Vehicle navigation method, device and storage medium

Abstract

The present invention discloses a vehicle navigation method, device and storage medium, wherein the vehicle navigation method comprises: an image acquisition device acquires image data within a preset range; an image recognition technology is used to acquire a branch intersection in the acquired image data; navigation information is matched with the acquired branch intersection to obtain a driving route indication mark; a driving route indication mark is placed in front of the driver's field of vision through a driving route indication device; and the position of the projected driving route indication mark is changed in real time by tracking the changes in the driver's field of vision. Through the above method, the driving route indication mark is directly acquired to directly match the driving lane for navigation, and the position of the projected driving route indication mark is changed in real time by tracking the changes in the driver's field of vision, so that the driver can realize the driving route indication without distracting his attention, which can enable the vehicle driver to respond quickly, make the driver's grasp of the route more accurate, and improve the driver's driving experience.

Description

Technical Field

[0001] The present invention belongs to the field of navigation technology, and in particular relates to a vehicle navigation method, device and storage medium. Background Art

[0002] With the development of society, it is becoming more and more common to travel by car. During the driving process, vehicles often encounter intersections with many branches, such as highway overpasses, urban road overpasses, or urban road ground roads, elevated roads, underground roads and other mixed traffic intersections. Especially when many branch intersections are heading in the same direction, or these intersections are heading in similar directions, or these intersections are heading in similar directions first and then branching in multiple directions, it is difficult for vehicle drivers to accurately distinguish which intersection to take during the driving process, so it is easy to take the wrong intersection, resulting in detours and waste of time. In addition, if the driver uses the method of slowing down or stopping to confirm, it is easy to cause serious traffic accidents.

[0003] Existing navigation devices such as mobile phone map navigation, driving recorder navigation, car navigation, or real-life navigation devices such as real-life maps and intersection magnified maps, or location acquisition devices such as GPS positioning and inertial navigation, etc. installed on vehicles only solve navigation problems. In addition, real-life navigation displays real scenes that are mostly simulated by digital modeling or fixed photos, which are greatly different from the actual road conditions and viewing angles of the vehicle. Navigation prompts are mostly in the form of sound or display screens, so the navigation instructions can only be seen when the driver's attention is distracted. Therefore, in actual driving, when there are complex road conditions at multi-branch intersections, it is impossible to provide driving route instructions that allow vehicle drivers to respond quickly and make correct decisions.

[0004] How to provide driving route instructions without distracting the driver is becoming an increasingly urgent technical problem to be solved. Summary of the invention

[0005] In view of the above problems, the present invention provides a vehicle navigation method, device and storage medium, which realizes accurate navigation during lane driving, so that the navigation efficiency and accuracy are high.

[0006] The object of the present invention is to provide a vehicle navigation method, comprising:

[0007] The image acquisition device acquires image data within a preset range;

[0008] Using image recognition technology to obtain branch intersections in the collected image data;

[0009] Match the navigation information with the acquired branch intersections to obtain driving route indication signs;

[0010] Projecting driving route signs in front of the driver's field of vision;

[0011] Track changes in the driver's field of vision and change the position of the projected driving route signs in real time.

[0012] Optionally, before the image acquisition device acquires image data within a preset range, the method further includes calibrating the field of view angle acquired by the image acquisition device with the field of view angle of the driving route indication device, which specifically includes the following steps:

[0013] Determine the type of vehicle;

[0014] Based on the type of the vehicle, obtaining one or more vehicle information of vehicle height information, vehicle width information, and vehicle glass position information;

[0015] The field of view angles of the image acquisition device and the driving route indication device are calibrated according to the vehicle information.

[0016] Optionally, the step of acquiring a branch intersection in the collected image data using an image recognition technology further includes:

[0017] Determine whether there are lane lines in the image data;

[0018] If the image data contains lane lines, the lane lines in the image data are identified and the lanes and travel directions are divided;

[0019] If there is no lane line in the image data, an edge detection algorithm or a gradient detection algorithm is used to divide the travel direction, and the lanes in the current travel direction are divided according to the width of the travel direction.

