Blind-guiding method, system, device, equipment, readable storage medium, and program product

Abstract

This application provides a method, system, device, equipment, readable storage medium, and program product for guiding the blind. The method includes obtaining a navigation path for the guiding device from the cloud based on the starting location information and destination location information of the guiding device; sending motion information, including the navigation path and the current location information of the guiding device; receiving road status information sent by a roadside unit based on the motion information, and / or vehicle status information sent by an on-board unit based on the motion information; and outputting prompt information based on the navigation path, target information, and current location information. The prompt information is used to guide the user blindly, wherein the target information includes at least one of road status information and vehicle status information. According to the embodiments of this application, real-time refined navigation based on a globally optimized navigation path effectively improves the problem of strong limitations in the guiding process, can adapt to the guiding needs under various road conditions, and thus improves the reliability of guiding.

Description

Technical Field

[0001] This application belongs to the field of guidance technology, and particularly relates to a guidance method, system, device, equipment, readable storage medium and program product. Background Technology

[0002] As cities continue to develop, road conditions become increasingly complex, and the number of vehicles increases, making travel more and more difficult for blind people. While assistive devices such as canes can help them navigate, most current assistive devices rely on sensors to identify road conditions in real time, resulting in limited detection ranges and narrow application scenarios. This often fails to meet the needs of blind people for convenient and safe travel. Therefore, the reliability of existing guidance methods is relatively low. Summary of the Invention

[0003] This application provides a navigation method, system, apparatus, device, readable storage medium, and program product to address the technical problem of low reliability in existing navigation methods.

[0004] In a first aspect, embodiments of this application provide a method for guiding the visually impaired, the method comprising:

[0005] Based on the starting and destination location information of the guide device, the navigation path of the guide device is obtained from the cloud;

[0006] Send motion information, which includes the navigation path and the current location information of the guide device for the visually impaired;

[0007] Receive target information sent by the roadside unit (RSU) based on the motion information, and / or vehicle status information sent by the on-board unit (OBU) based on the motion information;

[0008] Based on the navigation path, target information, and current location information, a prompt message is output. The prompt message is used to guide the user blindly. The target information includes at least one of the road status information and the vehicle status information.

[0009] Secondly, embodiments of this application provide a guide system for the visually impaired, the system comprising:

[0010] A guide device for implementing the guide method as described in any one of claims 1-11;

[0011] The cloud platform is used to receive the starting location information and destination location information of the guide device, determine the navigation path of the guide device based on the starting location information and destination location information, and feed back the navigation path to the guide device.

[0012] The target communication device includes at least one of a roadside unit (RSU) and an on-board unit (OBU). The RSU is used to receive motion information and send road status information to the guide device based on the motion information. The OBU is used to receive motion information and send vehicle status information to the guide device based on the motion information. The motion information includes the navigation path and the current location information of the guide device.

[0013] Thirdly, embodiments of this application provide a guide device for the visually impaired, the device comprising:

[0014] The acquisition module is used to acquire the navigation path of the guide device from the cloud based on the starting location information and destination location information of the guide device;

[0015] A sending module is used to send motion information, which includes the navigation path and the current location information of the guide device for the visually impaired.

[0016] The receiving module is used to receive road status information sent by the roadside unit (RSU) based on the motion information, and / or vehicle status information sent by the on-board unit (OBU) based on the motion information;

[0017] The blind guidance module is used to output prompt information based on the navigation path, target information and current location information. The prompt information is used to guide the user blindly. The target information includes at least one of the road status information and the vehicle status information.

[0018] Fourthly, embodiments of this application provide an electronic device, the device comprising:

[0019] Processor and memory storing programs or instructions;

[0020] The processor implements the above-described method when executing the program or instructions.

[0021] Fifthly, embodiments of this application provide a readable storage medium storing a program or instructions that, when executed by a processor, implement the method described above.

[0022] Sixthly, embodiments of this application provide a computer program product, wherein instructions in the computer program product, when executed by a processor of an electronic device, cause the electronic device to perform the above-described method.

[0023] The guidance method, system, device, equipment, readable storage medium, and program product of this application embodiment can obtain the navigation path of the guidance device from the cloud based on the starting location information and destination location information of the guidance device; send motion information, including the navigation path and the current location information of the guidance device; receive road status information sent by the roadside unit (RSU) based on the motion information, and / or vehicle status information sent by the on-board unit (OBU) based on the motion information; and output prompt information based on the navigation path, target information, and current location information. The prompt information is used to guide the user, wherein the target information includes at least one of road status information and vehicle status information. In this way, the optimal navigation path considering factors such as traffic conditions can be obtained from the cloud, and refined navigation can be performed by combining the target information sent by the RSU and / or OBU. Real-time refined navigation is based on the globally optimized navigation path, which effectively improves the problem of strong limitations in the guidance process and can adapt to the guidance needs under various road conditions, thereby improving the reliability of guidance. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of a guide system for the visually impaired provided in one embodiment of this application;

[0026] Figure 2 This is a flowchart illustrating a guide method for the blind provided in another embodiment of this application;

[0027] Figure 3 This is a schematic diagram of a scenario in the guide method for the visually impaired provided in the embodiments of this application;

[0028] Figure 4 This is another scenario diagram of the guide method for the visually impaired provided in the embodiments of this application;

[0029] Figure 5 This is a flowchart of a scenario embodiment of the guide method for the visually impaired provided in this application;

[0030] Figure 6 This is a flowchart of another scenario embodiment of the guide method for the visually impaired provided in this application;

[0031] Figure 7 This is another scenario diagram of the guide method for the visually impaired provided in the embodiments of this application;

[0032] Figure 8 This is a schematic diagram of the structure of a guide device for the visually impaired provided in another embodiment of this application;

[0033] Figure 9 This is a schematic diagram of the structure of an electronic device provided in another embodiment of this application. Detailed Implementation

[0034] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0036] To address the problems of the prior art, embodiments of this application provide a guide system, apparatus, device, readable storage medium, and program product. The guide system provided in this application embodiment will be described first below.

[0037] Figure 1 A schematic diagram of the structure of a guide system for the visually impaired, according to an embodiment of this application, is shown. Figure 1 As shown, the guidance system may include a guidance device 101, a cloud 102, and a target communication device. The target communication device may include at least one of a roadside unit (RSU) 103 and an on-board unit (OBU) 104.

[0038] Among them, the guide device can be installed on wearable devices such as canes, helmets, and safety clothing for blind people. The guide device 101 may include hardware such as a Cell-Vehicle to Everything (C-V2X) communication module, a positioning module, a human-computer interaction module (which may include an acoustic module and / or a vibration module), a gyroscope, and a power supply module. This hardware can be integrated into a small circuit board. The C-V2X communication module can be used to communicate with the cloud 102, RSU 103, and OBU 104; the positioning module can achieve centimeter-level positioning and obtain the current location information of the guide device 101 (i.e., the current location information of the blind person); the human-computer interaction module can transmit information to the blind person through sound and / or vibration to guide the blind person's movement; the gyroscope can be used to determine the current orientation information of the guide device 101 (i.e., the direction of movement of the blind person); the power supply module can provide power to the guide device 101; the computing unit can calculate the distance, orientation, and other information between the target object and the guide device 101, and the target object can be tactile paving, sidewalk, obstacles, vehicles, and intersections, etc.

