
The circuit types of line meets the lane change condition of current vehicle change lane to the right, before the right side for obtaining the current location
Vehicle condition data in square pre-determined distance.
In the above-described embodiments, the circuit types of the left-lane line for obtaining the current lane or described work as front truck
The circuit types of the right-lane line in road, comprising:
Obtain the head-up angle of the left-lane line or right-lane line of the current lane under the world coordinate system
Image to be detected；
By the head-up angle of the left-lane line of the current lane or right-lane line under the world coordinate system to
Detection image be transformed to the current lane left-lane line and the right-lane line head-up angle under coordinate system in the car it is to be checked
Altimetric image；
According to the head-up angle of the left-lane line of the current lane or right-lane line under the interior coordinate system
Image to be detected obtains the line of the circuit types of the left-lane line of the current lane or the right-lane line of the current lane
Road type.
In the above-described embodiments, the left-lane line or right-lane line according to the current lane is in the interior seat
Image to be detected of head-up angle under mark system obtains the circuit types or described current of the left-lane line of the current lane
The circuit types of the right-lane line in lane, comprising:
By the head-up angle of the left-lane line of the current lane or right-lane line under the interior coordinate system to
Detection image is transformed to the top view angle of the left-lane line or right-lane line of the current lane under the interior coordinate system
Image to be detected；
According to the top view angle of the left-lane line of the current lane or right-lane line under the interior coordinate system
Image to be detected obtains the line of the circuit types of the left-lane line of the current lane or the right-lane line of the current lane
Road type.
Second aspect, the embodiment of the invention provides a kind of vehicle navigation apparatus, described device includes: detection module, obtains
Modulus block and navigation module；Wherein,
The detection module detects described current for driving current vehicle on current lane when driving as driver
The moving direction of the moving obstacle of right ahead；
The acquisition module meets pre-set direction change condition for the moving direction when the moving obstacle
When, obtain environmental data of the current vehicle on current location；
The navigation module, for the moving direction and the current vehicle according to the moving obstacle described
Environmental data on current location is that the driver driving current vehicle navigates by AR-HUD navigation system.
In the above-described embodiments, the detection module includes: acquisition submodule, determines submodule and detection sub-module；Its
In,
The acquisition submodule, for distinguishing in next detection frame of current detection frame and the current detection frame
Obtain the image to be detected of the moving obstacle under world coordinate system；
The determining submodule, in the moving obstacle in image to be detected under the world coordinate system,
Determine at least one position coordinates of mobile tracking point under the world coordinate system on the moving obstacle；
The detection sub-module, for the position coordinates according to each mobile tracking point under the world coordinate system, inspection
Measure the moving direction of the moving obstacle.
In the above-described embodiments, the acquisition submodule, if the moving direction specifically for the moving obstacle meets
Condition is changed in pre-set direction change condition from left to right or direction from right to left, obtains the current lane
The circuit types of the right-lane line of the circuit types of left-lane line or the current lane；If the left-lane of the current lane
The circuit types of line meet the current vehicle to the left change lane lane change condition, obtain the left front of the current location
Vehicle condition data in square pre-determined distance；Alternatively, if the circuit types of the right-lane line of current lane meet the current vehicle to
Condition is changed in the lane of right change lane, obtains the vehicle condition data in the right front pre-determined distance of the current location.
In the above-described embodiments, the acquisition submodule, specifically for obtain the current lane left-lane line or
Image to be detected of head-up angle of the right-lane line under the world coordinate system；By the left-lane line of the current lane or
Image to be detected of head-up angle of the right-lane line under the world coordinate system is transformed to the left-lane line of the current lane
Or image to be detected of the right-lane line head-up angle under coordinate system in the car；According to the left-lane line of the current lane or
Image to be detected of head-up angle of person's right-lane line under the interior coordinate system, obtains the left-lane line of the current lane
Circuit types or the current lane right-lane line circuit types.
In the above-described embodiments, the acquisition submodule, specifically for by the left-lane line of the current lane or the right side
Image to be detected of head-up angle of the lane line under the interior coordinate system be transformed to the current lane left-lane line or
Image to be detected of top view angle of person's right-lane line under the interior coordinate system；According to the left-lane line of the current lane
Or image to be detected of top view angle of the right-lane line under the interior coordinate system, obtain the left-lane of the current lane
The circuit types of the right-lane line of the circuit types of line or the current lane.
The third aspect, the embodiment of the invention provides a kind of electronic equipment, comprising:
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes automobile navigation method described in any embodiment of that present invention.
Fourth aspect, the embodiment of the invention provides a kind of storage mediums, are stored thereon with computer program, the program quilt
Automobile navigation method described in any embodiment of that present invention is realized when processor executes.
The embodiment of the present invention proposes a kind of automobile navigation method, device, electronic equipment and storage medium, when driver drives
Current vehicle is sailed on current lane when driving, first detects the moving direction of the moving obstacle immediately ahead of current vehicle；Work as shifting
When the moving direction of dynamic barrier meets pre-set direction change condition, environment of the current vehicle on current location is obtained
Data；Then the environmental data according to the moving direction of moving obstacle and current vehicle on current location, passes through AR-
HUD navigation system is that driver's driving current vehicle navigates.That is, in the inventive solutions, Ke Yigen
According to environmental data of the moving direction and current vehicle of moving obstacle on current location, pass through AR-HUD navigation system
Current vehicle is driven for driver to navigate.And in existing automobile navigation method, it generally can only be according to current lane
The vehicle congestion state of the adjacent lane of vehicle congestion state and current lane is that driver's driving vehicle navigates.Work as driving
When member wishes to avoid moving obstacle during driving vehicle, lack safety, the guarantee of timeliness and feasibility.Cause
This, compared to the prior art, automobile navigation method, device, electronic equipment and the storage medium that the embodiment of the present invention proposes, when driving
When the person of sailing wishes to avoid moving obstacle during driving vehicle, can be provided for driver safety, timeliness and
The guarantee of feasibility；Also, the technical solution realization of the embodiment of the present invention is simple and convenient, it is universal to be convenient for, and the scope of application is wider.