[0020] Optionally, matching the navigation information with the acquired branch intersection to obtain a driving route indication mark includes:

[0021] Obtain one or more navigation information including driving direction information, distance information of the intersection ahead, and direction information;

[0022] Based on the above navigation information, preset the type of the branch intersection ahead;

[0023] Based on the above navigation information and the preset type of branch intersection ahead, the divided lanes are matched with the lanes prompted by the navigation.

[0024] Optionally, matching the divided lane with the lane indicated by the navigation includes:

[0025] Prioritize matching of the branch intersection type with the largest number of divided lanes in one direction of travel; and / or,

[0026] When the divided lanes and the lanes indicated by the navigation prompt cannot match the corresponding branch intersection type, the leftmost lane of the divided lanes is used as the first matching object, and the matching is performed in this way.

[0027] Optionally, the step of tracking the change of the driver's field of vision and changing the position of the projected driving route indication mark in real time specifically comprises the following steps:

[0028] Determine the driver's field of vision;

[0029] The driver's field of vision is used as the range of the projected driving route signs;

[0030] Based on the driving direction, the driving route indication mark is projected until the direction in which the current driving route indication mark is projected is directly in front of the vehicle.

[0031] Optionally, the position of the projected driving route indication mark is always consistent with the direction of the road branch intersection in front of the driver's field of vision that needs to be selected for travel.

[0032] Optionally, it also includes,

[0033] Adjust the display status of driving route signs based on the light inside and outside the vehicle.

[0034] Another object of the present invention is to provide a vehicle navigation device, comprising:

[0035] An image acquisition device, used to acquire image data within a preset range;

[0036] An acquisition module, used to acquire branch intersections in the collected image data using image recognition technology;

[0037] A calculation module is used to match the navigation information with the acquired branch intersections to obtain a driving route indication mark;

[0038] The driving route indication device is used to project the driving route indication logo in front of the driver's field of vision.

[0039] And track the changes in the driver's field of vision to change the position of the projected driving route signs in real time.

[0040] Another object of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the vehicle navigation method as described in any one of the above.

[0041] The vehicle navigation method of the present invention directly obtains the driving route indication mark to directly match the driving lane for navigation, and tracks the changes in the driver's field of view to change the position of the projected driving route indication mark in real time, so that the driver can realize the driving route indication without distracting the attention, which can enable the vehicle driver to respond quickly, make the driver grasp the route more accurately, and improve the driver's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 A schematic flow chart of a vehicle navigation method in an embodiment of the present invention is shown;

[0044] Figure 2 A reference schematic diagram of vehicle calibration results in an embodiment of the present invention is shown;

[0045] Figure 3 A schematic structural diagram of a vehicle navigation device in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] The terms "first", "second", etc. in the specification and claims of the present invention are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable under appropriate circumstances, so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein. In addition, the term "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0048] The vehicle navigation method provided by the embodiment of the present invention is described in detail below through specific embodiments and application scenarios in conjunction with the accompanying drawings.

[0049] See also Figure 1In the embodiment of the present invention, a vehicle navigation method is introduced, including: first, an image acquisition device acquires image data within a preset range, and the specific image acquisition device is a camera; second, an image recognition technology is used to acquire a branch intersection in the acquired image data; then, the navigation information is matched with the acquired branch intersection to obtain a driving route indication mark; finally, the driving route indication mark is projected to the front of the driver's field of vision through the driving route indication device, specifically, it is projected onto the front windshield of the vehicle, of course, it can also be other devices located in front of the driver's field of vision and do not affect the driver's field of vision, and the position of the projected driving route indication mark is changed in real time by tracking the changes in the driver's field of vision. Through the above method, the driving route indication mark is directly acquired, and the navigation is directly matched with the lane in which the vehicle is moving. In addition, the position of the projected driving route indication mark is changed in real time by tracking the changes in the driver's field of vision, so that the driver can obtain the driving route indication more intuitively without distracting his attention, which can enable the vehicle driver to respond quickly, make the driver's grasp of the route more accurate, and improve the driver's driving experience.

