CN111174801A - Method and device for generating navigation guide line and electronic equipment - Google Patents
Method and device for generating navigation guide line and electronic equipment Download PDFInfo
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- CN111174801A CN111174801A CN201811332354.0A CN201811332354A CN111174801A CN 111174801 A CN111174801 A CN 111174801A CN 201811332354 A CN201811332354 A CN 201811332354A CN 111174801 A CN111174801 A CN 111174801A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3476—Special cost functions, i.e. other than distance or default speed limit of road segments using point of interest [POI] information, e.g. a route passing visible POIs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3632—Guidance using simplified or iconic instructions, e.g. using arrows
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3647—Guidance involving output of stored or live camera images or video streams
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
- G01C21/3673—Labelling using text of road map data items, e.g. road names, POI names
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The embodiment of the invention provides a method and a device for generating a navigation guideline and electronic equipment. The method comprises the following steps: acquiring a real-time position of a vehicle; judging whether the vehicle reaches an intersection closest to the vehicle in a navigation route or not based on the real-time position of the vehicle; when the vehicle is judged to reach the intersection, fitting a default navigation guide line based on a preset entry point, a preset exit point and a preset central point of the intersection; and generating a navigation guide line of the vehicle at the intersection based on the default navigation guide line, the real-time position and the corresponding heading angle of the vehicle at the intersection, and the central point and the exit point of the intersection. According to the embodiment of the invention, the navigation guide line close to the actual running track of the vehicle can be obtained through the real-time position and direction of the vehicle and the default navigation guide line, so that a user can obtain more real navigation guide experience.
Description
Technical Field
The present invention relates to the field of navigation technologies, and in particular, to a method and an apparatus for generating a navigation guideline, and an electronic device.
Background
With the popularization and wide application of intelligent equipment, the frequency of using map navigation application software installed on the intelligent equipment is higher and higher when people go out, and people can search corresponding destination points and smoothly arrive by means of services provided by the map navigation application software.
The existing map navigation application software can generally provide a plurality of navigation guidance modes, such as voice-based navigation guidance, navigation guidance based on navigation instruction identification, and the like. However, with the improvement of the hardware performance of the intelligent device, the navigation guidance function based on Augmented Reality (AR) is becoming popular. The AR-based navigation guidance means that navigation guidance information (such as a navigation indicator or a navigation guide line) is superimposed on an actual road collected by a camera of the smart device in real time and displayed, as shown in fig. 1. For the situation that the navigation guide line is superposed on the actual road collected by the camera of the intelligent device in real time, the navigation guide line needs to be close to the actual running track of the vehicle, so that the navigation guide line seen by the user from the screen of the intelligent terminal is ensured to be consistent with the actual running situation of the user, and the user experience is improved.
Disclosure of Invention
The embodiment of the invention provides a method and a device for generating a navigation guide line and electronic equipment, so that the navigation guide line is close to an actual running track of a vehicle.
To achieve the above object, an embodiment of the present invention provides a method for generating a navigation guideline, including:
acquiring a real-time position of a vehicle;
judging whether the vehicle reaches an intersection closest to the vehicle in a navigation route based on the real-time position of the vehicle, wherein the navigation route is a navigation route planned in advance according to a starting point and an end point of the vehicle and from the starting point to the end point;
when the vehicle is judged to reach the intersection, fitting a default navigation guide line based on a preset entry point, a preset exit point and a preset central point of the intersection;
and generating a navigation guide line of the vehicle at the intersection based on the default navigation guide line, the real-time position and the corresponding heading angle of the vehicle at the intersection, and the central point and the exit point of the intersection.
The embodiment of the present invention further provides a device for generating a navigation guideline, including:
the acquisition module is used for acquiring the real-time position of the vehicle;
the judging module is used for judging whether the vehicle reaches an intersection closest to the vehicle in a navigation route based on the real-time position of the vehicle, wherein the navigation route is a navigation route which is planned in advance according to a starting point and a terminal point of the vehicle and is from the starting point to the terminal point;
the fitting module is used for fitting a default navigation guide line based on a preset entry point, a preset exit point and a preset central point of the intersection when the vehicle is judged to reach the intersection;
and the generating module is used for generating the navigation guide line of the vehicle at the intersection based on the default navigation guide line, the real-time position and the corresponding course angle of the vehicle at the intersection, and the central point and the exit point of the intersection.