Detailed description of the invention
Fig. 1 is the flow diagram for the automobile navigation method that the embodiment of the present invention one provides；
Fig. 2 is the flow diagram of automobile navigation method provided by Embodiment 2 of the present invention；
Fig. 3 is the structural schematic diagram of interior coordinate system provided by Embodiment 2 of the present invention；
Fig. 4 is that schematic diagram is demonstrated in navigation provided by Embodiment 2 of the present invention；
Fig. 5 is the flow diagram for the automobile navigation method that the embodiment of the present invention three provides；
Fig. 6 is the first structure diagram for the vehicle navigation apparatus that the embodiment of the present invention four provides；
Fig. 7 is the second structural schematic diagram of the vehicle navigation apparatus that the embodiment of the present invention four provides；
Fig. 8 is the structural schematic diagram for the electronic equipment that the embodiment of the present invention five provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
In description, only some but not all contents related to the present invention are shown in the drawings.
Embodiment one
Fig. 1 is the flow diagram for the automobile navigation method that the embodiment of the present invention one provides, and this method can be led by vehicle
Perhaps electronic equipment can be realized boat device to execute the device or electronic equipment by the mode of software and/or hardware, the dress
It sets or electronic equipment can integrate in any smart machine with network communicating function.As shown in Figure 1, automobile navigation side
Method may comprise steps of:
S101, when driver drive current vehicle on current lane when driving, detect current vehicle immediately ahead of movement
The moving direction of barrier.
In a specific embodiment of the present invention, when driver drive current vehicle on current lane when driving, electronics is set
The standby moving direction that can detecte the moving obstacle immediately ahead of current vehicle；Wherein, which may include: current
The direction moved forward on lane, the direction being moved to the left from current lane and the direction to move right from current lane.At this
In the specific embodiment of invention, moving obstacle can be mobile pedestrian, be also possible to mobile vehicle, not do herein any
It limits.Specifically, electronic equipment can obtain movement in next detection frame of current detection frame and current detection frame respectively
The image to be detected of barrier under world coordinate system；Then in moving obstacle in image to be detected under world coordinate system
Determine at least one position coordinates of mobile tracking point under world coordinate system on moving obstacle；Further according to each movement with
Position coordinates of the track point under world coordinate system, detect the moving direction of moving obstacle.
If the moving direction of S102, moving obstacle meets pre-set direction change condition, obtains current vehicle and exist
Environmental data on current location.
In a specific embodiment of the present invention, if the moving direction of moving obstacle meets pre-set direction change item
Part, environmental data of the available current vehicle of electronic equipment on current location.Specifically, if the mobile side of moving obstacle
Condition is changed to pre-set direction change condition or direction from right to left from left to right is met, and electronic equipment can be with
Obtain the circuit types of the circuit types of the left-lane line of current lane or the right-lane line of current lane；If current lane
The circuit types of left-lane line meet current vehicle to the left change lane lane change condition, electronic equipment, which can also obtain, works as
Vehicle condition data in the left front pre-determined distance of front position；Alternatively, if the circuit types satisfaction of the right-lane line of current lane is worked as
Condition is changed in the lane of vehicle in front change lane to the right, and electronic equipment can also obtain in the right front pre-determined distance of current location
Vehicle condition data.
S103, according to the moving direction and current vehicle of the moving obstacle immediately ahead of current vehicle in current location
On environmental data, by AR-HUD navigation system be driver drive current vehicle navigate.
In a specific embodiment of the present invention, electronic equipment can be according to the shifting of the moving obstacle immediately ahead of current vehicle
The dynamic environmental data of direction and current vehicle on current location is that driver drives currently by AR-HUD navigation system
Vehicle navigates.Specifically, if the moving direction of moving obstacle meets pre-set direction change item from left to right
Part, electronic equipment can be by AR-HUD navigation system according to the vehicle condition data in the left front pre-determined distance of current location
Driver drives current vehicle and navigates；Alternatively, if the moving direction of moving obstacle meet it is pre-set from right to left
Direction change condition, electronic equipment can pass through AR- according to the vehicle condition data in the right front pre-determined distance of current location
HUD navigation system is that driver's driving current vehicle navigates.
In a specific embodiment of the present invention, the front side video camera that can use the assembly of AR-HUD navigation system is quickly quasi-
It really identifies the pedestrian immediately ahead of current vehicle and vehicle, and calculates its distance；Then consider the pedestrian identified and vehicle away from
From, moving direction and traffic law, AR navigation routine processed is redrawn.Specifically, AR-HUD navigation system can be multiple by merging
Sensing data obtain current vehicle current location and current yaw angle, can be drawn out in this way in conjunction with map navigation module
Current vehicle goes to the route of destination.Since in real-time road, pedestrian and these two types of main moving obstacles of vehicle are needed
Safe avoidance is wanted, AR-HUD navigation system can draw according to current location and subsequent road network information and guide route, thus
Current vehicle can be guided to get around pedestrian and nearby vehicle, guarantee navigation safety.The present invention is different from traditional digital map navigation,
The AR-HUD navigation system can guide animation by drawn path in AR engine, and be superimposed with road conditions video flowing, provide
A kind of more intuitive, enhanced edition navigation mode out.
The automobile navigation method that the embodiment of the present invention proposes travels on current lane when driver drives current vehicle
When, first detect the moving direction of the moving obstacle immediately ahead of current vehicle；When the moving direction of moving obstacle meets in advance
When condition is changed in the direction of setting, environmental data of the current vehicle on current location is obtained；Then according to moving obstacle
The environmental data of moving direction and current vehicle on current location is that driver's driving is worked as by AR-HUD navigation system
Vehicle in front is navigated.That is, in the inventive solutions, can according to the moving direction of moving obstacle, with
And environmental data of the current vehicle on current location, it is that driver's driving current vehicle is led by AR-HUD navigation system
Boat.And in existing automobile navigation method, it generally can only be according to the vehicle congestion state of current lane and the phase of current lane
The vehicle congestion state in adjacent lane is that driver's driving vehicle navigates.When driver wishes to keep away during driving vehicle
When opening moving obstacle, lack safety, the guarantee of timeliness and feasibility.Therefore, compared to the prior art, the present invention is real
The automobile navigation method for applying example proposition, when driver wishes to avoid moving obstacle during driving vehicle, Ke Yiwei
Driver provides safety, the guarantee of timeliness and feasibility；Also, the technical solution of the embodiment of the present invention realizes simple side
Just, convenient for universal, the scope of application is wider.