[0050] In this embodiment, before the image acquisition device acquires image data within a preset range, the method further includes calibrating the field of view angle acquired by the image acquisition device with the field of view angle of the driving route indication device, which specifically includes the following steps:

[0051] First, determine the type of vehicle; due to different types of vehicles, the angle of the front windshield of the vehicle is different. Therefore, when the installation angle of the image acquisition device and the installation angle of the driving route indication device are preset, the angle of the front windshield of the vehicle is fixed for different models. Therefore, it is necessary to match the model of the current vehicle and give the recommended installation angle and position according to the model. Thus, the determination of the model makes it easier to install the image acquisition device and the driving route indication device, and makes the final driving route indication mark more accurate. In addition, it should be noted that: since the core of the calibration is to calibrate the road information collected by the camera with the information projected by the driving route indication device, the main principle is that the center line of the field of vision of the driver of different vehicle models is relatively fixed. Since the driver mainly turns left and right and forward and goes uphill and downhill with a small amplitude, the driver's field of vision is relatively fixed. The field of vision (eye) height does not affect the projection effect of the driving route indication device, that is, under each model, the driver's field of vision is also relatively fixed (ignoring the influence of the field of vision height on the driving line of sight).

[0052] Secondly, based on the type of vehicle, obtain one or more of the following vehicle information: vehicle height, vehicle width information, and the position of the vehicle windows; if the vehicle model is known, the vehicle information can also be obtained with certainty, which can make the installation of the equipment more accurate.

[0053] Then, the field of view of the image acquisition device and the driving route indication device are calibrated according to the vehicle information. Specifically, the image acquisition device is installed in the middle of the vehicle glass, and the driving route indication device is installed on the center line of the driver's seat; for example, please refer to Figure 2 The image acquisition device is a camera. The installation angle and position of the image acquisition device need to ensure that the image field of view captured by the image acquisition device is directly in front of the front of the vehicle, and the vehicle's straight-moving direction is consistent with the center line of the image acquisition device. The installation angle and position of the driving route indication device need to ensure that the center line projected by the driving route indication device is directly in front of the front of the vehicle, and the vehicle's straight-moving direction is consistent with the projected center line of the driving route indication device. Such a setting can make the projected driving route indication signs more intuitive.

[0054] In a specific embodiment, the image acquisition device and the driver's field of view are converted by using a spatial coordinate system, taking the vehicle glass as the horizontal reference and the center line of the driver's seat as the vertical reference, to obtain a matching relationship between the field of view of the image acquisition device and the field of view of the driving route indication device. The projection area of ​​the calibrated driving indication corresponds to the driving direction, and the display range of the driving indication mark can float left and right within the projection area. Therefore, there is also a certain range of movement for the driver's field of view position, so there is no need to specifically limit the driver's personal information, and such a setting can make the projected driving route indication mark more intuitive. Figure 2 In the figure, there are four driving directions projected onto the vehicle glass as an example. The four driving directions are driving direction 1, driving direction 2, driving direction 3 and driving direction 4. The driving indication projection is projected by the driving indication sign device, and the projection forms 5 projection areas, namely projection area 1, projection area 2, projection area 3, projection area 4 and projection area 5.

[0055] In this embodiment, the use of image recognition technology to obtain branch intersections in the collected image data also includes determining whether there are lane lines in the image data; if there are lane lines in the image data, identifying the lane lines in the image data and dividing the lanes and the travel direction; if there are no lane lines in the image data, using an edge detection algorithm or a gradient detection algorithm to divide the travel direction, and dividing the lanes in the current travel direction according to the width of the travel direction. Furthermore, it also includes identifying the type of the divided lane, and the type of the lane can be but is not limited to straight, turning, branch intersection, etc.

[0056] Exemplarily, when dividing the lanes in the current direction of travel according to the width in the direction of travel, the following situations are followed: the general lane width is between 2.8 meters and 3.5 meters. For example, in the absence of lane lines, the guardrail is used as the boundary in the direction of travel. If the width in the direction of travel is judged to be 12 meters, since there needs to be a gap between the lane and the guardrail (usually 0.3 to 0.5 meters, or within 2 meters), it should be divided into 3 lanes.