An embodiment of the present invention further provides an electronic device, including:
a memory for storing a program;
and a processor, configured to execute the program stored in the memory, where the program executes the method for generating a navigation guideline provided in the embodiment of the present invention.
According to the method and the device for generating the navigation guide line and the electronic equipment, the navigation guide line is generated according to the real-time position, the course angle and the default navigation guide line of the vehicle.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic view of an AR-based navigation guideline;
fig. 2a is a system block diagram of a service system according to an embodiment of the present invention;
FIG. 2b is a flowchart of an embodiment of a method for generating a navigation guideline provided by the present invention;
FIG. 3a is a flowchart of another embodiment of a method for generating a navigation guideline provided by the present invention;
FIG. 3b is a schematic diagram of a route in an embodiment of the method for generating a navigation guideline according to the invention;
FIG. 4 is a flowchart of a method for generating a navigation guideline according to another embodiment of the invention;
FIG. 5 is a schematic structural diagram of an embodiment of a device for generating a navigation guideline according to the invention;
fig. 6 is a schematic structural diagram of another embodiment of the device for generating a navigation guideline according to the invention;
fig. 7 is a schematic structural diagram of an embodiment of an electronic device provided in the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The AR navigation scene shown in fig. 1 captures real-time road conditions through a camera of a device (e.g., a smartphone, a vehicle rearview mirror, etc.), and displays the real-time road conditions on a screen of the device, and in order to implement AR navigation, it is necessary to generate navigation guide information (e.g., navigation guide lines) related to the road displayed in the screen in real time and render the generated navigation guide information on the road displayed in the screen. For the navigation guiding line at the intersection, the prior art generally fits the navigation guiding line based on three points, namely, an entry point of the intersection, an exit point of the intersection, and an intersection center point, and renders the navigation guiding line on the road displayed in the screen. If the navigation guide line fitted in this way is close to the actual driving track of the user, the real-time driving track of the user is required to pass through three points, namely an entry point of the intersection, an exit point of the intersection and an intersection center point, and once the actual driving track of the user deviates from any one of the three points, the navigation guide line finally rendered on the screen is inconsistent with the actual driving track of the user, so that the user experience is poor. Because the current map navigation application can not accurately control the driving behavior of the user, in order to solve the problems existing in the prior art, the application provides a generation scheme of a navigation guide line, and the main principle is as follows: when the vehicle reaches an intersection closest to the vehicle in the navigation route, a (new) navigation guide line is generated according to the real-time position of the vehicle and the fitted default navigation guide line, and the navigation guide line is generated based on the real-time position and the real-time course angle of the vehicle, so that the navigation guide line can be close to the actual running track of the vehicle, and a user can obtain more real navigation guide experience.
The method provided by the embodiment of the invention can be applied to any business system with a navigation function. Fig. 2a is a system block diagram of a service system provided in an embodiment of the present invention, and the structure shown in fig. 2a is only one example of a service system to which the technical solution of the present invention can be applied. As shown in fig. 2a, the traffic system includes a guideline generation apparatus. The guide line generating device includes: the obtaining module, the judging module, the fitting module and the generating module may be configured to execute the processing flows shown in fig. 2b, fig. 3a and fig. 4. The service system acquires the real-time position of the vehicle and judges whether the vehicle reaches an intersection closest to the vehicle in the navigation route based on the real-time position of the vehicle; when the vehicle reaches the intersection, fitting out a default navigation guide line based on a preset entry point, exit point and central point of the intersection; and finally, generating a navigation guide line of the vehicle at the intersection based on the default navigation guide line, the real-time position and the real-time course angle of the vehicle at the intersection, and the central point and the exit point of the intersection, wherein the navigation guide line is generated based on the real-time position and the real-time course angle of the vehicle, so that the navigation guide line can be close to the actual running track of the vehicle, and a user can obtain more real navigation guide experience.
The above embodiments are illustrations of technical principles and exemplary application frameworks of the embodiments of the present invention, and specific technical solutions of the embodiments of the present invention are further described in detail below through a plurality of embodiments.