[0039] RSU103 may include hardware such as a communication module and a computing unit. RSU103 is typically installed on the roadside or at a traffic light pole at an intersection. RSU103 can communicate with sensing device 1031 and / or traffic signal controller 1032 at the intersection. Sensing device 1031 may include hardware such as a camera, millimeter-wave radar, lidar, and edge computing unit. Traffic signal controller 1032 may include hardware such as a fiber optic communication module and a signal controller. Sensing device 1031 can send data collected by the camera, millimeter-wave radar, and lidar to the edge computing unit. The edge computing unit performs fusion calculations and outputs the relevant sensing results to RSU103. Traffic signal controller 1032 can also send traffic light information from the intersection to RSU103. RSU103 can generate road status information within its coverage area based on this information and forward the road status information to guide device 101.

[0040] The OBU104 can be installed inside a vehicle and includes hardware such as a C-V2X communication module, a positioning module, and a computing unit. The OBU104's C-V2X communication module can communicate with the guide device 101, the OBU104's positioning module can locate the vehicle's position, and the OBU104's computing unit can calculate the distance between the vehicle and the guide device 101 to provide warnings to the driver and remind the vehicle to avoid the blind person. The OBU104 can also send vehicle status information, including but not limited to vehicle position, speed, and direction of travel, to the guide device 101 so that the guide device 101 can guide the blind person to avoid the vehicle.

[0041] The guide system provided in this application embodiment can perform real-time refined navigation based on a globally optimized navigation path, effectively improving the problem of strong limitations in the guide process. It can adapt to the guide needs under various road conditions, and the guide system has low communication latency and high positioning accuracy, effectively improving the reliability of guide.

[0042] Based on the aforementioned guidance system for the visually impaired, in order to improve the reliability of guidance, one embodiment of this application also provides a specific implementation of the guidance method for the visually impaired. Figure 2 A flowchart illustrating a guide method for the visually impaired according to an embodiment of this application is shown. Figure 2 As shown, the guidance method is mainly applied to guidance devices for the visually impaired, and the guidance method may include the following steps:

[0043] Step 201: Obtain the navigation path of the guide device from the cloud based on the starting location information and destination location information of the guide device;

[0044] Step 202: Send motion information, which includes the navigation path and the current location information of the guide device;

[0045] Step 203: Receive road status information sent by the roadside unit (RSU) based on motion information, and / or vehicle status information sent by the on-board unit (OBU) based on motion information;

[0046] Step 204: Based on the navigation path, target information, and current location information, output prompt information. The prompt information is used to guide the user blindly. The target information includes at least one of road status information and vehicle status information.

[0047] The specific implementation methods of each of the above steps will be described in detail below.

[0048] In this embodiment, the guidance method can obtain the navigation path of the guidance device from the cloud based on the starting and destination location information of the device; send motion information, including the navigation path and the current location information of the guidance device; receive road status information sent by the roadside unit (RSU) based on the motion information, and / or vehicle status information sent by the on-board unit (OBU) based on the motion information; and output prompt information based on the navigation path, target information, and current location information. The prompt information is used to guide the user, wherein the target information includes at least one of road status information and vehicle status information. In this way, the optimal navigation path, considering factors such as traffic conditions, can be obtained from the cloud, and refined navigation can be performed by combining the target information sent by the RSU and / or OBU. Real-time refined navigation based on a globally optimized navigation path effectively improves the limitations of guidance methods and can adapt to guidance needs under various road conditions, thereby improving the reliability of guidance.

[0049] The specific implementation methods for each of the above steps are described below.

[0050] In step 201, the navigation path for the guide device can be obtained from the cloud based on its starting point and destination location information. For example, the guide device can activate navigation mode upon receiving user navigation input. In this mode, the guide device can obtain the starting point and destination location information input by the user and send these information to the cloud. After receiving the starting point and destination location information, the cloud can send the optimal navigation path to the guide device based on traffic conditions.

[0051] In step 202, the guide device can send motion information, which may include a navigation path and the guide device's current location information. For example, after receiving the navigation path, the guide device can issue corresponding voice, vibration, or other prompts to the user to guide them along the path. During the user's movement, the guide device can acquire its current location information. The guide device can then send the current location information and the navigation path to the RSUs and / or OBUs within its coverage area.

[0052] In step 203, after sending motion information, the system can receive road status information sent by the roadside unit (RSU) based on the motion information, and / or vehicle status information sent by the on-board unit (OBU) based on the motion information.

[0053] In some examples, after a guide device sends motion information to Roadside Units (RSUs) and / or On-Board Units (OBUs) within its coverage area, it can receive road status messages from all RSUs within that coverage area, and vehicle status messages such as vehicle position, speed, and direction of travel from all OBUs. In other words, all RSUs and / or OBUs within the guide device's coverage area can be considered target communication devices. After receiving target information from these target communication devices, the guide device can, based on its current location information, filter out target information that meets certain distance conditions (i.e., is near the guide device) for subsequent guidance.

[0054] In other examples, after the guide device sends motion information to the RSUs and / or OBUs within its coverage area, it can receive road status messages from RSUs located less than a preset distance threshold, and / or vehicle status messages from OBUs. It is understood that the area covered by the preset distance threshold may be smaller than the guide device's coverage area. In other words, RSUs and / or OBUs located less than the preset distance threshold can be considered target communication devices.

[0055] In step 204, after receiving the navigation path sent by the cloud and the target information sent by the target communication device, prompt information can be output based on the navigation path, target information and current location information to guide the user blindly.

[0056] In some embodiments, where the target information may include road condition information, step 204 above may specifically perform the following steps:

[0057] If the road status information indicates that a target road exists, obtain the target road information, which is either a tactile paving or a pedestrian walkway.

[0058] Based on the current location information and the target road information, determine the orientation relationship between the guide equipment and the target road;

[0059] Based on the navigation path and location, the system outputs a first prompt message to guide the user to the target road.

[0060] In this embodiment of the application, the target information may include road status information sent by the RSU. The road status information corresponding to the RSU includes, but is not limited to, elements such as lanes, sidewalks, tactile paving, zebra crossings, and parking spaces, and describes each element including, but not limited to, feature information such as location, length, width, height, and direction.

[0061] When a user walks onto a one-way street, the navigation path sent from the cloud and the road status information sent by the RSU can help the user find the target road. It's understandable that if the road status information indicates the presence of tactile paving, the target road can be tactile paving; if tactile paving is not present, the target road can be a pedestrian walkway. For ease of understanding, the following explanation will use a tactile paving target road as an example.

[0062] Guided vehicles (RSUs) can acquire target road information, which may include the location, direction, length, and width of the tactile paving. In some examples, the target road information sent by the RSU may directly include the equation of the tactile paving curve. It can be understood that if the tactile paving is a straight line, the equation of the tactile paving curve can be a linear equation; if the tactile paving is a curve, the equation of the tactile paving curve can also be a multiplicative equation.

