CN113899382A - Blind guiding vehicle path generation method and device based on navigation system - Google Patents
Blind guiding vehicle path generation method and device based on navigation system Download PDFInfo
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Abstract
The invention discloses a blind guiding vehicle path generation method and a blind guiding vehicle path generation device based on a navigation system, wherein the method comprises the following steps: determining, by a navigation system, a navigation route from a current location to a destination; scanning an area in the navigation route through a camera, identifying an acquired image, performing semantic segmentation, and dividing a passable area and a non-passable area in the image; the passable areas comprise blind road areas, sidewalk areas and other road areas from high to low according to the safety level; establishing a conversion relation between the geodetic coordinates and the pixel coordinates in the image according to the relation between the geodetic coordinates of the blind guiding vehicle and the pixel coordinates of the blind guiding vehicle in the image; and determining geodetic coordinates of the boundary of the highest safety level region in the image according to the conversion relation, and determining a blind guiding path in the highest safety level region according to the geodetic coordinates.
Description
Technical Field
The invention relates to the technical field of blind guiding, in particular to a blind guiding vehicle path generation method and device based on a navigation system.
Background
Currently, the development and application of a navigation system are mature, people can go to a place which has never been visited according to navigation instructions, and great convenience is brought to the lives of the masses. However, the existing blind guiding system cannot smoothly guide the blind to move forward. The reason is that the navigation direction is given by the existing navigation system, normal people can select a proper path to go, and blind people cannot guide the blind to go out smoothly only through a rough route due to the particularity of the blind people.
Therefore, it is urgently needed to provide a navigation scheme which can adapt to the trip characteristics of the blind.
Disclosure of Invention
It is an object of the present invention to provide a method and apparatus for generating a blind-guiding vehicle path based on a navigation system, which overcomes or at least alleviates at least one of the above-mentioned drawbacks of the prior art.
In order to achieve the above object, the present invention provides a blind guiding vehicle path generating method based on a navigation system, which is applied to a blind guiding vehicle equipped with a navigation system, and comprises:
determining, by the navigation system, a navigation route from a current location to a destination;
scanning an area in the navigation route through a camera, identifying an acquired image, performing semantic segmentation, and dividing a passable area and a non-passable area in the image; the passable areas comprise blind road areas, sidewalk areas and other road areas from high to low according to the safety level;
establishing a conversion relation between the geodetic coordinates and the pixel coordinates in the image according to the relation between the geodetic coordinates of the blind guiding vehicle and the pixel coordinates of the blind guiding vehicle in the image;
and determining geodetic coordinates of the boundary of the highest safety level region in the image according to the conversion relation, and determining a blind guiding path in the highest safety level region according to the geodetic coordinates.
Preferably, before scanning the area in the navigation route by the camera, the method further includes: and adjusting the direction of the blind guiding vehicle to be consistent with the direction of the navigation route.
Preferably, adjusting the direction of the blind guiding vehicle to be consistent with the direction of the navigation route comprises:
obtaining an angle difference value between the orientation of the blind guiding vehicle and the direction of the navigation route, and if the angle difference value is smaller than or equal to a preset threshold value, judging that the orientation of the blind guiding vehicle is consistent with the direction of the navigation route; if the angle difference is larger than the preset threshold value, the direction of the blind guiding vehicle is adjusted to be consistent with the direction of the navigation route.
Preferably, determining the blind guiding path in the region with the highest safety level according to the geodetic coordinates comprises:
and selecting a point at the middle position of the area with the highest safety level to construct the blind guiding path.
Preferably, the method further comprises:
the blind guiding vehicle updates the blind guiding path according to preset configuration, if the new blind guiding path is intersected with the original blind guiding path, the blind guiding is continued according to the original blind guiding path, and the intersection point is replaced by the new blind guiding path; and if the new blind guiding path does not intersect with the original blind guiding path, generating a transition path connecting the original blind guiding path and the new blind guiding path, reaching the new blind guiding path along the transition path, and guiding blind along the new blind guiding path.
Preferably, the generating a transition path connecting the original blind guiding path and the new blind guiding path includes:
and generating the transverse displacement from the original blind guiding path to the new blind guiding path as the transition path.