Example one
Fig. 2b is a flowchart of an embodiment of the method for generating a navigation guideline provided by the present invention, where an execution main body of the method may be the service system, or may be various terminal devices with a navigation function, such as an in-vehicle navigation terminal, a smart phone, and the like, or may be a device or a chip integrated on these terminal devices. As shown in fig. 2b, the method for generating the navigation guideline includes the following steps:
s201, acquiring the real-time position of the vehicle.
The embodiment of the invention is applied to a navigation system, so that the real-time position information of the vehicle can be acquired.
S202, judging whether the vehicle reaches an intersection closest to the vehicle in the navigation route or not based on the real-time position of the vehicle.
In the embodiment of the invention, the navigation route of the vehicle is a navigation route from the starting point to the ending point planned in advance according to the starting point and the ending point of the vehicle. Those skilled in the art know that, through navigation route planning, roads, intersections, related guidance information and the like included in the navigation route can be obtained.
S203, when the vehicle is judged to reach the intersection, a default navigation guide line is fitted based on a preset entry point, a preset exit point and a preset central point of the intersection.
S204, generating a navigation guide line of the vehicle at the intersection based on the default navigation guide line, the real-time position and the corresponding heading angle of the vehicle at the intersection, and the central point and the exit point of the intersection.
In the embodiment of the invention, the real-time position information of the vehicle can be acquired, so that whether the vehicle reaches the intersection can be judged by judging the distance between the real-time position of the vehicle and the preset central point of the intersection closest to the vehicle. Specifically, a preset distance threshold may be set, when the distance from the real-time position of the vehicle to the center point of the intersection is smaller than the preset distance threshold, it is determined that the vehicle reaches the intersection, and then, a default navigation guide line is fitted based on a preset entry point, an exit point, and the center point of the intersection. Because the entry point, the exit point and the central point of the intersection are manufactured in the production process of the electronic map data, the default navigation guide line can be fitted by using the entry point, the exit point and the central point of the intersection. Secondly, since the actual driving track of the user does not necessarily pass through three points, namely an entry point, an exit point and a central point, which are preset at the intersection, the embodiment of the invention generates the navigation guide line according to the real-time position and the heading angle of the vehicle, the central point and the exit point of the intersection and the default navigation guide line, so as to ensure that the generated navigation guide line is close to the actual driving track of the vehicle.
The navigation guide line is generated according to the real-time position, the course angle and the default navigation guide line of the vehicle, and the navigation guide line is generated based on the real-time position and the real-time course angle of the vehicle, so that the generated navigation guide line can be ensured to be close to the actual running track of the vehicle, and a user can obtain more real navigation guide experience.
Example two
Fig. 3a is a flowchart of another embodiment of the method for generating a navigation guideline according to the invention. As shown in fig. 3a, on the basis of the embodiment shown in fig. 2b, the method for generating a navigation guideline provided by this embodiment may further include the following steps:
s301, acquiring the real-time position of the vehicle.
S302, judging whether the vehicle reaches an intersection closest to the vehicle in the navigation route or not based on the real-time position of the vehicle.
And S303, fitting a default navigation guide line based on a preset entry point, exit point and central point of the intersection when the vehicle is judged to reach the intersection.
Fig. 3b is a schematic route diagram in an embodiment of the method for generating a navigation guideline provided by the invention. As shown in FIG. 3b, wherein A1The point is the entry point of an intersection nearest to the vehicle, B1The point is the exit point of the intersection, O1The point is the center point of the intersection. Then, A1Point to O1The distance of the points is equal to a preset distance threshold, B1Point to O1The distance of the points is equal to a preset distance threshold. When the vehicle reaches the intersection, based on A1Dot, B1Dots and O1And (5) point fitting a default navigation guideline. The default navigation guideline may be according to A1Dots, O1Points and B1Point generated bezier curves.
Further, for each real-time position of the vehicle at the intersection, the following steps are performed:
s304, making a vertical line from the real-time position of the vehicle at the intersection to the default navigation guide line to obtain a foot point on the default navigation guide line.
S305, taking the foot point as an end point and making a ray along the direction pointed by the heading angle of the vehicle to obtain an intersection point of the ray and a line segment formed by the center point and the exit point of the intersection.
And S306, fitting a navigation guide line from the real-time position of the intersection to the exit point of the intersection based on the footfall point, the intersection and the exit point of the intersection.