[0057] In this embodiment, the navigation information is matched with the obtained branch intersection to obtain the driving route indication mark, which includes, first, obtaining one or more of the following navigation information: driving direction, distance information of the front intersection, and direction information; then, based on the above navigation information, the type of the front branch intersection is preset; wherein the type of the branch intersection is consistent with the type of the lane, including but not limited to straight, turning, branch intersection, etc. Finally, based on the above navigation information and the preset type of the front branch intersection, the divided lane is matched with the lane prompted by the navigation. Specifically, a feature matching method is used to achieve the matching relationship between the lane direction and the number of lanes. Exemplarily, some landmark features on the lane are selected for matching, wherein the landmark features can be but are not limited to the leftmost guardrail of the lane, the guardrail of the lane branch, the landmark line of the lane branch, the rightmost guardrail of the lane, the yellow line on the lane, and the solid line on the lane. These landmark features are used as the features of the image captured by the image acquisition device and the intersection situation prompted by the navigation for matching.

[0058] In summary, the matching of the divided lanes with the lanes of the navigation prompt also includes matching according to the following principles when the divided lanes cannot be completely matched with the lanes of the navigation prompt, that is, when the lane results recognized by the camera are inconsistent with the navigation: 1) Based on the navigation prompt, the branch intersection type with the largest number of divided lanes is preferentially matched in one direction of travel; and other lanes are matched on this basis. For example, if the navigation prompts that there are 4 lanes straight ahead and 2 lanes right turn branch intersections ahead, then when the image acquisition device recognizes that the 4 lanes are an independent direction of travel, the divided lanes are automatically matched to the 4 lanes straight ahead in the navigation prompt; then during the driving process, if a new lane type appears, continue to match based on the navigation prompt; 2) Based on the navigation prompt, when the two cannot match the corresponding branch intersection type (lane type), the leftmost lane of the divided lanes is the first matching object, and matching is performed in this way. For example, when the image acquisition device recognizes that the leftmost lane is a left turn lane, it matches with the navigation prompt, and then matches other single lanes in turn. For example, when the camera identifies the lane as a left turn and the navigation prompts a straight-ahead situation, the camera prompt information shall prevail, and after turning left at a certain angle, the image data collected by the camera shall continue to be tracked, and the direction indicated by the driving route sign shall be corrected according to the real-time collected data, and the vehicle shall be guided in the straight-ahead direction indicated by the navigation prompt. In the process of real-time matching of the divided lanes, the situation where the lane results identified by the camera are inconsistent with the navigation is fully considered, making the real-time navigation more accurate.

[0059] In this embodiment, the matching of the navigation information with the acquired branch intersection to obtain the driving route sign also includes forming a driving route sign corresponding to the lane or branch intersection based on the type of the matched lane or branch intersection. The driving route sign can be an sign with an arrow, which can be a straight arrow, a turn arrow, etc.

[0060] In this embodiment, the matched lane line can be displayed on the vehicle glass, that is, displayed in the projection area, or displayed on the road surface in front of the vehicle (that is, it is not displayed in the projection area of ​​the glass, and the driver's intuitive feeling is that the projected driving route indication mark is projected on the road surface in front of the vehicle). Regardless of which method is used, it is actual visually visible indication information. Thereby, the lane and the driving route indication mark displayed on the lane are clearer, and the user experience is improved. Preferably, the driving route indication mark always overlaps with the lane being traveled during the lane display process, and a driving route indication mark can always be seen within the driver's field of vision and on the lane where the vehicle is traveling. Further preferably, the distance of the driving route indication mark can be but not limited to 20 meters, 50 meters, 200 meters, etc.

[0061] In this embodiment, the driving route indication device only projects the driving route indication mark during projection, thereby making navigation easier and reducing the complexity of the driving route indication device, thereby improving the navigation calculation efficiency as a whole and reducing the size of the navigation device.