Preferably, the transition path is calculated according to a preset longitudinal distance M, a transverse distance S from the original blind guiding path to the new blind guiding path, and a forward speed V of the blind guiding vehicle, in combination with the following formula:
y＝Vt
y represents the longitudinal displacement of the blind guiding vehicle at the time t, x represents the transverse displacement of the blind guiding vehicle at the time t, and the maximum value of x is the transverse distance S from the original blind guiding path to the new blind guiding path.
The embodiment of the invention also provides a blind guiding vehicle path generating device based on the navigation system, which comprises:
the navigation module is used for determining a navigation route from the current position to the destination;
the scanning module is used for scanning the area in the navigation route, identifying the acquired image, performing semantic segmentation, and dividing the passable area and the impassable area in the image; the passable areas comprise blind road areas, sidewalk areas and other road areas from high to low according to the safety level;
the processing module is used for establishing a conversion relation between the geodetic coordinates and the pixel coordinates in the image according to the relation between the geodetic coordinates of the blind guiding vehicle and the pixel coordinates of the blind guiding vehicle in the image; and determining geodetic coordinates of the boundary of the highest safety level region in the image according to the conversion relation, and determining a blind guiding path in the highest safety level region according to the geodetic coordinates.
Preferably, the navigation module is further configured to: and adjusting the direction of the blind guiding vehicle to be consistent with the direction of the navigation route.
Preferably, the processing module is further configured to:
updating a blind guide path according to preset configuration, if a new blind guide path is intersected with an original blind guide path, continuing blind guide according to the original blind guide path, and replacing the intersection point with the new blind guide path; and if the new blind guiding path does not intersect with the original blind guiding path, generating a transition path connecting the original blind guiding path and the new blind guiding path, reaching the new blind guiding path along the transition path, and guiding blind along the new blind guiding path.
Due to the adoption of the technical scheme, the embodiment of the invention has the following advantages:
after a navigation route from the current position to the destination is obtained through the navigation system, areas in the navigation route are further scanned to divide passable areas and impassable areas, and a blind guiding path is determined in the area with the highest safety level in the passable areas, so that the blind can be guided to go out smoothly.
Drawings
Fig. 1 is a schematic flow chart of a blind guiding vehicle path generating method based on a navigation system according to an embodiment of the present invention.
Fig. 2 is a schematic application environment diagram of a blind guiding vehicle path generating method based on a navigation system according to an embodiment of the present invention.
Fig. 3 shows a navigation route from the current position to the destination determined by the navigation system on the blind guiding vehicle in the embodiment of the invention.
Fig. 4 shows the area scanned by the blind guiding vehicle and the result of voice segmentation in the embodiment of the invention.
Fig. 5 shows a schematic view of a blind guiding vehicle obstacle avoidance scene in the embodiment of the invention.
FIG. 6 shows semantic segmentation maps corresponding to intersections in an embodiment of the present invention.
FIG. 7 illustrates a semantic segmentation graph corresponding to a turn in an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a blind guiding vehicle path generating device based on a navigation system according to an embodiment of the present invention.
Detailed Description
In the drawings, the same or similar reference numerals are used to denote the same or similar elements or elements having the same or similar functions. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In the description of the present invention, the terms "central", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, should not be construed as limiting the scope of the present invention.
In the present invention, the technical features of the embodiments and implementations may be combined with each other without conflict, and the present invention is not limited to the embodiments or implementations in which the technical features are located.
The present invention will be further described with reference to the accompanying drawings and specific embodiments, it should be noted that the technical solutions and design principles of the present invention are described in detail in the following only by way of an optimized technical solution, but the scope of the present invention is not limited thereto.
The following terms are referred to herein, and their meanings are explained below for ease of understanding. It will be understood by those skilled in the art that the following terms may have other names, but any other names should be considered consistent with the terms set forth herein without departing from their meaning.
The embodiment of the invention provides a blind guiding vehicle path generating method based on a navigation system, which is applied to a blind guiding vehicle provided with the navigation system, and as shown in figure 1, the method comprises the following steps:
step s10, determining, by the navigation system, a navigation route from the current location to the destination;
step s20, scanning the area in the navigation route through a camera, identifying the acquired image, performing semantic segmentation, and dividing the passable area and the impassable area in the image; the passable areas comprise blind road areas, sidewalk areas and other road areas from high to low according to the safety level;
step s30, establishing a conversion relation between the geodetic coordinates and the pixel coordinates in the image according to the relation between the geodetic coordinates of the blind guiding vehicle and the pixel coordinates of the blind guiding vehicle in the image;
and step s40, determining geodetic coordinates of the boundary of the region with the highest security level in the image according to the conversion relation, and determining a blind guiding path in the region with the highest security level according to the geodetic coordinates.