In the inventionIn the embodiment, as shown in fig. 3b, a perpendicular line is drawn from the real-time position C point of the vehicle at the intersection to the default navigation guide line, the foothold point is the point C ', the ray C' D 'is drawn along the direction pointed by the heading angle of the vehicle with the foothold point C' as an end point, and the line segment O formed by the ray C 'D' and the center point and the exit point of the intersection is obtained1B1Crossing point of intersection O1' Point. Then, based on the point C' of the foot drop point and the intersection point O1' Point and intersection exit Point B1And fitting a navigation guide line from the real-time position of the intersection to the exit point of the intersection.
Specifically, the foothold of the vehicle on the default navigation guideline may be regarded as a tangent point corresponding to a tangent line on the default navigation route, which has the smallest angle with the vehicle forward direction. In fig. 3b, the current real-time position of the vehicle is point C, the vehicle forward direction is the direction of the ray CD, the foot drop point of the vehicle on the default navigation guiding line is point C ', and the included angle between the tangent line C' D 'passing through the point C' on the default navigation guiding line and the CD is minimum. In addition, the tangent line C 'D' is in the direction of the exit crossing (O)1B1Direction) of intersection O1' Point. According to point C', O1' points and B1And (4) point, generating a Bezier curve. And translating the newly generated Bezier curve along the direction of C 'C, wherein the translation distance is the distance between the C' point and the C, and obtaining the navigation guide line.
S307, the navigation guidance line is rendered on the road displayed in the screen according to the real-time position of the vehicle.
According to the method for generating the navigation guide line provided by the embodiment of the invention, the navigation guide line passing through the real-time position of the vehicle is fitted once again every time the real-time position and the real-time course angle of the vehicle are obtained, so that a user can obtain more real navigation guide experience of the derived route.
EXAMPLE III
Fig. 4 is a flowchart of a method for generating a navigation guideline according to another embodiment of the invention. As shown in fig. 4, on the basis of the embodiment shown in fig. 2b, the method for generating a navigation guideline according to the embodiment of the invention may further include the following steps:
s401, acquiring the real-time position of the vehicle.
S402, when the vehicle reaches the nearest intersection, the navigation guide line of the vehicle at the intersection is determined according to the real-time position and the heading angle of the vehicle, the center point and the exit point of the intersection and the preset default navigation guide line.
In the embodiment of the present invention, the method for generating the navigation guideline may refer to the specific process shown in fig. 3a, and is not described herein again. The embodiment of the invention can generate the navigation guide line based on the corrected course angle, and the following steps can be specifically seen:
s403, image information of the front of the vehicle is acquired.
S404, a lane line vanishing point in front of the vehicle is identified from the image information.
S405, correcting the course angle of the vehicle based on the lane line vanishing point, wherein the corrected course angle points to the lane line vanishing point.
In the embodiment of the invention, the real-time position of the vehicle is acquired, and meanwhile, the image information in front of the vehicle is also acquired. Then, according to the image information, identifying a lane line vanishing point on a road in front of the vehicle, and correcting a course angle of the vehicle according to the identified lane line vanishing point, so that the course angle points to the lane line vanishing point.
S406, generating a navigation guiding line based on the corrected heading angle.
In an embodiment of the present invention, when a vehicle exits the exit point of the intersection (i.e., exits B)1Dot or with B1The position where the points are parallel), it is described that the intersection turning is completed, and therefore, the generation and display of the navigation guide line is ended.
On the other hand, when the deflection angle of the vehicle body (i.e., the steering angle from the start of steering to the current time) is greater than the preset angle threshold value when the vehicle turns, the confidence of the lane identification line may also be acquired; and when the confidence coefficient of the lane identification line is continuously greater than the preset confidence coefficient threshold value, finishing the calculation of the navigation guide line.
In the embodiment of the present invention, preferably, the preset angle threshold may be set to 80 °, and the preset confidence threshold may be set to 70 °. When the deflection angle of the vehicle is greater than 80 degrees, the vehicle already basically finishes turning, at this time, the lane identification line identified by the system has higher confidence, and when the confidence of the lane identification line is continuously greater than 70 (or the confidence obtained twice continuously is greater than 70), the vehicle finishes turning, and therefore, the generation and display of the navigation route can be finished.