Embodiment two
Fig. 2 is the flow diagram of automobile navigation method provided by Embodiment 2 of the present invention.As shown in Fig. 2, automobile navigation
Method may comprise steps of:
S201, when driver drive current vehicle on current lane when driving, in current detection frame and current detection frame
Next detection frame in, obtain image to be detected under world coordinate system of moving obstacle respectively.
In a specific embodiment of the present invention, when driver drive current vehicle on current lane when driving, electronics is set
It is standby to obtain moving obstacle respectively in world coordinate system in next detection frame of current detection frame and current detection frame
Under image to be detected.Specifically, when driver drives current vehicle on current lane when driving, electronic equipment can be according to
Pre-set time interval takes pictures to the moving obstacle in front of current vehicle, and therefore, electronic equipment can be current
In detection frame and next detection frame of current detection frame, to be checked mapping of the moving obstacle under world coordinate system is obtained respectively
Picture.
Fig. 3 is the structural schematic diagram of interior coordinate system provided by Embodiment 2 of the present invention.As shown in figure 3, can be current
The outside of vehicle, front side, vehicle left side and vehicle right side are mounted respectively to a few video camera, it is ensured that the visual angle of these three video cameras
The periphery road conditions of current vehicle can be covered.The origin of interior coordinate system is located at chassis immediately below camera coordinates system, current vehicle
Front be X-axis positive direction, current vehicle right direction be Y-axis positive direction, be Z axis pros right above current vehicle
To.Specifically, in a specific embodiment of the present invention, the target detection mould based on deep learning of off-line training can be passed through
Type identifies pedestrian, vehicle.AR navigation routine animation can avoid the pedestrian detected, vehicle, prompt front pedestrian, vehicle distances.
Specifically, it can be obtained in target detection model fast R-CNN of the ApolloScape data concentration training based on deep learning
Pedestrian and wagon detector (detector).
In a specific embodiment of the present invention, can in advance calibrating camera internal reference.The height of the known liftoff disk of video camera
(height, as unit of rice) and upward view angle (pitch, as unit of angle) are spent, determines phase according to camera perspective model
Outer ginseng of the machine relative to vehicle axis system.In AR-HUD navigation procedure, pedestrian and vehicle are identified by fast R-CNN in real time.
Pedestrian and wagon detector detector can be with returning an object value bounding box bottom centre's points (x, y)；Then the pyramid of iteration is utilized
Lucas-card Nader's method tracks the light stream campaign of neighbouring interframe pedestrian and vehicle, estimates the moving direction of pedestrian and vehicle；
Bounding box bottom centre point (x, y) Inverse projection is obtained into object from current to interior coordinate system further according to ginseng inside and outside camera
The spatial position of the distance (in X direction) of vehicle and in the car coordinate system is (along the x axis, along the y axis and along Z-direction,
That is: front-rear position, left-right position and upper and lower position).
S202, at least one on moving obstacle is determined in image to be detected under world coordinate system in moving obstacle
Position coordinates of a mobile tracking point under world coordinate system.
In a specific embodiment of the present invention, electronic equipment can be to be detected under world coordinate system in moving obstacle
At least one position coordinates of mobile tracking point under world coordinate system on moving obstacle are determined in image.Specifically, if
When moving obstacle is mobile vehicle, some characteristic point of the vehicle can be determined as the movement of the vehicle by electronic equipment
Then trace point determines the characteristic point of the vehicle in world coordinate system in the vehicle in image to be detected under world coordinate system
Under position coordinates.If moving obstacle is mobile pedestrian, the characteristic point of the pedestrian can be determined as this by electronic equipment
Then the mobile tracking point of pedestrian determines that the characteristic point of the pedestrian exists in the pedestrian in image to be detected under world coordinate system
Position coordinates under world coordinate system.
S203, the position coordinates according to each mobile tracking point under world coordinate system, detect the shifting of moving obstacle
Dynamic direction.
In a specific embodiment of the present invention, electronic equipment can be according to each mobile tracking point under world coordinate system
Position coordinates detect the moving direction of moving obstacle.Specifically, if moving obstacle is mobile vehicle, electronics is set
It is standby to detect the moving direction of the vehicle according to position coordinates of the characteristic point of the vehicle under world coordinate system.If moving
When dynamic barrier is mobile pedestrian, electronic equipment can be sat according to position of the characteristic point of the pedestrian under world coordinate system
Mark, detects the moving direction of the pedestrian.
S204, when the moving direction of moving obstacle meets pre-set direction change condition, obtain current vehicle
Environmental data on current location.
In a specific embodiment of the present invention, if the moving direction of moving obstacle meets pre-set direction change item
Part, electronic equipment can be with environmental data of the current vehicle on current location.Specifically, if the moving direction of moving obstacle is full
Condition is changed in the pre-set direction change condition from left to right of foot or direction from right to left, and electronic equipment is available
The circuit types of the right-lane line of the circuit types or current lane of the left-lane line of current lane；If the left vehicle of current lane
The circuit types of diatom meet current vehicle to the left change lane lane change condition, the available current location of electronic equipment
Left front pre-determined distance in vehicle condition data；Alternatively, if the circuit types of the right-lane line of current lane meets current vehicle
Condition, the vehicle condition number in the right front pre-determined distance of the available current location of electronic equipment are changed in the lane of change lane to the right
According to.For example, indicating the route of the left-lane line of current lane if the circuit types of the left-lane line of current lane is dotted line type
Type meet current lane to the left change lane lane change condition, the available current location of electronic equipment is left front at this time
Vehicle condition data in square pre-determined distance；Alternatively, if indicating to work as when the circuit types of the right-lane line of current lane is dotted line type
The circuit types of the right-lane line in preceding lane meets the lane change condition of current lane change lane to the right, at this time electronic equipment
It can be with the vehicle condition data in the right front pre-determined distance of current location.