Wherein, before scanning the area in the navigation route by the camera, the method may further include: and adjusting the direction of the blind guiding vehicle to be consistent with the direction of the navigation route.
In one embodiment, adjusting the direction of the blind guiding vehicle to coincide with the direction of the navigation route may comprise:
obtaining an angle difference value between the orientation of the blind guiding vehicle and the direction of the navigation route, and if the angle difference value is smaller than or equal to a preset threshold value, judging that the orientation of the blind guiding vehicle is consistent with the direction of the navigation route; if the angle difference is larger than the preset threshold value, the direction of the blind guiding vehicle is adjusted to be consistent with the direction of the navigation route.
In one embodiment, determining a blind guiding path in the highest safety level region according to the geodetic coordinates comprises:
and selecting a point at the middle position of the area with the highest safety level to construct the blind guiding path.
In one embodiment, the method further comprises:
the blind guiding vehicle updates the blind guiding path according to preset configuration, if the new blind guiding path is intersected with the original blind guiding path, the blind guiding is continued according to the original blind guiding path, and the intersection point is replaced by the new blind guiding path; and if the new blind guiding path does not intersect with the original blind guiding path, generating a transition path connecting the original blind guiding path and the new blind guiding path, reaching the new blind guiding path along the transition path, and guiding blind along the new blind guiding path.
In one embodiment, the generating a transition path connecting the original blind guiding path and the new blind guiding path includes:
and generating the transverse displacement from the original blind guiding path to the new blind guiding path as the transition path.
In one embodiment, the transition path is calculated according to a preset longitudinal distance M, a transverse distance S from the original blind guiding path to the new blind guiding path, and a blind guiding vehicle forward speed V, in combination with the following formula:
y＝Vt
y represents the longitudinal displacement of the blind guiding vehicle at the time t, x represents the transverse displacement of the blind guiding vehicle at the time t, and the maximum value of x is the transverse distance S from the original blind guiding path to the new blind guiding path.
The blind guiding vehicle path generating method based on the navigation system provided by the invention is described by specific examples.
Fig. 2 shows a schematic application environment of the method. In fig. 2, a is the position of the blind, B is the destination of the blind, the rounded rectangle represents a general non-road area, and the black solid line represents a zebra crossing.
Fig. 3 shows a navigation route from a current location to a destination determined by a navigation system on a blind-guiding vehicle. After the navigation route is determined, the blind guiding vehicle scans a range which takes the blind guiding vehicle as a circle center and L as a radius through a camera, and the obtained image is identified, semantically segmented and classified. Fig. 4 shows the area scanned by the blind guiding vehicle and the result of the voice segmentation. As shown in fig. 4, the traffic zone includes a passable zone and a non-passable zone, and the passable zone is divided into four types of blind roads, sidewalks, general roads and zebra crossings from high to low according to the safety level. Wherein, the general road refers to other roads which can be walked through, such as non-motor vehicle lanes, blind roads, sidewalks and zebra crossing roads.
It is easy to understand that the camera of the blind guiding vehicle can only scan the image in the forward direction. At this time, the blind guiding vehicle needs to be determined to be correctly oriented. As shown in fig. 4, the N arrow represents the true north direction and E represents the true east. The vehicle heading is determined by rotating clockwise from true north to an angle coincident with the vehicle heading, which can be directly acquired by a positioning system such as GPS. The direction calculation method of the navigation route is similar to that, and the vector direction from the current point to the next point on the navigation route is the guidance direction of the navigation route at the moment, and the direction can also be directly obtained by the navigation system. Setting an orientation threshold value theta, and if the absolute value of the difference between the guiding direction of the navigation route and the orientation of the vehicle is less than or equal to theta, determining that the two directions are consistent, and at the moment, the orientation of the blind guiding vehicle is correct; if the difference value of the two directions is larger than theta, the blind guiding vehicle needs to adjust the direction to be consistent with the direction of the navigation route.