According to the method for generating the navigation guide line, provided by the embodiment of the invention, the course angle of the vehicle is corrected through the identified lane line vanishing point, and the navigation guide line of the vehicle is fitted again according to the corrected course angle, so that a user can obtain more real navigation guide experience of the derived route.
Example four
Fig. 5 is a schematic structural diagram of an embodiment of the device for generating a navigation guideline according to the invention, which can be used for executing the steps of the method shown in fig. 2 b. As shown in fig. 5, the apparatus may include: an obtaining module 51, a judging module 52, a fitting module 53 and a generating module 54.
The obtaining module 51 is configured to obtain a real-time position of the vehicle; the judging module 52 is configured to judge whether the vehicle reaches an intersection closest to the vehicle in a navigation route based on the real-time position of the vehicle, where the navigation route is a navigation route from a starting point to an end point, and is planned in advance according to the starting point and the end point of the vehicle; the fitting module 53 is configured to fit a default navigation guide line based on a preset entry point, exit point and central point of the intersection when it is determined that the vehicle reaches the intersection; the generating module 54 is configured to generate a navigation guide line of the vehicle at the intersection based on the default navigation guide line, the real-time position and the corresponding heading angle of the vehicle at the intersection, and the center point and the exit point of the intersection.
The embodiment of the present invention is applied to a navigation system, so the obtaining module 51 can obtain the real-time position information of the vehicle. Since the obtaining module 51 can obtain the real-time position information of the vehicle, the determining module 52 can determine whether the vehicle arrives in the intersection by determining the distance between the real-time position of the vehicle and the preset central point of the intersection closest to the vehicle. Specifically, a preset distance threshold may be set, and the determining module 52 determines that the vehicle reaches the intersection when the distance from the real-time position of the vehicle to the center point of the intersection is smaller than the preset distance threshold. Then, the fitting module 53 first fits a default navigation guide line based on the preset entry point, exit point and center point of the intersection. Because the entry point, the exit point and the central point of the intersection are manufactured in the production process of the electronic map data, the default navigation guide line can be fitted by using the entry point, the exit point and the central point of the intersection. Secondly, since the actual driving track of the user does not necessarily pass through three points, i.e. the entry point, the exit point and the central point, which are preset at the intersection, the generating module 54 generates the navigation guiding line according to the real-time position and the heading angle of the vehicle, the central point and the exit point of the intersection and the default navigation guiding line, so as to ensure that the generated navigation guiding line is close to the actual driving track of the vehicle.
The navigation guide line generating device provided by the embodiment of the invention generates the navigation guide line according to the real-time position, the course angle and the default navigation guide line of the vehicle, and the navigation guide line is generated based on the real-time position and the real-time course angle of the vehicle, so that the generated navigation guide line can be ensured to be close to the actual running track of the vehicle, and a user can obtain more real navigation guide experience.
EXAMPLE five
Fig. 6 is a schematic structural diagram of another embodiment of the device for generating a navigation guideline according to the invention, which can be used for executing the method steps shown in fig. 3a and fig. 4. As shown in fig. 6, on the basis of the embodiment shown in fig. 5, in the device for generating a navigation guidance line provided by the embodiment of the present invention, the generating module 54 may be specifically configured to perform a generation operation of a guidance line for each real-time position of a vehicle at an intersection, and specifically, the generating module 54 may include: a first acquisition unit 541, a second acquisition unit 542, and a fitting unit 543.
The first obtaining unit 541 is configured to make a vertical line from a real-time position of the vehicle at the intersection to the default navigation guide line to obtain a foot-hanging point on the default navigation guide line; the second obtaining unit 542 is configured to take the foothold point as an end point and take a ray along a direction pointed by a heading angle of the vehicle to obtain an intersection point where the ray intersects with a line segment formed by a center point of the intersection and an exit point; the fitting unit 543 is configured to fit a navigation guidance line from the real-time position of the intersection to the exit point of the intersection based on the footdrop point, the intersection point, and the exit point of the intersection.