In a specific embodiment of the present invention, electronic equipment can be current using spline curve models fitting trained in advance
The left-lane line or right-lane line in lane, then using RANSAC algorithm to the left vehicle of the current lane fitted
Perhaps right-lane line carries out in left-lane line or right-lane line of the robust analysis so as to remove current lane diatom
Non- lane line point.Specifically, electronic equipment can two battens along interior coordinate system X-direction and comprising most lane line points
Then curve counts the average distance size in each fitting spline curve between lane line point respectively, according to lane line point it
Between average distance acquiring size current lane left-lane line circuit types or current lane right-lane line route
Type.Specifically, electronic equipment can be using left-lane line or right-lane line under spline curve models fitting car coordinate system
In lane line point, and do robust analysis using random sampling consistency (ransac), go unless lane line point；It returns along vehicle
Internal coordinate system X-direction and include most lane line points two spline curve；And lane in each fitting spline curve is counted respectively
Average distance size between line point determines the circuit types of left-lane line or right-lane line if average distance is smaller
For solid line；If average distance is larger, determine that the circuit types of left-lane line or right-lane line is dotted line.
Specifically, in a specific embodiment of the present invention, the left-lane line of the available current lane of electronic equipment or
Image to be detected of head-up angle of the right-lane line under world coordinate system；Then by the left-lane line of current lane or right vehicle
Image to be detected of head-up angle of the diatom under world coordinate system is transformed to the left-lane line or right-lane line of current lane
Image to be detected of head-up angle under coordinate system in the car；Further according to current lane left-lane line or right-lane line in vehicle
Image to be detected of head-up angle under internal coordinate system obtains the circuit types or current lane of the left-lane line of current lane
Right-lane line circuit types.
Specifically, in a specific embodiment of the present invention, electronic equipment can be by the left-lane line of current lane or the right side
Image to be detected of the lane line head-up angle under coordinate system in the car is transformed to the left-lane line or right lane of current lane
Image to be detected of the line top view angle under coordinate system in the car；Then according to the left-lane line of current lane or right-lane line
Image to be detected of top view angle under coordinate system in the car obtains the circuit types or current of the left-lane line of current lane
The circuit types of the right-lane line in lane.
Specifically, in a specific embodiment of the present invention, electronic equipment can also identify left-lane line or right-lane line
And distinguish solid line or dotted line.It in this step, can be first by region Inverse projection immediately ahead of image to interior coordinate system；So
New image, i.e. top view are obtained according to top view projective transformation afterwards；Top view is subjected to binary conversion treatment, is partitioned into candidate lane
Line, then candidate lane line point Inverse projection is obtained into (X, Y, 0) to interior coordinate system.
S205, the environmental data according to the moving direction and current vehicle of moving obstacle on current location, pass through
AR-HUD navigation system is that driver's driving current vehicle navigates.
In a specific embodiment of the present invention, electronic equipment can be and current according to the moving direction of moving obstacle
Environmental data of the vehicle on current location is that driver's driving current vehicle navigates by AR-HUD navigation system.Tool
Body, if the moving direction of moving obstacle meets pre-set direction change condition from left to right, electronic equipment can be with
It is that front truck is worked as in driver's driving by AR-HUD navigation system according to the vehicle condition data in the left front pre-determined distance of current location
It navigates；Alternatively, if the moving direction of moving obstacle meets pre-set direction change condition from right to left, electricity
Sub- equipment can be driver by AR-HUD navigation system according to the vehicle condition data in the right front pre-determined distance of current location
Current vehicle is driven to navigate.
In a specific embodiment of the present invention, if the moving direction of moving obstacle meet it is pre-set from left to right
Condition is changed in direction, and electronic equipment can detecte in the left front pre-determined distance of current location with the presence or absence of other vehicles or row
People, if there are other vehicles or pedestrian in the left front pre-determined distance of current location, electronic equipment can be selected by frame and be prompted
Mode prompt driver to forbid from current lane change lane to the left；If being not present in the left front pre-determined distance of current location
Other vehicles or pedestrian, electronic equipment can prompt driver to allow to become to the left from current lane in such a way that frame selects prompt
More lane.Alternatively, electronics is set if the moving direction of moving obstacle meets pre-set direction change condition from right to left
With the presence or absence of other vehicles or pedestrian in the standby right front pre-determined distance that can detecte current location, if before the right side of current location
There are other vehicles or pedestrian in square pre-determined distance, electronic equipment can prompt driver to forbid in such a way that frame selects prompt
From current lane change lane to the right；If other vehicles or pedestrian are not present in the right front pre-determined distance of current location, electricity
Sub- equipment can prompt driver to allow from current lane change lane to the right in such a way that frame selects prompt.
Fig. 4 is that schematic diagram is demonstrated in navigation provided by Embodiment 2 of the present invention.As shown in figure 4, electronic equipment can be based on knowledge
Not Chu lane line and the pedestrian detected and vehicle, by AR engine redraw navigation routine processed strategy can as follows into
Row: (a): front vehicles distance less than 50 meters and left-lane line be in dotted line and left front safe distance (50 meters) without vehicle or
Otherwise pedestrian, red block choosing and the interval display of flashing in 3 seconds, navigation routine left avertence do not redraw system；(b): front pedestrian's distance is less than
30 meters, red block choosing and the interval display of flashing in 3 seconds, pedestrian turn left action, do not redraw system, pedestrian turn right action and left front it is safe
(50 meters) are without vehicle in distance and left-lane line is dotted line, navigation routine left avertence.