The step of determining the blind guiding route for guiding the blind guiding vehicle to advance comprises the following steps:
as shown in fig. 4, there will be distinct boundaries between different passable regions after semantic segmentation. In the semantic segmentation map, if geodetic coordinates of four vertexes of the blind guiding vehicle are known, a certain vertex coordinate of the blind guiding vehicle is set as (x, y), a corresponding pixel coordinate in the semantic segmentation map is set as (m, n), and optionally three vertexes, a corresponding relation between the geodetic coordinates and the pixel coordinates can be established through the following formula, so that a transformation matrix between the geodetic coordinates and the pixel coordinates is obtained:
the exact coordinates of the region boundaries can be obtained by pixels after solving the transformation matrix. And selecting a region with the highest safety level, such as a blind road in fig. 4, selecting a proper amount of points at the middle position of the region, and fitting the points into a cubic polynomial to be used as a blind guiding path.
The blind guiding path generation mode is as follows:
firstly, a group of points [ A1, A2,, An ], [ B1, B1,, Bn ] are selected from two boundaries of the highest security level region, wherein the two groups of points are equal in number, and the distance between two adjacent points in the group is equal. Two groups of points are corresponded to each other, and two links are linked to take the middle point to obtain a point list [ P1, P2,, Pn ].
Let the polynomial be f (x) a0+a1x+a2 x2+a3 x3Then according to the least square method, the equation set is
In the above equation set, m is the order of equation equal to 3, n is the number of elements, i.e. the number of points in the point list, and x and y are the horizontal and vertical coordinates of the point P, and a0, a1, a2 and a3 are solved to obtain the expression of cubic polynomial, and the trajectory of the expression is used as the blind guiding path.
The blind guiding vehicle can update the blind guiding path in real time, can also set a proper scanning period according to the scanning radius of the blind guiding vehicle, for example, the blind guiding path is updated once every driving distance L/2, can also be set to update the blind guiding path according to a time period, and can be flexibly set according to actual requirements.
After the blind guiding path is updated, if the new blind guiding path is intersected with the original blind guiding path, continuing guiding blind according to the original blind guiding path, and replacing the intersection point with the new blind guiding path; and if the new blind guiding path does not intersect with the original blind guiding path, generating a transition path connecting the original blind guiding path and the new blind guiding path, reaching the new blind guiding path along the transition path, and guiding the blind along the new blind guiding path. For example, a lateral shift of the original blind-guide path to the new blind-guide path is generated as a transition path.
A specific application scenario of the blind guiding vehicle path generation method provided by the embodiment of the invention is described below.
Obstacle avoidance
As shown in fig. 5, the arrows represent blind guiding routes, and the black dots represent obstacles. When the blind person is detected to have an obstacle in the advancing direction, the blind person needs to be guided to avoid the obstacle. A safety avoidance distance M is preset, and means the shortest distance between the blind and the barrier is allowed for ensuring the safety of the blind under ordinary conditions. In the semantic environment, M extends along the edge of the obstacle, and this area is defined as an obstacle avoidance area. Blind guiding routes may be set not to intersect this area. And then calculating the farthest transverse distance S between the blind guiding vehicle and the obstacle avoidance area, namely the obstacle avoidance distance needing to be deviated. In order to ensure the continuity and smoothness of the blind guiding route, the blind guiding vehicle guides the blind to avoid obstacles during the walking.
Assuming that the blind person advances at a speed V, coordinates of a point on an obstacle avoidance path are (x, y), x is transverse displacement, and y is longitudinal displacement, then
y＝Vt
And the maximum value of x can be further limited to be S, namely the farthest transverse distance between the blind guiding vehicle and the obstacle avoidance area. And obtaining an obstacle avoidance route based on the values of x and y.
(II) generating a transition path
When the current passable area is adjacent to a higher passable area in the same direction and no barrier exists in the higher passable area, the blind person is guided to change the way to the higher passable area.
At this time, the generation of the transition path can refer to the obstacle avoidance mode, a longitudinal distance M is preset, a transverse distance S from the current route to the center of a higher passable area, the advancing speed of the blind is V, the coordinates of a point on the obstacle avoidance path are (x, y), x is transverse displacement, y is longitudinal displacement, and then the blind person moves along the path in the vertical direction
y＝Vt
The maximum value of x is S. A transition path is derived based on the values of x and y.