In the embodiment of the present invention, when the vehicle reaches the intersection, the first obtaining unit 541 makes a vertical line from the real-time position of the vehicle to the default navigation guide line to obtain a foot point on the default navigation guide line. Then, the second obtaining unit 542 takes the foothold point as an end point and takes a ray along the direction pointed by the heading angle of the vehicle, and obtains an intersection point where the ray intersects with a line segment formed by a center point and an exit point of the intersection. Finally, the fitting unit 543 fits the navigation guidance line from the real-time position of the intersection to the exit point of the intersection based on the foothold, the intersection, and the exit point of the intersection.
Further, the device for generating a navigation guideline provided in the embodiment of the present invention may further include: the deviation rectifying module 61, the deviation rectifying module 61 may be configured to obtain image information of the front of the vehicle, identify a lane line vanishing point in front of the vehicle from the image information, rectify a heading angle of the vehicle based on the lane line vanishing point, and the rectified heading angle points to the lane line vanishing point.
Further, the device for generating a navigation guideline provided by the embodiment of the present invention may further include: a first termination module that can be used when the vehicle exits the exit point of the intersection (i.e., exits B)1Dot or with B1The position where the points are parallel), the description is taken to complete the intersection turning, and therefore, the first termination module ends the generation and display of the navigation guide line.
In addition, the apparatus for generating a navigation guideline according to an embodiment of the present invention may further include: a second termination module, which may be configured to acquire a confidence of the lane recognition line when a deflection angle of the vehicle body (i.e., a steering angle from a time when steering is started to a current time) when the vehicle turns is greater than a preset angle threshold, and to end the calculation of the navigation guideline when the confidence of the lane recognition line is continuously greater than the preset confidence threshold. Preferably, the preset angle threshold may be set to 80 °, and the preset confidence threshold may be set to 70 °. When the deflection angle of the vehicle is greater than 80 degrees, the vehicle has already basically finished turning, at this time, the lane identification line recognized by the system has higher confidence, and when the confidence of the lane identification line is continuously greater than 70 (or the confidence obtained twice continuously is greater than 70), it is indicated that the body of the vehicle is right (parallel to the road), and the vehicle finishes turning, so the second termination module ends the generation and display of the navigation guide line.
The device for generating the navigation guidance line provided by the embodiment of the invention further corrects the course angle of the vehicle through the identified lane line vanishing point, and re-fits the navigation guidance line of the vehicle according to the corrected course angle, so that a user can obtain more real navigation guidance experience.
EXAMPLE six
The internal functions and structure of the navigation guideline generating apparatus, which can be implemented as an electronic device, are described above. Fig. 7 is a schematic structural diagram of an embodiment of an electronic device provided in the present invention. As shown in fig. 7, the electronic device includes a memory 71 and a processor 72.
The memory 71 stores programs. In addition to the above-described programs, the memory 71 may also be configured to store other various data to support operations on the electronic device. Examples of such data include instructions for any application or method operating on the electronic device, contact data, phonebook data, messages, pictures, videos, and so forth.
The memory 71 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
A processor 72, coupled to the memory 71, that executes programs stored by the memory 71 to:
acquiring a real-time position of a vehicle;
judging whether the vehicle reaches an intersection closest to the vehicle in a navigation route based on the real-time position of the vehicle, wherein the navigation route is a navigation route which is planned in advance according to a starting point and a terminal point of the vehicle and is from the starting point to the terminal point;
when the vehicle is judged to reach the intersection, fitting a default navigation guide line based on a preset entry point, a preset exit point and a preset central point of the intersection;
and generating the navigation guide line of the vehicle at the intersection based on the default navigation guide line, the real-time position and the corresponding heading angle of the vehicle at the intersection, and the central point and the exit point of the intersection.
In the embodiment of the present invention, the program stored in the memory 71 may execute any one of the above-described methods for generating a navigation guideline when running.
Further, as shown in fig. 7, the electronic device may further include: communication components 73, power components 74, audio components 75, a display 76, and the like. Only some of the components are schematically shown in fig. 7, and the electronic device is not meant to include only the components shown in fig. 7.
The communication component 73 is configured to facilitate wired or wireless communication between the electronic device and other devices. The electronic device may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 73 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 73 further includes a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
A power supply component 74 provides power to the various components of the electronic device. The power components 74 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for an electronic device.