[0063] In other examples, the equation for the tactile paving curve can also be obtained by fitting information such as the location, direction, length, and width of the tactile paving. For example, if the tactile paving is a straight line, the location information of the tactile paving can include the starting coordinates (x1, y1). Then, the equation for the tactile paving curve obtained by fitting information such as the location, direction, length, and width of the tactile paving can be as shown in formula (1):

[0064] y = kx + b (1)

[0065] The current position information of the blind guiding device can be represented as (xp, yp). As Figure 3 shown, according to the blind path direction, the blind path curve equation, the current position information of the blind guiding device, and the current orientation information (i.e., the orientation of the blind person), the orientation relationship between the blind guiding device and the blind path can be determined. Then, according to the navigation path and the orientation relationship, the first prompt information is output to guide the user to walk to the blind path. Among them, the current orientation information of the blind guiding device can be detected by the gyroscope of the blind guiding device, or the traveling direction indicated by the navigation path can be used as the current orientation information.

[0066] Exemplarily, if the absolute value of the difference between the blind path direction and the orientation of the blind person is not greater than the preset angle threshold, it can indicate that the user and the blind path have the same direction. At this time, xp can be substituted into formula (1), and the obtained result is compared with yp. If yp > y, it can be prompted that the user walks to the left to reach the blind path. If yp < y, it can be prompted that the user walks to the right to reach the blind path. If the absolute value of the difference between the blind path direction and the orientation of the blind person is greater than the preset angle threshold, it can indicate that the user and the blind path have opposite directions. At this time, xp can be substituted into formula (1), and the obtained result is compared with yp. If yp > y, it can be prompted that the user walks to the right to reach the blind path. If yp < y, it can be prompted that the user walks to the left to reach the blind path. Among them, the preset angle threshold can be set according to empirical values. For example, the preset angle threshold can be 90°.

[0067] In the embodiment of the present application, according to the navigation path sent by the cloud and the road status information sent by the RSU, the user can be helped to walk to the target road, thereby ensuring the safety of the user. In this way, the reliability of the blind guiding method is effectively improved.

[0068] In some embodiments, the above step 204 can also be specifically executed as follows:

[0069] In the case where the road status information indicates that there are obstacles on the target road, obtain the obstacle information of the obstacles;

[0070] According to the obstacle information, the current position information, and the navigation path, output the second prompt information, and the second prompt information is used to guide the user to avoid the obstacles.

[0071] In the embodiment of the present application, as Figure 3 shown, the perception devices on the roadside can monitor the road conditions in real time. For example, sensors such as cameras, millimeter-wave radars, and lidar can be used to detect the types, positions, and coverage ranges of dangerous things such as obstacles and construction areas on the road, and transmit this information to the RSU. The RSU then sends the road status information to the blind guiding device. In the case where the road status information indicates that there are obstacles on the target road, the obstacle information of the obstacles can be obtained. Among them, the obstacle information can include information such as the position, length, width, and height of the obstacles.

[0072] Based on the current location information of the guide device and the obstacle information, the directional relationship between the obstacle and the guide device can be determined. In other words, the position and distance between the obstacle and the user can be obtained. Combined with the navigation path, a second prompt can be output to guide the user to avoid the obstacle.

[0073] This effectively prevents users from being injured by obstacles while walking, further ensuring the safety of users and improving the reliability of the guide method.

[0074] In some embodiments, obstacle information may include the first coordinates of the obstacle's center, length information, and width information; motion information may also include the current orientation information of the guide device; and current position information may include the second coordinates.

[0075] Based on obstacle information, current location information, and navigation path, the above-mentioned second prompt information is output, which can be specifically executed in the following steps:

[0076] Calculate the first distance between the guide device and the obstacle based on the first and second coordinates;

[0077] In the case of decreasing first distance, the longitudinal and lateral distances between the guide device and the obstacle are determined based on the first coordinate, the second coordinate, the current orientation information, the length information, and the width information.

[0078] Based on the longitudinal distance, lateral distance, and navigation path, output a second prompt message.

[0079] In this embodiment of the application, the obstacle information may include the first coordinates (x2, y2) of the obstacle center, the length information l and the width information w, the motion information may also include the current orientation information of the guide device, which may be expressed as the orientation angle α, and the current position information may include the second coordinates (xp, yp).

[0080] The first distance between the guide device and the obstacle can be calculated based on the first and second coordinates. For example, the formula for calculating the first distance can be shown in formula (2):

[0081]

[0082] Where S1 can be the first distance, (x2,y2) can be the first coordinate, and (xp,yp) can be the second coordinate.

[0083] Compare whether the first distance between the guide device and the obstacle is decreasing. If the first distance remains unchanged or increases, it indicates that the user is not approaching the obstacle, and in this case, there is no need to output a second prompt to guide the user to avoid the obstacle. If the first distance is decreasing, it indicates that the user is approaching the obstacle. In this case, the longitudinal and lateral distances between the guide device and the obstacle can be determined based on the first coordinate, the second coordinate, the current orientation information, the length information, and the width information. For example, the formulas for calculating the longitudinal and lateral distances can be shown in formula (3):

[0084]

[0085] Where S2 can be the longitudinal distance, S3 can be the lateral distance, (x2,y2) can be the first coordinate, (xp,yp) can be the second coordinate, α can be the orientation angle, l can be the length information of the obstacle, and w can be the width information of the obstacle.

[0086] The spatial relationship between obstacles and guide equipment can be determined based on longitudinal and lateral distances. The guide equipment, considering this spatial relationship and within the planned navigation path, can then output secondary prompts to guide the user to avoid obstacles. This ensures accurate obstacle avoidance and further guarantees user safety.

[0087] In some embodiments, the step of outputting the second prompt information based on the longitudinal distance, the lateral distance, and the navigation path may specifically involve the following steps:

[0088] If the longitudinal distance is less than or equal to a preset first distance threshold and the lateral distance is less than or equal to a preset second distance threshold, the first sub-prompt information is output according to the navigation path. The first sub-prompt information is used to remind the user that there is an obstacle ahead and guide the user to leave the area of ​​the obstacle.

[0089] If the lateral distance after movement meets the preset distance condition, a second sub-prompt message is output according to the navigation path. The second sub-prompt message is used to guide the user back to the target road. The preset distance condition indicates that the guide device is not located in an area with obstacles.

[0090] like Figure 3As shown, the first and second distance thresholds can be set according to actual conditions, and are not specifically limited here. For example, the first distance threshold can be 5m, and the second distance threshold can be 0.5m. For instance, when the longitudinal distance is less than or equal to 5m and the lateral distance is less than or equal to 0.5m, it can be considered that the user may be in danger if they continue forward. At this time, based on the navigation path, the first sub-prompt message can be output to remind the user that there is an obstacle ahead and guide the user to walk to the right and leave the area of ​​the obstacle until the lateral distance is greater than 0.5m.

[0091] When the lateral distance after movement meets the preset distance condition, it can be considered that the guide device is not located in the area of ​​the obstacle. In other words, it means that the user has left the area of ​​the obstacle. At this time, according to the navigation path, the second sub-prompt information can be output to guide the user back to the target road. For example, the expression for the lateral distance meeting the preset distance condition can be as shown in formula (4):

[0092]

[0093] Where S3 can be the lateral distance, w can be the width information of the obstacle, and d can be the preset second distance threshold.