[0062] In this embodiment, the vehicle navigation method also includes tracking changes in the driver's field of vision to change the position of the projected driving route indicator in real time. The driving route indicator is calculated in real time based on the route seen by the driver, rather than being pre-planned by the navigation system. It effectively ensures that the driver's driving direction is consistent with the actual direction required to travel, and avoids navigation deviations caused by relying solely on the navigation system. For example, the direction given by the navigation system is only the direction required to go, and if the driver does not actually go in that direction, but goes in an adjacent direction to that direction, the panoramic map cannot determine that the driver's driving direction has deviated. After the deviation accumulates to a large enough level, the navigation can prompt that the driving route has deviated. Further, tracking changes in the driver's field of vision to change the position of the projected driving route indicator in real time specifically includes the following steps:

[0063] Determine the driver's field of view; wherein the driver's field of view may be the vehicle's driving direction, including a branch intersection where the vehicle may continue to travel and a specific lane.

[0064] The driver's field of vision is used as the range of the projected driving route indication mark. Further, the driver's viewing angle of ±60° in the driving position is used as the range of the projected driving route indication mark.

[0065] Based on the driving direction, the driving route indication mark is projected until the direction of the current driving route indication mark is directly in front of the vehicle, that is, until it is directly in front of the driver's field of vision. Specifically, when the navigation prompt needs to go left or right, it is determined whether the lane information required to be traveled in the navigation prompt is consistent with the lane information of the current driver's head facing the front of the vehicle, wherein, if the two are consistent, the driving route indication points to the front of the driver's field of vision, and if the two are inconsistent, the driving route indication points to the direction that needs to be turned in the driver's field of vision, until the lane information required to be traveled in the navigation prompt is consistent with the lane information of the current driver's head facing the front of the vehicle. Further, for the case where the vehicle is going straight, turning, or even needs to enter a branch intersection, since the existing navigation is to determine the driving direction by GPS Beidou positioning + inertial navigation, the judgment result is given with a delay and has a lag, so there is no way to determine whether the current driving direction is consistent with the direction indicated by the navigation. Thus, the driver moves forward in the direction of the driving route indication mark, and after a certain distance, the navigation system will also prompt the navigation prompt information to go straight ahead. Therefore, the driving route signs and navigation prompt information are combined during the driving process of the vehicle. While the route is intuitively indicated, the navigation prompt information is still used for auxiliary confirmation, making the vehicle's driving navigation more accurate and reliable, and can effectively reduce the situation of taking the wrong road.

[0066] Taking the example of a vehicle entering a branch intersection as an example, after the vehicle enters the branch intersection, the driving route indicator will provide navigation guidance for the branch intersection. Before entering the branch intersection, the driving route indicator instructs the driver to go to the correct branch intersection, and the image information of the branch intersection is obtained through a camera, and the driving direction is guided in real time using the driving route indicator. During this process, the navigation prompt information provides intermittent navigation reminders, so that the lane information that needs to be traveled is always consistent with the lane information that the current driver's vehicle head is facing, and there is no need to rely on the navigation GPS or inertial navigation to make a post-event judgment on whether the direction is wrong or right. Therefore, the present invention uses the driving route indication to determine whether the direction is correct, avoids judging whether the direction is correct through navigation, and improves the accuracy and efficiency of navigation.

[0067] In this embodiment, the position of the projected driving route indication mark is always consistent with the direction of the road branch intersection in front of the driver's field of vision that needs to be selected for travel.

[0068] In this embodiment, the vehicle navigation method further includes adjusting the display state of the driving route indicator based on the light inside and outside the vehicle. Specifically, the color, shape, intensity and frequency of the indicator light spot are adjusted according to the ambient light inside and outside the vehicle to eliminate the interference of the driving route indicator projected during the vehicle driving process on the driver's line of sight. More specifically, the interference of the driving route indicator on the driver's line of sight is eliminated by using a dot-shaped, dotted line-shaped or other light spot indicator instead of a linear light spot indicator, using a flashing light spot with a certain frequency instead of a constant light spot, using a green light spot instead of a white light spot, etc.