The audio component 75 is configured to output and/or input audio signals. For example, the audio component 75 includes a Microphone (MIC) configured to receive external audio signals when the electronic device is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may further be stored in a memory 71 or transmitted via a communication component 73. In some embodiments, audio assembly 75 also includes a speaker for outputting audio signals.
The display 76 includes a screen, which may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A method of generating a navigation guideline, comprising:
acquiring a real-time position of a vehicle;
judging whether the vehicle reaches an intersection closest to the vehicle in a navigation route based on the real-time position of the vehicle, wherein the navigation route is a navigation route planned in advance according to a starting point and an end point of the vehicle and from the starting point to the end point;
when the vehicle is judged to reach the intersection, fitting a default navigation guide line based on a preset entry point, a preset exit point and a preset central point of the intersection;
and generating a navigation guide line of the vehicle at the intersection based on the default navigation guide line, the real-time position and the corresponding heading angle of the vehicle at the intersection, and the central point and the exit point of the intersection.
2. The method for generating a navigation guideline according to claim 1, wherein the generating a navigation guideline for the vehicle at the intersection based on the default navigation guideline, the real-time position and the corresponding heading angle of the vehicle at the intersection, the center point and the exit point of the intersection, specifically comprises:
for each real-time position of the vehicle at the intersection, performing the following steps:
making a vertical line from the real-time position of the vehicle at the intersection to the default navigation guide line to obtain a drop foot point on the default navigation guide line;
taking the foot drop point as an end point and making a ray along the direction pointed by the course angle of the vehicle to obtain an intersection point of the ray and a line segment formed by the center point of the intersection and the exit point;
and fitting a navigation guide line from the real-time position of the intersection to the exit point of the intersection based on the footdrop point, the intersection point and the exit point of the intersection.
3. The method of generating a navigation guideline according to claim 1 or 2, further comprising:
acquiring the real-time position of a vehicle and acquiring image information in front of the vehicle;
identifying a lane line vanishing point in front of the vehicle from the image information;
and correcting the course angle of the vehicle based on the lane line vanishing point, wherein the corrected course angle points to the lane line vanishing point.
4. The method of generating a navigation guideline according to claim 1 or 2, further comprising:
rendering the navigation guideline on a road displayed in a screen according to a real-time position of the vehicle.
5. A device for generating a navigation guideline, comprising:
the acquisition module is used for acquiring the real-time position of the vehicle;
the judging module is used for judging whether the vehicle reaches an intersection closest to the vehicle in a navigation route based on the real-time position of the vehicle, wherein the navigation route is a navigation route which is planned in advance according to a starting point and a terminal point of the vehicle and is from the starting point to the terminal point;
the fitting module is used for fitting a default navigation guide line based on a preset entry point, a preset exit point and a preset central point of the intersection when the vehicle is judged to reach the intersection;
and the generating module is used for generating the navigation guide line of the vehicle at the intersection based on the default navigation guide line, the real-time position and the corresponding course angle of the vehicle at the intersection, and the central point and the exit point of the intersection.
6. The device for generating a navigation guideline according to claim 5, wherein the generating module is specifically configured to perform a generation operation of a guidance route guideline for each real-time position of the vehicle at the intersection, and the generating module comprises:
the first acquisition unit is used for making a vertical line from the real-time position of the vehicle at the intersection to the default navigation guide line to obtain a drop foot point on the default navigation guide line;
the second acquisition unit is used for taking the foot drop point as an end point and making a ray along the direction pointed by the heading angle of the vehicle to obtain an intersection point of the ray and a line segment formed by a center point and an exit point of the intersection;
and the fitting unit is used for fitting a navigation guide line from the real-time position of the intersection to the exit point of the intersection based on the footdrop point, the intersection and the exit point of the intersection.
7. The device for generating a navigation guideline according to claim 5 or 6, further comprising:
the deviation correcting module is used for acquiring the real-time position of the vehicle and acquiring the image information in front of the vehicle; identifying a lane line vanishing point in front of the vehicle from the image information; and correcting the course angle of the vehicle based on the lane line vanishing point, wherein the corrected course angle points to the lane line vanishing point.
8. An electronic device, comprising:
a memory for storing a program;
a processor for executing the program stored in the memory, the program when executed performing the method of generating a navigation guideline as claimed in any one of claims 1 to 4.
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