[0094] In some embodiments, where the target information may include road condition information, step 204 above may also specifically perform the following steps:

[0095] When the road condition information indicates the existence of an intersection, obtain the first location information of the intersection and the pedestrian waiting area information, including the first waiting area;

[0096] Based on the first location information and the current location information, determine whether the guide device is located in the area of ​​the intersection;

[0097] In the case of being located at an intersection, based on the current location information and pedestrian waiting area information, a third prompt message is output, which is used to guide the user to walk to the first waiting area;

[0098] Based on the target light information of the target traffic light, a fourth prompt message is output. The fourth prompt message is used to guide the user through the intersection. The target traffic light is determined by the RSU based on the first waiting area and the navigation route.

[0099] In this embodiment of the application, if the road status information sent by the RSU indicates the existence of an intersection, the first location information of the intersection and pedestrian waiting area information can be obtained. Generally, an intersection may include four waiting areas, and the pedestrian waiting area information may include the location information of each waiting area. The first waiting area may refer to the waiting area among the four waiting areas that is closest to the guide device. For example, as... Figure 4 As shown, waiting area B can be considered as the first waiting area.

[0100] After obtaining the first location information of the intersection, the system determines whether the guide device is located in the intersection area based on the first location information and the current location information. For example, if the distance between the first location information and the current location information is less than or equal to a preset third distance threshold, the guide device can be considered to be located in the intersection area. The third distance threshold can be set according to the actual situation.

[0101] The guide device is located at an intersection and can output a third prompt based on the current location information and the location information of the first waiting area to guide the user to walk to the first waiting area.

[0102] After the user walks to the first waiting area, the guide device can obtain the target light information of the target traffic light based on the navigation path. For example, such as Figure 4 As shown, if the navigation path indicates a route from waiting area B to waiting area D, the system can obtain the traffic light information for the area between waiting area B and waiting area D, and output a fourth prompt based on this information to guide the user through the intersection. If the navigation path indicates a route from waiting area B to waiting area A, the system can obtain the traffic light information for the area between waiting area B and waiting area A, and output a fourth prompt based on this information to guide the user through the intersection.

[0103] In some embodiments, the pedestrian waiting area information may further include a second waiting area, which is adjacent to the first waiting area. When the navigation path indicates the second waiting area, the above-mentioned output of the fourth prompt information based on the target light information of the target traffic light may specifically perform the following steps:

[0104] The first light information of the first traffic light is obtained, and the first traffic light is determined by the RSU based on the first waiting area and the second waiting area;

[0105] When the first light information indicates that pedestrians can pass, a third sub-prompt information is output. The third sub-prompt information is used to guide the user from the first waiting area to the second waiting area.

[0106] When the first light signal indicates that pedestrians are prohibited from crossing, a fourth sub-prompt message is output, which is used to guide the user to wait in the first waiting area.

[0107] In this embodiment of the application, the pedestrian waiting area information may further include a second waiting area adjacent to the first waiting area, such as... Figure 4As shown, for example, if waiting area B is the first waiting area and the navigation path indicates waiting area D as the second waiting area, then after the guide device guides the user to waiting area B, it can obtain the first light information of the first traffic light. The first traffic light can be determined by the RSU based on waiting area B and waiting area D; that is, the first traffic light can be the traffic light in the direction of waiting area B-waiting area D. For example, the RSU can send the traffic light and road name information to the guide device, and the guide device will then verbally announce the traffic light and road name information.

[0108] If the first light indicator shows that pedestrians can cross, a third sub-prompt message can be output to guide the user from the first waiting area to the second waiting area; if the first light indicator shows that pedestrians are prohibited from crossing, a fourth sub-prompt message can be output to guide the user to wait in the first waiting area. For example, when the first light indicator is green, the guide device can vibrate continuously, allowing the user to navigate using both voice and vibration prompts until they reach waiting area D. The vibration then stops, completing the guidance. When the first light indicator is red, the guide device can prompt the user to wait in place. When the first light indicator turns green, the guide device vibrates again with a voice prompt to guide the user across.

[0109] To facilitate understanding of the guide method provided in the above embodiments, the following describes the guide method using a specific scenario embodiment. Figure 5 A flowchart illustrating a scenario embodiment of the aforementioned guide method for the visually impaired is shown.

[0110] like Figure 5 As shown, this scenario embodiment depicts a blind person walking to an intersection, and only needing to cross the street once to cross. This scenario embodiment may include the following steps:

[0111] Step 501: Determine whether the guide device is located in the area of ​​an intersection. If yes, proceed to step 502. If no, end the guidance of passage through the intersection.

[0112] Step 502: The guide device outputs a message indicating that the blind person is in the area of ​​the intersection;

[0113] Step 503: The guide device outputs a prompt message guiding the blind person to enter the first waiting area;

[0114] Step 504: Determine whether the target light information is green. The target light information refers to the light information of the target traffic light, which is determined by the RSU based on the navigation path (indicating the waiting area the guide device expects to reach) and the first waiting area (the current location information of the guide device). For example, after the RSU determines the target traffic light, it can send the corresponding target light information to the guide device. Upon receiving the target light information, the guide device can determine whether it is green. If yes, proceed to step 505; otherwise, proceed to step 506.

[0115] Step 505: The guide device outputs prompts to guide the blind person through the intersection;

[0116] Step 506: The guide device outputs a prompt message instructing the blind person to wait for communication.

[0117] In this scenario embodiment, the guide device can guide the user to pass through the intersection smoothly based on the navigation path sent by the cloud and the road status information sent by the RSU, including intersection-related information and traffic light-related information. It can be applied to the complex road conditions of intersections and improves the reliability of the guide method.

[0118] In some embodiments, pedestrian waiting area information may include a first waiting area, a second waiting area, a third waiting area, and a fourth waiting area that are adjacent to each other. If the navigation path indicates the third waiting area, the above-mentioned output of the fourth prompt information based on the target light information of the target traffic light may specifically perform the following steps:

[0119] The first light information of the first traffic light is obtained, and the first traffic light is determined by the RSU based on the first waiting area and the second waiting area;

[0120] When the first light information indicates that pedestrians can pass, the fifth sub-prompt information is output. The fifth sub-prompt information is used to guide the user from the first waiting area to the second waiting area.

[0121] Obtain the second light information of the second traffic light, which is determined by the RSU based on the second waiting area and the third waiting area;

[0122] When the second light information indicates that pedestrians can pass, a sixth sub-prompt message is output, which guides the user from the second waiting area to the third waiting area.

[0123] In the embodiments of this application, for ease of understanding, as follows: Figure 4 As shown, the following explanation will take the example of pedestrian waiting area information including the first waiting area (waiting area B), the second waiting area (waiting area D), the third waiting area (waiting area C), and the fourth waiting area (waiting area A) that are adjacent to each other.

[0124] If the navigation path indicates that the expected waiting area is the third waiting area, that is, the expected waiting area (waiting area C) is not adjacent to the user's current waiting area (waiting area B), then the light information of the traffic light corresponding to the direction of waiting area B to waiting area D can be obtained. If the light information of the traffic light corresponding to the direction of waiting area B to waiting area D is green, then the fifth sub-prompt information can be output to guide the user from waiting area B to waiting area D.