(III) road junction
As shown in fig. 3, the blind passes through the intersection when following the navigation route, and the environmental conditions change at this time. Fig. 6 shows a semantic segmentation diagram corresponding to an intersection, in which arrows represent blind guiding routes, black arrows represent navigation routes, and arcs represent scanning ranges, and in this case, the situation can be summarized that the traveling direction is correct, and the passable area is changed.
The accessible area change is divided into two types, one is that a blind guiding path goes from a high-level area to a low-level area, and the other is that the blind guiding path goes from the low-level area to the high-level area.
When the passable area is changed, firstly, the path of the area is calculated in a new area, then whether the two paths are intersected or not is judged, if so, blind guidance is continued according to the current path, and the passable area is changed into a new path from the intersection point. If the blind guiding paths do not intersect, generating a transition path connecting the original blind guiding path and the new blind guiding path, reaching the new blind guiding path along the transition path, and then guiding the blind along the new blind guiding path.
In addition, when the blind guiding vehicle judges the image and determines that the current environment is the intersection, the blind guiding path can be directly determined in the following mode without calculation:
changing the high-level area to the low-level area, and prolonging the blind guiding path according to the existing blind guiding path direction under the condition of ensuring the blind guiding path to be consistent with the navigation path direction;
and changing the low-grade area to the high-grade area, and taking a connecting line between the middle point of the high-grade area and the current blind guiding vehicle position as a blind guiding path.
(IV) turning
As shown in FIG. 3, the blind needs to turn when following the navigation route. Fig. 7 shows a semantic segmentation map at the time of steering, wherein solid arrows represent navigation routes, open arrows represent blind guiding paths, and circular arcs represent scanning ranges. According to the navigation route guidance, the turning needs to be completed at the intersection.
At the moment, the blind guiding path can be directly updated, the new blind guiding path and the original blind guiding path are bound to have an intersection point, and when the navigation reaches the intersection point of the paths, the new path is switched to.
Blind guiding paths can also be determined as follows: firstly, selecting a passable area with the same direction as the direction after steering in a search range; and then sequentially searching from high to low according to the priority, determining whether the current blind guiding path is connected with the area where the blind guiding path is located, if so, determining that the passable area is the next blind walking area, and selecting points in the passable area to generate the blind guiding path.
Based on the same technical concept as the method in any of the above embodiments, an embodiment of the present invention further provides a blind guiding vehicle path generating device based on a navigation system, as shown in fig. 8, where the blind guiding vehicle path generating device includes:
a navigation module 81 for determining a navigation route from a current location to a destination;
the scanning module 82 is configured to scan an area in the navigation route, identify an acquired image, perform semantic segmentation, and divide a passable area and a non-passable area in the image; the passable areas comprise blind road areas, sidewalk areas and other road areas from high to low according to the safety level;
the processing module 83 is used for establishing a conversion relation between the geodetic coordinates and the pixel coordinates in the image according to the relation between the geodetic coordinates of the blind guiding vehicle and the pixel coordinates of the blind guiding vehicle in the image; and determining geodetic coordinates of the boundary of the highest safety level region in the image according to the conversion relation, and determining a blind guiding path in the highest safety level region according to the geodetic coordinates.
In one embodiment, the navigation module 81 is further configured to: and adjusting the direction of the blind guiding vehicle to be consistent with the direction of the navigation route.
In one embodiment, the processing module 83 is further configured to:
updating a blind guide path according to preset configuration, if a new blind guide path is intersected with an original blind guide path, continuing blind guide according to the original blind guide path, and replacing the intersection point with the new blind guide path; and if the new blind guiding path does not intersect with the original blind guiding path, generating a transition path connecting the original blind guiding path and the new blind guiding path, reaching the new blind guiding path along the transition path, and guiding blind along the new blind guiding path.
In the embodiment of the invention, after the navigation route from the current position to the destination is obtained through the navigation system, the passable area and the impassable area are divided by further scanning the area in the navigation route, and the blind guiding path is determined in the area with the highest safety level in the passable area, so that the blind can be guided to go out smoothly.