The automobile navigation method that the embodiment of the present invention proposes travels on current lane when driver drives current vehicle
When, first detect the moving direction of the moving obstacle immediately ahead of current vehicle；When the moving direction of moving obstacle meets in advance
When condition is changed in the direction of setting, environmental data of the current vehicle on current location is obtained；Then according to moving obstacle
The environmental data of moving direction and current vehicle on current location is that driver's driving is worked as by AR-HUD navigation system
Vehicle in front is navigated.That is, in the inventive solutions, can according to the moving direction of moving obstacle, with
And environmental data of the current vehicle on current location, it is that driver's driving current vehicle is led by AR-HUD navigation system
Boat.And in existing automobile navigation method, it generally can only be according to the vehicle congestion state of current lane and the phase of current lane
The vehicle congestion state in adjacent lane is that driver's driving vehicle navigates.When driver wishes to keep away during driving vehicle
When opening moving obstacle, lack safety, the guarantee of timeliness and feasibility.Therefore, compared to the prior art, the present invention is real
The automobile navigation method for applying example proposition, when driver wishes to avoid moving obstacle during driving vehicle, Ke Yiwei
Driver provides safety, the guarantee of timeliness and feasibility；Also, the technical solution of the embodiment of the present invention realizes simple side
Just, convenient for universal, the scope of application is wider.
Embodiment three
Fig. 5 is the flow diagram for the automobile navigation method that the embodiment of the present invention three provides.As shown in figure 5, automobile navigation
Method may comprise steps of:
S501, when driver drive current vehicle on current lane when driving, in current detection frame and current detection frame
Next detection frame in, obtain image to be detected under world coordinate system of moving obstacle respectively.
In a specific embodiment of the present invention, when driver drive current vehicle on current lane when driving, electronics is set
It is standby to obtain moving obstacle respectively in world coordinate system in next detection frame of current detection frame and current detection frame
Under image to be detected.Specifically, when driver drives current vehicle on current lane when driving, electronic equipment can be according to
Pre-set time interval takes pictures to the moving obstacle in front of current vehicle, and therefore, electronic equipment can be current
In detection frame and next detection frame of current detection frame, to be checked mapping of the moving obstacle under world coordinate system is obtained respectively
Picture.
S502, in moving obstacle in image to be detected under world coordinate system, determine on moving obstacle at least
Position coordinates of one mobile tracking point under world coordinate system.
In a specific embodiment of the present invention, electronic equipment can be to be detected under world coordinate system in moving obstacle
In image, at least one position coordinates of mobile tracking point under world coordinate system on moving obstacle are determined.Specifically, if
When moving obstacle is mobile vehicle, some characteristic point of the vehicle can be determined as the movement of the vehicle by electronic equipment
Then trace point determines the characteristic point of the vehicle in world coordinate system in the vehicle in image to be detected under world coordinate system
Under position coordinates.If moving obstacle is mobile pedestrian, the characteristic point of the pedestrian can be determined as this by electronic equipment
Then the mobile tracking point of pedestrian determines that the characteristic point of the pedestrian exists in the pedestrian in image to be detected under world coordinate system
Position coordinates under world coordinate system.
S503, the position coordinates according to each mobile tracking point under world coordinate system, detect the shifting of moving obstacle
Dynamic direction.
In a specific embodiment of the present invention, electronic equipment can be according to each mobile tracking point under world coordinate system
Position coordinates detect the moving direction of moving obstacle.Specifically, if moving obstacle is mobile vehicle, electronics is set
It is standby to detect the moving direction of the vehicle according to position coordinates of the characteristic point of the vehicle under world coordinate system.If moving
When dynamic barrier is mobile pedestrian, electronic equipment can be sat according to position of the characteristic point of the pedestrian under world coordinate system
Mark, detects the moving direction of the pedestrian.
If the moving direction of S504, moving obstacle meet it is pre-set from left to right direction change condition or from
Condition is changed in the direction on a dextrad left side, obtains the circuit types of the left-lane line of current lane or the right-lane line of current lane
Circuit types.
In a specific embodiment of the present invention, if the moving direction of moving obstacle meet it is pre-set from left to right
Condition is changed in direction or condition, the line of the left-lane line of the available current lane of electronic equipment are changed in direction from right to left
The circuit types of road type or the right-lane line of current lane.Specifically, the left vehicle of the available current lane of electronic equipment
Image to be detected of the head-up angle of diatom or right-lane line under world coordinate system；Then by the left-lane line of current lane
Either image to be detected of head-up angle of the right-lane line under world coordinate system be transformed to current lane left-lane line or
Image to be detected of the right-lane line head-up angle under coordinate system in the car；Left-lane line or right vehicle further according to current lane
Image to be detected of the diatom head-up angle under coordinate system in the car, obtain the left-lane line of current lane circuit types or
The circuit types of the right-lane line of current lane.Specifically, electronic equipment can use spline curve models fitting car coordinate
It is the lane line point in lower left-lane line or right-lane line, and does robustness point using random sampling consistency (ransac)
Analysis, goes unless lane line point；Return to two spline curve along interior coordinate system X-direction and comprising most lane line points；And point
The average distance size in each fitting spline curve between lane line point is not counted determines left vehicle if average distance is smaller
Diatom or the circuit types of right-lane line are solid line；If average distance is larger, left-lane line or right-lane line are determined
Circuit types be dotted line.
Specifically, in a specific embodiment of the present invention, electronic equipment can be by the left-lane line of current lane or the right side
Image to be detected of the lane line head-up angle under coordinate system in the car is transformed to the left-lane line or right lane of current lane
Image to be detected of the line top view angle under coordinate system in the car；Then according to the left-lane line of current lane or right-lane line
Image to be detected of top view angle under coordinate system in the car obtains the circuit types or current of the left-lane line of current lane
The circuit types of the right-lane line in lane.
If the circuit types of the left-lane line of S505, current lane meet current vehicle to the left change lane lane change
Condition obtains the vehicle condition data in the left front pre-determined distance of current location；Alternatively, if the route of the right-lane line of current lane
Type meet current vehicle to the right change lane lane change condition, obtain the vehicle in the right front pre-determined distance of current location
Condition data.