[0125] After a user walks to waiting area D, the system can obtain the light information of the traffic light corresponding to the direction from waiting area D to waiting area C. If the light information of the traffic light corresponding to the direction from waiting area D to waiting area C is green, the system can output the sixth sub-prompt information to guide the user from waiting area D to waiting area C.

[0126] If the traffic light corresponding to the direction from waiting area D to waiting area C is red, the user can be guided to wait in place. When the light changes from red to green, the sixth sub-prompt message will be output to guide the user from waiting area D to waiting area C.

[0127] In some embodiments, after obtaining the first light information of the first traffic light, the guide method for the visually impaired may further include the following steps:

[0128] When the first light information indicates that pedestrians are prohibited from crossing, the third light information of the third signal light is obtained. The third signal light is determined by the RSU based on the first waiting area and the fourth waiting area.

[0129] When the third light information indicates that pedestrians can pass, the seventh sub-prompt information is output. The seventh sub-prompt information is used to guide the user from the first waiting area to the fourth waiting area.

[0130] Obtain the fourth light information of the fourth signal light, which is determined by the RSU based on the fourth waiting area and the third waiting area;

[0131] When the fourth light indicator shows that pedestrians can cross, the eighth sub-prompt message is output. The eighth sub-prompt message is used to guide the user from the fourth waiting area to the third waiting area.

[0132] like Figure 4 As shown in this embodiment, after obtaining the light information corresponding to the traffic lights in the waiting area B-waiting area D direction, if the light information corresponding to the traffic lights in the waiting area B-waiting area D direction is red, then the light information corresponding to the traffic lights in the waiting area B-waiting area A direction can be obtained.

[0133] It is understandable that obtaining the light information corresponding to the traffic lights in the area from waiting area B to waiting area A can be done automatically by the guide device when it detects that the light in the area from waiting area B to waiting area D is red, or it can be obtained in response to user input. For example, if a red light is detected in the current direction, the user can change the route by voice input or by pressing a preset control on the guide device. At this time, the guide device can obtain the light information of the traffic lights in the other direction.

[0134] If the traffic light corresponding to the direction from waiting area B to waiting area A is green, then the seventh sub-prompt message can be output to guide the user from waiting area B to waiting area A.

[0135] Then, the light information corresponding to the traffic lights in the direction of waiting area A to waiting area C can be obtained. If the light information corresponding to the traffic lights in the direction of waiting area A to waiting area C is green, the eighth sub-prompt information can be output to guide the user to walk from waiting area A to waiting area C.

[0136] In some embodiments, after obtaining the third light information of the third traffic light, the guide method for the visually impaired may further include the following steps:

[0137] When the third light information indicates that pedestrians are prohibited from crossing, the first duration of the first light information indicating that pedestrians are prohibited from crossing and the second duration of the third light information indicating that pedestrians are prohibited from crossing are obtained.

[0138] Based on the first and second durations, determine the passage route from the first waiting area to the third waiting area.

[0139] In this embodiment, if the traffic light corresponding to the direction of waiting area B-waiting area A is red (in other words, both directions are red), then the first duration of the traffic light being red from waiting area B-waiting area D and the second duration of the traffic light being red from waiting area B-waiting area A can be obtained. If the first duration is less than the second duration, the travel path can be waiting area B-waiting area D-waiting area C; if the first duration is greater than the second duration, the travel path can be waiting area B-waiting area A-waiting area C.

[0140] To facilitate understanding of the guide method provided in the above embodiments, the following describes the guide method using a specific scenario embodiment. Figure 6 A flowchart illustrating another scenario embodiment of the aforementioned guide method for the visually impaired is shown.

[0141] like Figure 6 As shown in the illustration, this scenario involves a blind person walking to an intersection and needing to cross the street twice. This scenario embodiment may include the following steps:

[0142] Step 601: Determine whether the guide device is located in the area of ​​an intersection. If yes, proceed to step 602. If no, end the guidance of passage through the intersection.

[0143] Step 602: The guide device outputs a message indicating that the blind person is in the area of ​​the intersection;

[0144] Step 603: Determine if the blind person needs to cross the street twice. If yes, proceed to step 604. If no, end the process and proceed as if only one street crossing is required.

[0145] Step 604: The guide device outputs a prompt message guiding the blind person to the first waiting area;

[0146] Step 605: Determine whether the current light information is green, where the current light information is the light information of the current traffic light. If yes, proceed to step 606; otherwise, proceed to step 608.

[0147] Step 606: The guide device outputs prompts to guide the blind person through the passage.

[0148] Step 607: Determine whether the blind person has completed crossing the street twice. If yes, end the process; otherwise, repeat step 605.

[0149] Step 608: The guide device outputs a prompt message instructing the blind person to wait for passage;

[0150] Step 609: Obtain lighting information from the other direction;

[0151] Step 610: Determine whether the light information in the other direction is green. If yes, proceed to step 611; otherwise, proceed to step 613.

[0152] Step 611: The guide device outputs prompts to guide the blind person through the passage.

[0153] Step 612: Determine whether the blind person has completed crossing the street twice. If yes, end the process; otherwise, repeat step 605.

[0154] Step 613: The guide device outputs a prompt message instructing the blind person to wait for passage.

[0155] In this scenario embodiment, when the navigation path indicates that crossing the intersection requires crossing the street twice, the guide device can select different routes based on the traffic light information, effectively improving the flexibility and efficiency of the guide method.

[0156] In some embodiments, where the target information may include vehicle status information, the motion information may also include the speed information of the guide device, and the vehicle status information may include the vehicle's second position information, vehicle speed, and vehicle direction of travel, step 204 above may specifically perform the following steps:

[0157] Based on the current location information, the second location information, the navigation path, and the vehicle's direction of travel, the target vehicle is determined. The target vehicle is the vehicle that has a point of collision with the user.

[0158] Based on the current location information, target location information, and target angle, calculate the second distance between the target vehicle and the collision point. The target location information is the second location information corresponding to the target vehicle, and the target angle is the angle between the guide device and the target vehicle.

[0159] Calculate the third distance between the guide device and the point of collision based on the second distance and the target angle;

[0160] Determine the minimum safe distance based on the third distance, vehicle speed, and speed information;

[0161] If the minimum safe distance is less than or equal to the second distance, the fifth prompt message is output according to the navigation path. The fifth prompt message is used to guide the user through the route.

[0162] If the minimum safe distance is greater than the second distance, a sixth prompt message will be output, which will guide the user to stop and give way to the vehicle.

[0163] In this embodiment, the target information may include vehicle status information sent by the OBU, and the motion information may also include the speed information of the guide device. It is understood that the speed information of the guide device may be the user's walking speed detected in real time, or it may be a pre-set fixed value. The vehicle status information may include the vehicle's second position information, vehicle speed, and vehicle direction of travel.

[0164] like Figure 7 As shown, based on the current location information and the second location information, it is first determined whether there is a vehicle within the preset fourth distance threshold of the guide device. The preset fourth distance threshold can be determined according to the actual situation, for example, the fourth distance threshold can be 150m. If there is a vehicle, it is then determined whether the vehicle is a target vehicle with a collision point with the user.

[0165] For example, the angle θ between the vehicle's direction of travel and the direction from the vehicle to the guide device can be used to determine whether there is a collision point between the vehicle and the user. If θ ≤ 90°, then there is a collision point, and the vehicle can be considered the target vehicle.