[0069] See also Figure 3 In an embodiment of the present invention, there is also a vehicle navigation device capable of executing the above-mentioned navigation method, including an image acquisition device, an acquisition module, a calculation module and a driving route indication device, wherein the image acquisition device is used to collect image data within a preset range; the acquisition module is used to use image recognition technology to obtain branch intersections in the collected image data; the calculation module is used to match the navigation information with the obtained branch intersections to obtain a driving route indication mark; the driving route indication device is used to project the driving route indication mark in front of the driver's field of vision, and track the changes in the driver's field of vision to change the position of the projected driving route indication mark in real time. The driving route indication mark in the present invention is calculated in real time based on the route seen by the driver, rather than being pre-planned by the navigation system. It effectively ensures that the driver's driving direction is consistent with the actual direction required to travel, avoiding the situation where navigation deviation occurs due to relying solely on the navigation system.

[0070] The embodiment of the present invention also introduces a computer-readable storage medium, on which a computer program is stored, and is characterized in that the computer program implements the above-mentioned vehicle navigation method when executed by a processor.

[0071] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0072] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present invention is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0073] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods of various embodiments of the present invention.

[0074] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A vehicle navigation method, characterized in that: include, The image acquisition device acquires image data within a preset range; Using image recognition technology to obtain branch intersections in the collected image data; Match the navigation information with the acquired branch intersections to obtain driving route indication signs; Projecting a driving route sign in front of the driver's field of vision, and tracking changes in the driver's field of vision to change the position of the projected driving route sign in real time; The matching of the navigation information with the acquired branch intersection to obtain the driving route indication includes: Obtain one or more navigation information including driving direction information, distance information of the intersection ahead, and direction information; Based on the above navigation information, preset the type of the branch intersection ahead; Based on the above navigation information and the preset type of the branch intersection ahead, the divided lane is matched with the lane prompted by the navigation; The matching of the divided lane with the lane indicated by the navigation comprises: In one direction of travel, the branch intersection type with the largest number of divided lanes is preferentially matched; and / or, If the divided lanes and the lanes indicated by the navigation prompt cannot match the corresponding branch intersection type, the leftmost lane of the divided lanes is used as the first matching object, and the matching is performed in this way; Before the image acquisition device acquires image data within a preset range, the method further includes calibrating the field of view angle acquired by the image acquisition device with the field of view angle of the driving route indication device, which specifically includes the following steps: Determine the type of vehicle; Based on the type of the vehicle, obtaining one or more vehicle information of vehicle height information, vehicle width information, and vehicle glass position information; The field of view angles of the image acquisition device and the driving route indication device are calibrated according to the vehicle information.

2. The vehicle navigation method according to claim 1, characterized in that: The method of using image recognition technology to obtain branch intersections in the collected image data also includes: Determine whether there are lane lines in the image data; If the image data contains lane lines, the lane lines in the image data are identified and the lanes and travel directions are divided; If there is no lane line in the image data, an edge detection algorithm or a gradient detection algorithm is used to divide the travel direction, and the lanes in the current travel direction are divided according to the width of the travel direction.

3. The vehicle navigation method according to claim 1, characterized in that: The method of tracking the change of the driver's field of vision and changing the position of the projected driving route indication sign in real time specifically comprises the following steps: Determine the driver's field of vision; The driver's field of vision is used as the range of the projected driving route signs; Based on the driving direction, the driving route indication mark is projected until the direction in which the current driving route indication mark is projected is directly in front of the vehicle.

4. The vehicle navigation method according to claim 3, characterized in that: The position of the projected driving route indication mark is always consistent with the direction of the road branch intersection in front of the driver's field of vision that needs to be selected for travel.

5. The vehicle navigation method according to claim 4, characterized in that: Also includes, Adjust the display status of driving route signs based on the light inside and outside the vehicle.

6. A vehicle navigation device, using the vehicle navigation method according to claim 1, characterized in that: include, An image acquisition device, used to acquire image data within a preset range; An acquisition module, used to acquire branch intersections in the collected image data using image recognition technology; A calculation module is used to match the navigation information with the acquired branch intersections to obtain a driving route indication mark; The driving route indication device is used to project the driving route indication logo in front of the driver's field of vision. And track the changes in the driver's field of vision to change the position of the projected driving route signs in real time.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle navigation method according to any one of claims 1 to 5 is implemented.

Images