In a specific embodiment of the present invention, if the circuit types of the left-lane line of current lane meets current vehicle to the left
Change condition, the vehicle condition data in the left front pre-determined distance of the available current location of electronic equipment in the lane of change lane；
Alternatively, if the circuit types of the right-lane line of current lane meet current vehicle to the right change lane lane change condition, electricity
Vehicle condition data in the right front pre-determined distance of the sub- available current location of equipment.For example, if the left-lane line of current lane
Circuit types be dotted line type, indicate that the circuit types of the left-lane line of current lane meets current lane change lane to the left
Lane change condition, at this time vehicle condition data in the left front pre-determined distance of the available current location of electronic equipment；Alternatively,
If the circuit types of the right-lane line of current lane is dotted line type, indicate that the circuit types of the right-lane line of current lane is full
Sufficient current lane to the right change lane lane change condition, electronic equipment can be with the right front pre-determined distance of current location at this time
Interior vehicle condition data.
S506, the environmental data according to the moving direction and current vehicle of moving obstacle on current location, pass through
AR-HUD navigation system is that driver's driving current vehicle navigates.
In a specific embodiment of the present invention, electronic equipment can be and current according to the moving direction of moving obstacle
Environmental data of the vehicle on current location is that driver's driving current vehicle navigates by AR-HUD navigation system.Tool
Body, if the moving direction of moving obstacle meets pre-set direction change condition from left to right, electronic equipment can be with
It is that front truck is worked as in driver's driving by AR-HUD navigation system according to the vehicle condition data in the left front pre-determined distance of current location
It navigates；Alternatively, if the moving direction of moving obstacle meets pre-set direction change condition from right to left, electricity
Sub- equipment can be driver by AR-HUD navigation system according to the vehicle condition data in the right front pre-determined distance of current location
Current vehicle is driven to navigate.
In a specific embodiment of the present invention, if the moving direction of moving obstacle meet it is pre-set from left to right
Condition is changed in direction, and electronic equipment can detecte in the left front pre-determined distance of current location with the presence or absence of other vehicles or row
People, if there are other vehicles or pedestrian in the left front pre-determined distance of current location, electronic equipment can be selected by frame and be prompted
Mode prompt driver to forbid from current lane change lane to the left；If being not present in the left front pre-determined distance of current location
Other vehicles or pedestrian, electronic equipment can prompt driver to allow to become to the left from current lane in such a way that frame selects prompt
More lane.Alternatively, electronics is set if the moving direction of moving obstacle meets pre-set direction change condition from right to left
With the presence or absence of other vehicles or pedestrian in the standby right front pre-determined distance that can detecte current location, if before the right side of current location
There are other vehicles or pedestrian in square pre-determined distance, electronic equipment can prompt driver to forbid in such a way that frame selects prompt
From current lane change lane to the right；If other vehicles or pedestrian are not present in the right front pre-determined distance of current location, electricity
Sub- equipment can prompt driver to allow from current lane change lane to the right in such a way that frame selects prompt.
The automobile navigation method that the embodiment of the present invention proposes travels on current lane when driver drives current vehicle
When, first detect the moving direction of the moving obstacle immediately ahead of current vehicle；When the moving direction of moving obstacle meets in advance
When condition is changed in the direction of setting, environmental data of the current vehicle on current location is obtained；Then according to moving obstacle
The environmental data of moving direction and current vehicle on current location is that driver's driving is worked as by AR-HUD navigation system
Vehicle in front is navigated.That is, in the inventive solutions, can according to the moving direction of moving obstacle, with
And environmental data of the current vehicle on current location, it is that driver's driving current vehicle is led by AR-HUD navigation system
Boat.And in existing automobile navigation method, it generally can only be according to the vehicle congestion state of current lane and the phase of current lane
The vehicle congestion state in adjacent lane is that driver's driving vehicle navigates.When driver wishes to keep away during driving vehicle
When opening moving obstacle, lack safety, the guarantee of timeliness and feasibility.Therefore, compared to the prior art, the present invention is real
The automobile navigation method for applying example proposition, when driver wishes to avoid moving obstacle during driving vehicle, Ke Yiwei
Driver provides safety, the guarantee of timeliness and feasibility；Also, the technical solution of the embodiment of the present invention realizes simple side
Just, convenient for universal, the scope of application is wider.
Example IV
Fig. 6 is the first structure diagram for the vehicle navigation apparatus that the embodiment of the present invention four provides.As shown in fig. 6, this hair
Vehicle navigation apparatus described in bright embodiment may include: detection module 601, obtain module 602 and navigation module 603；Wherein,
The detection module 601, for when driver drive current vehicle on current lane when driving, work as described in detection
The moving direction of moving obstacle immediately ahead of vehicle in front；
The acquisition module 602, if the moving direction for the moving obstacle meets pre-set direction change
Condition obtains environmental data of the current vehicle on current location；
The navigation module 603, for the moving direction and the current vehicle according to the moving obstacle in institute
The environmental data on current location is stated, is that the driver driving current vehicle is led by AR-HUD navigation system
Boat.
Fig. 7 is the second structural schematic diagram of the vehicle navigation apparatus that the embodiment of the present invention four provides.As shown in fig. 7, this hair
Vehicle navigation apparatus described in bright embodiment may include: that the detection module 601 includes: acquisition submodule 6011, determines son
Module 6012 and detection sub-module 6013；Wherein,
The acquisition submodule 6011, in next detection frame of current detection frame and the current detection frame,
The image to be detected of the moving obstacle under world coordinate system is obtained respectively；
The determining submodule 6012, for image to be detected in the moving obstacle under the world coordinate system
In, determine at least one position coordinates of mobile tracking point under the world coordinate system on the moving obstacle；
The detection sub-module 6013, for being sat according to position of each mobile tracking point under the world coordinate system
Mark, detects the moving direction of the moving obstacle.