[0166] The second distance between the target vehicle and the collision point can be calculated based on the current location information, the target location information, and the target angle. The target location information can be the second location information corresponding to the target vehicle, and the target angle can be the angle between the guide device and the target vehicle. The calculation method for the second distance is as shown in formula (5):

[0167]

[0168] Where S4 can be the second distance, (x3,y3) can represent the target location information of the target vehicle, (xp,yp) can represent the current location information of the guide device, and θ can be the target angle.

[0169] Then, based on the second distance and the target angle, the third distance between the guide device and the collision point can be calculated. The third distance can be calculated as shown in formula (6):

[0170] S5 = S4 tanθ (6)

[0171] Where S5 can be the third distance, S4 can be the second distance, and θ can be the target angle.

[0172] The minimum safe distance can be determined based on the third distance, vehicle speed, and velocity information. The minimum safe distance can be calculated as shown in formula (7):

[0173]

[0174] Where S6 can be the minimum safe distance, S5 can be the third distance, and V s It can be the vehicle speed, V h This can be the speed information of the guide device, T can be the driver's reaction time, t1 can be the braking coordination time, t2 can be the deceleration increase time, θ can be the target angle, and a s It can be used to measure the average braking deceleration of the driver, and d0 can be used to reserve a safe distance.

[0175] Understandably, V h T, t1, t2, a s And d0 can be set based on empirical values, for example, V h The velocity can be 1.5 m / s, T can be 0.5–1 s, t1 can be 0.5 s, t2 can be 0.2 s, and a s It can be -2 to -3 m / s 2 d0 can be 3m.

[0176] After calculating the minimum safe distance and the second distance, the minimum safe distance and the second distance can be compared. If the minimum safe distance is less than or equal to the second distance, the target vehicle can be considered within a safe range, meaning that at the target vehicle's speed, a collision will not occur with the user. Based on the navigation route, a fifth prompt message can be output to guide the user through. If the minimum safe distance is greater than the second distance, it indicates that at the target vehicle's speed, a collision will occur with the user. In this case, a sixth prompt message can be output to guide the user to stop and avoid the vehicle. Once there is no danger, the guide device will then guide the user through the path via voice or vibration.

[0177] Understandably, when all target vehicles meet the above safety criteria (i.e., the minimum safe distance is less than or equal to the second distance), the guide device will guide the user through the passage via vibration or voice; otherwise, the user will be prompted to wait.

[0178] In this embodiment, the navigation path sent from the cloud and the vehicle status information sent from the OBU can help users avoid vehicles, thereby further ensuring user safety and improving the reliability of the navigation method for the blind.

[0179] It is also understandable that when the OBU communicates with the guide device, the OBU can also remind vehicles to avoid blind people based on the movement information of the guide device, realizing two-way warning and fully ensuring the travel safety of blind people.

[0180] Based on the guiding method provided in the above embodiments, this application also provides an embodiment of a guiding device.

[0181] Figure 8 A schematic diagram of a guide device for the visually impaired, according to another embodiment of this application, is shown. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0182] Reference Figure 8 The guide device 800 may include:

[0183] The acquisition module 801 is used to obtain the navigation path of the guide device from the cloud based on the starting location information and destination location information of the guide device;

[0184] The transmitting module 802 is used to transmit motion information, which includes navigation path and current location information of the guide device for the visually impaired. The target communication device includes at least one of roadside unit (RSU) and on-board unit (OBU).

[0185] The receiving module 803 is used to receive road status information sent by the roadside unit (RSU) based on motion information, and / or vehicle status information sent by the on-board unit (OBU) based on motion information;

[0186] The blind guidance module 804 is used to output prompt information based on the navigation path, target information and current location information. The prompt information is used to guide the user blindly. The target information includes at least one of road status information and vehicle status information.

[0187] In some embodiments, the guide module 804 may include:

[0188] The first acquisition unit is used to acquire the target road information of the target road when the road status information indicates that the target road exists. The target road is a tactile paving or a pedestrian walkway.

[0189] The first determining unit is used to determine the orientation relationship between the guide device and the target road based on the current location information and the target road information;

[0190] The first prompt unit is used to output the first prompt information based on the navigation path and orientation. The first prompt information is used to guide the user to the target road.

[0191] In some embodiments, the guide module 804 may further include:

[0192] The second acquisition unit is used to acquire obstacle information of the obstacle when the road status information indicates that there is an obstacle on the target road;

[0193] The second prompting unit is used to output second prompting information based on obstacle information, current location information and navigation path. The second prompting information is used to guide the user to avoid obstacles.

[0194] In some embodiments, obstacle information may include the first coordinates of the obstacle's center, length information, and width information; motion information may also include the current orientation information of the guide device; current position information may include second coordinates; and the second prompting unit may include:

[0195] The calculation subunit is used to calculate the first distance between the guide device and the obstacle based on the first coordinate and the second coordinate;

[0196] A sub-unit is defined to determine the longitudinal and lateral distances between the guide device and the obstacle based on the first coordinate, the second coordinate, the current orientation information, the length information, and the width information, when the first distance decreases.

[0197] The prompt subunit is used to output a second prompt message based on the longitudinal distance, lateral distance, and navigation path.

[0198] In some embodiments, the first prompting subunit can also be used for:

[0199] If the longitudinal distance is less than or equal to a preset first distance threshold and the lateral distance is less than or equal to a preset second distance threshold, the first sub-prompt information is output according to the navigation path. The first sub-prompt information is used to remind the user that there is an obstacle ahead and guide the user to leave the area of ​​the obstacle.

[0200] If the lateral distance after movement meets the preset distance condition, a second sub-prompt message is output according to the navigation path. The second sub-prompt message is used to guide the user back to the target road. The preset distance condition indicates that the guide device is not located in an area with obstacles.

[0201] In some embodiments, the guide module 804 may further include:

[0202] The third acquisition unit is used to acquire the first location information of the intersection and the pedestrian waiting area information when the road status information indicates that there is an intersection. The pedestrian waiting area information includes the first waiting area.

[0203] The second determining unit is used to determine whether the guide device is located in the area of ​​the intersection based on the first location information and the current location information;

[0204] The third prompt unit is used to output a third prompt message based on the current location information and pedestrian waiting area information when the user is located in an area at an intersection. The third prompt message is used to guide the user to walk to the first waiting area.

[0205] The fourth prompt unit is used to output a fourth prompt message based on the target light information of the target traffic light. The fourth prompt message is used to guide the user through the intersection. The target traffic light is determined by the RSU based on the first waiting area and the navigation route.

[0206] In some embodiments, the fourth prompting unit can also be used for:

[0207] The first light information of the first traffic light is obtained, and the first traffic light is determined by the RSU based on the first waiting area and the second waiting area;

[0208] When the first light information indicates that pedestrians can pass, a third sub-prompt information is output. The third sub-prompt information is used to guide the user from the first waiting area to the second waiting area.

[0209] When the first light signal indicates that pedestrians are prohibited from crossing, a fourth sub-prompt message is output, which is used to guide the user to wait in the first waiting area.