Finally, it should be pointed out that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Those of ordinary skill in the art will understand that: modifications can be made to the technical solutions described in the foregoing embodiments, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A blind guiding vehicle path generating method based on a navigation system is applied to a blind guiding vehicle provided with the navigation system, and is characterized by comprising the following steps:
determining, by the navigation system, a navigation route from a current location to a destination;
scanning an area in the navigation route through a camera, identifying an acquired image, performing semantic segmentation, and dividing a passable area and a non-passable area in the image; the passable areas comprise blind road areas, sidewalk areas and other road areas from high to low according to the safety level;
establishing a conversion relation between the geodetic coordinates and the pixel coordinates in the image according to the relation between the geodetic coordinates of the blind guiding vehicle and the pixel coordinates of the blind guiding vehicle in the image;
and determining geodetic coordinates of the boundary of the highest safety level region in the image according to the conversion relation, and determining a blind guiding path in the highest safety level region according to the geodetic coordinates.
2. The blind-guiding vehicle path generating method of claim 1, wherein before scanning an area within the navigation route by a camera, further comprising: and adjusting the direction of the blind guiding vehicle to be consistent with the direction of the navigation route.
3. The blind guide vehicle path generation method of claim 2, wherein adjusting the direction of the blind guide vehicle to be consistent with the direction of the navigation route comprises:
obtaining an angle difference value between the orientation of the blind guiding vehicle and the direction of the navigation route, and if the angle difference value is smaller than or equal to a preset threshold value, judging that the orientation of the blind guiding vehicle is consistent with the direction of the navigation route; if the angle difference is larger than the preset threshold value, the direction of the blind guiding vehicle is adjusted to be consistent with the direction of the navigation route.
4. The blind-guide vehicle path generation method of claim 1, wherein determining a blind-guide path in the highest-security-level region according to the geodetic coordinates comprises:
and selecting a point at the middle position of the area with the highest safety level to construct the blind guiding path.
5. The blind guided vehicle path generation method of any one of claims 1-4, further comprising:
the blind guiding vehicle updates the blind guiding path according to preset configuration, if the new blind guiding path is intersected with the original blind guiding path, the blind guiding is continued according to the original blind guiding path, and the intersection point is replaced by the new blind guiding path; and if the new blind guiding path does not intersect with the original blind guiding path, generating a transition path connecting the original blind guiding path and the new blind guiding path, reaching the new blind guiding path along the transition path, and guiding blind along the new blind guiding path.
6. The blind-guide vehicle path generation method of claim 5, wherein the generating of the transition path connecting the original blind-guide path and the new blind-guide path comprises:
and generating the transverse displacement from the original blind guiding path to the new blind guiding path as the transition path.
7. The blind-guiding vehicle path generating method according to claim 5, characterized in that the transition path is calculated according to a preset longitudinal distance M, a transverse distance S from the original blind-guiding path to the new blind-guiding path, and a blind-guiding vehicle forward speed V, in combination with the following formula:
y＝Vt
y represents the longitudinal displacement of the blind guiding vehicle at the time t, x represents the transverse displacement of the blind guiding vehicle at the time t, and the maximum value of x is the transverse distance S from the original blind guiding path to the new blind guiding path.
8. A blind-guiding vehicle path generating device based on a navigation system is characterized by comprising:
the navigation module is used for determining a navigation route from the current position to the destination;
the scanning module is used for scanning the area in the navigation route, identifying the acquired image, performing semantic segmentation, and dividing the passable area and the impassable area in the image; the passable areas comprise blind road areas, sidewalk areas and other road areas from high to low according to the safety level;
the processing module is used for establishing a conversion relation between the geodetic coordinates and the pixel coordinates in the image according to the relation between the geodetic coordinates of the blind guiding vehicle and the pixel coordinates of the blind guiding vehicle in the image; and determining geodetic coordinates of the boundary of the highest safety level region in the image according to the conversion relation, and determining a blind guiding path in the highest safety level region according to the geodetic coordinates.
9. The blind-guiding vehicle path generating device as claimed in claim 8, wherein the navigation module is further configured to: and adjusting the direction of the blind guiding vehicle to be consistent with the direction of the navigation route.
10. The blind-guided vehicle path generation apparatus of claim 8, wherein the processing module is further configured to:
updating a blind guide path according to preset configuration, if a new blind guide path is intersected with an original blind guide path, continuing blind guide according to the original blind guide path, and replacing the intersection point with the new blind guide path; and if the new blind guiding path does not intersect with the original blind guiding path, generating a transition path connecting the original blind guiding path and the new blind guiding path, reaching the new blind guiding path along the transition path, and guiding blind along the new blind guiding path.
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