Further, the acquisition submodule 6011, if the moving direction specifically for the moving obstacle meets in advance
The direction change condition from left to right or direction change condition from right to left being first arranged, obtain a left side for the current lane
The circuit types of the right-lane line of the circuit types of lane line or the current lane；If the left-lane line of the current lane
Circuit types meet the current vehicle to the left change lane lane change condition, obtain the left front of the current location
Vehicle condition data in pre-determined distance；Alternatively, if the circuit types of the right-lane line of current lane meets the current vehicle to the right
Condition is changed in the lane of change lane, obtains the vehicle condition data in the right front pre-determined distance of the current location.
Further, the acquisition submodule 6011, specifically for obtaining left-lane line or the right side of the current lane
Image to be detected of head-up angle of the lane line under the world coordinate system；By the left-lane line of the current lane or the right side
Image to be detected of head-up angle of the lane line under the world coordinate system be transformed to the current lane left-lane line or
Image to be detected of person's right-lane line head-up angle under coordinate system in the car；According to the left-lane line of the current lane or
Image to be detected of head-up angle of the right-lane line under the interior coordinate system, obtains the left-lane line of the current lane
The circuit types of the right-lane line of circuit types or the current lane.
Further, the acquisition submodule 6011, specifically for by the left-lane line of the current lane or right vehicle
Image to be detected of head-up angle of the diatom under the interior coordinate system be transformed to the current lane left-lane line or
Image to be detected of top view angle of the right-lane line under the interior coordinate system；According to the left-lane line of the current lane or
Image to be detected of top view angle of person's right-lane line under the interior coordinate system, obtains the left-lane line of the current lane
Circuit types or the current lane right-lane line circuit types.
Method provided by any embodiment of the invention can be performed in above-mentioned vehicle navigation apparatus, and it is corresponding to have execution method
Functional module and beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to any embodiment of that present invention mentions
The automobile navigation method of confession.
Embodiment five
Fig. 8 is the structural schematic diagram for the electronic equipment that the embodiment of the present invention five provides.Fig. 8, which is shown, to be suitable for being used to realizing this
The block diagram of the example electronic device of invention embodiment.The electronic equipment 12 that Fig. 8 is shown is only an example, should not be to this
The function and use scope of inventive embodiments bring any restrictions.
As shown in figure 8, electronic equipment 12 is showed in the form of universal computing device.The component of electronic equipment 12 may include
But be not limited to: one or more processor or processing unit 16, system storage 28, connect different system components (including
System storage 28 and processing unit 16) bus 18.
Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Electronic equipment 12 typically comprises a variety of computer system readable media.These media can be it is any can be electric
The usable medium that sub- equipment 12 accesses, including volatile and non-volatile media, moveable and immovable medium.
System storage 28 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (RAM) 30 and/or cache memory 32.Electronic equipment 12 may further include other removable/not removable
Dynamic, volatile/non-volatile computer system storage medium.Only as an example, storage system 34 can be used for read and write can not
Mobile, non-volatile magnetic media (Fig. 8 do not show, commonly referred to as " hard disk drive ").Although being not shown in Fig. 8, Ke Yiti
For the disc driver for being read and write to removable non-volatile magnetic disk (such as " floppy disk "), and to moving non-volatile light
The CD drive of disk (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driver
It can be connected by one or more data media interfaces with bus 18.Memory 28 may include that at least one program produces
Product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform of the invention each
The function of embodiment.
Program/utility 40 with one group of (at least one) program module 42 can store in such as memory 28
In, such program module 42 include but is not limited to operating system, one or more application program, other program modules and
It may include the realization of network environment in program data, each of these examples or certain combination.Program module 42 is usual
Execute the function and/or method in embodiment described in the invention.
Electronic equipment 12 can also be with one or more external equipments 14 (such as keyboard, sensing equipment, display 24 etc.)
Communication, can also be enabled a user to one or more equipment interact with the electronic equipment 12 communicate, and/or with make the electricity
Any equipment (such as network interface card, modem etc.) that sub- equipment 12 can be communicated with one or more of the other calculating equipment
Communication.This communication can be carried out by input/output (I/O) interface 22.Also, electronic equipment 12 can also be suitable by network
Orchestration 20 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet)
Communication.As shown, network adapter 20 is communicated by bus 18 with other modules of electronic equipment 12.Although should be understood that
It is not shown in Fig. 8, other hardware and/or software module can be used in conjunction with electronic equipment 12, including but not limited to: microcode,
Device driver, redundant processing unit, external disk drive array, RAID system, tape drive and data backup storage
System etc..
Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application and
Data processing, such as realize automobile navigation method provided by the embodiment of the present invention.
Embodiment six
The embodiment of the present invention six provides a kind of computer storage medium.
The computer readable storage medium of the embodiment of the present invention, can be using one or more computer-readable media
Any combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.Computer
Readable storage medium storing program for executing for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, dress
It sets or device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium wraps
It includes: there is the electrical connection of one or more conducting wires, portable computer diskette, hard disk, random access memory (RAM), read-only
Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory
(CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable
Storage medium can be it is any include or storage program tangible medium, the program can be commanded execution system, device or
Device use or in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (12)
1. a kind of automobile navigation method, which is characterized in that the described method includes:
When driver drive current vehicle on current lane when driving, detect the moving obstacle immediately ahead of the current vehicle
Moving direction；
If the moving direction of the moving obstacle meets pre-set direction change condition, obtains the current vehicle and working as
Environmental data on front position；
According to the environmental data of the moving direction of the moving obstacle and the current vehicle on the current location,
Show that AR-HUD navigation system is that the driver driving current vehicle navigates by augmented reality-new line.
2. the method according to claim 1, wherein the moving disorder immediately ahead of the detection current vehicle
The moving direction of object, comprising:
In next detection frame of current detection frame and the current detection frame, the moving obstacle is obtained respectively in the world
Image to be detected under coordinate system；
In the moving obstacle in image to be detected under the world coordinate system, determine on the moving obstacle extremely
Few position coordinates of the mobile tracking point under the world coordinate system；
According to position coordinates of each mobile tracking point under the world coordinate system, the movement of the moving obstacle is detected
Direction.