[0210] In some embodiments, the fourth prompting unit can also be used for:

[0211] The first light information of the first traffic light is obtained, and the first traffic light is determined by the RSU based on the first waiting area and the second waiting area;

[0212] When the first light information indicates that pedestrians can pass, the fifth sub-prompt information is output. The fifth sub-prompt information is used to guide the user from the first waiting area to the second waiting area.

[0213] Obtain the second light information of the second traffic light, which is determined by the RSU based on the second waiting area and the third waiting area;

[0214] When the second light information indicates that pedestrians can pass, a sixth sub-prompt message is output, which guides the user from the second waiting area to the third waiting area.

[0215] In some embodiments, the fourth prompting unit can also be used for:

[0216] When the first light information indicates that pedestrians are prohibited from crossing, the third light information of the third signal light is obtained. The third signal light is determined by the RSU based on the first waiting area and the fourth waiting area.

[0217] When the third light information indicates that pedestrians can pass, the seventh sub-prompt information is output. The seventh sub-prompt information is used to guide the user from the first waiting area to the fourth waiting area.

[0218] Obtain the fourth light information of the fourth signal light, which is determined by the RSU based on the fourth waiting area and the third waiting area;

[0219] When the fourth light indicator shows that pedestrians can cross, the eighth sub-prompt message is output. The eighth sub-prompt message is used to guide the user from the fourth waiting area to the third waiting area.

[0220] In some embodiments, the fourth prompting unit can also be used for:

[0221] When the third light information indicates that pedestrians are prohibited from crossing, the first duration of the first light information indicating that pedestrians are prohibited from crossing and the second duration of the third light information indicating that pedestrians are prohibited from crossing are obtained.

[0222] Based on the first and second durations, determine the passage route from the first waiting area to the third waiting area.

[0223] In some embodiments, the motion information may further include the speed information of the guide device, and the target information may include vehicle status information. If the vehicle status information may include the vehicle's second position information, speed, and direction of travel, the prompting module 804 may further include:

[0224] The third determining unit is used to determine the target vehicle based on the current location information, the second location information, the navigation path and the vehicle's driving direction. The target vehicle is the vehicle that has a collision point with the user.

[0225] The first calculation unit is used to calculate the second distance between the target vehicle and the collision point based on the current location information, the target location information, and the target angle. The target location information is the second location information corresponding to the target vehicle, and the target angle is the angle between the guide device and the target vehicle.

[0226] The second calculation unit is used to calculate the third distance between the guide device and the collision point based on the second distance and the target angle;

[0227] The fourth determining unit is used to determine the minimum safe distance based on the third distance, vehicle speed, and speed information;

[0228] The fifth prompt unit is used to output a fifth prompt message based on the navigation path when the minimum safe distance is less than or equal to the second distance. The fifth prompt message is used to guide the user through the route.

[0229] The sixth prompt unit is used to output a sixth prompt message when the minimum safe distance is greater than the second distance. The sixth prompt message is used to guide the user to stop and give way to the vehicle.

[0230] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application, and are devices corresponding to the above-mentioned guide method. All implementation methods in the above-mentioned method embodiments are applicable to the embodiments of this device. For details on its specific functions and the technical effects it brings, please refer to the method embodiment section, which will not be repeated here.

[0231] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0232] Figure 9 A schematic diagram of the hardware structure of an electronic device provided in yet another embodiment of this application is shown.

[0233] The device may include a processor 901 and a memory 902 storing programs or instructions.

[0234] When processor 901 executes the program, it implements the steps in any of the above method embodiments.

[0235] For example, the program can be divided into one or more modules / units, one or more of which are stored in memory 902 and executed by processor 901 to complete this application. One or more modules / units can be a series of program instruction segments capable of performing a specific function, which describe the program's execution process in the device.

[0236] Specifically, the processor 901 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0237] Memory 902 may include mass storage for data or instructions. For example, and not limitingly, memory 902 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 902 may include removable or non-removable (or fixed) media. Where appropriate, memory 902 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 902 is non-volatile solid-state memory.

[0238] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0239] The processor 901 implements any of the methods described in the above embodiments by reading and executing programs or instructions stored in the memory 902.

[0240] In one example, the electronic device may also include a communication interface 903 and a bus 910. The processor 901, memory 902, and communication interface 903 are connected via the bus 910 and communicate with each other.

[0241] The communication interface 903 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0242] Bus 910 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 910 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, this application contemplates any suitable bus or interconnect.

[0243] Furthermore, in conjunction with the methods in the above embodiments, this application embodiment can provide a readable storage medium for implementation. This readable storage medium stores a program or instructions; when executed by a processor, the program or instructions implement any of the methods in the above embodiments. This readable storage medium can be read by a machine such as a computer.

[0244] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0245] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0246] This application provides a computer program product stored in a readable storage medium. The program product is executed by at least one processor to implement the various processes of the above method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0247] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0248] The functional modules shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer grids such as the Internet, intranets, etc.

[0249] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0250] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by a computer program or instructions. These programs or instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0251] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for guiding the visually impaired, characterized in that, Applied to guide devices for the visually impaired, the guide method includes: Based on the starting location information and destination location information of the guide device, the navigation path of the guide device is obtained from the cloud; Send motion information, which includes the navigation path and the current location information of the guide device for the visually impaired; Receive road status information sent by the roadside unit (RSU) based on the motion information, and / or vehicle status information sent by the on-board unit (OBU) based on the motion information; Based on the navigation path, target information, and current location information, a prompt message is output. The prompt message is used to guide the user blindly. The target information includes at least one of the road status information and the vehicle status information. When the target information includes the road status information, the step of outputting prompt information based on the navigation path, target information, and current location information includes: The target road is determined based on the navigation path sent from the cloud and the road status information sent from the roadside unit (RSU). When the road status information indicates the existence of a target road, the target road information is obtained. The target road is either a tactile paving or a pedestrian walkway. The target road information sent by the roadside unit (RSU) includes: the curve equation of the target road and the direction of the target road. Determining the directional relationship between the guide device and the target road based on the current location information and the target road information includes: The orientational relationship between the guide device and the target road is determined based on the direction of the target road, the curve equation of the target road, the current location information, and the travel direction indicated by the navigation path. Based on the navigation path and the location relationship, a first prompt message is output, which is used to guide the user to walk to the target road.

2. The method according to claim 1, characterized in that, The step of outputting prompt information based on the navigation path, target information, and current location information also includes: When the road status information indicates that there is an obstacle on the target road, obtain the obstacle information of the obstacle; Based on the obstacle information, the current location information, and the navigation path, a second prompt message is output, which guides the user to avoid the obstacle.

3. The method according to claim 2, characterized in that, The obstacle information includes the first coordinates of the obstacle's center, length information, and width information; the motion information also includes the current orientation information of the guide device; and the current position information includes the second coordinates. The step of outputting a second prompt based on the obstacle information, the current location information, and the navigation path includes: Calculate the first distance between the guide device and the obstacle based on the first coordinate and the second coordinate; When the first distance decreases, the longitudinal and lateral distances between the guide device and the obstacle are determined based on the first coordinates, the second coordinates, the current orientation information, the length information, and the width information. Based on the longitudinal distance, the lateral distance, and the navigation path, output a second prompt message.

4. The method according to claim 3, characterized in that, The step of outputting a second prompt message based on the longitudinal distance, the lateral distance, and the navigation path includes: When the longitudinal distance is less than or equal to a preset first distance threshold and the lateral distance is less than or equal to a preset second distance threshold, a first sub-prompt message is output according to the navigation path. The first sub-prompt message is used to remind the user that there is an obstacle ahead and to guide the user to leave the area of ​​the obstacle. If the lateral distance after movement meets the preset distance condition, a second sub-prompt message is output according to the navigation path. The second sub-prompt message is used to guide the user back to the target road, wherein the preset distance condition indicates that the guide device is not located in the area of ​​the obstacle.

5. The method according to claim 1, characterized in that, When the target information includes the road status information, the step of outputting prompt information based on the navigation path, target information, and current location information includes: When the road status information indicates the existence of an intersection, the first location information of the intersection and pedestrian waiting area information are obtained, wherein the pedestrian waiting area information includes the first waiting area; Based on the first location information and the current location information, determine whether the guide device is located in the area of ​​the intersection; When the user is located in the area of ​​the intersection, a third prompt message is output based on the current location information and the pedestrian waiting area information. The third prompt message is used to guide the user to walk to the first waiting area. Based on the target light information of the target traffic light, a fourth prompt message is output. The fourth prompt message is used to guide the user through the intersection. The target traffic light is determined by the RSU based on the first waiting area and the navigation path.

6. The method according to claim 5, characterized in that, The pedestrian waiting area information also includes a second waiting area, which is adjacent to the first waiting area. When the navigation path indicates the second waiting area, the step of outputting a fourth prompt message based on the target traffic light information includes: The first light information of the first traffic light is obtained, and the first traffic light is determined by the RSU based on the first waiting area and the second waiting area; When the first light information indicates that pedestrians can pass, a third sub-prompt information is output, which is used to guide the user to walk from the first waiting area to the second waiting area. When the first light information indicates that pedestrians are prohibited from crossing, a fourth sub-prompt information is output, which is used to guide the user to wait in the first waiting area.

7. The method according to claim 5, characterized in that, The pedestrian waiting area information includes a first waiting area, a second waiting area, a third waiting area, and a fourth waiting area that are adjacent to each other. When the navigation path indicates the third waiting area, the fourth prompt information is output based on the target light information of the target traffic light, including: The first light information of the first traffic light is obtained, and the first traffic light is determined by the RSU based on the first waiting area and the second waiting area; When the first light information indicates that pedestrians can pass, a fifth sub-prompt information is output, which is used to guide the user to walk from the first waiting area to the second waiting area. The second light information of the second traffic light is obtained, and the second traffic light is determined by the RSU based on the second waiting area and the third waiting area; When the second light information indicates that pedestrians can pass, a sixth sub-prompt information is output, which is used to guide the user from the second waiting area to the third waiting area.

8. The method according to claim 7, characterized in that, After acquiring the first light information of the first traffic light, the method further includes: When the first light information indicates that pedestrians are prohibited from crossing, the third light information of the third traffic light is obtained, wherein the third traffic light is determined by the RSU based on the first waiting area and the fourth waiting area; When the third light information indicates that pedestrians can pass, a seventh sub-prompt information is output, which is used to guide the user from the first waiting area to the fourth waiting area; Obtain the fourth light information of the fourth traffic light, wherein the fourth traffic light is determined by the RSU based on the fourth waiting area and the third waiting area; When the fourth light information indicates that pedestrians can pass, an eighth sub-prompt information is output, which is used to guide the user from the fourth waiting area to the third waiting area.

9. The method according to claim 8, characterized in that, After acquiring the third light information of the third traffic light, the method further includes: When the third light information indicates that pedestrians are prohibited from crossing, the first duration of the first light information indicating that pedestrians are prohibited from crossing and the second duration of the third light information indicating that pedestrians are prohibited from crossing are obtained. Based on the first duration and the second duration, a travel path is determined from the first waiting area to the third waiting area.

10. The method according to claim 1, characterized in that, When the target information includes the vehicle status information, the motion information also includes the speed information of the guide device, and the vehicle status information includes the vehicle's second position information, vehicle speed, and vehicle direction of travel; The step of outputting prompt information based on the navigation path, target information, and current location information includes: Based on the current location information, the second location information, the navigation path, and the vehicle's driving direction, a target vehicle is determined, wherein the target vehicle is the vehicle that has a collision point with the user. Based on the current location information, target location information, and target angle, a second distance is calculated between the target vehicle and the collision point. The target location information is the second location information corresponding to the target vehicle, and the target angle is the angle between the guide device and the target vehicle. Calculate the third distance between the guide device and the collision point based on the second distance and the target angle; The minimum safe distance is determined based on the third distance, the vehicle speed, and the speed information. If the minimum safe distance is less than or equal to the second distance, a fifth prompt message is output according to the navigation path, and the fifth prompt message is used to guide the user through the route; If the minimum safe distance is greater than the second distance, a sixth prompt message is output, which is used to guide the user to stop and avoid the vehicle.

11. A guide system for the visually impaired, characterized in that, The system includes: A guide device for implementing the guide method as described in any one of claims 1-10; The cloud platform is used to receive the starting location information and destination location information of the guide device, determine the navigation path of the guide device based on the starting location information and destination location information, and feed back the navigation path to the guide device. The target communication device includes at least one of a roadside unit (RSU) and an on-board unit (OBU). The RSU is used to receive motion information and send road status information to the guide device based on the motion information. The OBU is used to receive motion information and send vehicle status information to the guide device based on the motion information. The motion information includes the navigation path and the current location information of the guide device.

12. A guide device for the visually impaired, characterized in that, The device includes: The acquisition module is used to acquire the navigation path of the guide device from the cloud based on the starting location information and destination location information of the guide device; A sending module is used to send motion information, which includes the navigation path and the current location information of the guide device for the visually impaired. The receiving module is used to receive road status information sent by the roadside unit (RSU) based on the motion information, and / or vehicle status information sent by the on-board unit (OBU) based on the motion information; A blind guidance module is used to output prompt information based on the navigation path, target information and current location information. The prompt information is used to guide the user blindly. The target information includes at least one of the road status information and the vehicle status information. The guide module specifically includes: When the target information includes the road status information, the step of outputting prompt information based on the navigation path, target information, and current location information includes: The target road is determined based on the navigation path sent from the cloud and the road status information sent from the roadside unit (RSU). When the road status information indicates the existence of a target road, the target road information is obtained. The target road is either a tactile paving or a pedestrian walkway. The target road information sent by the roadside unit (RSU) includes: the curve equation of the target road and the direction of the target road. Determining the directional relationship between the guide device and the target road based on the current location information and the target road information includes: The orientational relationship between the guide device and the target road is determined based on the direction of the target road, the curve equation of the target road, the current location information, and the travel direction indicated by the navigation path. Based on the navigation path and the location relationship, a first prompt message is output, which is used to guide the user to walk to the target road.

13. An electronic device, characterized in that, The device includes: a processor and a memory storing programs or instructions; When the processor executes the program or instructions, it implements the method as described in any one of claims 1-10.

14. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the method as described in any one of claims 1-10.

15. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device causes the electronic device to perform the method as described in any one of claims 1-10.

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