3. if according to the method described in claim 2, it is characterized in that, the moving direction of the moving obstacle meets in advance
The direction change condition being first arranged, obtains environmental data of the current vehicle on current location, comprising:
If the moving direction of the moving obstacle meets pre-set direction change condition from left to right or from dextrad
Condition is changed in left direction, obtains the circuit types of the left-lane line of the current lane or the right lane of the current lane
The circuit types of line；
If the circuit types of the left-lane line of the current lane meet the current vehicle to the left change lane lane change
Condition obtains the vehicle condition data in the left front pre-determined distance of the current location；Alternatively, if the right lane of the current lane
The circuit types of line meets the lane change condition of current vehicle change lane to the right, before the right side for obtaining the current location
Vehicle condition data in square pre-determined distance.
4. according to the method described in claim 3, it is characterized in that, the route of the left-lane line for obtaining the current lane
The circuit types of type or the right-lane line of the current lane, comprising:
Obtain the to be checked of the head-up angle of the left-lane line or right-lane line of the current lane under the world coordinate system
Altimetric image；
By the to be detected of the head-up angle of the left-lane line of the current lane or right-lane line under the world coordinate system
Image be transformed to the current lane left-lane line or the right-lane line head-up angle under coordinate system in the car it is to be detected
Image；
According to the to be checked of the head-up angle of the left-lane line of the current lane or right-lane line under the interior coordinate system
Altimetric image obtains the route class of the circuit types of the left-lane line of the current lane or the right-lane line of the current lane
Type.
5. according to the method described in claim 4, it is characterized in that, the left-lane line or the right side according to the current lane
Image to be detected of head-up angle of the lane line under the interior coordinate system, obtains the line of the left-lane line of the current lane
The circuit types of road type or the right-lane line of the current lane, comprising:
By the to be detected of the head-up angle of the left-lane line of the current lane or right-lane line under the interior coordinate system
Image be transformed to the top view angle of the left-lane line or right-lane line of the current lane under the interior coordinate system to
Detection image；
According to the to be checked of the top view angle of the left-lane line of the current lane or right-lane line under the interior coordinate system
Altimetric image obtains the route class of the circuit types of the left-lane line of the current lane or the right-lane line of the current lane
Type.
6. a kind of vehicle navigation apparatus, which is characterized in that described device includes: detection module, obtains module and navigation module；Its
In,
The detection module, for when driver drive current vehicle on current lane when driving, detect the current vehicle
The moving direction of the moving obstacle in front；
The acquisition module obtains if the moving direction for the moving obstacle meets pre-set direction change condition
Take environmental data of the current vehicle on current location；
The navigation module, for the moving direction and the current vehicle according to the moving obstacle described current
Environmental data on position is that the driver driving current vehicle navigates by AR-HUD navigation system.
7. device according to claim 6, which is characterized in that the detection module includes: acquisition submodule, determines submodule
Block and detection sub-module；Wherein,
The acquisition submodule, for being obtained in next detection frame of current detection frame and the current detection frame respectively
The image to be detected of the moving obstacle under world coordinate system；
The determining submodule, in image to be detected under the world coordinate system, being determined in the moving obstacle
At least one position coordinates of mobile tracking point under the world coordinate system on the moving obstacle；
The detection sub-module is detected for the position coordinates according to each mobile tracking point under the world coordinate system
The moving direction of the moving obstacle.
8. device according to claim 7, it is characterised in that:
The acquisition submodule, if specifically for the moving obstacle moving direction meet it is pre-set from left to right
Condition is changed in direction or condition is changed in direction from right to left, obtain the left-lane line of the current lane circuit types or
The circuit types of the right-lane line of current lane described in person；If described in the circuit types of the left-lane line of the current lane meets
Current vehicle to the left change lane lane change condition, obtain the vehicle condition number in the left front pre-determined distance of the current location
According to；Alternatively, if the circuit types of the right-lane line of current lane meet the current vehicle to the right change lane lane change
Condition obtains the vehicle condition data in the right front pre-determined distance of the current location.
9. device according to claim 8, it is characterised in that:
The acquisition submodule, left-lane line or right-lane line specifically for the acquisition current lane are sat in the world
Image to be detected of head-up angle under mark system；The left-lane line of the current lane or right-lane line are sat in the world
Image to be detected of head-up angle under mark system is transformed to the left-lane line of the current lane or right-lane line is sat in the car
Image to be detected of head-up angle under mark system；According to the left-lane line of the current lane or right-lane line in the car
Image to be detected of head-up angle under coordinate system obtains the circuit types of the left-lane line of the current lane or described works as
The circuit types of the right-lane line in preceding lane.
10. device according to claim 9, it is characterised in that:
The acquisition submodule, specifically for by the left-lane line of the current lane or right-lane line in the interior coordinate
The left-lane line or right-lane line that image to be detected of head-up angle under system is transformed to the current lane are in the car
Image to be detected of top view angle under coordinate system；According to the left-lane line of the current lane or right-lane line in the vehicle
Image to be detected of top view angle under internal coordinate system obtains the circuit types or described of the left-lane line of the current lane
The circuit types of the right-lane line of current lane.
11. a kind of electronic equipment characterized by comprising
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now automobile navigation method as described in any one of claims 1 to 5.
12. a kind of storage medium, is stored thereon with computer program, which is characterized in that the realization when program is executed by processor
Automobile navigation method as described in any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910222571.2A CN109883439A (en) | 2019-03-22 | 2019-03-22 | A kind of automobile navigation method, device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910222571.2A CN109883439A (en) | 2019-03-22 | 2019-03-22 | A kind of automobile navigation method, device, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109883439A true CN109883439A (en) | 2019-06-14 |
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| CN112738487A (en) * | 2020-12-24 | 2021-04-30 | 北京百度网讯科技有限公司 | Image projection method, device, equipment and storage medium |
| CN114267194A (en) * | 2021-12-16 | 2022-04-01 | 青岛创智融信数字科技集团有限公司 | Parking space intelligent management method and system |
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